ATV61

ATV61
M2 Functions by Applications
Motion & Drives Training
Introduction
The ATV61 integrates highly evolved functions particularly dedicated
to pumping and ventilating applications
This module describes the main functions for these applications *
* The functions common to ATV71/ATV61 are presented in the module :

ATV71 M2 "Functions by application"
Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009
Summary
ATV 61 : M2 Functions by Applications

Summary
I.
Pumping
II. Ventilation
III. Functions List
IV. Motor Control
Summary
Pumping
Regulation of pressure, flow
Functions
PID Regulator
Monitoring of the PID feedback
Monitoring of the speed reference
Sleep / Wake-up function
Motor Control
V/Hz Quadratic law command
Safety
Detection of zero flow with a sensor
Limitation of flow with a sensor
Detection of under-load
Detection of over-load
Summary
Ventilation
Air conditioning, smoke evacuation ...
Functions
PID Regulator
Calculation of energy consumed
Damper Control
Motor Control
SVCU NOLD energy saving law
Safety
Inhibition of faults
Skip frequencies
Summary
ATV 61 : The Applications Functions
Summary
Functions List
PID Regulator
Monitoring of the PID feedback
Monitoring of the Speed Reference
Sleep / Wake up Function
Advanced Sleep / Wake up Function
Zero Flow Detection with a Sensor
Flow Limitation
Detection of Process Under-load
Detection of Process Overload
Monitoring of Energy Consumed
Fault Inhibition
Jump Frequency
Motor Control Laws
Summary
PID Regulator Description

The PID regulator is active whenever one of the inputs (AI, bus, pulse ..)
is assigned to PID feedback (PIF)
It is composed of :
a PID reference input (analog, internal, pulse or preset)

a PID feedback input (analog current or voltage, pulse, or serial bus)
a Predictive speed reference (analog)
Proportional, Integral, and Derivative gain settings (shunt integral
possible)
Scaling of the PID feedback and the predictive reference
Ramps of the references
The limitation and/or inversion of the output
PID reference switching (Auto) speed reference (Man)
a Wake-up level
a PID error and PID feedback alarm
the display of variables for references, feedback, PID error
Summary
PID Regulator Description

PIS
PID
reference
Ramp
Sleep/
wake up
Inversion
Integral
shunt
limitation
Auto/manu
PID
regulator
Ramp
PRP
PIF
PIDreturn
PIC
PIM
manual
reference
RPG RIG RDGS
POH
POL
AC2
at starting
only
PAU
scaling
PI return supervision
return PI
Alarm
error (PEE)
return (PFA)
PIF
PIP
FPI
predictive
speed
TLS
RSL, UPP
scaling
Ramp
PSR
ACC
DEC
displaying
output (OPI)
return (OPF)
error (OPE)
reference (OPS)
Ramp
ACC
DEC
Summary
PID Regulator Reference

2 sources of PID reference :
switchable Fr1, Fr1B between :
- Terminal :
- Aix analog inputs
- PI pulse input,
- PG encoder
-Graphic Terminal :
- HMI
-Communication :
- Mod Modbus
- Can CANopen
- Net Comm. card
- App Controller inside
Preselected
References
Internal
reference
Active PID
reference
Summary
10
PID Regulator PID Feedback

PIF
Sources of PID feedback :
nO : Not assigned
function inactive)
(PID
PID
feedback
active
Aix : Analog input

PI : Frequency input
PG : Encoder input
AI UI : Feedback by
communication bus
Process
PIP2
max process
PID sensor
feedback
PIP1
min process
PIF1
min sensor
PIF2
max sensor
Scaling of PID
feedback
Summary
11
PID Regulator Manual Speed Reference
The manual reference can use

preselected speeds.
Sources of manual frequency

references (PIM) :
nO : Not assigned
Aix : Analog input
PI : Pulse input
PG : Encoder input
Summary
12
PID Regulator Predictive Speed

Predictive speed permits the bringing of the process to a pre-determined speed (FPI)
or to stop it , with defined ramps (ACC-DEC) before regulation.
It can also be used as a PID reference calibration, using it as a speed correction
parameter
Avoiding instabilities by
controlling regulation during
the start-up phase and at the
end of regulation.
PID reference
Allows for the optimization of

the response (gains) within
the speed variation range.
PID output frequency

HSP
Range of process speed within

regulation
FPI
LSP
ACC
DEC
Summary
13
PID Regulator Predictive Speed
Sources of the predictive

reference :
-Terminal block :
- Aix analog inputs
- PI pulse input,
- PG encoder
-Graphic Terminal :
- HMI
-Communication :
- Mod Modbus
- Can CANopen
- Net Comm. card
- App Controller inside
Summary
14
PID Regulator Settings

