ABB industrial drives
Firmware manual
ACS880 primary control program
Firmware manual
ACS880 primary control program
2012 ABB Oy. All Rights Reserved.
3AUA0000085967 Rev C
EN
EFFECTIVE: 2012-04-01
Table of contents 5
Table of contents
List of related manuals in English . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Contents of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. .a. .f.e.t.y. . . 12
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Frequency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Special control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Application programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Direct torque control (DTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Constant speeds (frequencies) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Critical speeds (frequencies) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Encoder support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6 Table of contents
Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Application macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Process PID control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Undervoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Safety and protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Maintenance timers and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Energy savings calculator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Default parameter settings for the Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Default control connections for the Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Default parameter settings for the Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Default control connections for the Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Default parameter settings for the PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Default control connections for the PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Sensor connection examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Torque control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Default parameter settings for the Torque control macro . . . . . . . . . . . . . . . . . . . . . . . . . 66
Default control connections for the Torque control macro . . . . . . . . . . . . . . . . . . . . . . . . 67
Sequential control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Operation diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Selection of constant speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Default parameter settings for the Sequential control macro . . . . . . . . . . . . . . . . . . . . . . 69
Table of contents 7
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
03 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
04 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
05 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
06 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
07 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
10 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
11 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
12 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
13 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
19 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
20 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
21 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
22 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
23 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
24 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
25 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
26 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
28 Frequency reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
30 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
31 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
32 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
33 Maintenance timer & counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
35 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
36 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
40 Process PID set 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
41 Process PID set 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
43 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
44 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
45 Energy efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
46 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
47 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
49 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
50 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
51 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
52 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
53 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
90 Feedback selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
91 Encoder module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
92 Encoder 1 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
93 Encoder 2 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
95 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
96 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
97 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
98 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
8 Table of contents
99 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Parameter groups 1…9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Parameter groups 10…99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
How to reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Warning/fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Event log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Parameters that contain warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Contents of the fieldbus Control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Contents of the fieldbus Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
The state diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Setting up the drive for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Parameter setting example: FPBA (PROFIBUS DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Motor feedback configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Torque reference source selection and modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Table of contents 9
Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Frequency reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Frequency reference modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Process PID setpoint and feedback source selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Process PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
10 Table of contents
Introduction to the manual 11
1
Introduction to the manual
What this chapter contains
This chapter describes the contents of the manual. It also contains information on the
compatibility, safety and intended audience.
Applicability
This manual applies to the ACS880 primary control program (version 1.10 or later).
Safety instructions
Follow all safety instructions delivered with the drive.
• Read the complete safety instructions before you install, commission, or use
the drive. The complete safety instructions are delivered with the drive as either
part of the Hardware manual, or, in the case of ACS880 multidrives, as a separate
document.
• Read the firmware function-specific warnings and notes before changing
parameter values. These warnings and notes are included in the parameter
Target audience
This manual is intended for people who design, commission, or operate the drive
system.
12 Introduction to the manual
Contents of the manual
This manual consists of the following chapters:
operating modes of the drive.
control program.
connection diagram.
remedies.
communication to and from a fieldbus network using the embedded fieldbus
interface of the drive.
from a fieldbus network using an optional fieldbus adapter module.
together by the drive-to-drive (D2D) link.
Related documents
Note: A quick start-up sequence for a speed control application is provided by
ACS880 drives with primary control program, Quick start-up guide
(3AUA0000098062), delivered with the drive.
A list of related manuals is printed on the inside of the front cover.
Terms and abbreviations
Term/abbreviation
Definition
ACS-AP-I
AI
Type of control panel used with ACS880 drives
Analog input; interface for analog input signals
Analog output; interface for analog output signals
Type of control unit used in ACS880 drives.
DC circuit between rectifier and inverter
AO
BCU
DC link
DDCS
Distributed drives communication system; a protocol used in
optical fiber communication
Introduction to the manual 13
Term/abbreviation
Definition
DI
Digital input; interface for digital input signals
DIO
Digital input/output; interface that can be used as a digital input
or output
DO
Digital output; interface for digital output signals
Direct torque control
DTC
EFB
Embedded fieldbus
FBA
Fieldbus adapter
FEN-01
FEN-11
FEN-21
FEN-31
FIO-01
FIO-11
FCAN-0x
FDNA-0x
FECA-01
FENA-11
FLON-0x
FPBA-0x
FSCA-0x
HTL
Optional TTL encoder interface module
Optional absolute encoder interface module
Optional resolver interface module
Optional HTL encoder interface module
Optional digital I/O extension module
Optional analog I/O extension module
Optional CANopen adapter
Optional DeviceNet adapter
Optional EtherCAT® adapter
Optional Ethernet/IP adapter
®
Optional LONWORKS adapter
Optional PROFIBUS DP adapter
Optional Modbus adapter
High-threshold logic
IGBT
Insulated gate bipolar transistor; a voltage-controlled
semiconductor type widely used in inverters due to their easy
controllability and high switching frequency
I/O
Input/Output
ID run
Motor identification run. During the identification run, the drive
will identify the characteristics of the motor for optimum motor
control.
LSB
Least significant bit
Least significant word
Most significant bit
Most significant word
LSW
MSB
MSW
14 Introduction to the manual
Term/abbreviation
Definition
Network control
With fieldbus protocols based on the Common Industrial
Protocol (CIPTM), such as DeviceNet and Ethernet/IP, denotes
the control of the drive using the Net Ctrl and Net Ref objects of
the ODVA AC/DC Drive Profile. For more information, see
www.odva.org, and the following manuals:
• FDNA-01 DeviceNet adapter module User’s manual
(3AFE68573360 [English]), and
• FENA-01/-11 Ethernet adapter module User’s manual
(3AUA0000093568 [English]).
Parameter
User-adjustable operation instruction to the drive, or signal
measured or calculated by the drive
PID controller
Proportional–integral–derivative controller. Drive speed control
is based on PID algorithm.
PLC
Programmable logic controller
Power unit
Contains the power electronics and connections of the drive.
The drive control unit is connected to the power unit.
PTC
RFG
RO
Positive temperature coefficient
Ramp function generator.
Relay output; interface for a digital output signal. Implemented
with a relay.
SSI
Synchronous serial interface
Safe torque off
STO
TTL
UPS
Transistor-transistor logic
Uninterruptible power supply; power supply equipment with
battery to maintain output voltage during power failure
ZCON
ZCU
Type of control board used in ACS880 drives. The board is
either integrated into the drive or fitted in a plastic housing (see
Type of control unit used in ACS880 drives that consists of a
ZCON board built into a plastic housing.
The control unit may be fitted onto the drive/inverter module, or
installed separately.
16 Using the control panel
18 Control locations and operating modes
Local control vs. external control
The ACS880 has two main control locations: external and local. The control location
is selected with the Loc/Rem key on the control panel or in the PC tool.
ACS880
External control
2)
I/O 1)
PLC
(= Programmable
logic controller)
Local control
Drive-to-drive (D2D)
link or Embedded
fieldbus interface
Fieldbus adapter or DDCS
communication module
Fxxx
Control panel or Drive composer
PC tool (optional)
M
3~
Encoder
1) Extra inputs/outputs can be added by installing optional I/O extension modules (FIO-xx) in
drive slots.
2) Encoder or resolver interface module(s) (FEN-xx) installed in drive slots.
Local control
The control commands are given from the control panel keypad or from a PC
equipped with Drive composer when the drive is in local control. Speed and torque
control modes are available for local control; frequency mode is available when scalar
Local control is mainly used during commissioning and maintenance. The control
panel always overrides the external control signal sources when used in local control.
reacts to a control panel or PC tool communication break. (The parameter has no
effect in external control.)
Control locations and operating modes 19
External control
When the drive is in external control, control commands are given through the
fieldbus interface (via or an optional fieldbus adapter module), the I/O terminals
(digital and analog inputs), or optional I/O extension modules.
Two external control locations, EXT1 and EXT2, are available. The user can select
the sources of the start and stop commands separately for each location by
location, which enables quick switching between different operating modes, for
example speed and torque control. Selection between EXT1 and EXT2 is done via
any binary source such as a digital input or fieldbus control word (see parameter
mode separately.
20 Control locations and operating modes
Operating modes of the drive
The drive can operate in several operating modes with different types of reference.
The mode is selectable for each control location (Local, EXT1 and EXT2) in
The following is a general representation of the reference types and control chains.
Speed
reference
source selection
I
Speed reference
source selection
II
Speed reference
ramping and
shaping
Speed error
calculation
Motor feedback
configuration
Torque
reference
Speed controller
source selection
and modification
Reference
selection for
torque controller
Process PID
setpoint and
feedback source
selection
Torque
controller
Reference
modification for
torque controller
Process PID
controller
DTC motor
control mode
Scalar motor
control mode
Frequency
reference
source selection
and modification
Speed control mode
The motor follows a speed reference given to the drive. This mode can be used either
with estimated speed used as feedback, or with an encoder or resolver for better
speed control accuracy.
Control locations and operating modes 21
Speed control mode is available in both local and external control. It is also available
both in DTC (Direct Torque Control) and scalar motor control modes.
Torque control mode
Motor torque follows a torque reference given to the drive. This mode can be used
either with or without an encoder or resolver. When used with an encoder or resolver,
this mode provides for more accurate and dynamic motor control.
Torque control mode is available in both local and external control.
Frequency control mode
The motor follows a frequency reference given to the drive. Frequency control is only
available for scalar motor control.
Special control modes
In addition to the above-mentioned control modes, the following special control
modes are available:
• Emergency stop modes OFF1 and OFF3: Drive stops along the defined
deceleration ramp and drive modulation stops.
• Jogging mode: Drive starts and accelerates to the defined speed when the
22 Control locations and operating modes
24 Program features
Drive configuration and programming
The drive control program is divided into two parts:
• firmware program
• application program.
Drive control program
Firmware
Application program
Speed control
Torque control
Frequency control
Drive logic
I/O interface
Fieldbus interface
Protections
Function block
program
Parameter
interface
E
M
Standard
block library
Feedback
The firmware program performs the main control functions, including speed and
torque control, drive logic (start/stop), I/O, feedback, communication and protection
functions. Firmware functions are configured and programmed with parameters.
