drive structure single & multi drive en
DESCRIPTION
manualTRANSCRIPT
Bakker Sliedrecht Electro Industrie
2011
1
JAN DE NULTraining
BASIC
ACS800drives
Content Training ACS800 drives
• SAFETY• Hardware Description
- ACS800-01, ACS800-02 - Options - Type coding
• Software Description - DTC - Standard software, system software
• Hands-on training
2
SAFETY INSTRUCTIONS
• Take care of clear general & local working instructions Especially :
• Always switch off the aux.- & main power• Verify that all systems are- & remain safe• Beware off charged capacitors• Mind your hands when handling very heavy drive
modules
3
Single - drive structure
4
DC linkRectifier
V1 V3 V5
V2V6V4
C
L +
-
U1V1W1
M 3 ~Ud
Control Electronicscontrol, monitoring and communication
L1
L2
L3
InverterMotor
Monitoring
Control
Supply
Uline UDC Uout
ABB Drives DTC concept
5
The DTC Concept
Speedcontrol
PID
REF
Torque Reference
TorqueReferenceController
Speed Reference
SwitchingLogic
=Torque
and FluxComparator
3~3~
Torqueand Flux
Calculated Speed
~
Switchpositions
Voltage
Current
Motor Model
DTC CORE
Measured Speed
Motor state calculation in every
25 s with a powerful digital signal
processor (DSP)
Fast and accurate control
Immediate response to load changes
Low audible noise and high motor loadability
Energy savings
Continuous production after pulse encoder failure
Flying restart of motors at network disturbances
Single - drive structure
6
3-phase supply
DC-BUS
SupplyUnit
InverterUnit
MOTOR
Multi-drive structure
7
...
3-phase supply
DC-BUS
SupplyUnit
InverterUnit
InverterUnit
InverterUnit
MOTOR 1 MOTOR NMOTOR 2
Multi-drive structure
8
...
3-phase supply
DC-BUS
SupplyUnit
InverterUnit
InverterUnit
InverterUnit
MOTOR
12-Pulse Single-drive structure
9
3-Phase Supply
DC-BUS
SupplyUnit
MOTOR
SupplyUnit 1
SupplyUnit 2
Y D
D
BRAKE RESISTOR
BrakeChopper
InverterUnit ....7
InverterUnit 1
InverterUnit 2
12 Pulse Multi-drive structure
103-Phase Supply
DC-BUS
Retractable Thruster
SupplyUnit 1
SupplyUnit 2
Brake ResistorTunnel Thruster
InverterUnit 1
InverterUnit 1
InverterUnit 2
BrakeChopper
Y D
D
ISU Inverter Supply Unit
G3~
G3~
Sharing Generator Real power :
=> Power control engine=> Frequency control
Sharing reactive Generator power
=> generator excitation control=> Voltage control
ISU Basics
12
2U1U
Lj I LULij
1U
I
genU
2
genI
2U
1
L
2
14
IGB
T
sup
ply
12 -
pu
lse
6 -
pu
lse
Network data
IHD=7,78
Current harmonics, 12-pulse rectifier
IHD=2,05
Current harmonics, IGBT Line converter
6 – pulse I THD = 30 %U THD RSC= 20 = 10 %U THD RSC=100 = 2 %cos total = 0,93...0,95
12 – pulse I THD = 12 %U THD RSC= 20 = 7 %U THD RSC=100 =1,4 %cos total = 0,93...0,95
IGBT – Supply unit I THD = 4 %U THD RSC= 20 = 3 %U THD RSC=100 =0,8 %cos 1 = 1 cos total = 0,99
ISU-Voltage distortion UTHD
15
0
1.0
2.0
3.0
4.0
THD 3 5 7 9 11 13 15 20 25 30 35 40 45 50
UTHD[%] = f(Rsc)
0
1
2
3
4
5
10 20 30 40 50 60 70 80 90 100
Rsc
ISU current distortionis under 5 %
ISU voltage harmonics depend on short circuit ratio.This is =Ssc(kVA)/Sisu(kVA)
10kV, SSC=100MVA
1MVA, uk=6%
400V , Ssc= 1/(1/100MVA+0.06/1MVA)=14MVASisu=935kVA=>RSC=14/0.935=15Uthd=3%, safe value!