Setting the PID regulator
Summary
15

Settings
The principal of integral action
Ex LSP=0, HSP=50Hz, RPG=0, RDG=0, RIG=1/s
The error is 10% (reference-return)
The speed increase of 5Hz per second as long as the error =10%
Hz
P ID ou tput
E rror value
10 % I-P art= 5 H z/s

10%
10%
1s
I-P art=5 H z/s

I-P art=5 H z/s
10%
I-P art=5 H z/s
E rror=10%
I-P art=5 H z/s
Summary
16

The principal of the derivative action
Hz
Ex: LSP=0, HSP=50Hz, RPG=1, RDG=1s, RIG=0

The error increases from 10%/sec (reference- feedback)
If the error varies +/-10% for 1s then the speed increases 5Hz
PID output
Error value
D-part=10%=5,00 Hz
D-part= -10%= -5,00 Hz
10%
1,00 s
Ppart=1**PID error = 5,00Hz/s
Summary
17

Principal
or combined PID actions
Hz
PID output
Error value
D-part
D-part
D-part
P-part=5 Hz
Error=10%
Error= -10%
P-part= -5 Hz
Summary
18
PID Regulator Advantages

Simplicity
Specialized Menu
Factory settings work for most applications
Customer selectable units and scaling
Display of the regulator variables for ease of set-up
Performance
An independent regulator that does not require external options

Numerous auxiliary functions
Easy to set-up and to adapt to the application
Multiple possibilities for both the reference and feedback source
Possible to perform mathematical operations on the reference.
Summary
19
Monitoring the PID Feedback

Allows the definition of an action if the PID feedback is lower than a
programmable limit (LPI) while the speed is at maximum (HSP) .
Detection level LPI -2%
PID feedback
Detection time TPI
LPI
t
TPI
Output
frequency
Programmable stop
- ramp
- free wheel
- foldback speed LFF
HSP
LLF
Function active
Summary
20
Monitoring the Speed Reference

Allows the activation of a logic output if either a high or low level of speed
reference is passed.
Speed Reference
FRH
High level of detection
RTDH
t
Low level of detection
RTDL
Logic
outputs Rx,
LOx
RTAH
RTAL
Summary
21
Sleep / Wake up Function

This function is used in combination with the PID regulator
It stops the process after a programmable time of operation at low speed.
The process re-starts if the error or the feedback passes a programmable level.
PID output
frequency
Sleep :
At low speed LSP + SLE
after the time TLS
the process is ramped down
to a stop
LSP+SLE
LSP
t
TLS
TLS = min. time at LSP
Error or PID
feedback %
Wake-upl :
The PID regulator is reactivated by a PID error
level RSL (or a PID
feedback UPP)
RSL
or
UPP
t
Summary
22

In certain cases, the classic sleep function is not sufficient.
For centrifugal pumps, at zero flow, pressure has little dependence on speed.
During a progressive passage from low flow to zero flow, the regulator can
freeze at a speed higher than the sleep speed and the pump will never stop.
The advanced parameters allow, in the low flow zone, to query the PID
regulator to verify if the regulation point is correct.
This is done by periodically imposing a speed reference for a short time while
resetting the PID to 0.
If this causes a flow, the pressure is going to vary temporarily then re-establish
itself at the initial value. These parameters allow for the adjustment so there will
be minimum perturbations to the installation (transient over-pressure or underpressure).
If the flow is zero, the PID regulator will return to an equilibrium point below the
sleep level, then stop after a programmable time (TLS).
If there is a new flow demand, the pump will re-start at a programmable PID
error or feedback level (RSL or UPP).
Summary
23

Flow
Low flow
Detection of overpressure
t
Re-establishment at
reference = flow
PID feedback
No re-establishment =
zero flow
PID Reference
(pressure)
Speed
Level of de-activation
of the FDD function
HSP
Flow Test
reset PID
+ force to
LSP+LFD
Test zone for

zero flow
Sleep level LSP+SLE
LSP+LFD
FFD
Ramp stop
re-start on PID
error or feedback
level
LSP+SLE
LSP
t
nFD
nFD
TLS
Summary
24

Flow
Under pressure detection
Low flow
t
Re-establishment at the
reference =flow
PID feedback
(pressure)
No variation = zero flow
PID Reference
Speed
Activation level of the