Programming via parameters
Parameters can be set via
• the Drive composer PC tool, as described in Drive composer user’s manual
(3AUA0000094606 [English]), or
All parameter settings are stored automatically to the permanent memory of the drive.
However, if an external +24 V DC power supply is used for the drive control unit, it is
before powering down the control unit after any parameter changes.
If necessary, the default parameter values can be restored by parameter 96.06
Application programming
The functions of the firmware program can be extended with application
programming. (A standard drive delivery does not include an application program.)
Program features 25
Application programs can be built out of function blocks based on the IEC-61131
standard.
26 Program features
Control interfaces
Programmable analog inputs
The drive control unit has two programmable analog inputs. Each of the inputs can be
independently set as a voltage (0/2…10 V or -10…10 V) or current (0/4…20 mA)
input by a jumper on the drive control unit. Each input can be filtered, inverted and
scaled. The number of analog inputs can be increased by using FIO-xx I/O
extensions.
Settings
Programmable analog outputs
The drive control unit has two current (0…20 mA) analog outputs. Each output can be
filtered, inverted and scaled. The number of analog outputs can be increased by
using FIO-xx I/O extensions.
Settings
Programmable digital inputs and outputs
The drive has six digital inputs, a digital start interlock input, and two digital
input/outputs.
One digital input (DI6) doubles as a PTC thermistor input. See section Motor thermal
Digital input/output DIO1 can be used as a frequency input, DIO2 as a frequency
output.
The number of digital inputs/outputs can be increased by using FIO-xx I/O
extensions.
Settings
Programmable relay outputs
The drive control unit has three relay outputs. The signal to be indicated by the
outputs can be selected by parameters.
Relay outputs can be added by using FIO-0x I/O extensions.
Program features 27
Settings
Programmable I/O extensions
The number of inputs and outputs can be increased by using FIO-xx I/O extensions.
The I/O configuration parameters (parameter groups 10…13) include the maximum
number of DI, DIO, AI, AO and RO that can be in use with different FIO-xx
combinations.
The table below shows the possible I/O combinations:
Digital
inputs
(DI)
Digital I/Os
Analog
inputs
(AI)
Analog
outputs
(AO)
Relay
outputs
(RO)
Location
(DIO)
Drive control unit
FIO-01
7
-
2
4
2
2
-
2
-
3
2
-
FIO-11
-
3
1
For example, with an FIO-01 and an FIO-11 connected to the drive, parameters
controlling DI1…7, DIO1…8, AI1…5, AO1…3 and RO1…5 are in use.
Settings
Fieldbus control
The drive can be connected to several different automation systems through its
Settings
28 Program features
Motor control
Direct torque control (DTC)
The motor control of the ACS880 is based on direct torque control (DTC). The
switching of the output semiconductors is controlled to achieve the required stator
flux and motor torque. The switching frequency is changed only if the actual torque
and stator flux values differ from their reference values by more than the allowed
hysteresis. The reference value for the torque controller comes from the speed
controller or directly from an external torque reference source.
Motor control requires measurement of the DC voltage and two motor phase
currents. Stator flux is calculated by integrating the motor voltage in vector space.
Motor torque is calculated as a cross product of the stator flux and the rotor current.
By utilizing the identified motor model, the stator flux estimate is improved. Actual
motor shaft speed is not needed for the motor control.
The main difference between traditional control and DTC is that torque control has
the same time level as the power switch control. There is no separate voltage and
frequency controlled PWM modulator; the output stage switching is wholly based on
the electromagnetic state of the motor.
The best motor control accuracy is achieved by activating a separate motor
identification run (ID run).
Settings
Reference ramping
Acceleration and deceleration ramping times can be set individually for speed, torque
and frequency reference.
With a speed or frequency reference, the ramps are defined as the time it takes for
the drive to accelerate or decelerate between zero speed or frequency and the value
switch between two preset ramp sets using a binary source such as a digital input.
For speed reference, also the shape of the ramp can be controlled.
With a torque reference, the ramps are defined as the time it takes for the reference
Program features 29
Special acceleration/deceleration ramps
The acceleration/deceleration times for the jogging function can be defined
defined for emergency stop (“Off3” mode).
Settings
Constant speeds (frequencies)
It is possible to predefine up to 7 constant speeds. Constant speeds can be activated,
for example, through digital inputs. Constant speeds override the normal speed
reference.
For frequency control, seven constant frequencies can be defined in the same way.
Settings
Critical speeds (frequencies)
A critical speeds function is available for applications where it is necessary to avoid
certain motor speeds or speed ranges because of, for example, mechanical
resonance problems.
A similar function is available for scalar motor control with a frequency reference.
30 Program features
Example
A fan has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm. To make
the drive jump over these speed ranges,
• set the critical speed ranges as in the figure below.
Motor speed
(rpm)
1
2
3
4
1560
1380
690
540
Speed reference
(rpm)
1
2
3
4
Settings
Encoder support
The program supports two single-turn or multiturn encoders (or resolvers). The
following optional interface modules are available:
• Absolute encoder interface FEN-11: absolute encoder input, TTL input, TTL
output (for encoder emulation and echo) and two digital inputs for position latching
• Resolver interface FEN-21: resolver input, TTL input, TTL output (for encoder
emulation echo) and two digital inputs for position latching
• HTL encoder interface FEN-31: HTL encoder input, TTL output (for encoder
emulation and echo) and two digital inputs for position latching.
The interface module is installed onto any option slot on the drive control unit, or onto
an FEA-xx extension adapter.
Quick configuration of HTL encoder feedback
listing will be re-read from the drive after the value is changed.
Program features 31
4. Set the number of pulses according to encoder nameplate
5. If the encoder rotates at a different speed to the motor (ie. is not mounted directly
check the status of the FEN-31 module; both LEDs should be glowing green.
8. Start the motor with a reference of eg. 400 rpm.
Settings
Jogging
Two jogging functions (1 or 2) are available. When a jogging function is activated, the
jogging function is typically used during servicing or commissioning to control the
machinery locally.
Jogging functions 1 and 2 are activated by a parameter or through fieldbus. For
The figure and table below describe the operation of the drive during jogging. (Note
that they cannot be directly applied to jogging commands through fieldbus as those
how the drive shifts to normal operation (= jogging inactive) when the drive start
32 Program features
Speed
Time
1
2
3
4
5
6
7
8
9
10 11
12 13 14 15 16
Jog
Jog
Start
Phase
Description
cmd enable cmd
1-2
1
1
0
Drive accelerates to the jogging speed along the acceleration
ramp of the jogging function.
2-3
3-4
1
0
1
1
0
0
Drive runs at the jogging speed.
Drive decelerates to zero speed along the deceleration ramp
of the jogging function.
4-5
5-6
0
1
1
1
0
0
Drive is stopped.
Drive accelerates to the jogging speed along the acceleration
ramp of the jogging function.
6-7
7-8
8-9
1
x
x
1
0
0
0
1
1
Drive runs at the jogging speed.
Jog enable is not active; normal operation continues.
Normal operation overrides the jogging. Drive follows the
speed reference.
9-10
x
0
0
Drive decelerates to zero speed along the selected
10-11
11-12
x
x
0
0
0
1
Drive is stopped.
Normal operation overrides the jogging. Drive accelerates to
the speed reference along the selected acceleration ramp
12-13
13-14
1
1
1
1
1
0
Start command overrides the jog enable signal.
Drive decelerates to the jogging speed along the
deceleration ramp of the jogging function.
14-15
15-16
1
x
1
0
0
0
Drive runs at the jogging speed.
Drive decelerates to zero speed along the selected
Program features 33
Notes:
• Jogging is not operational when the drive start command is on, or if the drive is in
local control.
• The ramp shape time is set to zero during jogging.
Settings
Scalar motor control
It is possible to select scalar control as the motor control method instead of DTC
(Direct Torque Control). In scalar control mode, the drive is controlled with a speed or
frequency reference. However, the outstanding performance of DTC is not achieved
in scalar control.
It is recommended to activate scalar motor control mode in the following situations:
• In multimotor drives: 1) if the load is not equally shared between the motors, 2) if
the motors are of different sizes, or 3) if the motors are going to be changed after
motor identification (ID run)
• If the nominal current of the motor is less than 1/6 of the nominal output current of
the drive
• If the drive is used without a motor connected (for example, for test purposes)
• If the drive runs a medium-voltage motor through a step-up transformer.
In scalar control, some standard features are not available.
IR compensation for scalar motor control
IR compensation is available only when
the motor control mode is scalar. When
Motor voltage
IR compensation is activated, the drive
gives an extra voltage boost to the
IR compensation
motor at low speeds. IR compensation
is useful in applications that require a
high break-away torque.
No compensation
In Direct Torque Control (DTC), no IR
compensation is possible or needed.
f (Hz)
Settings
34 Program features
Autophasing
Autophasing is an automatic measurement routine to determine the angular position
of the magnetic flux of a permanent magnet synchronous motor or the magnetic axis
of a synchronous reluctance motor. The motor control requires the absolute position
of the rotor flux in order to control motor torque accurately.
Sensors like absolute encoders and resolvers indicate the rotor position at all times
after the offset between the zero angle of rotor and that of the sensor has been
established. On the other hand, a standard pulse encoder determines the rotor
position when it rotates but the initial position is not known. However, a pulse encoder
can be used as an absolute encoder if it is equipped with Hall sensors, albeit with
coarse initial position accuracy. The Hall sensors generate so-called commutation
pulses that change their state six times during one revolution, so it is only known
within which 60° sector of a complete revolution the initial position is.
N
Rotor
%
Absolute encoder/resolver
S
The autophasing routine is performed with permanent magnet synchronous motors
and synchronous reluctance motors in the following cases:
1. One-time measurement of the rotor and encoder position difference when an
absolute encoder, a resolver, or an encoder with commutation signals is used
2. At every power-up when an incremental encoder is used
3. With open-loop motor control, repetitive measurement of the rotor position at
every start.
The turning mode is recommended especially with case 1 as it is the most robust and
accurate method. In turning mode, the motor shaft is turned back and forward
(±360/polepairs)° in order to determine the rotor position. In case 3 (open-loop
control), the shaft is turned only in one direction and the angle is smaller.
Program features 35
The standstill modes can be used if the motor cannot be turned (for example, when
the load is connected). As the characteristics of motors and loads differ, testing must
be done to find out the most suitable standstill mode.