Calculation example:
ACS800-xx Single-drives
• ACS800-01 => 1.1 - 90 kW
• ACS800-02 => 90 - 500 kW
16
ACS800-xx Single-drives
• ACS800-04 => 1.1 - 90 kW
•
• ACS800-07 => 90 - 500 kW
17
ACS800-01 Construction
• Easy installation– Plug in option boards– Excellent wire bending
space because of cabling box
– Wide cable size range
• Easy to replace fan
• IP 55 as option
ACS800-01 Options
• Built-in options:– I/O extension modules– Fieldbus modules– Pulse encoder module– Fibre optic link module
(master-follower, PC connection etc.)
– EMC filter– Braking chopper
ACS800-01 R2-R6 SizeR2 R3 R4 R5 R6
Boards Motor Control and I/O Main circuit Filter (EMC or varistor)
Motor Control and I/O Main circuit Current measurement (R6) Filter (EMC or varistor)
Powersemiconduc-tors
Soldered PIM (includes braking IGBT) Rectifier (soldered) IGBT (soldered) As option: braking
IGBT (soldered)
Rectifier (screw) IGBT (screw) As option: braking IGBT (screw)
Charging Relay and charging resistor Half controlled input bridge, charging diode andresistor
Chokes DC-chokes AC-chokesMain circuitbusbars
Main circuit board (some of the busbars on the PCB may be reinforced) R5 400/500V: on main circuit board Others: busbars / on board
Fan 1*DC, intake side Internal fan in the
biggest rating of theframe
With IP 55 alsointernal fan
1 * DC, intake side Internal fan in the biggest rating of the frame With IP 55 also internal fan
1*DC, intake side With IP 55 also internal fan
Mechanics Injection moulded frame, heat sink in the cast Sheet metal frame Separate lamella aluminium profile heat sink Plastic deck, skeleton and cover
Changeableparts
Motor Control and I/O Board Filter (EMC or varistor) Board Control Panel Fan(s) DC-capacitors (R4 only)
All
ACS800-104LC
1730126010002 x R8i
1300940750R8i
630500R8i
250R7i
kVAkVAkVASize
520037703010 4 x R8i
3900283022603 x R8i
2600188015102 x R8i
690V500V400VFrame
310 430
870
ACS800-104LCCapacitor bank and Rdischarge
Heat exchanger
Bus bars and CTs
Output filter inductor
Heat sink, IGBT+AGDR, Rfilter
Control electronics
Control Panel (CDP-312R)
• Simple and powerful– Large display– Start-up Assistant– Adaptive Programming– Backward compatible– New display format to set
pointer parameters (Group/Index/bit)
– Version independent parameter up/download
ACS800-x Ratings
• Imax = maximum allowed current (absolute value, does not depend on the temperature)
• Icont.max = maximum continuous current at 40 deg. C
• IN = base current that allows 10% overloadability for 1 min. (calculated value)
• Ihd = base current that allows 50% overloadability for 1 min. (calculated value)
ACS800-01 Type Code Sheet 3 - 55 kW, Wall MountedUpdated on 20 Nov 2001
1…6 A C S 8 0 0 Product Series Industry Segment
7…9 - 0 1 Construction
Application Area
10…14 - SizeFrame Size R2 Frame Size R3 Frame Size R4 Frame Size R5
400V 0003 0004 0005 0011 0016 0020 0025 0030 0040 00500006 0009
500V 0004 0005 0006 0016 0020 0025 0030 0040 0050 0060 00700009 0011
15…16 - Voltage Rating
3 = 400 V 5 = 500 V
Industry Segments
Application Areas
01 = Wall Mounted, IP21, with control panel CDP312R, no EMC filter, Standard software, Cable connection box,
Braking chopper in frame sizes R2 and R3
ACS800-x Type Code 1/2
E.g. ACS800-01-0016-3
ACS800-x Type Code 2/2Option codes
I/O options
L500 Analogue I/O extension RAIO-01
L501 Digital I/O extension RDIO-01
L502 Pulse encoder interface RTAC-01
L503 DDCS Communication 3 RDCO-03
L509 DDCS Communication 2 RDCO-02
L508 DDCS Communication 1 RDCO-01
Fieldbus
K451 DeviceNet adapter RDNA-01
K454 Profibus-DP adapter RPBA-01
K458 Modbus adapter RMBA-01
Software
N650 PFC Macro
N651 Master/Follower Macro
N666 Extruder Application Check availability
N653 FCB Programmable Template Check availability
N654 Spinning Macro Check availability
Control panel
J405 No control panel
Protection class
B056 IP55
P901 Coated boards
Filters
E202 EMC/RFI-filters, 1st Environment, Restricted (A-limits, Earthed Network)
Resistor braking
D150 Braking chopper
Cabling
H358 Cable conduit box (US & UK version)
2 slots available for I/O options or Fieldbus adapters.Communication board has always one dedicated slot.2 digital I/O extension are supported.
