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Unidrive
model sizes 1 to 5
Unidrive LV
model sizes 1 to 3
Universal Variable Speed Drive
for induction and servo motors
General information
The manufacturer accepts no liability for any
consequences resulting from inappropriate ,
negligent or incorrect installation or adjustment of
the optional operating parameters of the equipment
or from mismatching the variable speed drive
(Drive) with the motor.
The contents of this User Guide are believed to be
correct at the time of printing. In the interests of a
commitment to a policy of continuous development
and improvement, the manufacturer reserves the
right to change the specification of the product or
its performance, or the contents of the User Guide,
without notice.
All rights reserved. No parts of this User Guide may
be reproduced or transmitted in any form or by any
means, electrical or mechanical including
photocopying, recording or by any informationstorage or retrieval system, without permission in
writing from the publisher.
Important...
Drive software version
This product is supplied with the latest version of
user-interface and machine-control software. If this
product is to be used with other Control Techniques
variable speed drives in an existing system, there
may be some differences between their software
and the software in this product. These differences
will cause a difference in functions. This may also
apply to variable speed drives returned from a
Control Techniques Service Centre.
If there is any doubt, contact a Control Techniques
Drive Centre.
Copyright
Author:
RFD
Issue Code:
udxu6
Issue Date:
October 2000
S/W Version:
03.XX.07 onwards
Addendum
Using the Unidrive with ramps disabled (closed loop only)
When using the Unidrive in Closed-Loop mode (Vector or Servo) with the acceleration/deceleration
ramps disabled (Pr 2.02 = 0), the stop mode (Pr 6.01) must be set to no.rP. If this is not done, the
Drive may allow the motor to momentarily start running up in the forward direction following the
removal of the run reverse command.
More information:
When using the Unidrive with the ramps disabled (Pr 2.02 = 0), the stop mode at the default value
(Pr 6.01= rP) and the Drive running with full reference in the reverse direction; on the removal of the
run reverse command the final speed reference will momentarily go positive and will return to zero at a
rate dependant on the deceleration ramp (default setting = Pr 2.21).
If an application requires the ramps to be disabled (either in Closed-Loop Vector or Servo mode), the
stop mode [06.01] should be set to no.rP.
An alternative solution is to set the deceleration ramps to 0 (zero).
Contents
Chapter
2.7
Operating instructions
2-15
Terminal mode
2-15
Keypad mode
2-16
2-17
2-18
2-18
Introduction
1-1
1.1
1-1
1.2
Model sizes
1-1
1.3
Configuration layers
1-1
1.4
Default configurations
1-2
Acceleration rate
2-18
1.5
Operating modes
1-2
Deceleration rate
2-18
1.6
User-interface modes
1-3
Braking resistor
2-18
1.7
Macro configurations
1-3
2-19
1.8
1-6
1.9
Serial communications
1-6
1.10
Using Unisoft
1-6
1.11
Advanced functions
1-7
Getting Started
2-1
2.1
2-1
3.1
3-1
2.2
2-1
3.2
2.3
Enabling a different
macro configuration
3-1
3.3
Advanced programming
3-2
3.4
3-3
3.5
3-9
2.4
2.5
2.6
2.8
2-20
Boost voltage
2-20
Voltage/frequency characteristic
2-20
Dynamic performance
2-21
3-1
2-7
2-8
2-8
2-8
Types of parameter
2-8
3.6
3-15
2-8
3.7
3-21
2-8
3.8
3-27
Parameter 0.00
2-9
3.9
3-33
3.10
3-40
3.11
3-47
3.12
3-52
2-10
Initial setting up
2-11
2-11
2-11
Enabling Macro 1
2-12
2-12
Autotune
2-14
2-15
Appendix
Programming Instructions
A-1
A.1
Electrical connections
A-1
A.2
Preparation
A-1
A.3
Status mode
A-2
A.4
A-2
A-2
A.6
A-3
A.7
A-4
A.8
A-6
A.9
A.10
A.11
B-1
B.1
Security levels
B-1
B.2
B-1
B.3
B-1
B.4
B-1
B.5
B-1
B.6
Summary
B-2
Signal Connections
C.2
Encoder connections
C-4
C.3
C-5
A-6
Menu 0 Parameters
Negative values
A-6
D.1
Introduction
D-1
D.2
A-6
Fixed-function parameters
common to all macros
D-2
A.12
A-7
D.3
A.13
A-7
Diagnostics
E-1
A-7
E.1
Status indications
E-1
E.2
Alarm indications
E-1
E.3
Trip codes
E-2
A.5
A.14
ii
C-1
D-1
Re-programmable parameters
specific to the macros
D-10
Introduction
1.2
Model sizes
1.1
Unidrive
Model size
UNI 1401
Warning
Model code
Nominal rating
for standard
AC motors
KW
HP
0.75
1.0
UNI 1402
1.1
1.5
UNI 1403
1.5
2.0
UNI 1404
2.2
3.0
UNI 1405
4.0
5.0
UNI 2401
5.5
7.5
UNI 2402
7.5
10
UNI 2403
11.0
15
UNI 3401
15.0
25
UNI 3402
18.5
30
UNI 3403
22.0
30
UNI 3404
30.0
40
UNI 3405
37.0
50
UNI 4401
45.0
75
UNI 4402
55.0
100
UNI 4403
75.0
125
UNI 4404
90.0
150
UNI 4405
110.0
150
UNI 5401
132.0
200
Unidrive LV
Model size
Model code
Nominal rating
for standard
AC motors
KW
HP
UNI 1201
0.37
0.5
UNI 1202
0.55
0.75
UNI 1203
0.75
1.0
UNI 1204
1.1
1.5
UNI 1205
2.2
3.0
UNI 2201
3.0
4.0
UNI 2202
4.0
5.0
UNI 2203
5.5
10.0
UNI 3201
7.5
15.0
UNI 3202
11
20.0
UNI 3203
15
25.0
UNI 3204
22
30.0
Introduction
1-1
1.3
Configuration layers
Default configuration
2.
Operating mode
3.
User-interface mode
4.
Macro configuration
1.4
Default configurations
USA
Operating modes
Open-loop
For use with standard
AC
induction motors.
Slip compensation
Fixed boost or Open-loop Vector operation
Closed-loop Vector
Europe
1.5
Alternative feedback
EUR>
USA>
1-2
Introduction
Feedbackdevice
Optionmodule required
SIN-COS encoder
UD52
SIN-COS encoder small option module
Resolver
UD53
Resolver small option module
Closed-loop Servo
1.6
Terminal mode
Applying signals from electrical contacts, a
system controller or PLC to digital and analog
inputs on the Drive.
For the USA default configuration, the Drive can
be configured for digital control by momentary
contacts.
SIN-COS encoder
UD52
SIN-COS encoder small option module
Resolver
UD53
Resolver small option module
Keypad mode
Manual operation of the keypad on the front
panel of the Drive. Minimal signal connections
are made to the Drive.
Regeneration
Warning
User-interface modes
1.7
Macro configurations
Notes
Macro 0
General purpose
(default configuration)
Analog frequency/speed control for
general-purpose applications.
When the Drive is operating in open-loop, the
output frequency of the Drive is controlled by a
frequency reference. When the Drive is operating in
closed-loop, the motor speed is controlled by a
speed reference. In both cases, the motor speed will
follow the frequency/speed reference so long as the
maximum permissible output current of the Drive is
not exceeded. These principles also apply to all
other macro configurations except Macro 4.
Introduction
1-3
Macro 1
Easy mode
Frequency/speed control for basic applications.
This is similar to Macro 0, except, for simplicity,
fewer adjustments are required.
The macro configuration can be used for open-loop
or closed-loop operation, and in either Keypad or
Terminal mode.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 5
PID control
The Drive is operated with a frequency/speed
reference and an analog feedback device in order to
dynamically maintain the speed to a user-defined
set-point under PID control.
The macro configuration can be used for open-loop
or closed-loop operation, and in Terminal mode
only.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 6
Axis-limit control
Axis-limit control is used for applications which
require the process to be automatically stopped
when a position limit has been reached. A bipolar or
unipolar frequency/speed reference can be used.
Macro 2
Motorized potentiometer
Macro 7
Brake control
Macro 3
Preset frequencies/speeds
Macro 4
Torque control
The motor torque is defined by a torque demand.
The motor speed will vary continuously as a result
of the difference between the load torque and the
torque demand up to a maximum speed which is
defined by a speed over-ride level.
The torque demand is supplied by an analog torque
reference signal that is applied to the Drive.
Macro 8
Digital lock
Shaft orientation
Two independent functions, as follows:
1-4
Introduction
User interface
Frequency/speed
reference selection
Drive
Display and
keypad
Skip frequencies/speeds
Acceleration and
deceleration ramps
User
control
S-ramp
Monitoring
Current limit
Stop mode
Spinning motor sync.
External
control and
monitoring
(analog and
digital)
Motor parameters
PWM switching
frequency
CL> Encoder
Control
Monitoring
DC bus
AC supply
Optional braking
resistor
Power circuits
Figure 11
Block diagram of the Drive showing the main functions of the software,
and power connections (signal connections vary according to the
macro configuration)
Introduction
1-5
1.8
Additional I/O
Second encoder interface
SIN/COS encoder interface
Resolver interface
Cloning (parameter copying)
1-6
Intelligent applications
RS232/RS485 serial
communications
Profibus DP interface
InterBus S interface
CTNET interface
ModBus Plus interface
DeviceNet
Servo option (precision analog
input, and back-up control
supply)
Introduction
1.9
Serial communications
1.10
Using Unisoft
RS232
Four-wire RS485
Two-wire RS485
1.11
Advanced functions
Introduction
1-7
1-8
Introduction
Getting Started
2.1
Warning
Warning
Warning
Warning
2.2
Warning
Isolation
Warning
Notes
Keep a note of changes
When changing the values of parameters,
make a note of the new values in case they
need to be entered again.
Figure 21
Getting Started
2-1
11
21
31
1.
2.
Figure 22
Operating
mode
User-interface
mode
EUR
CL> + OL>
Terminal
USA
CL>
Terminal
OL>
Keypad
Figure 23
2-2
Getting Started
5.
Notes
Open-loop
None required
Closed-loop Vector
Quadrature
encoder
EIA485/EIA422 standard
(formerly RS485/RS422)
5 VDC (or 15 VDC) supply requirement
See Figure 24 for connecting the
encoder to the 15-way D-type
connector on the Drive
SIN-COS encoder
Resolver
Resolver specification:
Input impedance: 85 at 6kHz
Turns ratio: 3:1
Excitation voltage: 6V RMS
(For operation with a 2:1 turns ratio
and 4VRMS excitation voltage, see
the Unidrive Advanced User Guide or
the UD53 User Guide.)
No. of pole pairs: 1
Fit a UD53 Resolver small option module in
the Drive and refer to the UD53 User
Guide for wiring details.
Encoder connector
15-way D-type
Encoder
Signal
connections for
all encoders
Closed-loop Servo
Quadrature
encoder with
commutation
signals
EIA485/EIA422 standard
(formerly RS485/RS422)
5VDC (or 15 VDC) supply requirement
See Figure 24 for connecting the
encoder to the 15-way D-type
connector on the Drive
SIN-COS encoder
Resolver
Resolver specification:
Input impedance: 85 at 6kHz
Turns ratio: 3:1
Excitation voltage: 6V RMS
(For operation with a 2:1 turns ratio
and 4VRMS excitation voltage, see
the Unidrive Advanced User Guide or
the UD53 User Guide.)
No. of pole pairs: 1
Additional
commutation
signal
connections for
use with servo
motors only
Signal connector
Figure 24
Getting Started
2-3
Note
The Drive can be used with an encoder that
does not produce Z marker pulses. In this
case, ensure that the Z marker pulse inputs
are left unconnected.