A rotor position offset used in motor control can also be given by the user. See
The drive is capable of determining the rotor position when started to a running motor
Settings
Flux braking
The drive can provide greater deceleration by raising the level of magnetization in the
motor. By increasing the motor flux, the energy generated by the motor during
braking can be converted to motor thermal energy.
T
Motor
speed
Br
TBr = Braking torque
TN = 100 Nm
(%)
TN
60
No flux braking
40
20
Flux braking
Flux braking
No flux braking
f (Hz)
t (s)
The drive monitors the motor status continuously, also during flux braking. Therefore,
flux braking can be used both for stopping the motor and for changing the speed. The
other benefits of flux braking are:
• The braking starts immediately after a stop command is given. The function does
not need to wait for the flux reduction before it can start the braking.
• The cooling of the induction motor is efficient. The stator current of the motor
increases during flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
• Flux braking can be used with induction motors and permanent magnet
synchronous motors.
Two braking power levels are available:
• Moderate braking provides faster deceleration compared to a situation where flux
braking is disabled. The flux level of the motor is limited to prevent excessive
heating of the motor.
36 Program features
• Full braking exploits almost all available current to convert the mechanical braking
energy to motor thermal energy. Braking time is shorter compared to moderate
braking. In cyclic use, motor heating may be significant.
Settings
DC magnetization
DC magnetization can be applied to the motor to lock the rotor at or near zero speed.
Pre-magnetization
Pre-magnetization refers to DC magnetization of the motor before start. Depending
guarantee the highest possible breakaway torque, up to 200% of the nominal torque
possible to synchronize the motor start and, for example, the release of a mechanical
brake.
DC hold
The function makes it possible to lock the rotor at (near) zero speed in the middle of
continues.
DC hold
Motor speed
t
Reference
t
Note: DC hold is only available in speed control.
38 Program features
Application control
Application macros
Process PID control
There is a built-in process PID controller in the drive. The controller can be used to
control process variables such as pressure, flow or fluid level.
In process PID control, a process reference (setpoint) is connected to the drive
instead of a speed reference. An actual value (process feedback) is also brought
back to the drive. The process PID control adjusts the drive speed in order to keep
the measured process quantity (actual value) at the desired level (setpoint).
The simplified block diagram below illustrates the process PID control. For a more
Setpoint
Limitation
Speed, torque or
frequency
reference chain
Process
PID
Filter
AI1
AI2
Process
actual
values
• • •
D2D
FBA
The control program contains two complete sets of process PID controller settings
Quick configuration of the process PID controller
Program features 39
Sleep function for process PID control
The sleep function can be used in PID control applications where the consumption
varies. When used, it stops the pump completely during low demand, instead of
running the pump slowly below its efficient operating range. The following example
visualizes the operation of the sleep function.
The drive controls a pressure boost pump. The water consumption falls at night. As a
consequence, the process PID controller decreases the motor speed. However, due
to natural losses in the pipes and the low efficiency of the centrifugal pump at low
speeds, the motor would never stop rotating. The sleep function detects the slow
rotation and stops the unnecessary pumping after the sleep delay has passed. The
drive shifts into sleep mode, still monitoring the pressure. The pumping resumes
when the pressure falls under the wake-up level (setpoint - wake-up deviation) and
the wake-up delay has passed.
40 Program features
Setpoint
Time
Time
Time
Wake-up delay
Actual value
Wake-up level
Actual value
Wake-up level
Motor speed
Sleep mode
t < t
t
sd
sd
Sleep level
Time
STOP
START
Tracking
In tracking mode, the PID block output is set directly to the value of parameter 40.50
no transient is allowed to pass on to the output, so when the tracking mode is left,
normal process control operation can be resumed without a significant bump.
Settings
Program features 41
Mechanical brake control
A mechanical brake can be used for holding the motor and driven machinery at zero
speed when the drive is stopped, or not powered. The brake control logic observes
external signals, and moves between the states presented in the diagram on page
Inputs of the brake control logic
source of the brake control logic. An external open/close signal can optionally be
→
Request brake to open
→
Request brake to close
Another external signal – for example, from a higher-level control system – can be
Other signals that affect the state of the control logic are
given reference or not),
not),
• optional FSO-xx safety functions module.
Outputs of the brake control logic
input/output in output mode) which is then wired to the brake actuator through a relay.
The brake control logic, in various states, will request the drive control logic to hold
the motor, increase the torque, or ramp down the speed. These requests are visible in
Settings
42 Program features
Brake state diagram
(from any state)
(from any state)
2
1
BRAKE DISABLED
BRAKE CLOSED
BRAKE OPENING
3
BRAKE OPENING WAIT
6
10
4
BRAKE OPENING
DELAY
3
8
5
6
BRAKE CLOSING
BRAKE OPEN
BRAKE CLOSING
DELAY
7
BRAKE CLOSING WAIT
6
9
State descriptions
State name
Description
Brake has been requested to open. The drive logic is requested to increase the
→
0). The load is held in place by the speed control of the
source has been selected, its state is checked; if the state is not “brake open”,
=
reference.
Program features 43
State name
Description
Brake has been requested to close. The drive logic is requested to ramp down
→
elapsed.
source has been selected, its state is checked; if the state is not “brake closed”,
necessarily modulating.
*A warning can alternatively be selected by 44.17 Brake fault function; if so, the drive will keep modulating
and remain in this state.
State change conditions (
)
n
→
1
2
0).
module.
3
4
5
6
7
Brake has been requested to close.
8
9
Brake has been requested to open.
→
1).
44 Program features
Operation time scheme
The simplified time scheme below illustrates the operation of the brake control
function. Refer to the state diagram above.
Start command
tmd
Torque reference
Ts
Tmem
Speed reference
ncs
trod
Brake control signal
tod
tccd
Opening torque
tcd
tcfd
Hold stopped request
Ramp to stopped
BOW
BOD
BCW
BCD
State
1
2
3
4
5
6
7
8
9
Ts
tmd
tod
Motor magnetization delay
ncs
tccd
tcd
tcfd
trod
BCD
Program features 45
Wiring example
The figure below shows a brake control wiring example. The brake control hardware
and wiring is to be sourced and installed by the customer.
WARNING! Make sure that the machinery into which the drive with brake
control function is integrated fulfils the personnel safety regulations. Note
that the frequency converter (a Complete Drive Module or a Basic Drive
Module, as defined in IEC 61800-2), is not considered as a safety device
mentioned in the European Machinery Directive and related harmonised standards.
Thus, the personnel safety of the complete machinery must not be based on a
specific frequency converter feature (such as the brake control function), but it has to
be implemented as defined in the application specific regulations.
Drive control unit
Brake control
hardware
XRO1
115/230 VAC
1 NC
2 COM
3 NO
Emergency
brake
XD24
4 +24VD
XDIO
5 DI5
M
Mechanical brake
Motor
46 Program features
DC voltage control
Overvoltage control
Overvoltage control of the intermediate DC link is typically needed when the motor is
in generating mode. To prevent the DC voltage from exceeding the overvoltage
control limit, the overvoltage controller automatically decreases the generating torque
when the limit is reached.
Undervoltage control
If the incoming supply voltage is cut off, the drive will continue to operate by utilizing
the kinetic energy of the rotating motor. The drive will be fully operational as long as
the motor rotates and generates energy to the drive. The drive can continue
operation after the break if the main contactor (if present) remained closed.
Note: Units equipped with a main contactor must be equipped with a hold circuit (e.g.
UPS) to keep the contactor control circuit closed during a short supply break.
Umains
TM
fout
UDC
(Nm) (Hz) (V DC)
UDC
160
120
80
80
60
40
20
520
390
260
130
fout
TM
40
t (s)
1.6
4.8
8
11.2
14.4
UDC= intermediate circuit voltage of the drive, fout = output frequency of the drive, TM = motor torque
Loss of supply voltage at nominal load (fout = 40 Hz). The intermediate circuit DC voltage drops to the
minimum limit. The controller keeps the voltage steady as long as the mains is switched off. The drive runs
the motor in generator mode. The motor speed falls but the drive is operational as long as the motor has
enough kinetic energy.
Program features 47
Automatic restart
It is possible to restart the drive automatically after a short (max. 5 seconds) power
supply failure by using the Automatic restart function provided that the drive is
allowed to run for 5 seconds without the cooling fans operating.
When enabled, the function takes the following actions upon a supply failure to
enable a successful restart:
• The undervoltage fault is suppressed (but a warning is generated)
• Modulation and cooling is stopped to conserve any remaining energy
• DC circuit pre-charging is enabled.
If the DC voltage is restored before the expiration of the period defined by parameter
However, if the DC voltage remains too low at that point, the drive trips on a fault,
Voltage control and trip limits
The control and trip limits of the intermediate DC voltage regulator are relative to the
supply voltage as well as drive/inverter type. The DC voltage (U ) is approximately
DC
The following diagram shows the relation of selected DC voltage levels. Note that the
absolute voltages vary according to drive/inverter type and AC supply voltage range.
Overvoltage fault level (1.3 × UDCmax)*
Overvoltage control level (1.25 × UDCmax)**
Overvoltage warning level (1.15 × UDCmax
)
UDCmax
UDCmin
Undervoltage control/warning level (0.85 × UDCmin
)
Undervoltage fault level (0.6 × UDCmin
)
U
U
DCmax = DC voltage corresponding to the maximum of the AC supply voltage range
DCmin = DC voltage corresponding to the minimum of the AC supply voltage range
* For 500 V AC supply voltage range, 1.25 × UDCmax
.
** For 500 V AC supply voltage range, 1.20 × UDCmax
.
48 Program features
Settings
Brake chopper
A brake chopper can be used to handle the energy generated by a decelerating
motor. When the DC voltage rises high enough, the chopper connects the DC circuit
to an external brake resistor. The chopper operates on the pulse width modulation
principle.
The internal brake choppers of ACS880 drives start conducting when the DC link
voltage reaches approximately 1.15 × U
. 100% pulse width is reached at
DCmax
approximately 1.2 × U
. (U
is the DC voltage corresponding to the
DCmax
DCmax
maximum of the AC supply voltage range.)
For information on external brake choppers, refer to their documentation.
Settings
Program features 49
Safety and protections
Emergency stop
The emergency stop signal is connected to the input selected by parameter 21.05
Notes:
• The installer of the equipment is responsible for installing the emergency stop
devices and all additional devices needed for the emergency stop function to fulfill
the required emergency stop categories. For more information, contact your local
ABB representative.