Included as standard in frame sizes R2 and R3
E.g. ACS800-01-0016-3+E202+L500
ACS800 R8i parallel connection
APBU-42or
APBU-44
PPCS(8 Mbit/s)
APEB-84
AGPS-21
APOW-01 AINT-12
AFIN-01 AGDR-6X
FAN 3 x 6 x IGBT 3 x I
UDC
ASFC-01
INV 3
RCH1 RCH2 RCH3
SWITCHFUSE(OESL)
INV 3 ... 11
. . .
MAX12 pcs
3 x T
ASFC-01
. . .
PPCS(8 Mbit/s)
INV EN
UDC OK
AFPS-01
INVERTER 1
SAFETYSWITCH
AGPS-21
APOW-01 AINT-12
AFIN-01 AGDR-6X
AFPS-01
INVERTER 2
AGPS-21
APOW-01 AINT-12
AFIN-01 AGDR-6X
SPEEDAFPS-01
INVERTER 12
SAFETYSWITCH
SAFETYSWITCH
DDCS (PC)
SPEEDSPEED
FAN 3 x 6 x IGBT 3 x IUDC3 x T
FAN 3 x 6 x IGBT 3 x IUDC3 x T
from RMIO (PPCS)
* ASFC-01* APBU-42* APBU-44 * APEB-84* AINT-12* AGDR-6X* AGPS-21* APOW-01* AFIN-01* AFPS-01
Switch Fuse Controller (option MD)PPCS Branching UnitPPCS Branching & Datalogger UnitPPCS Extension BoardMain Circuit InterfaceIGBT Gate Driver BoardGate Driver Power SupplyInverter Power SupplyFan Inverter (option)Fan Power Supply (option)
AGDR AGDR AGDR
AINTAINTAINT
ACS800-02 Circuit Boards
T
M
RMIO AINT
Externaloptionmodules
Optionmodules
U V W
Optionmodules
+24V
RDCOoption
ACS 800-02
Pulse encoder, Fieldbus, Extended I/O
CDP312R
FAN~230
+ -
CH-3
CH-2
APOW
AGDR
AINP
AIBP
ADPI
+24V
CH-1
CH-0
RDCU => RMIO Board + I/O
29
Connection to drive modulewhen n x R8i true APBU44
Connection to Application Controllereg. AC80 or AC800M
Slot 1• Digital I/O Extension (RDIO)• Analogue I/O Extension (RAIO)• Pulse Encoder Interface (RTAC)• Fieldbus Interface
Slot 2• Digital I/O Extension (RDIO)• Analogue I/O Extension (RAIO)• Pulse Encoder Interface (RTAC)
Slot 3• DDCS Link (RDCO-0x)
DDCS4 Mbit/s
PPCS8 Mbit/s
DDCS4 Mbit/s
I/O-Module ExtensionDDCS4 Mbit/s
Master / Follower-connection
DDCS1 Mbit/s
PC-ToolDriveWindow
modbus19,2 kbit/s
Control Panel CDP312R
7 Digital inputs
2 Analog inputs2 Analog outputs
3 Digital outputs
Reference voltage(±10V max 10mA)
External power supply24VDC
Maximum I/O configuration with AIMA-01
30
212131322Sum
2NTAC-02Tacho interface
2RTACTacho interface
22RAIOAI/O EXT5
22RAIOAI/O EXT4
22RAIOAI/O EXT3
22RAIOAI/O EXT2
22RAIOAI/O EXT1
23RDIODI/O EXT5
23RDIODI/O EXT4
23RDIODI/O EXT3
23RDIODI/O EXT2
23RDIODI/O EXT 1
2337RMIOBasic-I/O
Tacho interface
Analog-
output
Analog-
input
Digital-
ouputDigital-input
I/O-Extension
PPCS Branching Unit APBU-44/84• Includes parallel connection support for 2-12 inverter modules.• Basic board APBU-44 supports 2-4 inverter modules and with
APEB-84C option board up to 12 inverter modules.• APBU-44 includes fast data logger. Data can be uploaded via
PPCS link to be analysed. This function can be used to find faulty component in the main circuit.