FDD function
HSP
Zero flow test

zone
Test of flow
reset PID
+ force to
LSP+LFD
Sleep level LSP+SLE
FFD
Ramp stop
re-start at the
PID error or
feedback level.
LSP+SLE
LSP+LFD
LSP
t
nFD
nFD
TLS
Summary
25
Zero Flow Detection with a Sensor

If the process uses a flow sensor (all or nothing), it can be assigned to a drive
logic input.
In the case of the absence of flow, the drive gives the order to free wheel stop.
The process can be re-started after the fault is removed
Run
t
Flow sensor
NFS=LIx
t
Frequency
Time to re-start NFST
HSP
Activation level of the

function NFFT
Zero flow test
zone
NFFT
NFF fault -> free
wheel stop
LSP
t
nFST
Summary
26
Flow Limitation
This function permits the limitation of the flow of a fluid, in the case of a pump
for example.
To do this an external flow sensor can be assigned to a drive input (analog,
pulse or encoder).
Flow limitation is done by limiting the internal speed reference.
If the function is used with the PID regulator, it is the output of the PID regulator
that is limited
Summary
27
Flow Limitation
Flow Info
CHI=AIx
Flow limit level CHT

Activation level for the
function RCHT
CHT
RCHT
If the flow limit is

passed -> speed is
limited to LSP
If the flow re-
Speed
Reference
establishes itself
below the limit -> The
reference is limited to
the current output
frequency
LSP
t
Output
Frequency
If the flow
establishes a new peak
-> La reference is
limited to the current
output frequency
Ramp DE2
Below the level

RCHT the function is
no longer active
LSP
Function active
Summary
28
Detection of a Process Under-load

This function allows the detection of a process under-load
It is useful on a pump to avoid the pump running too long while empty or
without being primed.
The function is active only during stable operation.
The level, the trip time, and the stop mode are all programmable.
Torque %Cn
Under load level at nominal
frequency (LUN)
LUN
Css LUL
LUL LUL RFR 2

2
FRS
Under load level at null

frequency (LUL)
Activation frequency for the

function (RMUD)
LUL
RMUD
FRS
Summary
29
Detection of a Process Under-load

Run/stop
t
Stable operation level SRB
Frequency
FRH-SRB
Function active
Torque %
(Load)
under-load alarm
or fault ULF ->
programmable
stop
Level of under-load (Css)
Css f(F)
t
ULT
Under-load detection time (ULT)
FTU
Min time before restart (FTO)
Summary
30
Detection of a Process Over-load

The function allows the detection of a process overload.
It avoids motor overheating, for example on a fan if it is clogged.
The function is only active during stable operation.
The level, the trip time, and the stop mode are all programmable.
Motor thermal protection remains active.
Summary
31
Detection of a Process Over-load

Run/stop
t
Frequency
reference
Stable operation level SRB

overload fault or
alarm OLC ->
programmable stop
FRH-SRB
t
function active
Current %
(Load)
Overload level LOC

% of In
LOC
t
TOL
Overload detection time (TOL)
FTO
Min time before re-start (FTO)
Summary
32
Monitoring of Energy Consumed

This function allows the display of :
instantaneous input power in kW

input energy consumed in kWh
instantaneous output power in kW
cumulated output energy consumed in kWh
The function has two counters

1 totaliser (cannot be reset to 0)
1 intermediate counter (possible to reset to 0)
The energy bill can be calculated with the customization of the parameters
available with the graphic terminal
kWh x cost
Summary
33
Fault Inhibition
The function allows, by using a logic input, the de-activation or the erasure of all
faults which do not make the operation of the drive impossible.
The function can validate automatically a forced run either forward or reverse at
a programmable speed
It is particularly dedicated to smoke purge applications which require that the
installation operate under all conditions in the case of a fire.
Fault inhibition defeats all drive protection and in this case, the guarantee is no
longer valid.
To be activated, the function requires confirmation (pushing a button for 2s).
Summary
34
Skip Frequencies
This function can be used to prevent a critical speed, which would cause
resonance, being reached
This parameter prevents prolonged operation within an adjustable range
around the regulated frequency
jpf : [Skip freq.] jf2 : [Skip freq. 2]
jf3 : [3rd Skip freqency]
Values from 0 to 500Hz or 1000Hz according to the rating
jfh : [Skip freq. Hysteresis]
From 0,1 to 100Hz
Frequency in relation
to the resonance point
Summary
35
Damper Control
This function applies to the ventilation ducts
The aim is to control the opening of the duct
(shutter device called a "damper") when the fan
starts up
Summary
36
Damper Control
Damper opening command
The opening command can be assigned to a logic output or a relay via :
[Damper assignment] (dam) parameter
The damper is closed automatically when there is no longer an opening command.
Damper opening feedback