• After an emergency stop signal is detected, the emergency stop function cannot
be canceled even though the signal is canceled.
• If the minimum (or maximum) torque limit is set to 0%, the emergency stop
function may not be able to stop the drive.
Motor thermal protection
The control program features two separate motor temperature monitoring functions.
The temperature data sources and warning/trip limits can be set up independently for
each function.
The motor temperature can be monitored using
• the motor thermal protection model (estimated temperature), or
• sensors installed in the windings. This will result in a more accurate motor model.
Motor thermal protection model
The drive calculates the temperature of the motor on the basis of the following
assumptions:
1. When power is applied to the drive for the first time, the motor is at ambient
when power is applied to the drive, the motor is assumed to be at the estimated
temperature.
2. Motor temperature is calculated using the user-adjustable motor thermal time and
motor load curve. The load curve should be adjusted in case the ambient
temperature exceeds 30 °C.
Note: The motor thermal model can be used when only one motor is connected to
the inverter.
50 Program features
Temperature monitoring using PTC sensors
One PTC sensor can be connected to digital input DI6. FEN-xx encoder interfaces
(optional) also have a connection for one PTC sensor.
Connecting a PTC sensor to DI6 requires a voltage divider circuit such as the one
pictured below.
+24VD
T
DI6
1 kohm
DICOM
The resistance of a PTC sensor increases when its temperature rises. The increasing
resistance of the sensor decreases the voltage over the 1 kohm resistor, and
eventually the state of DI6 switches from 1 to 0, indicating overtemperature.
The figure below shows typical PTC sensor resistance values as a function of
temperature.
Ohm
4000
1330
550
100
T
For detailed wiring information, refer to the Hardware Manual of the drive, or the User
manual of the FEN-xx encoder interface.
Temperature monitoring using Pt100 sensors
1…3 Pt100 sensors can be connected in series to an analog input and an analog
output.
Program features 51
The analog output feeds a constant excitation current of 9.1 mA through the sensor.
The sensor resistance increases as the motor temperature rises, as does the voltage
over the sensor. The temperature measurement function reads the voltage through
the analog input and converts it into degrees Celsius.
It is possible to adjust the motor temperature supervision limits and select how the
drive reacts when overtemperature is detected.
For the wiring of the sensor, refer to the Hardware Manual of the drive.
Temperature monitoring using KTY84 sensors
One KTY84 sensor can be connected to an analog input and an analog output either
on the control unit or on an optional FIO-21 analog extension.
The analog output feeds a constant excitation current of 2.0 mA through the sensor.
The sensor resistance increases as the motor temperature rises, as does the voltage
over the sensor. The temperature measurement function reads the voltage through
the analog input and converts it into degrees Celsius.
FEN-xx encoder interfaces (optional) also have a connection for one PTC sensor.
The figure and table below show typical KTY84 sensor resistance values as a
function of the motor operating temperature.
Ohm
3000
2000
KTY84 scaling
90 °C = 936 ohm
110 °C = 1063 ohm
130 °C = 1197 ohm
150 °C = 1340 ohm
1000
0
T oC
-100
0
100
200
300
It is possible to adjust the motor temperature supervision limits and select how the
drive reacts when overtemperature is detected.
For the wiring of the sensor, refer to the Hardware Manual of the drive.
52 Program features
Settings
Programmable protection functions
An external event signal can be connected to a selectable input. When the signal is
lost, an external event (fault, warning, or a mere log entry) is generated.
The parameter selects how the drive reacts whenever a motor phase loss is detected.
The earth fault detection function is based on sum current measurement. Note that
• an earth fault in the supply cable does not activate the protection
• in a grounded supply, the protection activates in 200 milliseconds
• in an ungrounded supply, the supply capacitance should be 1 microfarad or more
• the capacitive currents caused by shielded motor cables up to 300 meters will not
activate the protection
• the protection is deactivated when the drive is stopped.
The parameter selects how the drive reacts whenever a supply phase loss is
detected.
The drive monitors the status of the Safe torque off input. For more information on the
Safe torque off function, see the Hardware manual.
The drive can detect if the supply and motor cables have accidentally been switched
(for example, if the supply is connected to the motor connection of the drive). The
parameter selects if a fault is generated or not.
The drive protects the motor in a stall situation. It is possible to adjust the supervision
limits (current, frequency and time) and choose how the drive reacts to a motor stall
condition.
Program features 53
The user can set overspeed (and overfrequency) limits by specifying a margin that is
added to the currently-used maximum and minimum speed (or frequency) limits.
The parameter selects how the drive reacts to a control panel or PC tool
communication break.
Automatic fault resets
The drive can automatically reset itself after overcurrent, overvoltage, undervoltage,
external and “analog input below minimum” faults. The user can also specify a fault
that is automatically reset.
By default, automatic resets are off and must be specifically activated by the user.
Settings
54 Program features
Diagnostics
Signal supervision
Three signals can be selected to be supervised by this function. Whenever a
pass filtered.
Settings
Maintenance timers and counters
The program has six different maintenance timers or counters that can be configured
to generate a warning when a pre-defined limit is reached. The timer/counter can be
set to monitor any parameter. This feature is especially useful as a service reminder.
There are three types of counters:
• On-time timers. Measures the time a binary source (for example, a bit in a status
word) is on.
• Signal edge counters. The counter is incremented whenever the monitored binary
source changes state.
• Value counters. The counter measures, by integration, the monitored parameter.
An alarm is given when the calculated area below the signal peak exceeds a
user-defined limit.
Settings
Energy savings calculator
This feature consists of the following functionalities:
• An energy optimizer that adjusts the motor flux in such a way that the total
efficiency is maximized
• A counter that monitors used and saved energy by the motor and displays them in
kWh, currency or volume of CO emissions, and
2
• A load analyzer showing the load profile of the drive (see separate section on
Note: The accuracy of the energy savings calculation is directly dependent on the
Settings
Program features 55
Load analyzer
Peak value logger
The user can select a signal to be monitored by a peak value logger. The logger
records the peak value of the signal along with the time the peak occurred, as well as
motor current, DC voltage and motor speed at the time of the peak.
Amplitude loggers
The control program has two amplitude loggers.
For amplitude logger 2, the user can select a signal to be sampled at 200 ms intervals
when the drive is running, and specify a value that corresponds to 100%. The
collected samples are sorted into 10 read-only parameters according to their
amplitude. Each parameter represents an amplitude range 10 percentage points
wide, and displays the percentage of the collected samples that fall within that range.
Amplitude ranges
Amplitude logger 1 is fixed to monitor motor current, and cannot be reset. With
amplitude logger 1, 100% corresponds to the maximum output current of the drive
(I
max
Settings
56 Program features
Miscellaneous
Data storage parameters
Twenty-four (sixteen 32-bit, eight 16-bit) parameters are reserved for data storage.
These parameters are unconnected by default and can be used for linking, testing
and commissioning purposes. They can be written to and read from using other
parameters’ source or target selections.
Settings
Application macros 57
5
Application macros
What this chapter contains
This chapter describes the intended use, operation and default control connections of
the application macros.
More information on the connectivity of the control unit is given in the Hardware
manual of the drive.
General
Application macros are sets of default parameter values suitable for the application in
question. When starting up the drive, the user typically selects the best-suited
application macro as a basis and makes the necessary changes.
58 Application macros
Factory macro
The Factory macro is suited to relatively straightforward speed control applications
such as conveyors, pumps and fans, and test benches.
In external control, the control location is EXT1. The drive is speed-controlled with the
reference signal connected to analog input AI1. The start/stop commands are given
through digital input DI1; running direction is determined by DI2.
Faults are reset through digital input DI3.
DI4 switches between acceleration/deceleration time sets 1 and 2. The acceleration
and deceleration times, as well as ramp shapes, are defined by parameters
DI5 activates constant speed 1.
Default parameter settings for the Factory macro
The default parameter settings for the Factory macro are listed under Parameter
Application macros 59
Default control connections for the Factory macro
XPOW External power input
1
2
+24VI
GND
24 V DC, 2 A
XAI
1
2
Reference voltage and analog inputs
+VREF 10 V DC, RL 1…10 kohm
-VREF -10 V DC, RL 1…10 kohm
AGND Ground
3
4
5
6
7
AI1+
AI1-
AI2+
AI2-
Speed reference
0(2)…10 V, Rin > 200 kohm
By default not in use.
0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
1
2
3
4
AO1
AGND
AO2
Motor speed rpm
0…20 mA, RL < 500 ohm
Motor current
0…20 mA, RL < 500 ohm
AGND
XD2D Drive-to-drive link
1
2
3
B
A
Drive-to-drive link
BGND
XRO1, XRO2, XRO3 Relay outputs
1
2
3
1
2
3
1
2
3
NC
COM
NO
NC
COM
NO
NC
COM
NO
Ready
250 V AC / 30 V DC
2 A
Running
250 V AC / 30 V DC
2 A
Faulted(-1)
250 V AC / 30 V DC
2 A
Fault
XD24 Digital interlock
1
2
3
4
5
DIIL
Digital interlock. By default, not in use.
+24VD +24 V DC 200 mA
DICOM Digital input ground
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
1
2
DIO1
DIO2
Output: Ready
Output: Running
XDI
1
2
3
4
Digital inputs
DI1
DI2
DI3
DI4
DI5
DI6
Stop (0) / Start (1)
Forward (0) / Reverse (1)
Reset
Acc/Dec time set 1 (0) / set 2 (1)
Constant speed 1 (1 = On)
By default, not in use.
5
6
Safe torque off circuits must be closed for the drive to start. See
Hardware manual of drive.
XSTO
X12
X13
Safety options connection
Control panel connection
X205 Memory unit connection
60 Application macros
Hand/Auto macro
The Hand/Auto macro is suited to speed control applications where two external
control devices are used.
The drive is speed-controlled from the external control locations EXT1 (Hand control)
and EXT2 (Auto control). The selection between the control locations is done through
digital input DI3.
The start/stop signal for EXT1 is connected to DI1 while running direction is
determined by DI2. For EXT2, start/stop commands are given through DI6, the
direction through DI5.
The reference signals for EXT1 and EXT2 are connected to analog inputs AI1 and
AI2 respectively.