No motor thermistor connection is required at
this stage, but a thermistor will be required
later if the Drive is to be operated in any macro
configuration except Macros 1 and 5. If a speed
feedback device is being connected to the 15way D-type connector on the Drive, for
convenience the motor thermistor can be
connected now as shown in Figure 24 in
preparation for operation with the appropriate
macro configuration. When Macro 1 or Macro 5
is enabled, the thermistor is ignored by the
Drive. (Instructions for connecting a motor
thermistor to the signal connector are given for
each macro configuration in Chapter 3 Setting
Up the Drive.)
6.
Warning
7.
2-4
Getting Started
Optional
RFI filter
Analog frequency/speed
reference 1
(remote)
Signal
connector
Connections for
single-ended input
signal
Thermal
protection
device
0V common
Connections for
differential input signal
Stop
Start /
Reset
0V common
Analog
frequency/speed
reference 2
(local)
0V common
Power
terminals
SPEED
TORQUE
Encoder
OL> AT SPEED
CL> AT ZERO SPEED
0V common
Encoder
connector
15-way
D-type
Signal
connections for
all encoders
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
Figure 25
Additional
commutation
signal
connections for
use with servo
motors only
Power connections, and signal connections for Terminal mode (Macro 1 only)
Getting Started
2-5
Optional
RFI filter
Signal
connector
Thermal
protection
device
Stop
Start /
Reset
0V common
Power
terminals
SPEED
TORQUE
Encoder
OL> AT SPEED
CL> AT ZERO SPEED
0V common
Encoder
connector
15-way
D-type
Signal
connections for
all encoders
RESET
Figure 26
2-6
Additional
commutation
signal
connections for
use with servo
motors only
Power connections, and signal connections for Keypad mode (Macro 1 only)
Getting Started
2.3
Programming keys
Introduction to the
display and keypad
Upper display
Select a parameter
Decrease the value of a digit
Lower display
Programming keys
Control keys
Run
Figure 27
Stop
Reset
Forward /
Reverse
Control keys
Display
The display has three display modes as follows...
Status mode
Used to indicate the status of the Drive
Parameter mode
Used for selecting a parameter to edit
Edit mode
Used for editing the selected parameter
Display mode
Status
Parameter
Edit
Upper
Value of
parameter 0
Value of
parameter 0
Value of
parameter 0
(selected digit
flashes)
Lower
Status of the
Drive
Parameter
number
0.10
Parameter
number
0.10
rdY
Getting Started
2-7
Types of parameter
Terminal mode
Keypad mode
When the Drive is stopped, press:
Bit parameters
Variable parameters
Enter values
Select from more than two options
2.4
Working with
software parameters
2-8
Getting Started
Parameter 0.00
Parameter 0.00 is a special readwrite parameter
that is used for the following:
Function
Selecting Macros 0 to 8
The Drive must be stopped
(described in Chapter 3 Setting Up the Drive)
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
0 ~ 255
2000
Lock security
1254
1244
Getting Started
2-9
2.5
Macro 0
When Macro 0 is enabled, the re-programmable
parameters have their default functions.
Macro 1
Note
Do not confuse the term Macro with the
term Menu. Menu 0 contains parameters;
macro configurations re-define some of
these parameters to perform specific
functions. Menu 0 always exists, but is
affected by the macro configuration that is
enabled.
Macros 2 to 8
When one of these macro configurations is enabled,
the functions of some re-programmable parameters
are specific to the macro configuration.
Common to
all macros
0.00
0.01 ~ 0.10
Fixed-function parameters
Specific to
each macro
0.11 ~ 0.30
Re-programmable parameters
Macro 0
Common
to all
macros
0.31 ~ 0.50
Fixed-function parameters
Figure 28
2-10
Getting Started
2.6
Initial setting up
(reset key).
2.
Press
3.
4.
Press
(reset key).
Warning
Procedure
Use the following procedure only if a different
operating mode is required:
1.
Getting Started
2-11
2.
Operating mode
0 Open-loop
Closed-loop Vector
2.
3.
Closed-loop Servo
3.
Press
or, for Terminal mode,
momentarily close the RESET contact.
Enabling Macro 1
Do not attempt to enable any
macro configuration when the
Drive is running.
Warning
Note
If the Drive is to be operated in Macro 1 or
5 and a braking resistor is to be used, now
set parameter 0.15 at FASt. Then follow
the instructions below.
The setting of parameter 0.15 must be
changed now because the function of this
parameter is changed when one of these
macro configurations is enabled.
1.
2.
2-12
Getting Started
Caution
Range
Unit
3, 4.5, 6, 9, 12
kHz
2 ~ 32
poles
4
4
6
Where:
Example
220
220
0
supply frequency
Rated full-load speed of the motor
AC
0 ~ 1.0
0.92
0.92
1.0
OL>
VT>
SV>
f 120
N
f
N
P=
0 ~ 240
50 120
= 4.14
1450
Values of FLC
0
1450
0
0 ~ 6000
0 ~ 30 000
0 ~ 30 000
RPM
RPM
RPM
FLC (A)
Model
FLC (A)
UNI 1401
UNI 1201
2.1
UNI 3401
UNI 3201
34
UNI 1402
UNI 1202
2.8
UNI 3402
40
UNI 1403
UNI 1203
3.8
UNI 3403
UNI 3202
46
UNI 1404
UNI 1204
5.6
UNI 3404
UNI 3203
60
UNI 1405
UNI 1205
9.5
UNI 3405
70
UNI 3204
74
FLC
(see the following Values
of FLC table)
0 ~ FLC
50 (EUR) 60 (USA)
50 (EUR) 60 (USA)
0
0 ~ 1000.0
0 ~ 1000.0
Hz
Hz
UNI 2401
UNI 2201
12
UNI 4401
96
UNI 2402
UNI 2202
16
UNI 4402
124
UNI 2403
UNI 2203
25
UNI 4403
156
UNI 4404
180
UNI 4405
202
UNI 5401
240
Getting Started
2-13
Direction of rotation
Stored charge
2.
3.
Momentarily press
Autotune
Autotune is a sequence of tests performed by the
Drive. The results of the tests are subsequently
used by the Drive for controlling the motor.
Autotune should be used after the operating mode
has been selected and after the motor parameters
have been entered, but before the Drive is used.
Normally (and if the motor is not changed),
Autotune needs performing only once.
Warning
Procedure
Note
OL + VT> If the settings of parameters
0.41 to 0.47 are changed by a user after
Autotune has been performed, it is
essential that Autotune is repeated.
1.
2.
3.
Note
To stop the test at any time, press
.
The motor will then coast to a stand-still
and the test will not be completed.
2-14
Getting Started
4.
5.
6.
7.
2.
2.7
Operating instructions
Terminal mode
Variable frequency/speed
In Terminal mode (with Macro 1), the Drive can
control the motor as follows:
1.
2.
3.
4.
5.
CL>
6.
7.
OL> Press
RESET contact.
8.
3.
Momentarily press
OL>
User-interface mode
CL>
Terminal
Keypad
Note
The main function of parameter 0.05 is a
reference selector which has other settings
that operate the Drive in Terminal mode.
At this stage, do not use any of these other
settings.
Use of parameter 0.05 is described for
Macros 0 and 1 in Chapter 3 Setting Up the
Drive.
9.
Getting Started
2-15
Keypad mode
Enabling reverse direction in
Keypad mode
Jog/Preset frequency/speed
and
This allows
bi-directional speed control.
to give
Variable frequency/speed
1.
2.
3.
4.
OL>
CL>
OL> 1.5Hz
CL> 50RPM
1.
2.
3.
4.
5.
6.
OL> Press
7.
CL>
8.
9.
Press
2-16
Getting Started
11. Press
to increase the speed. The value
of the upper display increases and the motor
speed increases.
to decrease the speed. The
12. Press
value of the upper display decreases and the
motor speed decreases. (If parameter 1.10 has
been set at 1, and you continue to press the key
after zero speed is reached, the motor speed
will increase in the reverse direction.)
to stop the Drive. The following
13. Press
occur:
Caution
2.
and
Getting Started
2-17
2.8
Warning
Caution
Default value
Range
Unit
OL>
0 ~ [0.02]
Hz
CL>
0 ~ [0.02]
rpm
Acceleration rate
To adjust the acceleration rate, adjust parameter
0.03 Acceleration rate. Increase the value to
increase the time taken for acceleration (ie. reduce
the acceleration rate).
Mode
Range
Default
Unit
OL>
0 ~ 3200
s/100Hz
VT>
0 ~ 3200
s/1000RPM
SV>
0 ~ 32
0.2
s/1000RPM
Deceleration rate
To adjust the deceleration rate, adjust parameter
0.04 Deceleration rate. Increase the value to
increase the time taken for deceleration (ie. reduce
the deceleration rate).
Mode
Range
Default
Unit
OL>
0 ~ 3200
10
s/100Hz
VT>
0 ~ 3200
s/1000RPM
SV>
0 ~ 32
0.2
s/1000RPM
Braking resistor
0.02
Default value
Range
Unit
OL>
50 Hz (EUR)
60 Hz (USA)
0 ~ 1000
Hz
VT>
1500RPM (EUR)
1800RPM (USA)
0 ~ 30 000
rpm
SV>
3000
0 ~ 30 000
rpm
Note
If the application requires a braking
resistor, an external braking resistor must
be connected to the Drive (see the
Installation Guide); the Drive does not
contain a braking resistor.
If a braking resistor is required but not
connected, the Drive may trip due to
excessive voltage appearing on the DC-bus
during deceleration, leaving the motor free
to coast. Alternatively, deceleration may
remain under control but with deceleration
times becoming extended. When the Drive
is used with a position controller, these
could cause following-errors.
2-18
Getting Started
Parameter
0.15 Ramp mode selector
2.04 Ramp mode selector
(see the Unidrive Advanced User Guide)
FLC
100 (%)
[0.46]
FLC
100 (%)
[0.46]
Where:
[0.46] = Value of Motor rated current
cos is the power factor of the motor.
The value of FLC is given in the following table.
Note
The results of these equations may not
correspond exactly with the current
delivered by the Drive, since the Drive may
round up the calculated figure.
Values of FLC
Model
FLC (A)
(15
. ) 2 (1 cos 2 )
cos
FLC
100 (%)
[ 0.46]
FLC (A)
2.1
UNI 3401
UNI 3201
34
UNI 1402
UNI 1202
2.8
UNI 3402
40
UNI 1403
UNI 1203
3.8
UNI 3403
UNI 3202
46
UNI 1404
UNI 1204
5.6
UNI 3404
UNI 3203
60
UNI 1405
UNI 1205
9.5
UNI 3405
70
UNI 3204
74
Model
UNI 1401
UNI 1201
UNI 2401
UNI 2201
12
UNI 4401
96
UNI 2402
UNI 2202
16
UNI 4402
124
UNI 2403
UNI 2203
25
UNI 4403
156
UNI 4404
180
UNI 4405
202
UNI 5401
240
(175
. ) 2 (1 cos 2 )
cos
FLC
100 (%)
[ 0.46]
(15
. ) 2 (1 cos 2 )
cos
FLC
100 (%)
[ 0.46]
Getting Started
2-19
Boost voltage
Open-loop only
Macro 1: Fd
Macros 0, 2, 3, 4, 5, 6, 7: Ur_I
Function
Vector modes
Keypad mode
Terminal mode
1.
Ur_S
2.
Ur_I
3.
4.
K> Press
T> Close the RUN FORWARD or RUN
REVERSE contact.
Ur
Default value: 3%
Range: 0 ~ 25%
5.
6.