31
Motor Control and I/O Board (RMIO)3 programmable relay outputs
ACS800-02 Main Circuit Board (AINT)• Contains all the high voltage and internal measurement
components of the drive• Automatic current measurement scaling - no need for soldered
slots• Powers the AINP and AGDR boards (+ ABRK board)• Earth fault and short circuit
protections– Adjustable earth fault current
trip limit– Earth fault detection is based
on output phase currents• One type can be used with
all ACS800-02 types
ACS800-02 Gate Driver Board (AGDR)• Connected directly to the IGBT module
• Gate control, saturation feedback and the temperature measurement functions are linked via the board
ACS800-02 Power Supply Board (APOW)
• Feeds power directly to the RMIO and AINT board
• Supply for the AINP board is connected via AINT board
• Connected directly to the DC link
ACS800-02 Input Bridge Control Board (AINP)• Turns on the input bridge
thyristors
• Power supply via AINT
• Charging controlled by sw:– Input bridge is turned on,
when the DC-link voltage has reached 0.7 * 1.35 * 380 V and the voltage rise is < 0.01 * UN / 10 ms
ACS800-02 Input Bridge Protection Board (AIBP)
• Protects the input bridge from transients
ACS800-02 Brake Chopper Control Board (ABRK)
• Controls the chopper IGBT and measures its saturation voltage and temperature
• Control and power from AINT:– Turns the IGBT on, when the
DC-link voltage is > 1.21 * UN
– Braking chopper and resistor protections done by sw
Diagnostic and panel interface board (ADPI)
• Panel connectors, Red and Green indication leds located on the board
• Two boards connected parallel in every module (for flat and bookshelf assembly)
– Both control panels places plug & play - two panels cannot be used simultaneously
ACS800-02 Filter Boards (ARFC & NRFC)
• Used for 1st environment filter• Cannot be used in IT networks• Features
– Up to 100 m motor cable length– EN 61800-3
Differences base software RMIO Board
41DTC
APPLICATIE SOFTWARE
OVERRIDING SYSTEM
HARDWARE
RDCU =>
( RMIO )
Speed & Torque Control
42
M13~
SUPPLY
n
n1
Tn
N Ref.
T1
3 ~
T %
2 1
3 4
100
100
n %
Application program types
• Standard application program
• System application program
• Diode supply control program
• IGBT supply control program
• Brake chopper control program
• Multi Block application program
• Crane control program
• Template application program 43
PLC <=> Profibus <=> RMIO
44
Profibus Link
45
FBA DRIVE
FBI DDCS DDCS PAR
FIELDBUS
REQUEST
RESPONSE
OPTICAL LINKBAUDRATE: 4 Mbit/sINTERVAL: appr. 8 ms
FBA = Fieldbus AdapterFBI = Fieldbus InterfaceDDCS = Distributed Drive Communication SystemPAR = Parameter Table
Profibus PPO1 …PPO5
46
Parameter Identification Process Data
CW REF1 REF2 PD1 PD2 PD3 PD4 PD5 PD6 PD7ID IND VALUE SW ACT1 ACT2 PD1 PD2 PD3 PD4 PD5 PD6 PD7
PPO Type 1
PPO Type 2
PPO Type 3
PPO Type 4
PPO Type 5
Functions in ABB Drive Software
• Motor speed reference ramp
• Motor speed control
• Motor torque control
• Motor flux control
• Calculation actual motor data
• Fast limit loops for drive and motor
• Fast master / slave control47
Functions in SIEMENS PLC
• Analogue & digital interface
• Custom application software
• Calculation drive speed- & torque reference
• Detection, alarm & fault logics
• Control from drive touch panel
• Control & protection liquid cooling system
48