A constant speed (by default, 300 rpm) can be activated through DI4.
Default parameter settings for the Hand/Auto macro
Below is a listing of default parameter values that differ from those listed for the
Parameter
Hand/Auto macro default
No.
Name
1500.000
Application macros 61
Default control connections for the Hand/Auto macro
XPOW External power input
1
2
+24VI
GND
24 V DC, 2 A
XAI
1
2
Reference voltage and analog inputs
+VREF 10 V DC, RL 1…10 kohm
-VREF -10 V DC, RL 1…10 kohm
AGND Ground
3
4
5
6
7
AI1+
AI1-
AI2+
AI2-
Speed reference (Hand)
0(2)…10 V, Rin > 200 kohm
Speed reference (Auto)
0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
1
2
3
4
AO1
AGND
AO2
Motor speed rpm
0…20 mA, RL < 500 ohm
Motor current
0…20 mA, RL < 500 ohm
AGND
XD2D Drive-to-drive link
1
2
3
B
A
Drive-to-drive link
BGND
XRO1, XRO2, XRO3 Relay outputs
1
2
3
1
2
3
1
2
3
NC
COM
NO
NC
COM
NO
NC
COM
NO
Ready
250 V AC / 30 V DC
2 A
Running
250 V AC / 30 V DC
2 A
Faulted(-1)
250 V AC / 30 V DC
2 A
Fault
XD24 Digital interlock
1
2
3
4
5
DIIL
Digital interlock. By default, not in use.
+24VD +24 V DC 200 mA
DICOM Digital input ground
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
1
2
DIO1
DIO2
Output: Ready
Output: Running
XDI
1
2
3
4
Digital inputs
DI1
DI2
DI3
DI4
DI5
DI6
Stop (0) / Start (1) – Hand
Forward (0) / Reverse (1) – Hand
Hand (0) / Auto (1)
Constant speed 1 (1 = On)
Forward (0) / Reverse (1) – Auto
Stop (0) / Start (1) – Auto
5
6
Safe torque off circuits must be closed for the drive to start. See
Hardware manual of drive.
XSTO
X12
X13
Safety options connection
Control panel connection
X205 Memory unit connection
62 Application macros
PID control macro
The PID control macro is suitable for process control applications, for example
closed-loop pressure, level or flow control systems such as
• pressure boost pumps of municipal water supply systems
• level-controlling pumps of water reservoirs
• pressure boost pumps of district heating systems
• material flow control on a conveyor line.
The process reference signal is connected to analog input AI1 and the process
feedback signal to AI2. Alternatively, a direct speed reference can be given to the
drive through AI1. Then the PID controller is bypassed and the drive no longer
controls the process variable.
Selection between direct speed control (control location EXT1) and process variable
control (EXT2) is done through digital input DI3.
The stop/start signals for EXT1 and EXT2 are connected to DI1 and DI6 respectively.
A constant speed (by default, 300 rpm) can be activated through DI4.
64 Application macros
Default control connections for the PID control macro
XPOW External power input
1
2
+24VI
GND
24 V DC, 2 A
XAI
1
2
Reference voltage and analog inputs
+VREF 10 V DC, RL 1…10 kohm
-VREF -10 V DC, RL 1…10 kohm
AGND Ground
3
4
5
6
7
AI1+
AI1-
AI2+
AI2-
Process or Speed reference
0(2)…10 V, Rin > 200 kohm
Process feedback*
P
I
0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
1
2
3
4
AO1
AGND
AO2
Motor speed rpm
0…20 mA, RL < 500 ohm
Motor current
0…20 mA, RL < 500 ohm
AGND
XD2D Drive-to-drive link
1
2
3
B
A
Drive-to-drive link
BGND
XRO1, XRO2, XRO3 Relay outputs
1
2
3
1
2
3
1
2
3
NC
COM
NO
NC
COM
NO
NC
COM
NO
Ready
250 V AC / 30 V DC
2 A
Running
250 V AC / 30 V DC
2 A
Faulted(-1)
250 V AC / 30 V DC
2 A
Fault
XD24 Digital interlock
1
2
3
4
5
DIIL
Digital interlock. By default, not in use.
+24VD +24 V DC 200 mA
DICOM Digital input ground
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
1
2
DIO1
DIO2
Output: Ready
Output: Running
XDI
1
2
3
4
Digital inputs
DI1
DI2
DI3
DI4
DI5
DI6
Stop (0) / Start (1) – Speed control
By default, not in use.
Speed control (0) / Process control (1)
Constant speed 1 (1 = On)
By default, not in use.
5
6
Stop (0) / Start (1) – Process control
Safe torque off circuits must be closed for the drive to start. See
Hardware manual of drive.
XSTO
X12 Safety options connection
X13 Control panel connection
X205 Memory unit connection
Application macros 65
Sensor connection examples
XAI
+
–
0/4…20 mA
6
7
AI2+
AI2-
Actual value measurement
-20…20 mA. Rin = 100 ohm
P
I
Note: The sensor must be powered externally.
XAI
+
–
OUT
Reference voltage output
Ground
1
3
+VREF
P
AGND
I
0/4…20 mA
6
7
AI2+
AI2-
Actual value measurement
-20…20 mA. Rin = 100 ohm
XAI
1
+
–
Reference voltage output
Ground
+VREF
AGND
P
P
3
I
0/4…20 mA
0/4…20 mA
6
7
AI2+
AI2-
Actual value measurement
-20…20 mA. Rin = 100 ohm
Drive 1 / XAI
–
+
6
7
AI2+
AI2-
Actual value measurement
-20…20 mA. Rin = 100 ohm
I
Drive 2 / XAI
+24V
–
Power
supply
6
7
AI2+
AI2-
Actual value measurement. -20…20 mA.
Rin = 100 ohm
Drive 3 / XAI
6
7
AI2+
AI2-
Actual value measurement. -20…20 mA.
Rin = 100 ohm
66 Application macros
Torque control macro
This macro is used in applications in which torque control of the motor is required.
Torque reference is given through analog input AI2, typically as a current signal in the
range of 0…20 mA (corresponding to 0…100% of rated motor torque).
The start/stop signal is connected to digital input DI1. The direction is determined by
DI2.
Through digital input DI3, it is possible to select speed control instead of torque
control. It is also possible to change the control to local (control panel or PC tool) by
pressing the Loc/Rem key. By default, the local reference is speed; if a torque
A constant speed (by default, 300 rpm) can be activated through DI4. DI5 switches
between acceleration/deceleration time sets 1 and 2. The acceleration and
deceleration times, as well as ramp shapes, are defined by parameters
Default parameter settings for the Torque control macro
Below is a listing of default parameter values that differ from those listed for the
Parameter
Torque control macro
default
No.
Name
DI3
Application macros 67
Default control connections for the Torque control macro
XPOW External power input
1
2
+24VI
GND
24 V DC, 2 A
XAI
1
2
Reference voltage and analog inputs
+VREF 10 V DC, RL 1…10 kohm
-VREF -10 V DC, RL 1…10 kohm
AGND Ground
3
4
5
6
7
AI1+
AI1-
AI2+
AI2-
Speed reference
0(2)…10 V, Rin > 200 kohm
Torque reference
0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
1
2
3
4
AO1
AGND
AO2
Motor speed rpm
0…20 mA, RL < 500 ohm
Motor current
0…20 mA, RL < 500 ohm
AGND
XD2D Drive-to-drive link
1
2
3
B
A
Drive-to-drive link
BGND
XRO1, XRO2, XRO3 Relay outputs
1
2
3
1
2
3
1
2
3
NC
COM
NO
NC
COM
NO
NC
COM
NO
Ready
250 V AC / 30 V DC
2 A
Running
250 V AC / 30 V DC
2 A
Faulted(-1)
250 V AC / 30 V DC
2 A
Fault
XD24 Digital interlock
1
2
3
4
5
DIIL
Digital interlock. By default, not in use.
+24VD +24 V DC 200 mA
DICOM Digital input ground
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
1
2
DIO1
DIO2
Output: Ready
Output: Running
XDI
1
2
3
4
Digital inputs
DI1
DI2
DI3
DI4
DI5
DI6
Stop (0) / Start (1)
Forward (0) / Reverse (1)
Speed control (0) / Torque control (1)
Constant speed 1 (1 = On)
Acc/Dec time set 1 (0) / set 2 (1)
By default, not in use.
5
6
Safe torque off circuits must be closed for the drive to start. See
Hardware manual of drive.
XSTO
X12
X13
Safety options connection
Control panel connection
X205 Memory unit connection
68 Application macros
Sequential control macro
The Sequential control macro is suited for speed control applications in which a
speed reference, multiple constant speeds, and two acceleration and deceleration
ramps can be used.
The macro offers seven preset constant speeds which can be activated by digital
reference can be given through analog input AI1. The reference is active only when
no constant speed is activated (digital inputs DI4…DI6 are all off). Operational
commands can also be given from the control panel.
The start/stop commands are given through digital input DI1; running direction is
determined by DI2.
Two acceleration/deceleration ramps are selectable through DI3. The acceleration
and deceleration times, as well as ramp shapes, are defined by parameters
Operation diagram
The figure below shows an example of the use of the macro.
Speed
Speed 3
Speed 2
Stop along deceleration
ramp
Speed 1
Time
Accel1
Accel1
Accel2
Decel2
Start/Stop
Accel1/Decel1
Speed 1
Speed 2
Accel2/Decel2
Speed 3
Application macros 69
Selection of constant speeds
By default, constant speeds 1…7 are selected using digital inputs DI4…DI6 as
follows:
DI4
DI5
DI6
Constant speed active
None (External speed
reference used)
0
0
0
1
0
1
0
1
0
1
0
1
1
0
0
1
1
0
0
0
1
1
1
1
Constant speed 1
Constant speed 2
Constant speed 3
Constant speed 4
Constant speed 5
Constant speed 6
Constant speed 7
Default parameter settings for the Sequential control macro
Below is a listing of default parameter values that differ from those listed for the
Parameter
Sequential control macro
default
No.