Note
If parameter 0.39 Synchronize to a spinning
motor is to be set at 1: for reliable
operation of the Drive, set parameter 0.07
at Fd.
When Ur_I is selected, the
motor might kick when the
supply is connected to the
Warning Drive (with the EXTERNAL TRIP
contact already closed).
Voltage/frequency characteristic
Open-loop only
AC
2-20
Getting Started
Dynamic performance
Closed-loop only
Speed demand
Insufficient proportional
gain [0.07]
Procedure
Caution
Inappropriate values
entered in the parameters
for the speed-loop PID gains
can cause the control system
to become unstable.
2.
3.
4.
5.
6.
Excessive proportional
gain [0.07]
Ideal response
Figure 29
Response to a step-change in
speed demand when the speedloop PID gains are adjusted
Default value
Range
0.07
200
0 ~ 32000
0.08
100
0 ~ 32000
0.09
0 ~ 32000
Summary
The waveforms shown in Figure 29 represent the
signals that would appear at terminal 9 of the signal
connector when the speed demand applied to
terminals 5 and 6 (or terminal 7) is a square-wave.
Getting Started
2-21
2-22
Getting Started
Warning
Enabling a different
macro configuration
Do not attempt to enable any
macro configuration when the
Drive is running.
Warning
Note
Only one macro configuration can be
enabled at a time.
Notes
Keep a note of changes
When changing the values of parameters,
make a note of the new values in case they
need to be entered again.
3.1
3.2
Function
Motorized potentiometer
(frequency/speed control by up
and down contacts)
2002
2003
Torque control
2004
2005
Axis-limit control
2006
Brake control
2007
2008
General purpose
(USA default configuration)
2009
General purpose
(EUR default configuration)
2010
Setting
Note
The values of the fixed parameters are not
changed when any one of these macro
configurations is enabled.
Caution
2.
3.
3-1
2.
3.
3.3
Advanced programming
3-2
3.4
Macro 0
General purpose
(default configuration)
Features
Status relay
Drive healthy
Specific features
Analog frequency/speed
reference 1
(remote)
Connections for
single-ended input
signal
Standard features
0V common
Connections for
differential input signal
0V common
Analog
frequency/speed
reference 2
(local)
0V common
SPEED
TORQUE
Motor thermistor
0V common
OL> AT SPEED
CL> AT ZERO SPEED
0V common
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
Figure 31
3-3
LOCAL /
REMOTE
JOG
SELECT
29
Reference selection
Frequency/speed ref. 1
(remote)
26
RUN RUN
FORWARD REVERSE
27
RESET
28
25
Reference
selector
0.02
0.05
Analog input 1
mode selector
Minimum
frequency/
speed clamp
0.24
0.01
Analog input 2
destination
selector
Analog input 2
mode selector
0.25
Skip
frequencies/
speeds
0.26
Frequency/speed ref. 2
(local)
Preset references
(use Macro 3)
0.20
Skip frequency/
speed 1
0.21
0.38
0.35
Keypad
reference
Skip freq./speed
band 1
Power up
parameter
display
setting
0.22
Skip frequency/
speed 2
Precision reference
(not used with Menu 0)
0.23
Skip freq./speed
band 2
0.14
Jog
reference
Key
Figure 33
3-4
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
THERMISTOR
OL> FREQUENCY
TORQUE
CL> SPEED
8
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Torque
mode
selector
S-ramp
Ramps
S-ramp
enable
0.17
0.18
Current
limit
0.16
Stop mode
selector
0.39
Menu 4
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
0.31 Macro number
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
Voltage mode
selector
0.08
Boost voltage
0.40 Autotune
Estimated
motor
speed
0.09
Dynamic V/f
select
Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
3-5
Pr
Function
User
value
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector
0.06
Current limit
0.07
0.08
0.11
Pre-ramp reference
[M]
0.09
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
Jog reference
0.10
Pr
Function
Pr
[M]
[M]
Function
0.15
0.16
0.17
0.18
S-ramp enable
0.19
0.20
Skip frequency/speed 1
0.21
User
value
0.22
Skip frequency/speed 2
0.23
[M]
0.24
0.25
User
value
0.31
Macro number
0.32
0.33
[M]
0.26
0.34
[M]
0.27
0.35
Keypad reference
[M]
0.36
0.28
0.37
0.38
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-6
0.29
0.30
FWD/REV
key enable
Reference selection
Use 0.05 Reference selector to select the required
frequency/speed source, as follows:
0.05
Source
Terminal(s)
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
Preset frequencies/speeds
(Do not use this setting, use
Macro 3 instead)
Keypad control
Default
value
Range
OL>
1.5
0 ~ 400.0
Hz
VT>
50
0 ~ 4000
RPM
SV>
50
0 ~ 4000
RPM
Caution
Terminal(s)
5, 6
0.24
Analog input 1 mode selector
0.25
Analog input 2 mode selector
Unit
2.
3.
Parameter
Signal connector
JOG
RUN
REVERSE SELECT
STOP
0V common
Jog/Preset frequency/speed
The jog function can be used for low-speed jogging
or as a preset frequency/speed at any value up to
the maximum.
Figure 32
3-7
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
(Standard controlled)
Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16
Stop mode selector
rP
3-8
3.5
Macro 1
Easy mode
Features
Specific features
Easy mode gives the simplest operation of the Drive
for basic applications.
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
Standard features
Analog
frequency/speed
reference 2
(local) 4 ~ 20mA
0V common
0V common
SPEED
TORQUE
OL> AT SPEED
CL> AT ZERO SPEED
0V common
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
Figure 34
3-9
LOCAL /
REMOTE
JOG
SELECT
29
Reference selection
26
RUN RUN
FORWARD REVERSE
27
RESET
28
25
Reference
selector
Frequency/speed ref. 1
(remote)
0.02
0.05
Minimum
frequency/
speed clamp
5
6
0.01
7
Frequency/speed ref. 2
(local)
Preset references
(use Macro 3)
0.38
0.35
Keypad
reference
Power up
parameter
display
setting
Precision reference
(not used with Menu 0)
Key
Figure 35
3-10
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
OL> FREQUENCY
TORQUE
CL> SPEED
9
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
0.07
Deceleration
rate
0.08
Other parameters
0.09
0.31 Macro number
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
Voltage mode
selector
0.08
Boost voltage
0.40 Autotune
Estimated
motor
speed
0.09
Dynamic V/f
select
Motor speed
Power stage
0.10
0.41
PWM switching
frequency
3-11
Pr
Function
User
value
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector
0.06
Current limit
0.07
0.08
0.09
0.10
[M]
0.31
Macro number
[M]
0.32
0.33
[M]
0.34
[M]
0.35
Keypad reference
[M]
0.36
0.37
0.38
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-12
Reference selection
Use 0.05 Reference selector to select the required
frequency/speed source, as follows:
0.05
Source
Terminal(s)
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
Keypad control
Frequency/speed references
Keypad mode
The value of the keypad reference can be read by
displaying the value of 0.35 Keypad reference.
Terminal mode
Frequency/speed reference 1 (terminals 5, 6) is
configured for 0 to 10V signal.
Frequency/speed reference 2 (terminal 7) is
configured for 4 to 20mA signal. Loss of the
current signal will be treated as zero reference.
Jog
To use jog, close the JOG SELECT contact
(terminal 26) before closing the RUN FORWARD
contact (terminal 27) or RUN REVERSE contact
(terminal 28).
Jog will occur as follows:
OL> 1.5Hz
CL> 50RPM
These values cannot be altered.
3-13
3-14
3.6
Macro 2
Motorized potentiometer
Features
Special features
The digital inputs are configured to accept
momentary UP and DOWN contacts.
Selection can be made between motorized
potentiometer operation and normal
frequency/speed control. In both cases, analog
input 1 remains configured for an analog
frequency/speed reference signal (0 to 10V).
Motorized potentiometer is used by first closing the
RUN FORWARD or RUN REVERSE contact as
required, then closing the UP or DOWN contact to
increase or decrease the speed. When the UP and
DOWN contacts are both open, the Drive maintains
constant speed until the closed RUN contact is
opened.
The output of the motorized potentiometer can be
monitored by reading the value of 0.26 Motorized
pot. output indicator, and the frequency/speed by
reading the value of 0.11 Pre-ramp reference.
The motorized potentiometer is reset when the
RESET contact connected to terminal 25 is closed
momentarily. (This also resets the Drive.)
Selection can be made for the motorized
potentiometer to return to the previous set speed,
or start at zero, after each power-up.
Standard features
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
0V common
Motor thermistor
0V common
SPEED
TORQUE
UP
RESET and
MOT. POT. RESET
DOWN
RUN FORWARD
RUN REVERSE
MOT. POT. ENABLE
ANALOG I/P
MOT. POT.
Figure 36
3-15
MOTORIZED
POT. ENABLE
RESET and
RUN RUN
MOT. POT. RESET FORWARD REVERSE
29
Reference selection
Frequency/speed ref. 1
(remote)
25
27
28
30
Reference
selector
0.02
0.05
Analog input 1
mode selector
Minimum
frequency/
speed clamp
0.24
0.01
UP
DOWN
24
0.25
Motorized pot.
reset indicator
0.26
Motorized pot.
output indicator
0.27
0.20
Skip frequency/
speed 1
0.21
Skip freq./speed
band 1
Motorized pot.
zero-start select
0.28
Motorized pot.
bipolar select
0.29
0.30
Motorized pot.
output scale factor
Skip
frequencies/
speeds
0.22
Skip frequency/
speed 2
26
0.23
Skip freq./speed
band 2
0.38
Power up
parameter
display
setting
Key
Figure 37
3-16
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
THERMISTOR
OL> FREQUENCY
CL> SPEED
8
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
TORQUE
10
Motor control
0.06
S-ramp
Ramps
Current
limit
S-ramp
enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
Motor parameters
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
Voltage mode
selector
0.08
Boost voltage
0.09
Dynamic V/f
select
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
3-17
Pr
Function
User
value
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07
0.08
0.11
Pre-ramp reference
[M]
0.09
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
0.10
Pr
Function
Pr
[M]
Function
0.15
0.16
0.17
0.18
S-ramp enable
0.19
S-ramp da/dt
0.20
Skip frequency/speed 1
0.21
User
value
0.22
Skip frequency/speed 2
0.23
[M]
0.24
0.25
User
value
0.31
Macro number
0.32
0.33
[M]
0.26
0.34
[M]
0.27
0.35
Keypad reference
[M]
0.28
0.36
0.29
0.37
0.30
0.38
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-18
[M]
Reference selection
2.
3.
4.
5.
6.
7.
Terminal(s)
5, 6
Parameter
0.24
Analog input 1 mode selector
Jog frequency/speed
There is no need to adjust 0.14 Jog reference since
the jog function cannot be used.
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
(Standard controlled)
Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16
Stop mode selector
rP
3-19
3-20
3.7
Macro 3
Preset frequencies/speeds
Features
Special features
Selection can be made between preset
frequencies/speeds and analog frequency/speed
control. In both cases, analog input 1 remains
configured for an analog frequency/speed reference
signal (0 to 10V).
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
0V common
Motor thermistor
Standard features
0V common
SPEED
TORQUE
PRESET SELECT A
RESET
PRESET SELECT B
RUN FORWARD
RUN REVERSE
PRESET ENABLE
ANALOG I/P
PRESET REFS.