Opening is controlled by a bit or a logic input that can be assigned via
the [Damper feedback] (dfb) parameter.
When there is an inconsistency, the drive trips :
On a [Damper stuck] (fd1) fault if the damper does not open
And on a [Damper open] (fd2) fault if it does not close
Summary
37
Damper Control
Summary
38
ATV 61 : The Applications Functions
Summary
39
Motor Control
U / f Quadratic Law
SVCU Energy Saving Law (Nold)
Summary
40
The U / f Quadratic Law

The ATV61 integrates a U/f quadratic command law particularly dedicated to
pumps and fans.
U stator
The setting of the
magnetizing current
permits the adjustment
of the U/f law curve.
UNS
PFL
Magnetizing current
U0
F
FRS
PFL
F
FRS
Summary
41
The U / f Quadratic Law

U0
PFL
ref
Flux
Calculation
Current
sensors
Va
Voltage
Calculation
cons
Speed
Ramp
Vd, Vq
ref
(d,q)
(a,b,c)
Vb
Vc
PWM
Motor
Current
Limitation
Id Iq
s= ref
Integration
No speed estimation
No compensation
current
measurement
(d,q) (a,b,c)
ref=reference flux Id=measured flux current Iq=measured torque current Id=reference flux current
Iq=reference torque current est=estimated speed cons=speed set point s=statoric frequency
s=statoric angle Vd,Vq=voltage to apply Va,Vb,Vc=voltage to modulate
Summary
42
The SVCU Energy Saving Law (Nold)

The ATV61 integrates a vector control command law that adjusts the
magnetizing current as a function of torque.
The self-adaptation of magnetizing current allows energy savings due to the
advantages of vector control (optimization of torque, IR and slip compensation)
The application of this law to variable torque loads does not require any
particular dynamic performance characteristics.
U stator
Profile of load
torque
The U/f law is adapted as

a function of torque
UNS
F
FRS
Summary
F
43
The SVCU Energy Saving Law (Nold)

ref
Id ref
Flux
optimization
Voltage
Calculation
Iq
cons
Speed
Ramp
Iq ref
Speed
Regulation
Id
Speed estimation
Current
Sensors
Current
Regulation
Va
Vd, Vq
(d,q)
(a,b,c)
Vb
Vc
PWM
Motor
Current/torque
Limitation
est
Integration
Iq
Speed
Estimate
Slip
Compensation
Id Iq
Current
measurement
(d,q) (a,b,c)
ref=reference flux Id=measured flux current Iq=measured torque current Id=reference flux current
Iq=reference torque current est=estimated speed cons=speed set point s=statoric frequency
s=statoric angle Vd,Vq=voltage to apply Va,Vb,Vc=voltage to modulate
Summary
44
ATV61 : M2 Functions by Applications
uestions and Answers
Summary
45
Motion & Drives

Our Solutions
Your Commitment
Our common success
Thanks!
Make the most of your energy
Summary
46

ATV61 - M2 - Functions by Applications V3

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* The functions common to ATV71/ATV61 are presented in the module :

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

ATV 61 : M2 Functions by Applications

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

ATV 61 : The Applications Functions

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Description

a PID reference input (analog, internal, pulse or preset)

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Description

RPG RIG RDGS

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Reference

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator PID Feedback

Aix : Analog input

PID Regulator Manual Speed Reference

The manual reference can use

Sources of manual frequency

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Predictive Speed

Allows for the optimization of

PID output frequency

Range of process speed within

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Predictive Speed

Sources of the predictive

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Settings

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Settings

10 % I-P art= 5 H z/s

I-P art=5 H z/s

I-P art=5 H z/s

I-P art=5 H z/s

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Settings

Ex: LSP=0, HSP=50Hz, RPG=1, RDG=1s, RIG=0

Ppart=1**PID error = 5,00Hz/s

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Settings

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

PID Regulator Advantages

An independent regulator that does not require external options

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

Monitoring the PID Feedback

Detection time TPI

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

Monitoring the Speed Reference

Sleep / Wake up Function

TLS = min. time at LSP

Advanced Sleep / Wake up Function

Advanced Sleep / Wake up Function

Test zone for

Sleep level LSP+SLE

Schneider Electric - Altivar 71 M2 : Functions by Applications V5 08/09/2009

Advanced Sleep / Wake up Function

Under pressure detection

No variation = zero flow