Name
DI3
01b (Bit 0 = Packed)
600.00 rpm
900.00 rpm
1200.00 rpm
1500.00 rpm
2400.00 rpm
3000.00 rpm
70 Application macros
Default control connections for the Sequential control macro
XPOW External power input
1
2
+24VI
GND
24 V DC, 2 A
XAI
1
2
Reference voltage and analog inputs
+VREF 10 V DC, RL 1…10 kohm
-VREF -10 V DC, RL 1…10 kohm
AGND Ground
3
4
5
6
7
AI1+
AI1-
AI2+
AI2-
External speed reference
0(2)…10 V, Rin > 200 kohm
By default, not in use.
0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
1
2
3
4
AO1
AGND
AO2
Motor speed rpm
0…20 mA, RL < 500 ohm
Motor current
0…20 mA, RL < 500 ohm
AGND
XD2D Drive-to-drive link
1
2
3
B
A
Drive-to-drive link
BGND
XRO1, XRO2, XRO3 Relay outputs
1
2
3
1
2
3
1
2
3
NC
COM
NO
NC
COM
NO
NC
COM
NO
Ready
250 V AC / 30 V DC
2 A
Running
250 V AC / 30 V DC
2 A
Faulted(-1)
250 V AC / 30 V DC
2 A
Fault
XD24 Digital interlock
1
2
3
4
5
DIIL
Digital interlock. By default, not in use.
+24VD +24 V DC 200 mA
DICOM Digital input ground
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
1
2
DIO1
DIO2
Output: Ready
Output: Running
XDI
1
2
3
4
Digital inputs
DI1
DI2
DI3
DI4
DI5
DI6
Stop (0) / Start (1)
Forward (0) / Reverse (1)
Acc/Dec time set 1 (0) / set 2 (1)
5
6
Safe torque off circuits must be closed for the drive to start. See
Hardware manual of drive.
XSTO
X12 Safety options connection
X13 Control panel connection
X205 Memory unit connection
72 Application macros
Parameters 73
6
Parameters
What this chapter contains
The chapter describes the parameters, including actual signals, of the control
program.
Terms and abbreviations
Term
Definition
Actual signal
the drive, or contains status information. Most actual signals are read-
only, but some (especially counter-type actual signals) can be reset.
Def
(In the following table, shown on the same row as the parameter name)
on macro-specific parameter values, see chapter Application macros
FbEq16
(In the following table, shown on the same row as the parameter range,
or for each selection)
16-bit fieldbus equivalent: The scaling between the value shown on the
panel and the integer used in fieldbus communication when a 16-bit value
A dash (-) indicates that the parameter is not accessible in 16-bit format.
The corresponding 32-bit scalings are listed in chapter Additional
Other [bit]
Parameter
p.u.
The value is taken from a specific bit in another parameter. The source is
selected from a parameter list.
Either an user-adjustable operating instruction for the drive, or an actual
Per unit
Parameters 75
76 Parameters
Parameter listing
No.
Name/Value
Description
Def/FbEq16
01
Basic signals for monitoring of the drive.
All parameters in this group are read-only unless otherwise
noted.
Measured or estimated motor speed depending on which
-
-30000.00 …
30000.00 rpm
Measured or estimated motor speed.
1 = 1 rpm
-
Estimated motor speed in rpm. A filter time constant for this
-30000.00 …
30000.00 rpm
Estimated motor speed.
1 = 1 rpm
Speed of encoder 1 in rpm.A filter time constant for this signal
-
-30000.00 …
30000.00 rpm
Encoder 1 speed.
1 = 1 rpm
Speed of encoder 2 in rpm.A filter time constant for this signal
-
-30000.00 …
30000.00 rpm
Encoder 2 speed.
1 = 1 rpm
-
Estimated drive output frequency in Hz. A filter time constant
-3000.00 …
3000.00 Hz
Estimated output frequency.
1 = 1 Hz
Measured (absolute) motor current in A.
-
0.00 … 30000.00 A Motor current.
1 = 1 A
-
A filter time constant for this signal can be defined by
-1600.0 … 1600.0% Motor torque.
1 = 1%
Measured intermediate circuit voltage.
-
0.00 … 2000.00 V
Intermediate circuit voltage.
10 = 1 V
-
Drive output power in kW. A filter time constant for this signal
-32768.00 …
32767.00 kW
Output power.
1 = 1 kW
-
Amount of energy that has passed through the drive (in either
direction) in full gigawatt-hours. The minimum value is zero.
0…65535 GWh
Energy in GWh.
1 = 1 GWh
Parameters 77
No.
Name/Value
Description
Def/FbEq16
Amount of energy that has passed through the drive (in either
direction) in full megawatt-hours. Whenever the counter rolls
minimum value is zero.
-
0…999 MWh
Energy in MWh.
1 = 1 MWh
-
Amount of energy that has passed through the drive (in either
direction) in full kilowatt-hours. Whenever the counter rolls
minimum value is zero.
0…999 kWh
0…200%
Energy in kWh.
10 = 1 kWh
Used flux reference in percent of nominal flux of motor.
Flux reference.
-
1 = 1%
-
Torque that corresponds to 100% of nominal motor torque.
from other motor data.
0… N•m
Nominal torque.
1 = 100 N•m
-
Measured temperature of incoming cooling air in °C.
-32768.0 …
32767.0 °C
Cooling air temperature.
1 = 1 °C
03
Values of references received from various sources.
All parameters in this group are read-only unless otherwise
noted.
04
Reference given from the control panel or PC tool.
Control panel or PC tool reference.
-
-100000.00 …
100000.00
1 = 10
Reference 1 received through fieldbus adapter A.
Reference 1 from fieldbus adapter A.
-
-100000.00 …
100000.00
1 = 10
Reference 2 received through fieldbus adapter A.
Reference 2 from fieldbus adapter A.
-
-100000.00 …
100000.00
1 = 10
Information on warnings and faults that occurred last.
For explanations of individual warning and fault codes, see
All parameters in this group are read-only unless otherwise
noted.
Code of the 1st active fault (the fault that caused the current
trip).
-
0000h…FFFFh
1st active fault.
1 = 1
Code of the 2nd active fault.
2nd active fault.
-
0000h…FFFFh
1 = 1
-
Code of the 3rd active fault.
3rd active fault.
0000h…FFFFh
1 = 1
-
Code of the 4th active fault.
4th active fault.
0000h…FFFFh
1 = 1
78 Parameters
No.
Name/Value
Description
Def/FbEq16
Code of the 5th active fault.
5th active fault.
-
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
1 = 1
05
Code of the 1st active warning.
1st active warning.
-
1 = 1
Code of the 2nd active warning.
2nd active warning.
-
1 = 1
Code of the 3rd active warning.
3rd active warning.
-
1 = 1
Code of the 4th active warning.
4th active warning.
-
1 = 1
Code of the 5th active warning.
5th active warning.
-
1 = 1
Code of the 1st stored (non-active) fault.
1st stored fault.
-
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
1 = 1
Code of the 2nd stored (non-active) fault.
2nd stored fault.
-
1 = 1
Code of the 3rd stored (non-active) fault.
3rd stored fault.
-
1 = 1
Code of the 4th stored (non-active) fault.
4th stored fault.
-
1 = 1
Code of the 5th stored (non-active) fault.
5th stored fault.
-
1 = 1
Code of the 1st stored (non-active) warning.
1st stored warning.
-
1 = 1
Code of the 2nd stored (non-active) warning.
2nd stored warning.
-
1 = 1
Code of the 3rd stored (non-active) warning.
3rd stored warning.
-
1 = 1
-
Code of the 4th stored (non-active) warning.
4th stored warning.
1 = 1
-
Code of the 5th stored (non-active) warning.
5th stored warning.
1 = 1
Various run-time-type counters and measurements related to
drive maintenance.
All parameters in this group are read-only unless otherwise
noted.
On-time counter. The counter runs when the drive is
powered.
-
0…4294967295 d
On-time counter.
1 = 1 d
-
Motor run-time counter. The counter runs when the inverter
modulates.
0…4294967295 d
Motor run-time counter.
1 = 1 d
Parameters 79
No.
Name/Value
Description
Def/FbEq16
Running time of the drive cooling fan. Can be reset on the
control panel by keeping Reset depressed for over 3
seconds.
-
0…4294967295 d
Cooling fan run-time counter.
1 = 1 d
-
Estimated drive temperature in percent of fault limit.
-40.0 … 160.0%
Drive temperature in percent.
Drive control and status words.
1 = 1%
06
The main control word of the drive. This parameter shows the
control signals as received from the selected sources (such
as digital inputs, the fieldbus interface and the application
program).
-
The bit assignments of the word are as described on page
This parameter is read-only.
0000h…FFFFh
Main control word.
1 = 1
-
The drive control word received from the application program
This parameter is read-only.
0000h…FFFFh
Application program control word.
1 = 1
-
The unaltered control word received from the PLC through
fieldbus adapter A.
This parameter is read-only.
00000000h …
FFFFFFFFh
Control word received through fieldbus adapter A.
-
-
Main status word of the drive.
control word and state diagram are presented on pages 279
This parameter is read-only.
0000h…FFFFh
Main status word.
1 = 1
80 Parameters
No.
Name/Value
This parameter is read-only.
Description
Def/FbEq16
-
Bit
Name
Description
0
Enabled
present. Note: This bit is not affected by the presence of a fault.
1
2
3
Inhibited
must be removed and the start signal cycled.
Operation
allowed
1 = Drive is ready to operate
Ready to
start
1 = Drive is ready to receive a start command
4
Running
Started
1 = Drive is ready to follow given reference
1 = Drive has been started
5
6
Modulating 1 = Drive is modulating (output stage is being controlled)
Limiting 1 = Any operating limit (speed, torque, etc.) is active
7
8
Local control 1 = Drive is in local control
Ext1 active 1 = Control location EXT1 active
Ext2 active 1 = Control location EXT2 active
9
10
11
12…15 Reserved
0000h…FFFFh
Status word 1.
1 = 1
-
This parameter is read-only.
Bit
0
Name
Description
Identification run done 1 = Motor identification (ID) run has been performed
1
Magnetized
1 = The motor has been magnetized
1 = Torque control mode active
1 = Speed control mode active
1 = Power control mode active
2
Torque control
Speed control
Power control
3
4
5
Safe reference active 1 = A “safe” reference is applied by functions such as
6
Last speed active
Loss of reference
1 = A “last speed” reference is applied by functions such as
7
8
1 = Reference signal lost
Emergency stop failed 1 = Emergency stop failed
9…15 Reserved
0000h…FFFFh
Control status word 1.