Figure 38
3-21
PRESET
ENABLE
RUN RUN
FORWARD REVERSE
29
Reference selection
Frequency/speed ref. 1
(remote)
5
27
RESET
28
25
Reference
selector
0.02
0.05
Analog input 1
mode selector
30
Maximum
freq./speed
clamp
Minimum
frequency/
speed clamp
0.24
0.01
0.25
PRESET
SELECT A
PRESET
SELECT B
24
Preset
reference 1
0.26
Preset
reference 2
0.27
Preset
reference 3
0.28
Preset
reference 4
Skip
frequencies/
speeds
0.20
Skip frequency/
speed 1
0.21
Skip freq./speed
band 1
26
A
0
0
1
1
B
0
1
0
1
0.22
Skip frequency/
speed 2
Preset speed
0.23
1
2
3
4
Skip freq./speed
band 2
0.38
Power up
parameter
display setting
Key
Figure 39
3-22
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
THERMISTOR
SPEED
8
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
TORQUE
10
Motor control
0.06
S-ramp
Ramps
Current
limit
S-ramp
enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
0.17 Status relay invert
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
Voltage mode
selector
0.08
Boost voltage
0.40 Autotune
0.48 Drive operating mode selector
0.09
Dynamic V/f
select
Power stage
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
3-23
Pr
Function
User
value
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07
0.08
0.11
Pre-ramp reference
[M]
0.09
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
0.10
Pr
Function
Pr
[M]
Function
0.15
0.16
0.17
0.18
S-ramp enable
0.19
S-ramp da/dt
0.20
Skip frequency/speed 1
0.21
User
value
0.22
Skip frequency/speed 2
0.23
[M]
0.24
0.25
Preset reference 1
0.31
Macro number
0.32
0.33
[M]
0.26
Preset reference 2
0.34
[M]
0.27
Preset reference 3
0.35
Keypad reference
[M]
0.28
Preset reference 4
0.36
0.29
(Not used)
0.37
0.30
(Not used)
0.38
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-24
User
value
Reference selection
Preset references
1.
2.
Analog
input
Terminal(s)
5, 6
Parameter
0.24
Analog input 1 mode selector
3.
Default value: 0
Range: OL> 1000 Hz CL> 30 000 RPM
Jog frequency/speed
Preset
reference
PRESET SELECT A
(terminal 24)
PRESET SELECT B
(terminal 26)
Open (0)
Open (0)
Open (0)
Closed (1)
Closed (1)
Open (0)
Closed (1)
Closed (1)
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
(Standard controlled)
Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16
Stop mode selector
rP
3-25
3-26
3.8
Macro 4
Torque control
Features
Specific features
Selection can be made between torque control and
analog frequency/speed control.
When frequency/speed control is selected, the Drive
will run at the speed demand irrespective of load so
long as the maximum permissible output current of
the Drive is not reached.
Status relay
Drive healthy
Analog torque
reference 1 (0 ~ 10V)
0V common
0V common
SPEED
TORQUE
Motor thermistor
OL> AT SPEED
CL> AT ZERO SPEED
Torque slaving
AT MIN. SPEED
RESET
Standard features
RUN REVERSE
0V common
RUN FORWARD
TORQUE ENABLE
FREQ./SPEED CONTROL
TORQUE CONTROL
3-27
RUN RUN
FORWARD REVERSE
27
Reference selection
Analog
input 1
mode
selector
Analog torque
reference
5
28
25
Reference
selector
0.24
Analog
input 1
scaling
0.02
0.05
30
Maximum
frequency/speed
clamp
Minimum
frequency/speed
clamp
0.29
0.01
0.25
Analog
input 1
0.26
Analog
input 2
mode
selector
Freq./speed control:
Frequency /speed
reference
Torque control:
OL> (Not used)
CL> Speed over-ride
Skip frequencies/
speeds
0.30
Analog
input 2
scaling
0.20
0.27
Skip frequency/
speed 1
Analog
input 2
0.21
Skip freq./speed
band 1
0.22
Skip frequency/
speed 2
0.23
Skip freq./speed
band 2
0.38
Power up
parameter
display
setting
Key
Figure 311
3-28
0.XX
Read-write
parameter (RW)
0.XX
Read-only
parameter (RO)
Input terminals
Output terminals
TORQUE
ENABLE
29
THERMISTOR
OL> FREQUENCY
TORQUE
CL> SPEED
OL> AT SPEED
AT MIN.
CL> AT ZERO SPEED SPEED
10
24
26
Pre-ramp
reference
Post-ramp
reference
0.11
Motor control
0.12
0.06
S-ramp
Ramps
Current
limit
S-ramp
enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
0.17 Status relay invert
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
Voltage mode
selector
0.08
Boost voltage
0.09
Dynamic V/f
select
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
3-29
Pr
Function
User
value
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07
0.08
0.11
Pre-ramp reference
[M]
0.09
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
0.10
Pr
Function
Pr
[M]
Function
0.15
0.16
0.17
0.18
S-ramp enable
0.19
S-ramp da/dt
0.20
Skip freq./speed 1
User
value
0.21
User
value
0.22
Skip freq./speed 2
0.23
[M]
0.24
0.25
0.31
Macro number
0.32
0.33
[M]
0.26
0.34
[M]
0.27
0.35
Keypad reference
[M]
0.36
0.28
Over-speed threshold
0.37
0.29
0.38
0.30
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-30
[M]
[M]
2.
3.
4.
5.
6.
7.
Reference selection
For correct operation of this macro configuration,
the setting of parameter 0.05 Reference selection
should be at 0.
Terminal(s)
Parameter
5, 6
0.24
Analog input 1 mode selector
0.26
Analog input 2 mode selector
Torque slaving
1.
2.
3.
Master Drive
Slave Drive
Signal
connector
(part)
Signal
connector
(part)
Figure 311
4.
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
(Standard controlled)
Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16
Stop mode selector
rP
Jog frequency/speed
There is no need to adjust 0.14 Jog reference since
the jog function cannot be used.
3-31
3-32
3.9
Macro 5
PID (set-point control)
Features
Specific features
PID control is used for applications where a process
is required to be maintained at a set-point. Typical
applications are as follows:
Status relay
Drive healthy
Frequency/speed
reference 1 (0 ~ 10V)
0V common
PID reference
(0 ~ 10V)
PID feedback
0V common
SPEED
TORQUE
OL> AT SPEED
CL> AT ZERO SPEED
0V common
RESET
Standard features
RUN FORWARD
RUN REVERSE
PID ENABLE
FREQ./SPEED CONTROL
PID CONTROL
Figure 312
3-33
PID
ENABLE
RESET
29
Reference selection
25
27
28
30
Reference
selector
Analog
input 1
mode
selector
Frequency/speed
reference
RUN
RUN
FORWARD REVERSE
0.02
0.05
Maximum
frequency/speed
clamp
Minimum
frequency/
speed clamp
0.14
0.01
0.17
Analog
input 2
Analog
input 1
PID
0.18
0.20
PID
reference
Analog input 2
mode selector
0.15
7
Analog
input 2
scaling
PID proportional
gain
0.21
PID integral
gain
0.28
0.22
PID derivative
gain
0.23
Analog
input 3
scaling
0.29
0.16
Analog input 3
mode selector
PID
feedback
0.38
Power up
parameter
display
setting
0.24
PID output
low limit
0.25
0.19
PID output
scale factor
Analog
input 3
Key
Figure 313
3-34
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
OL> FREQUENCY
CL> SPEED
TORQUE
9
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
0.07
Deceleration
rate
0.08
Other parameters
0.09
0.26 Preset reference 7
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
Voltage mode
selector
0.08
Boost voltage
0.09
Dynamic V/f
select
0.40 Autotune
0.48 Drive operating mode selector
0.49 Security status
0.50 Software version number
Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
3-35
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07
0.08
0.09
0.10
Pr
Function
User
value
Pr
Function
User
value
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
0.15
0.16
0.17
Analog input 1
(frequency/speed reference)
[M]
0.18
Analog input 2
(PID reference)
[M]
User
value
0.19
Analog input 3
(PID feedback)
[M]
[M]
0.20
0.21
[M]
0.31
Macro number
0.32
0.33
[M]
0.22
0.34
[M]
0.23
0.35
Keypad reference
[M]
0.24
0.36
0.25
0.37
0.26
Preset reference 7
0.38
0.27
Preset reference 8
0.39
0.28
0.40
Autotune
0.29
0.41
PWM
0.30
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-36
3.
2.
3.
4.
5.
4.
2.
Set 7.14 at 0.
3.
Set 7.18 at 0.
4.
5.
Frequency/speed reference:
0.26 Preset reference 7
PID reference: 0.27 Preset reference 8
Preset references
3-37
Reference selection
For correct operation of this macro configuration,
the setting of parameter of 0.05 Reference selection
should be at 0.
Terminal(s)
5, 6
0.14
Analog input 1 mode selector
0.15
Analog input 2 mode selector
0.16
Analog input 3 mode selector
3-38
Parameter
3-39
3.10
Macro 6
Axis-limit control
Standard features
Features
Specific features
3-40
Signal
connector
Status relay
Drive healthy
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
Analog
frequency/speed
reference
10V
+10V
0V
0V common
10V
Analog
frequency/speed
reference 2
(local) 0 ~ 10V
0V common
0V common
SPEED
0V common
TORQUE
SPEED
TORQUE
Motor thermistor
OL> AT SPEED
CL> AT ZERO SPEED
Motor thermistor
OL> AT SPEED
CL> AT ZERO SPEED
RESET
LIMIT FORWARD
RESET
RUN
LIMIT FORWARD
LIMIT REVERSE
RUN FORWARD
OL> External trip
CL> Drive enable
RUN REVERSE
0V common
LIMIT REVERSE
Figure 315
3-41
RUN
(FORWARD)
27
LIMIT
REVERSE
LIMIT
FORWARD
RUN
REVERSE
28
29
26
0.15
0.16
0.14
Run
forward
indicator
Run
reverse
indicator
Limit
forward
indicator
Limit
forward
invert
Limit
reverse
invert
0.21
0.22
0.17
Limit
reverse
indicator
0 = RUN enabled
1 = RUN disabled (at limit)
Reference selection
Frequency/speed ref. 1
(remote)
Reference
selector
Maximum
frequency/speed
clamp
Forward
freq./speed
reference
Minimum
frequency/
speed clamp
0.05
0.02
0.01
Frequency/speed
reference
Direction control
Bi-directional
frequency/speed
reference
Frequency/speed ref. 2
(local)
Reverse
freq./speed
reference
0.38
Power up
parameter
display
setting
Key
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
3-42
RESET
25
THERMISTOR
30
OL> FREQUENCY
TORQUE
CL> SPEED
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Current
limit
0.18
Stop mode
selector
Ramps
0.19
Hold zero
speed
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.20
0.07
OL> Limit
deceleration
rate
0.08
0.04
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
CL>
Deceleration
rate
0.09
Speed-loop
derivative
gain
0.07
Voltage mode
selector
Other parameters
0.10
0.08
Boost voltage
Estimated
motor
speed
0.09
Dynamic V/f
select
Motor speed
Motor
active-current
0.10
0.13
Power stage
0.41
PWM switching
frequency
3-43
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07
0.08
0.09
0.10
Pr
Function
0.31
Macro number
0.32
0.33
User
value
Pr
[M]
Function
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
[M]
0.15
[M]
0.16
[M]
0.17
[M]
0.18
[M]
0.19
[M]
0.20
User
value
0.21
[M]
0.22
0.23
(Not used)
[M]
0.24
(Not used)
(Not used)
0.34
[M]
0.25
0.35
Keypad reference
[M]
0.26
(Not used)
(Not used)
(Not used)
0.36
0.27
0.37
0.28
0.38
0.29
(Not used)
0.39
0.30
(Not used)
0.40
Autotune
0.41
PWM
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-44
User
value
Frequency/speed control
When Macro 6 is selected, the Drive always operates
in axis-limit control; unlike Macros 2 to 5, no digital
input exists to allow switching to and from normal
frequency/speed control.