1 = 1
Parameters 81
No.
Name/Value
Description
Def/FbEq16
Start inhibit status word. This word specifies the source of the
inhibiting signal that is preventing the drive from starting.
The conditions marked with an asterisk (*) only require that
the start command is cycled. In all other instances, the
inhibiting condition must be removed first.
-
This parameter is read-only.
Bit
Name
Description
0
Not ready run
1 = DC voltage is missing or drive has not been parametrized
correctly. Check the parameters in groups 95 and 99.
1
2
3
4
5
6
7
8
Ctrl location changed * 1 = Control location has changed
SSW inhibit
Fault reset
1 = Control program is keeping itself in inhibited state
* 1 = A fault has been reset
Lost start enable
Lost run enable
FSO inhibit
STO
1 = Start enable signal missing
1 = Run enable signal missing
1 = Operation prevented by FSO-xx safety functions module
1 = Safe torque off active
Current calibration
ended
* 1 = Current calibration routine has finished
9
ID run ended
Auto phase ended
Em Off1
* 1 = Motor identification run has finished
* 1 = Autophasing routine has finished
1 = Emergency stop signal (mode off1)
1 = Emergency stop signal (mode off2)
1 = Emergency stop signal (mode off3)
1 = The autoreset function is inhibiting operation
10
11
12
13
14
15
Em Off2
Em Off3
Auto reset inhibit
Reserved
0000h…FFFFh
Start inhibit status word.
1 = 1
-
Speed control status word.
This parameter is read-only.
Bit
Name
Description
0
Zero speed
1 = Drive is running at zero speed
1 = Drive is running in forward direction above zero speed limit
1
2
3
Forward
1 = Drive is running in reverse direction above zero speed limit
Reverse
1 = Motor speed outside speed window (see par. group 24
Out of window
4
5
6
Encoder 1 feedback
Encoder 2 feedback
Any constant speed
request
7
8…15 Reserved
0000h…FFFFh
Speed control status word.
1 = 1
82 Parameters
No.
Name/Value
Description
Def/FbEq16
Constant speed status word. Indicates which constant speed
-
This parameter is read-only.
Bit
0
Name
Description
Constant speed 1
Constant speed 2
Constant speed 3
Constant speed 4
Constant speed 5
Constant speed 6
Constant speed 7
1 = Constant speed 1 selected
1 = Constant speed 2 selected
1 = Constant speed 3 selected
1 = Constant speed 4 selected
1 = Constant speed 5 selected
1 = Constant speed 6 selected
1 = Constant speed 7 selected
1
2
3
4
5
6
7…15 Reserved
0000h…FFFFh
Constant speed status word.
1 = 1
07
False
0.
1
2
-
True
1.
A specific bit in another parameter.
False
0.
1
2
-
True
1.
A specific bit in another parameter.
False
0.
1
2
-
True
1.
A specific bit in another parameter.
False
0.
1
2
-
True
1.
A specific bit in another parameter.
Drive hardware and firmware information.
All parameters in this group are read-only.
Type of the drive/inverter unit.
Firmware identification.
-
-
Version number of the firmware.
Microprocessor load in percent.
Microprocessor load.
-
-
0…100%
1 = 1%
Parameters 83
No.
10
Name/Value
Description
Def/FbEq16
Configuration of digital inputs and relay outputs.
Displays the electrical status of digital inputs DIIL and
-
DI8…DI1. The activation/deactivation delays of the inputs (if
any are specified) are ignored.
Bits 0…5 reflect the status of DI1…DI6; bit 15 reflects the
status of the DIIL input. Example: 1000000000010011 = DIIL,
DI5, DI2 and DI1 are on, DI3, DI4 and DI6 are off.
This parameter is read-only.
0000h…FFFFh
Status of digital inputs.
1 = 1
-
Displays the status of digital inputs DIIL and DI6…DI1. This
word is updated only after activation/deactivation delays.
Bits 0…5 reflect the delayed status of DI1…DI6; bit 15
reflects the delayed status of the DIIL input.
This parameter is read-only.
0000h…FFFFh
Delayed status of digital inputs.
1 = 1
The electrical statuses of the digital inputs can be overridden 0000h
data is provided for each digital input, and its value is applied
whenever the corresponding bit in this parameter is 1.
Bit
0
Value
1
2
3
4
5
6…14 Reserved
15
0000h…FFFFh
Override selection for digital inputs.
1 = 1
Contains the values of digital inputs that are used instead of
value for the DIIL input.
0000h
0000h…FFFFh
Forced values of digital inputs.
1 = 1
0.0 s
Defines the activation delay for digital input DI1.
1
*DI status
0
1
**Delayed DI status
0
Time
t
t
t
t
Off
On
Off
On
t
t
On
Off
84 Parameters
No.
Name/Value
Description
Def/FbEq16
10 = 1 s
0.0 s
0.0 … 3000.0 s
Activation delay for DI1.
Defines the deactivation delay for digital input DI1. See
0.0 … 3000.0 s
Deactivation delay for DI1.
10 = 1 s
0.0 s
Defines the activation delay for digital input DI2.
1
*DI status
0
1
**Delayed DI status
0
Time
t
t
t
t
Off
On
Off
On
t
On
t
Off
0.0 … 3000.0 s
Activation delay for DI2.
10 = 1 s
0.0 s
Defines the deactivation delay for digital input DI2. See
0.0 … 3000.0 s
Deactivation delay for DI2.
10 = 1 s
0.0 s
Defines the activation delay for digital input DI3.
1
*DI status
0
1
**Delayed DI status
0
Time
t
t
t
t
Off
On
Off
On
t
On
t
Off
0.0 … 3000.0 s
Activation delay for DI3.
10 = 1 s
0.0 s
Defines the deactivation delay for digital input DI3. See
0.0 … 3000.0 s
Deactivation delay for DI3.
10 = 1 s
Parameters 85
No.
Name/Value
Description
Def/FbEq16
Defines the activation delay for digital input DI4.
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
t
t
t
t
Off
On
Off
On
t
t
On
Off
0.0 … 3000.0 s
Activation delay for DI4.
10 = 1 s
0.0 s
Defines the deactivation delay for digital input DI4. See
0.0 … 3000.0 s
Deactivation delay for DI4.
10 = 1 s
0.0 s
Defines the activation delay for digital input DI5.
1
*DI status
0
1
**Delayed DI status
0
Time
t
t
t
t
Off
On
Off
On
t
t
On
Off
0.0 … 3000.0 s
Activation delay for DI5.
10 = 1 s
0.0 s
Defines the deactivation delay for digital input DI5. See
0.0 … 3000.0 s
Deactivation delay for DI5.
10 = 1 s
86 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the activation delay for digital input DI6.
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
t
t
t
t
Off
On
Off
On
t
On
t
Off
0.0 … 3000.0 s
Activation delay for DI6.
10 = 1 s
0.0 s
Defines the deactivation delay for digital input DI6. See
0.0 … 3000.0 s
Deactivation delay for DI6.
10 = 1 s
-
Status of relay outputs RO8…RO1. Example: 00000001b =
RO1 is energized, RO2…RO8 are de-energized.
0000h…FFFFh
Not energized
Energized
Ready run
Enabled
Status of relay outputs.
1 = 1
Selects a drive signal to be connected to relay output RO1.
Relay output is not energized.
0
Relay output is energized.
1
2
4
Started
5
Magnetized
Running
6
7
Ready ref
At setpoint
Zero speed
Neg speed
Above limit
Warning
8
9
10
11
12
13
14
15
22
Fault
Fault (-1)
Open brake
command
Ext2 active
Remote control
A specific bit in another parameter.
23
24
-
Parameters 87
No.
Name/Value
Description
Def/FbEq16
Defines the activation delay for relay output RO1.
0.0 s
1
Status of selected
source
0
1
RO status
0
Time
t
t
t
t
Off
On
Off
On
t
t
On
Off
0.0 … 3000.0 s
Activation delay for RO1.
10 = 1 s
0.0 s
Defines the deactivation delay for relay output RO1. See
0.0 … 3000.0 s
Deactivation delay for RO1.
10 = 1 s
Selects a drive signal to be connected to relay output RO2.
Defines the activation delay for relay output RO2.
0.0 s
1
Status of selected
source
0
1
RO status
0
Time
t
t
t
t
Off
On
Off
On
t
t
On
Off
0.0 … 3000.0 s
Activation delay for RO2.
10 = 1 s
0.0 s
Defines the deactivation delay for relay output RO2. See
0.0 … 3000.0 s
Deactivation delay for RO2.
10 = 1 s
Selects a drive signal to be connected to relay output RO3.
88 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the activation delay for relay output RO3.
0.0 s
1
Status of selected
source
0
1
RO status
0
Time
t
t
t
t
Off
On
Off
On
t
On
t
Off
0.0 … 3000.0 s
Activation delay for RO3.
10 = 1 s
0.0 s
Defines the deactivation delay for relay output RO3. See
0.0 … 3000.0 s
Deactivation delay for RO3.
10 = 1 s
11
Configuration of digital input/outputs and frequency
inputs/outputs.
Displays the electrical status of digital input/outputs
DIO8…DIO1. The activation/deactivation delays (if any are
specified) are ignored.
-
Example: 0000001001 = DIO1 and DIO4 are on, remainder
are off.
This parameter is read-only.
0000h…FFFFh
Status of digital input/outputs.
1 = 1
-
word is updated only after activation/deactivation (if any)
delays.
Example: 0000001001 = DIO1 and DIO4 are on, remainder
are off.
This parameter is read-only.
0000h…FFFFh
Delayed status of digital input/outputs.
1 = 1
frequency input.
Output
DIO1 is used as a digital output.
DIO1 is used as a digital input.
DIO1 is used as a frequency input.
0
Input
1
Frequency
2
Not energized
Energized
Ready run
Enabled
Relay output is not energized.
0
1
2
4
5
6
7
Relay output is energized.
Started
Magnetized
Running
Parameters 89
No.
Name/Value
Ready ref
At setpoint
Zero speed
Neg speed
Above limit
Warning
Description
Def/FbEq16
8
9
10
11
12
13
14
15
22
Fault
Fault (-1)
Open brake
command
Ext2 active
A specific bit in another parameter.
23
24
-
Remote control
Defines the activation delay for digital input/output DIO1
(when used as a digital output or digital input).