Operation in bipolar or unipolar frequency/speed
control is dependent only on the signal connections
made. When bipolar control is required, to prevent
confusion do not connect a RUN REVERSE contact.
No jog function exists.
Reference selection
Use 0.05 Reference selector to select the required
frequency/speed reference source, as follows:
0.05
0
Source
Terminal(s)
5, 6
5, 6
Braking mode
The FASt ramp mode is applied. This gives
continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
A braking resistor is normally required in order to
prevent the DC-bus voltage from reaching the trip
level.
Stopping modes
Refer to parameter 0.18 Stop mode selector in
Appendix D Menu 0 Parameters.
0.21
0.22
Operating
mode
0.19
Effect on motor...
OL
Free to rotate
VT
Free to rotate
SV
Deceleration rates
Caution
3-45
3-46
3.11
Macro 7
Brake control
Features
Specific features
Brake control is used for controlling the application
and release of a mechanical brake in hoist or crane
applications. The Drive issues a brake release signal
when all of the following conditions are met:
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
0V common
Analog
frequency/speed
reference 2
(local) 0 ~ 10V
0V common
SPEED
TORQUE
Motor thermistor
RESET
CL> JOG
RUN FORWARD
RUN REVERSE
REMOTE
LOCAL / REMOTE
LOCAL
Standard features
Figure 317
BRAKE RELEASE
logic state
Effect
Low
Release brake
High
Apply brake
3-47
LOCAL /
REMOTE
29
Reference selection
RUN RUN
FORWARD REVERSE
26
27
28
25
Reference
selector
Frequency/speed ref. 1
(remote)
0.02
0.05
Minimum
frequency/
speed clamp
5
6
BRAKE
RELEASE
RESET
24
Maximum
frequency/
speed
clamp
0.01
7
Frequency/speed ref. 2
(local)
Preset references
(see the Unidrive
Advanced User Guide)
0.38
Power up
parameter
display
setting
0.35
Current detected
indicator
Keypad
reference
0.15
Precision reference
(not used with Menu 0)
Current
threshold
0.19
Motor current
magnitude
0.14
1.05
Jog reference
(see the Unidrive
Advanced User Guide)
0.18
Drive healthy
indicator
0.16
Brake release
indicator
0.20
At zero speed
indicator
Reference enabled
indicator
(see the Unidrive
Advanced User Guide)
At zero speed
indicator
0.17
Brake
release
delay
1.11
0.20
0.17
Brake
application
delay
3-48
OL> FREQUENCY
CL> SPEED
THERMISTOR
30
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
TORQUE
10
Motor control
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
0.07
Deceleration
rate
0.08
Other parameters
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
0.09
Speed-loop
derivative
gain
0.40 Autotune
Voltage mode
selector
0.10
0.08
Boost voltage
Estimated
motor
speed
Key
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Motor speed
0.10
Input terminals
Output terminals
0.09
Dynamic V/f
select
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
3-49
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07
0.08
0.09
0.10
Pr
Function
0.31
Macro number
0.32
0.33
User
value
Pr
[M]
User
value
[M]
Function
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
[M]
0.15
[M]
0.16
[M]
0.17
[M]
0.18
[M]
0.19
Current threshold
0.20
0.21
(Not used)
0.22
(Not used)
0.23
(Not used)
0.24
(Not used)
[M]
0.25
(Not used)
(Not used)
0.34
[M]
0.26
0.35
Keypad reference
[M]
0.27
(Not used)
(Not used)
0.36
0.28
0.37
0.29
(Not used)
0.38
0.30
(Not used)
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-50
User
value
2.
Frequency/speed control
Reference selection
Use 0.05 Reference selector to select the required
frequency/speed reference source, as follows:
Source
Terminal(s)
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
Preset frequencies/speeds
(see the Advanced User Guide)
Keypad control
Precision frequency/speed
reference
(see the Advanced User Guide)
0.05
Braking mode
The FASt ramp mode is applied. This gives
continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
A braking resistor is normally required in order to
prevent the DC-bus voltage from reaching the trip
level.
Stopping mode
The stopping mode is as follows:
Operating
mode
Stopping mode
OL
Ramp to a stop
VT
Ramp to a stop
SV
Brake-control settings
1.
CL>
Jog
The jog function is available only when the Drive is
operating in a closed-loop mode. The default jog
speed is 50 RPM. To change the jog speed, see the
Unidrive Advanced User Guide.
3-51
3.12
Macro 8
Digital lock
Shaft orientation
Slave
Speed
Master
Features
Time
Master
Position
Digital lock
The Drive operates as a slave in closed-loop
master-slave systems. The slave motor is
digitally locked to the master motor.
Slave
Time
Shaft orientation
The motor speed is controlled in the same way
as for Macro 1, but the motor shaft can be
orientated to a specified angular position
before and/or after running the motor.
Digital-lock modes
The Drive can be operated in rigid digital lock or
non-rigid digital lock. The actions of these digital-lock
modes are as follows:
Master
Slave
Time
3-52
Master
Position
Slave
Time
RUN control
Functions
Rigid
Jog
Non-rigid
3-53
2.
Digital lock
Signal
connector
Status relay
Drive healthy
Analog speed
reference 1
(remote) 0 ~ 10V
0V common
Analog speed
reference 2
(local) 0 ~ 10V
0V common
3.
4.
UD51
Resolver
UD53
SPEED
TORQUE
Motor thermistor
RESET
(RELATIVE) JOG
SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
Drive enable
0V common
Figure 321
3-54
Master
Drive
Slave
Drive
Simulated encoder
outputs
Encoder 2 inputs
(Reference encoder)
Encoder 1 inputs
(Feedback encoder)
Encoder 1 inputs
(Feedback encoder)
Feedback encoder
Feedback encoder
Figure 322 Master-slave signal connections for digital lock when encoders are used
Alternatively, a UD51 small option module need not
be fitted in the master Drive. In this case, the
Encoder 2 inputs for the slave Drive must be
connected direct to the feedback encoder on the
master Drive, in parallel with the Encoder 1 inputs on
the master Drive.
3-55
Master
Drive
Slave
Drive
Resolver inputs
(Feedback resolver)
Simulated encoder
outputs
Resolver inputs
(Feedback resolver)
Encoder 1 inputs
(Reference encoder)
Resolver
Resolver
Master-slave signal connections for digital lock when resolvers are used
See the UD51 or UD53 User Guide, as appropriate, for
ground connections.
3-56
Shaft orientation
Signal
connector
Status relay
Drive healthy
Analog speed
reference 1
(remote) 0 ~ 10V
0V common
Analog speed
reference 2
(local) 0 ~ 10V
0V common
SPEED
TORQUE
ORIENTATION
COMPLETE
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
Drive enable
0V common
3-57
LOCAL /
REMOTE
(RELATIVE)
JOG SELECT
29
Reference selection
26
Reference
selector
Speed reference 1
(remote)
RUN RUN
FORWARD REVERSE
0.05
5
6
27
Maximum
speed
clamp
28
0.02
Digital-lock
with feed-forward:
Digital-lock
without feed-forward:
Shaft orientation:
Minimum
speed clamp
0.01
Speed reference 2
(local)
Preset references
(see the Unidrive
Advanced User Guide)
0.38
Power up
parameter
display
setting
0.35
Digital
feed-forward
Keypad
reference
Positioning
speed limit
Precision reference
(not used with Menu 0)
(Relative) Jog
reference
Reference-encoder /
Feedback-resolver
position
0.21
Feedback-encoder /
Reference-resolver
position
0.19
Reference-encoder /
Feedback-resolver
speed
0.22
Feedback-encoder /
Reference-resolver
speed
0.18
0.25
0.14
Reference
encoder/resolver
revolution counter
0.29
0.15
Position-loop
mode selector
0.27
Orientation
acceptance
window
Positionloop gain
0.24
Position
error
0.20
0.17
Reference
encoder/resolver
ratio
Digital-lock modes: 0
Orientation modes: 1
0.30
Feedback
encoder/resolver
revolution counter
Orientation
reference
UD53
Not fitted: 0
Fitted:
1
0.26
3-58
RESET
25
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
DRIVE ENABLE
SPEED
30
TORQUE
ORIENTATION
COMPLETE
10
24
Motor control
0.06
Current
limit
Speed-loop
proportional
gain
0.08
Speed-loop
integral gain
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
0.09
Deceleration
rate
Motor parameters
Speed-loop
derivative
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Key
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
Other parameters
0.31 Macro number
0.32 Serial comms. mode
0.33 Drive rated current
0.34 User security code
0.36 Serial comms. baud rate
0.37 Serial comms. address
0.40 Autotune
0.48 Drive operating mode selector
0.49 Security status
0.50 Software version number
The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.
3-59
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector
0.06
Current limit
0.07
0.08
0.09
0.10
Motor speed
Pr
User
value
Pr
[M]
Function
User
value
Function
User
value
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
0.15
0.16
Feedback encoder
no. of lines / pulses per revolution
0.17
0.18
Feedback-encoder / Reference-resolver
speed
[M]
0.19
Feedback-encoder / Reference-resolver
position
[M]
0.20
Position error
[M]
0.21
Reference-encoder / Feedback-resolver
position
[M]
0.22
Reference-encoder / Feedback-resolver
speed
[M]
0.23
Reference encoder
no. of lines / pulses per revolution
0.24
Position-loop gain
0.31
Macro number
0.32
0.33
[M]
0.34
[M]
0.35
Keypad reference
[M]
0.36
0.25
0.37
0.26
Orientation reference
0.38
0.27
0.39
0.28
0.40
Autotune
0.29
PWM
[M]
0.41
0.42
0.30
[M]
0.43
0.44
0.45
0.46
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-60
[M]
Digital-lock mode
Set parameter 0.15 Position-loop mode selector
as follows:
Digital lock mode
Encoders
Digital
feed-forward
Rigid
Non-rigid
0.15
1
2
3
4
Frequency +
direction
Working-speed
range
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
625
10250
12001 ~ 24000
500
1000
24001 ~ 30 000
Reference selection
When parameter 0.15 has been set at 2 or 4 (for no
digital feed-forward), use 0.05 Reference selector to
select the required speed-reference source, as
follows:
0.05
Source
Terminal(s)
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
Preset speeds
(see the Advanced User Guide)
Keypad control
Speed reference
When parameter 0.15 has been set at 2 or 4 (for no
digital feed-forward), apply a suitable
speed-reference to the input selected by parameter
0.05 Reference selector. If required, use the
speed-reference that is applied to the master Drive;
otherwise use a speed-reference that always equals
the master speed-reference. In both cases, if a
speed ratio is to be used (see Speed ratio later in this
section), refer to Menu 7 in the Unidrive Advanced
User Guide for scaling the analog input accordingly.
Resolvers
Perform the following only when resolvers are fitted
to the motors, and UD53 option modules are fitted
in the Drives:
In the master and slave Drives...
3-61
Stopping mode
Setting up
Operating
mode
Stopping mode
VT
Ramp to a stop
SV
Speed ratio
By default, the slave motor will run at the same
speed as the master motor. To apply a ratio to
these speeds, change the value of 0.17 Reference
encoder/resolver ratio, as follows:
2.
3.
2.
3.
Ramps
When adusting parameters 0.03 Acceleration rate
and 0.04 Deceleration rate in the master and slave
Drives, to help minimise the incidence of position
errors, ensure that the rates will not cause the
following:
Positioning speed-limit
When a position error is being corrected, the
position loop produces a correction term which is
added to the speed reference that is applied to the
slave Drive. By default, the maximum value of the
correction term is limited to 150RPM. If required,
change the value of this limit by adjusting parameter
0.25 Positioning speed limit from 0 to 250RPM.
3-62
Reference selection
Source
Terminal(s)
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
Preset speeds
(see the Advanced User Guide)
Keypad control
Encoder
Perform the following only when an encoder is
fitted to the motor, and a UD51 option module is
fitted in the Drive:
Frequency +
direction
Working-speed
range
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
625
1250
12001 ~ 24000
500
1000
24001 ~ 30 000
Speed reference
Apply a speed reference to the input selected by
parameter 0.05 Reference selector.
Orientation mode
Jog
Setting up
If required, change the jog speed from the default
value of 50RPM by adjusting parameter
0.14 (Relative) jog reference from 0 to 4000RPM.
Using jog
1.
2.
3.
Orientation mode
Stopping mode
When parameter 0.15 Position-loop mode selector is
set at 5, set parameter 0.28 Ramp mode selector at
rP-Pos.
3-63
= [0.26] + [0.27]
= [0.26] [0.27]
Orientation speed
The default orientation speed is 150RPM. If required,
adjust parameter 0.25 Positioning speed limit from
0 to 250RPM.
3-64
Programming
Instructions
The instructions in this appendix take you step-bystep through learning how to use the display and
keypad, and alert you to avoid actions that could
cause confusion. It is in your interests to follow
these instructions carefully.
The instructions can be used when the Drive is
operating in Keypad or Terminal mode. They cover
the basic procedure for accessing a numerical
variable parameter. Instructions for accessing other
types of parameter, as well as for more advanced
operations, are given later in this appendix.
A.1
A.2
1.
2.
3.
4.
5.
6.
Electrical connections
Preparation
Warning
Warning
Warning
th
Et
rS
7.
Press
to reset the Drive. The display
should now show:
OL + VT> rdY
SV> StoP
If the lower display still shows triP and another
code is shown on the upper display, see
Appendix E Diagnostics.
Programming Instructions
A-1
A.3
Status mode
A.5
1.
Momentarily press
Parameter mode.
A.4
8 seconds
2.
. The status is
2.
A-2
Programming Instructions
A.6
Selecting
a parameter to access
Scrolling
1.
1.
Momentarily press
Parameter mode.
3.
2.
2.
Programming Instructions
A-3
A.7
1.
3.
4.
5.
A-4
Programming Instructions
1.
2.
. When the
Press and hold down
maximum value is reached, the entire display
flashes the maximum value (eg. 217.9). Release
the key within three flashes of the display. The
display now shows the highest permissible value
(eg. 216.4) that contains the displayed LSD.
Programming Instructions
A-5
3.
A.9
and
to select 1.
to select 0.
A.8
Saving new
parameter-values
2.
3.
A-6
Programming Instructions
2.
Press
The default values now take effect.
Parameter mode
Warning
or
and
or
and
Select a parameter
Select parameter 0.00
Select another menu
Select Menu 0
Edit mode
or
and
or
and
Programming Instructions
A-7
A-8
Programming Instructions
B.1
Security levels
User-defined Security
User-defined Security operates only when it has
been set-up by the user. When locked, it
prevents editing of all parameters in all the
menus except for parameter 00 in each menu.
Standard Security
When locked, Standard Security prevents
editing of all the parameters in the Advanced
Menus, but allows editing of the parameters in
the Menu 0. The Drive is supplied with this
level of security.
The code number used to unlock User-defined
Security is defined by the user. This gives
protection against unauthorized editing of
parameters. The code number can be read and
edited only when User Security has been unlocked.
B.2
2.
3.
4.
B.3
2.
B.4
Unlocking Standard
Security
2.
B.5
2.
B-1
B.6
Summary
Condition
Standard
Security
User Security
Locked
Advanced
parameters cannot
be read or edited
(Menu 0 is fully
accessible)
Only parameter
.00 in each menu
can be edited; all
other parameters
can be read
Drive as
despatched
from the
factory
Advanced
parameters cannot
be read or edited
(Menu 0 is fully
accessible)
None
Setting up
security
Occurs
automatically at
power-down
Locking
Unlocking
Changing the
code
Not possible
Disabling
security
Restoring a
default
configuration
B-2
No change
Signal Connections
Warning
Warning
Logic
state
Voltage
Negative
15V
5V
Connected to 0V
5V
Open-circuit
15V
Positive
Action
Open-circuit
Function
Drive healthy
240VAC
Installation category 1
5A resistive
10mA
Contact condition
Normally open
Isolation
1.5kV
Update period
8ms
0V common (analog)
Function
Voltage tolerance
1%
10mA
Protection
Current limit
Signal
Connected to +24V
Condition
Parameter
setting
0 ~ 10V
VOLt
0 ~ 20 mA
020
20 ~ 0 mA
200
4 ~ 20 mA
420.tr
20 ~ 4 mA
204.tr
4 ~ 20 mA
420.Lo
20 ~ 4 mA
204.Lo
4 ~ 20 mA
420.Pr
20 ~ 4 mA
204.Pr
Signal Connections
C-1
Analog input 1
Non-inverting input
Macro
Inverting input
Macro
Analog input 3
Function
Function
No function
3 k 15%
Reset resistance
1.9 k 15%
Short-circuit detection R
51 12%
Type of input
Macro
5
<5V
Function
PID feedback
Voltage range
10V ~ +10V
Type of input
Absolute maximum
voltage range
24V differential
Voltage range
10V ~ +10V
Input resistance
100k
Absolute maximum
voltage range
24V relative to 0V
Input resistance
100k
0 ~ 20mA
20mA ~ 0
4 ~ 20mA
20 ~ 4mA
50mA
200 at 20mA
Resolution
Sampling period
OL> 2ms
CL> <450s
Analog input 2
Macro
Function
01678
Freq./speed reference or
CL> Speed over-ride
PID reference
Type of input
10V ~ +10V
Absolute maximum
voltage range
24V relative to 0V
Input resistance
100k
0 ~ 20mA
20mA ~ 0
4 ~ 20mA
20 ~ 4mA
50mA
200 at 20mA
0 ~ 20mA
20mA ~ 0
4 ~ 20mA
20 ~ 4mA
50mA
200 at 20mA
10
Type of output
10V ~ +10V
10mA peak
Load resistance
1k minimum
Protection
Short-circuit proof
Resolution
Update period
8ms
11
0V common (analog)
0V common
C-2
Signal Connections
22
Voltage tolerance
10%
Protection
Current foldback
above 240mA
30
Input
Negative-logic digital
Voltage range
0V ~ +24V
Absolute maximum
voltage range
3V ~ +30V
3.2mA
Negative-logic levels
Inactive state
(input open-circuit): > +15V
0V common (digital)
24
Macro
UP input
ORIENTATION COMPLETE
output
25
26
018
Type of output
Negative-logic digital
(push-pull)
Voltage range
0V ~ +24V
Function
JOG SELECT input
DOWN input
27
28
29
Outputs
RESET input
Macro
Macro
Function
0178
LOCAL/REMOTE input
Inactive state
(input open-circuit): < +5V
Function
31
0V common (digital)
Signal Connections
C-3
C.2
Encoder connections
Motor thermistor
If required a motor thermistor can be connected as
shown in Figure C1, as follows:
Macro
Condition
Required
Required
Required
Required
Do not connect
Required
Encoder connector
15-way D-type
Required
Required
Encoder
7
8
Signal
connections for
all encoders
Descriptions of the
Encoder connections
Additional
commutation
signal
connections for
use with servo
motors only
Signal connector
Figure C1
Quadrature channel A
Quadrature channel A
Quadrature channel B
Quadrature channel B
Commutation channel U
Commutation channel U
Commutation channel V
10
Commutation channel V
11
Commutation channel W
12
Commutation channel W
Type
C-4
Signal Connections
205kHz
Line termination
components
120
(see parameter 3.24 in the
Advanced User Guide)
13
C.3
Encoder supply
Supply voltage
+5.15V or 15V
Voltage tolerance
2%
300mA
Caution
14
15
Encoder connector
15-way D-type
0V common
Motor thermistor input
Frequency
reference
Direction
reference
Master
Frequency
reference
Direction
reference
Slave
Signal connector
Figure C2
Signal Connections
C-5
Motor thermistor
If required a motor thermistor can be connected as
shown in Figure C1, as follows:
Macro
Condition
Required
Required
Required
Required
Do not connect
Required
Required
Required
10
Type
205kHz
Line termination
components
120
(see parameter 3.24 in the
Advanced User Guide)
14
0V common
15
Motor thermistor
C-6
Signal Connections
Menu 0 Parameters
D.1
Introduction
Symbols
Default value
Range of values
Categories of the
fixed-function parameters
The parameters are arranged in the following
categories:
0.00
0.01 ~ 0.02
Speed limits
0.03 ~ 0.06
Ramps
Speed reference selection
Current limit
0.07 ~ 0.09
0.10
Speed indication
0.31
Macro-number indication
Limitations of use
0.32 ~ 0.34
Miscellaneous
0.35
Keypad-reference monitoring
0.36 ~ 0.38
Serial communications
Parameter displayed at power-up
0.39 ~ 0.41
Spinning motor
Autotune
PWM switching frequency
0.42 ~ 0.47
Motor parameters
0.48
Operating-mode selection
0.49 ~ 0.50
Key
Type of parameter
RO
Read-only
RW
Readwrite
...selector
...select
...enable
...disable
...indicator
Range
Bi
Uni
Txt
Bit
Bit parameter
FLC
Menu 0 Parameters
D-1
D.2
Fixed-function parameters
common to all macro
configurations
Configuration
0.00
(1.07)
Open-loop
RW
RW
0 ~ 2010
0.01
Operating mode,
Macro selection,
Configuration,
Saving
Speed limits
Uni
OL>
0 ~ [0.02]
Uni
0
Hz
Value
Function
1000
1233
Closed-loop
1244
1253
1254
2001
Macro 1
Easy mode
2002
Macro 2
Motorized potentiometer
2003
Macro 3
Preset speeds
2004
Macro 4
Torque control
2005
Macro 5
PID control
2006
Macro 6
Axis-limit control
2007
Macro 7
Brake control
2008
Macro 8
CL> Digital lock
CL> Shaft orientation
2009
Macro 0
General purpose (USA default configuration)
2010
Macro 0
General purpose (EUR default configuration)
CL>
RW
0 ~ [0.02]
Uni
RPM
Open-loop
Maximum frequency clamp
OL>
0 ~ 1000.0
RW
Uni
50 (EURO)
60 (USA)
Hz
Press
after setting parameter 0.00 at the
required value.
D-2
Menu 0 Parameters
Closed-loop
0.05
Reference selector
(1.14)
VT>
SV>
RW
0 ~ 30 000
0 ~ 30 000
Uni
1500 (EURO)
1800 (USA)
RPM
3000
RPM
RPM
Caution
VT>
0 ~ 3200.0
SV>
0 ~ 32.000
Terminal mode
USA
Closed-loop modes
Terminal mode
USA
Open-loop mode
Keypad mode
Note
RW
0 ~ 3200.0
(See below)
Acceleration rate
OL>
Uni
(2.11)
0~5
Ramps,
Speed reference selection,
Current limit
0.03
RW
Setting
User-interface
mode
Terminal
Analog frequency/speed
reference selected by
LOCAL/REMOTE contact
Uni
5
s/100Hz
Function
s/1000RPM
0.2
s/1000RPM
Terminal
Analog frequency/speed
reference 1 selected
Terminal
Analog frequency/speed
reference 2 selected
Terminal
Preset frequency/speed
references selected
(used with Macro 3)
Keypad
Frequency/speed controlled
by the keypad
Terminal
Deceleration rate
(2.21)
RW
OL>
0 ~ 3200.0
VT>
0 ~ 3200.0
SV>
0 ~ 32.000
Uni
10
s/100Hz
s/1000RPM
0.2
s/1000RPM
0.06
Current limit
(4.07)
RW
OL>
0 ~ 150
VT>
0 ~ 175
SV
0 ~ 175
I RATIO =
Uni
150
% IRATIO
150
175
FLC
[ 0.46]
Menu 0 Parameters
D-3
TR
100 (%)
TRATED
Where:
Motor voltage
TR
TRATED
IR
100 (%)
I RATED
[0.08]
Voltage boost
Frequency
Where:
Required maximum active current
Motor rated active current
IR
IRATED
Figure D1
(See below)
Setting
RW
Uni
Ur_I
Function
Vector modes
Ur_S
Ur_I
Ur
Setting
Closed-loop
Open-loop
Speed-loop
proportional gain
CL>
0 ~ 32000
RW
Uni
200
Function
Fixed boost mode
Fd
D-4
Menu 0 Parameters
0.08
(5.15)
(3.11)
Open-loop
AC supply
voltage
IMOTOR
Boost voltage
OL>
0 ~ 25.0
RW
Uni
3.0
% x [0.44]
Frequency
Figure D2
Closed-loop
Speed-loop
integral gain
CL>
0 ~ 32000
RW
Uni
100
Closed-loop
Speed-loop
derivative gain
CL>
0 ~ 32000
RW
Uni
0
Open-loop
Dynamic V/f select
OL>
0~1
RW
Bit
0
Menu 0 Parameters
D-5
Speed indication
Miscellaneous
0.32
0.10
(5.04)
(3.02)
Open-loop
OL>
RW
RO
RPM
CL>
30 000
RO
ANSI 2
ANSI 4
INPUt
Bi
RPM
0.33
(11.32)
Txt
ANSI 4
Closed-loop
ANSI 2
ANSI 4
OUtPUt
INPUt
Bi
Motor speed
(11.24)
RO
2.10 ~ 1920
Uni
P
A
Macro number
(11.37)
0.34
(11.30)
RO
0~8
Uni
RW
0 ~ 255
Uni
149
D-6
Menu 0 Parameters
Keypad-reference monitoring
0.38
(11.22)
0.35
Keypad reference
RO
OL>
[0.02]
CL>
[0.02]
Bi
P
Hz
RPM
RW
4800 (0)
9600 (1)
19200 (2)
Txt
4800
(0)
P
baud
(11.23)
Uni
0.10
2.
Spinning motor,
Autotune,
PWM switching frequency
0.39
(11.25)
0.00 ~ 0.50
Serial communications,
Parameter displayed after power-up
0.36
RW
(1.17)
(6.09)
RW
OL>
0~1
CL>
0~1
Bit
0
1
Open-loop
RW
0.0 ~ 9.9
Uni
1.1
P
Group.Unit
Menu 0 Parameters
D-7
Notes
0.40
2.
3.
4.
Closed-loop
0.39 is set at 1 by default. The value of 0.12 Postramp reference is automatically set at the value of
speed feedback. The Drive then takes control of the
motor.
0~1
Bit
Note
OL + VT> If the settings of parameters 0.41
to 0.47 are changed by a user after
Autotune has been performed, it is
essential that Autotune is repeated.
0.41
PWM
switching frequency
(5.18)
RW
3, 4.5, 6, 9, 12
Txt
3
P
kHz
Thermal protection
Intelligent thermal modelling in the Drive effectively
monitors the junction temperature of the IGBTs in
the power stage. When the junction temperature is
calculated to reach the maximum permissible value,
two levels of protection occur, as follows:
1.
2.
Menu 0 Parameters
RW
D-8
Autotune
(5.12)
(3.25)
Motor parameters
0.45
(5.08)
0.42
(5.11)
RW
OL>
2 ~ 32
VT>
2 ~ 32
SV>
2 ~ 32
Txt
poles
poles
poles
OL>
0 ~ 1.000
VT>
0 ~ 1.000
SV>
Uni
0.92
0 ~ 30 000
RPM
1450 (EUR)
1770 (USA)
RPM
RPM
Open-loop
Closed-loop Vector
Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)
Uni
FLC
(5.06)
RW
SV>
(5.09)
0 ~ 30 000
Uni
(5.07)
Unidrive
OL>
VT>
0.46
1.0
0 ~ 6000
0.92
Open-loop
Closed-loop Vector
0.44
RW
OL>
Closed-loop Servo
(5.10)
RW
0 ~ 480
VT>
0 ~ 480
SV>
Unidrive LV
OL>
0 ~ 240
VT>
0 ~ 240
SV>
Uni
400 (EUR)
460 (USA)
400 (EUR)
460 (USA)
0
RW
OL>
0 ~ 1000.0
VT>
0 ~ 1000.0
SV>
Uni
50 (EUR)
60 (USA)
Hz
50 (EUR)
60 (USA)
Hz
Hz
220
220
Open-loop
Closed-loop Vector
Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)
Open-loop
Closed-loop Vector
Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)
Menu 0 Parameters
D-9
Operating-mode selection
0.48
D.3
Re-programmable
parameters specific to
the macro configurations
(11.31)
RW
(See below)
Txt
OPEN.LP
Operating mode
0 Open-loop
Closed-loop Vector
Closed-loop Servo
Pre-ramp reference
(1.03)
Security status
RO
0~1
RO
OL>
1000.0
CL>
30 000
Bi
HZ
RPM
Uni
1
Post-ramp reference
(2.01)
Applicable to Macros......
0.12
(11.29)
D-10
RO
1 .00~ 99.99
Uni
Menu 0 Parameters
0.13
Motor active-current
0.14
(4.02)
(8.03)
RO
FLC
Bi
RO
Applicable to Macros...
0~1
Bit
Applicable to Macros...
Jog reference
0.21
LIMIT FORWARD
contact
0.14
Open
Limit reached
(1.05)
RW
OL>
0 ~ 400.0
CL>
0 ~ 4000
Closed
1.5
Hz
Closed
50
RPM
Open
Limit reached
Uni
Applicable to Macros...
0
7
OL>
CL>
Limit applies
No
Yes
Note
Jog can be selected only when Macro 0 or
Macro 1 is enabled and operation is in
Terminal mode, or when Macro 8 is enabled.
Condition
0.14
(4.01)
RO
0 ~ Imax
Uni
P
A
Applicable to Macros...
0
CL>
Menu 0 Parameters
D-11
0.14
0.15
(7.06)
(2.04)
0.15
(7.11)
0.16
RW
(See below)
Txt
Stnd.Ct
(7.15)
RW
(See below)
Txt
VOLt
VOLt
Input signal
When current
signal 3mA...
0V to 10V
020
0 to 20mA
200
20mA to 0
420.tr
4mA to 20mA
Drive trips
204.tr
20mA to 4mA
Drive trips
420.Lo
4mA to 20mA
204.Lo
20mA to 4mA
420.Pr
4mA to 20mA
204.Pr
20mA to 4mA
th.SC
th
Applicable to Macros...
Setting
Applicable to Macros...
(0)
FASt
(1)
Fast ramp
Stnd.Ct
(2)
Stnd.Hd
Warning
D-12
Menu 0 Parameters
0.15
RW
CL>
RO
Function
(8.04)
0~1
Uni
0~6
Applicable to Macros...
(13.08)
Bit
0.16
(6.01)
Applicable to Macros...
0
RUN FORWARD
contact
Open
Closed
RW
OL>
(See below)
VT>
(See below)
SV>
(See below)
Txt
rP
rP
no.rP
Applicable to Macros...
0
0.15
COASt
rP
(12.01)
rP-dcI
RO
0~1
Bit
Ramp to a stop
dcI
td-dcI
Applicable to Macros...
0
Closed loop
COASt
rP
no.rP
rP-POS
Ramp to a stop
Menu 0 Parameters
D-13
0.16
(8.05)
0.16
RO
0~1
Bit
Quadrature
Frequency +
direction
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
Applicable to Macros...
0
RUN REVERSE
contact
Open
Closed
0.16
625
1250
12001 ~ 24000
500
1000
24001 ~ 30 000
0~1
(4.11)
(10.01)
Working-speed
range
Bit
RW
OL>
0~1
CL>
0~4
Uni
0
0
Applicable to Macros...
0
Operating normally
Tripped
0.16
RW
VT>
256 ~ 10 000
SV>
256 ~ 10 000
Setting
(3.21)
Drive...
Applicable to Macros...
4096
lines/pulses
per rev.
Closed-loop
Frequency control
Speed control
Torque control
Torque control
Coiler/uncoiler
mode
Uni
1024
Open-loop
Applicable to Macros...
0
D-14
Menu 0 Parameters
0.17
Closed-loop
(8.26)
RW
0~1
0.17
Motor speed
Bit
Above 2 RPM
Below 2 RPM
Applicable to Macros...
0
(13.07)
RW
CL>
0.000 ~ 4.000
Uni
1
(8.06)
Applicable to Macros...
RO
0~1
Bit
0.17
Open
Condition
Analog input 1
(7.01)
0.18
Analog input 2
(7.02)
Closed
Limit reached
Closed
Open
Limit reached
0.17
Applicable to Macros...
0.22
0.19
Analog input 3
(7.03)
RO
100
Bi
P
%
(10.03)
RO
OL>
0~1
Bit
Applicable to Macros...
0
Open-loop
0.17
0.12
Above 2Hz
Below 2Hz
Applicable to Macros...
0
Menu 0 Parameters
D-15
0.18
S-ramp enable
(2.06)
0.18
RW
0~1
Brake...
Bit
Applied
Released
Applicable to Macros...
0
VT>
(See below)
SV>
Txt
rP
no.rP
Feedback-encoder speed
Reference-resolver speed
For shaft orientation, 0.18 indicates
feedback-encoder speed.
Ramp to a stop
0.19
dcI
(2.07)
td-dcI
rP-dcI
Closed loop
0 The motor is allowed to coast
COASt
rP
Ramp to a stop
rP-POS
0~1
Bit
Applicable to Macros...
0
D-16
RW
OL>
0 ~ 3000.0
VT>
0 ~ 30.000
SV>
0 ~ 30.000
Uni
3.1
s /100Hz
2
1.5
s /1000 RPM
0.03
s /1000 RPM
(9.01)
RO
Applicable to Macros...
no.rP
P
RPM
Open loop
Bi
rP
rP
Applicable to Macros...
COASt
RO
0 ~ 30 000
CL>
Applicable to Macros...
RW
OL>
Feedback-encoder /
Reference-resolver speed
(13.07)
(6.01)
0.18
Menu 0 Parameters
0.19
Current threshold
(12.04)
Speed demand
RW
0.0 ~ 100.0
Uni
% Imax
Acceleration
Applicable to Macros...
0
Time
Figure D3
OL>
CL>
0.19
Feedback-encoder /
Reference-resolver position
(3.27)
RO
CL>
For acceleration:
[ 0.19]
[0.03]
t=
[0.19]
[0.04]
RW
OL>
0~1
VT>
0~1
SV>
0~1
P
1
/16384 rev
(6.08)
Uni
Applicable to Macros...
For deceleration:
t=
0 ~ 16383
Bit
Feedback-encoder position
Reference-resolver position
0
0
Applicable to Macros...
0
Menu 0 Parameters
D-17
0.20
Skip frequency/speed 1
0.20
(1.29)
0.22
Skip frequency/speed 2
(1.31)
(9.19)
RW
OL>
0 ~ 1000.0
CL>
0 ~ 30 000
Uni
0
Hz
RPM
0~4
(14.10)
0.2
0.0 ~ 25.0
Uni
Applicable to Macros...
Applicable to Macros...
0.20
RW
Uni
1
Applicable to Macros...
0
Position error
(13.01)
0.20
(2.21)
RW
OL>
0 ~ 3200.0
RO
CL>
16384
Bi
P
1
/16384 rev
Uni
0.2
s/100Hz
Applicable to Macros...
0
Applicable to Macros...
0
D-18
Menu 0 Parameters
0.21
Example
(1.30)
0.23
(1.32)
RW
OL>
0 ~ 5.0
CL>
0 ~ 50
Uni
0.5
Hz
RPM
(14.11)
Applicable to Macros...
0
[0.11]
Pre-ramp reference
RW
0~4
Uni
0.5
Applicable to Macros...
0
(8.17)
RW
0~1
Bit
0
Applicable to Macros...
0
Reference-encoder /
Feedback-resolver position
(16.03)
RO
CL>
0 ~ 16383
Uni
P
1
/16384 rev
Applicable to Macros...
Input reference
Figure D4
Menu 0 Parameters
D-19
0~4
0.23
Uni
RW
Applicable to Macros...
1
0 ~ 100
Uni
100
0.23
(8.24)
(16.04)
RW
Applicable to Macros...
0.22
(14.13)
0~1
Bit
RW
CL>
0 ~ 10 000
Uni
1024
lines/pulses
per rev.
Applicable to Macros...
0
Reference-encoder /
Feedback-resolver speed
(16.02)
RO
CL>
0 ~ 30 000
Bi
P
RPM
Applicable to Macros...
Applicable to Macros...
0
0.23
Quadrature
Frequency +
direction
Working-speed
range
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
625
1250
12001 ~ 24000
500
1000
24001 ~ 30 000
D-20
Menu 0 Parameters
Setting
(14.14)
RW
100
Bi
VOLt
100
When current
signal 3mA...
0V to 10V
020
0 to 20mA
200
20mA to 0
420.tr
4mA to 20mA
Drive trips
Applicable to Macros...
Input signal
204.tr
20mA to 4mA
Drive trips
420.Lo
4mA to 20mA
204.Lo
20mA to 4mA
420.Pr
4mA to 20mA
204.Pr
20mA to 4mA
(14.15)
RW
0~4
Uni
1
0.24
Position-loop gain
(13.09)
Applicable to Macros...
0
(7.06)
0.25
(7.11)
RW
(See below)
Txt
RW
CL>
0 ~ 4.000
Uni
0.1
Applicable to Macros...
VOLt
0.25
(9.28)
0~1
Bit
Applicable to Macros...
0
Menu 0 Parameters
D-21
0.25
Preset reference 1
0.26
(1.21)
(7.14)
0.26
Preset reference 2
(1.22)
0.27
RW
Preset reference 3
0.00 ~ 20.50
Uni
1.37
(1.23)
0.28
Preset reference 4
Applicable to Macros...
(1.24)
RW
OL>
1000
CL>
30 000
Bi
0
Hz
(1.36)
RO
OL>
1000
CL>
30 000
Bi
RPM
RO
RW
0 ~ 250
100
Bi
P
%
Applicable to Macros...
0
(13.09)
CL>
(9.03)
0.26
Hz
Applicable to Macros...
0.25
RPM
Applicable to Macros...
0.25
Menu.
parameter
Uni
150
0.26
RPM
(7.11)
Applicable to Macros...
0
RW
(See below)
Txt
VOLt
Applicable to Macros...
0
D-22
Menu 0 Parameters
Input signal
0.27
When current
signal 3mA...
(8.27)
(6.04)
0V to 10V
020
0 to 20mA
200
20mA to 0
420.tr
4mA to 20mA
Drive trips
204.tr
20mA to 4mA
Drive trips
420.Lo
4mA to 20mA
204.Lo
20mA to 4mA
420.Pr
4mA to 20mA
204.Pr
20mA to 4mA
0.26
Orientation reference
CL>
0 ~ 4095
Uni
0
/4096 REV.
Applicable to Macros...
0
Preset reference 7
Preset reference 8
(1.28)
RW
OL>
1000
CL>
30 000
European configuration
RW
0~1
Bit
Negative logic
Positive logic
RW
Sequencing mode
selector
Uni
0~4
(1.27)
0.27
Applicable to Macros...
USA configuration
(13.11)
RW
Bi
0
Hz
RPM
0.27
(9.21)
Applicable to Macros...
0
Motorized potentiometer
zero-start select
RW
0~1
Bit
0
Applicable to Macros...
0
Menu 0 Parameters
D-23
RO
100
30,000
0 ~ 30 000
VT>
0 ~ 30 000
SV>
0 ~ 30 000
Bi
Hz
RPM
Applicable to Macros...
0
CL>
0 ~ 200
150
130
USA configuration
Uni
20
/4096 REV.
Applicable to Macros...
0
RO
OL>
0 ~ 1000
CL>
0 ~ 30 000
BI
Hz
RPM
(4.14)
(8.23)
20
(13.12)
RW
Uni
RW
OL>
European configuration
= [0.26] + [0.27]
= [0.26] [0.27]
Applicable to Macros...
0
European configuration
0.28
(4.13)
EUR> Current-loop
proportional gain
(1.01)
Applicable to Macros...
RW
OL>
0 ~ 30 000
VT>
0 ~ 30 000
SV>
0 ~ 30 000
Uni
40
2000
1200
USA configuration
RW
OL>
0.00~20.50
Uni
1.41
Menu.
parameter
D-24
Menu 0 Parameters
Motorized potentiometer
bipolar select
(9.22)
RW
0~1
rP
Ramp to a stop
no.rP
rP-POS
Bit
0.29
(9.23)
Applicable to Macros...
0
RW
0 ~ 250
Uni
20
Applicable to Macros...
0.28
Overspeed threshold
(3.08)
0.28
RO
OL>
0 ~ 1000
VT>
0 ~ 30000
SV>
0 ~ 30000
Bi
(7.12)
1000
HZ
0.29
2000
RPM
(7.16)
4000
RPM
0~4
Uni
1
Applicable to Macros...
0
(See below)
SV>
(13.16)
RW
VT>
0.29
(6.01)
Applicable to Macros...
Txt
rP
RO
CL>
0 ~ 16384
Uni
P
revolutions
no.rP
Applicable to Macros...
Applicable to Macros...
0
Menu 0 Parameters
D-25
0.30
(7.08)
0.30
(7.12)
RW
0~4
Uni
FWD/REV
key enable
RW
0~1
RO
CL>
0 ~ 16384
Uni
P
revolutions
Applicable to Macros...
0
(6.13)
Feedback encoder/resolver
revolution counter
(13.17)
0.30
1
Bit
Applicable to Macros...
0
RW
0~1
Applicable to Macros...
(14.09)
Bit
0
Applicable to Macros...
0
Motorized potentiometer
output scale factor
RW
0~4
Uni
1
Applicable to Macros...
0
D-26
Menu 0 Parameters
Pr
Macro 0
Macro 2
Macro 3
Macro 4
0.11
0.12
0.13
Motor active-current
(4.02)
Motor active-current
(4.02)
Motor active-current
(4.02)
Motor active-current
(4.02)
0.14
0.15
0.16
0.17
0.18
0.19
0.20
0.21
(1.30)
(1.30)
(1.30)
(1.30)
0.22
0.23
(1.32)
(1.32)
(1.32)
(1.32)
0.24
(7.06)
0.25
Analog reference 1
(torque reference) (1.36)
0.26
Analog input 2
(CL> Speed over-ride)
0.27
(8.27)
(1.37)
EUR> Current-loop
Motorized pot. bipolar
proportional gain (4.13)
select (9.22)
USA> Freq./speed demand
Over-speed threshold
(3.08)
(1.01)
0.29
EUR> Current-loop
integral gain (4.14)
USA> Terminal-29
destination selector (8.23)
0.30
FWD/REV
Menu 0 Parameters
D-27
Pr
Macro 5
Macro 6
Macro 7
Macro 8
0.11
0.12
0.13
Motor active-current
(4.02)
Motor active-current
(4.02)
Motor active-current
(4.02)
Motor active-current
(4.02)
0.14
Analog input 1
(frequency/speed
reference) mode selector
0.15
Analog input 2
(PID reference) mode
selector (7.11)
Position-loop mode
selector (13.08)
0.16
Analog input 3
(PID feedback) mode
selector (7.15)
0.17
Analog input 1
(frequency/speed
reference) (7.01)
Reference encoder/
resolver ratio (13.07)
0.18
Analog input 2
(PID reference) (7.02)
Feedback-encoder /
reference-resolver speed
(3.26)
0.19
Analog input 3
(PID feedback) (7.03)
Feedback-encoder /
reference-resolver position
(3.27)
(14.10)
0.21
Reference-encoder /
Feedback-resolver position
(16.03)
0.22
Reference-encoder /
Feedback-resolver speed
(16.02)
0.23
0.24
0.25
(7.06)
0.20
(14.15)
0.26
Orientation reference
(13.11)
0.27
Orientation acceptance
window (13.12)
0.28
(7.12)
0.29
0.30
D-28
Menu 0 Parameters
Reference encoder/
resolver revolution
counter (13.16)
Feedback encoder/
resolver revolution
counter (13.17)
Diagnostics
E.1
Status indications
Lower
display
Warning
Conditions
Drive
output
rdY
The Drive is ready to be run.
Disabled
run
The Drive is running.
Enabled
inh
Disabled
dEC
The Drive is decelerating the motor
Enabled
SCAn
Status indications
When the Drive is in normal operation, the
lower display shows a code which indicates the
status of the Drive.
Alarm indications
If a critical condition is detected, the Drive
continues operating and the lower display
shows an alarm code in place of the status
code. If the condition is not rectified, the Drive
could trip.
The alarm message flashes alternately with the
normal display indication.
Trip codes
If the Drive trips, the output is disabled so that
the Drive stops controlling the motor. The
lower display indicates that a trip has occurred
and the upper display shows a trip code.
Enabled
ACUU
The Drive has detected that the AC supply
is lost and is attempting to maintain the
DC-bus voltage by decelerating the motor.
Enabled
dc
The Drive is applying DC injection braking.
Enabled
POS
The Drive is positioning the motor shaft.
Enabled
triP
The Drive has tripped and is no longer
controlling the motor. The trip code
appears on the upper display.
E.2
Disabled
Alarm indications
Lower
display
Conditions
br.rS
The braking-resistor [I x t] accumulator in the Drive has
reached 75% of the value at which the Drive will be
tripped.
OVLd
The motor [I x t] accumulator in the Drive has reached 75%
of the value at which the Drive will be tripped.
hot
The Drive heatsink has reached 95C (203F) and the
output current has not been reduced (sufficiently).
Air
The temperature of the air around the control circuits is
near the maximum permissible.
Diagnostics
E-1
E.3
Trip codes
ENC.OVL
10
Encoder ASIC
(Encoder supply or frequency/direction output).
ENC.PH1
11
No.
UU
Conditions
Trip in the small option module. See the User Guide for
the relevant small option module.
E-2
Diagnostics
ENC.PH2
12
13
14
15
16
17
ENC.PH8
18
19
20
21
22
23
24
25
26
cL1
27
29
tr 100
30
100
101
40 ~ 99
28
trXX
Ot HS n
102 ~ 109
31
PS n
110 ~ 117
AC
Ph
32
OI.AC n
OU n
33
34
35
36
37
39
126 ~ 133
118 ~ 125
OI.dc n
DC
134 ~ 141
142 ~ 149
150 ~ 158
159 ~ 179
180
The type of small option module that the Drive has been
programmed to operate with has been removed or is not
fitted correctly.
Perform either of the following:
Ensure the appropriate type of small option module is
correctly fitted
To operate the Drive in the present configuration, set
parameter .00 at 1000 and press the STOP/RESET key.
ENCPH9
181
182
183
Diagnostics
E-3
FSH.TyP
184
185
186
187
188
189 ~ 200
E-4
Diagnostics