0.0 s
1
*DIO status
0
1
**Delayed DIO status
0
Time
t
t
t
t
Off
On
Off
On
t
t
= 11.08 DIO1 OFF delay
On
Off
*Electrical status of DIO (in input mode) or status of selected source (in output mode). Indicated by 11.01 DIO status.
0.0 … 3000.0 s
Activation delay for DIO1.
10 = 1 s
0.0 s
Defines the deactivation delay for digital input/output DIO1
(when used as a digital output or digital input). See parameter
0.0 … 3000.0 s
Deactivation delay for DIO1.
10 = 1 s
frequency output.
Output
DIO2 is used as a digital output.
DIO2 is used as a digital input.
DIO2 is used as a frequency output.
0
Input
1
Frequency
2
90 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the activation delay for digital input/output DIO2
(when used as a digital output or digital input).
0.0 s
1
*DIO status
0
1
**Delayed DIO status
0
Time
t
t
t
t
Off
On
Off
On
t
On
t
Off
*Electrical status of DIO (in input mode) or status of selected source (in output mode). Indicated by 11.01 DIO status.
0.0 … 3000.0 s
Activation delay for DIO2.
10 = 1 s
0.0 s
Defines the deactivation delay for digital input/output DIO2
(when used as a digital output or digital input). See parameter
0.0 … 3000.0 s
Deactivation delay for DIO2.
10 = 1 s
-
Displays the value of frequency input 1 before scaling. See
This parameter is read-only.
0 … 16000 Hz
Unscaled value of frequency input 1.
1 = 1 Hz
-
Displays the value of frequency input 1 after scaling. See
This parameter is read-only.
-32768.000 …
32767.000
Scaled value of frequency input 1.
1 = 1
0 Hz
Defines the minimum input frequency for frequency input 1
(DIO1 when it is used as a frequency input).
0 … 16000 Hz
Minimum frequency of frequency input 1 (DIO1).
1 = 1 Hz
Parameters 91
No.
Name/Value
Description
Def/FbEq16
Defines the maximum input frequency for frequency input 1
(DIO1 when it is used as a frequency input). See parameter
16000 Hz
0 … 16000 Hz
Maximum frequency for frequency input 1 (DIO1).
1 = 1 Hz
0.000
Defines the value that corresponds to the minimum input
-32768.000 …
32767.000
Value corresponding to minimum of frequency input 1.
1 = 1
Defines the value that corresponds to the maximum input
1500.000
-32768.000 …
32767.000
Value corresponding to maximum of frequency input 1.
1 = 1
-
Displays the value of frequency output 1 after scaling. See
parameter 11.58 Freq out 1 src min.
This parameter is read-only.
0 … 16000 Hz
Value of frequency output 1.
1 = 1
Selects a signal to be connected to frequency output 1.
Zero
None.
0
Motor speed used
Output frequency
Motor current
Motor torque
1
3
4
6
Dc-voltage
7
Power inu out
Speed ref ramp in
Speed ref ramped
Speed ref used
Torq ref used
Freq ref used
Process PID out
Process PID fbk
Process PID act
Process PID dev
Other
8
23.01 Speed ref ramp in (page 119).
The value is taken from another parameter.
10
11
12
13
14
16
17
18
19
-
92 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the real value of the signal (selected by parameter
0.000
11.58
Signal (real)
selected by
par. 11.55
11.58
Signal (real)
selected by
par. 11.55
-32768.000 …
32767.000
Real signal value corresponding to minimum value of
frequency output 1.
1 = 1
1500.000
-32768.000 …
32767.000
Real signal value corresponding to maximum value of
frequency output 1.
1 = 1
0 Hz
Defines the minimum value of frequency output 1. See
diagrams at parameter 11.58 Freq out 1 src min.
0…16000 Hz
Minimum value of frequency output 1.
1 = 1 Hz
Defines the maximum value of frequency output 1. See
diagrams at parameter 11.58 Freq out 1 src min.
16000 Hz
0…16000 Hz
Maximum value of frequency output 1.
1 = 1 Hz
Parameters 93
No.
12
Name/Value
Description
Def/FbEq16
Configuration of analog inputs.
Displays the value of analog input AI1 in mA or V (depending
on whether the input is set to current or voltage by jumper J1).
This parameter is read-only.
-
-22.000 … 22.000
mA or V
Value of analog input AI1.
1000 = 1 mA
or V
Displays the value of analog input AI1 after scaling. See
-
This parameter is read-only.
-32768.000 …
32767.000
Scaled value of analog input AI1.
1 = 1
Selects the unit for readings and settings related to analog
input AI1.
Note: This setting must match the corresponding jumper
setting on the drive control unit (see the hardware manual of
the drive). Control board reboot (either by cycling the power
validate any changes in the jumper settings.
V
Volts.
2
mA
Milliamperes.
10
Defines the filter time constant for analog input AI1.
0.100 s
%
Unfiltered signal
100
63
Filtered signal
t
T
O = I × (1 - e-t/T
)
I = filter input (step)
O = filter output
t = time
T = filter time constant
Note: The signal is also filtered due to the signal interface
hardware (approximately 0.25 ms time constant). This cannot
be changed by any parameter.
0.000 … 30.000 s
Filter time constant.
1000 = 1 s
Defines the minimum value for analog input AI1.
Minimum value of AI1.
0.0 mA or V
-22.000 … 22.000
mA or V
1000 = 1 mA
or V
Defines the maximum value for analog input AI1.
Maximum value of AI1.
20.0 mA or V
-22.000 … 22.000
mA or V
1000 = 1 mA
or V
94 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the real value that corresponds to the minimum
0.000
-32768.000 …
32767.000
Real value corresponding to minimum AI1 value.
1 = 1
Defines the real value that corresponds to the maximum
1500.0
-32768.000 …
32767.000
Real value corresponding to maximum AI1 value.
1 = 1
-
Displays the value of analog input AI2 in mA or V (depending
on whether the input is set to current or voltage by jumper J2).
This parameter is read-only.
-22.000 … 22.000
mA or V
Value of analog input AI2.
1000 = 1 mA
or V
Displays the value of analog input AI2 after scaling. See
-
This parameter is read-only.
-32768.000 …
32767.000
Scaled value of analog input AI2.
1 = 1
Selects the unit for readings and settings related to analog
input AI2.
Note: This setting must match the corresponding jumper
setting on the drive control unit (see the hardware manual of
the drive). Control board reboot (either by cycling the power
validate any changes in the jumper settings.
V
Volts.
2
mA
Milliamperes.
10
Defines the filter time constant for analog input AI2. See
0.100 s
0.000 … 30.000 s
Filter time constant.
1000 = 1 s
Defines the minimum value for analog input AI2.
0.000 mA or
V
-22.000 … 22.000
mA or V
Minimum value of AI2.
1000 = 1 mA
or V
Parameters 95
No.
Name/Value
Description
Def/FbEq16
Defines the maximum value for analog input AI2.
20.000 mA or
V
-22.000 … 22.000
mA or V
Maximum value of AI2.
1000 = 1 mA
or V
Defines the real value that corresponds to the minimum
analog input AI2 value defined by parameter 12.27 AI2 min.
0.000
12.27
12.28
-32768.000 …
32767.000
Real value corresponding to minimum AI2 value.
1 = 1
Defines the real value that corresponds to the maximum
analog input AI2 value defined by parameter 12.28 AI2 max.
100.000
-32768.000 …
32767.000
Real value corresponding to maximum AI2 value.
1 = 1
13
Configuration of analog outputs.
Displays the value of AO1 in mA.
This parameter is read-only.
-
0.000 … 22.000 mA Value of AO1.
1000 = 1 mA
Selects a signal to be connected to analog output AO1.
Alternatively, sets the output to excitation mode to feed a
constant current to a temperature sensor.
Motor speed
used
Zero
None.
0
Motor speed used
Output frequency
Motor current
Motor torque
DC voltage
23.01 Speed ref ramp in (page 119).
1
3
4
6
7
Power inu out
Speed ref ramp in
8
10
11
12
13
14
Speed ref used
Torq ref used
Freq ref used
96 Parameters
No.
Name/Value
Description
Def/FbEq16
Process PID out
Process PID fbk
Process PID act
Process PID dev
16
17
18
19
Force PT100
excitation
The output is used to feed an excitation current to 1…3 Pt100 20
Force KTY84
excitation
The output is used to feed an excitation current to a KTY84
21
Other
The value is taken from another parameter.
-
Defines the filtering time constant for analog output AO1.
0.100 s
%
Unfiltered signal
100
63
Filtered signal
t
T
O = I × (1 - e-t/T
)
I = filter input (step)
O = filter output
t = time
T = filter time constant
0.000 … 30.000 s
Filter time constant.
1000 = 1 s
Parameters 97
No.
Name/Value
Description
Def/FbEq16
Defines the real value of the signal (selected by parameter
0.0
IAO1 (mA)
Signal (real)
selectedbypar.
IAO1 (mA)
Signal (real)
selectedbypar.
-32768.0 …
32767.0
Real signal value corresponding to minimum AO1 output
value.
1 = 1
Defines the real value of the signal (selected by parameter
1500.0
-32768.0 …
32767.0
Real signal value corresponding to maximum AO1 output
value.
1 = 1
0.000 mA
0.000 … 22.000 mA Minimum AO1 output value.
1000 = 1 mA
20.000 mA
0.000 … 22.000 mA Maximum AO1 output value.
1000 = 1 mA
-
Displays the value of AO2 in mA.
This parameter is read-only.
0.000 … 22.000 mA Value of AO2.
1000 = 1 mA
Alternatively, sets the output to excitation mode to feed a
constant current to a temperature sensor.
98 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the filtering time constant for analog output AO2. See 0.100 s
0.000 … 30.000 s
Filter time constant.
1000 = 1 s
Defines the real value of the signal (selected by parameter
0.0
IAO2 (mA)
Signal (real)
selectedbypar.
IAO2 (mA)
Signal (real)
selectedbypar.
-32768.0 …
32767.0
Real signal value corresponding to minimum AO2 output
value.
1 = 1
Defines the real value of the signal (selected by parameter
100.0
-32768.0 …
32767.0
Real signal value corresponding to maximum AO2 output
value.
1 = 1
0.000 mA
0.000 … 22.000 mA Minimum AO2 output value.
1000 = 1 mA
20.000 mA
0.000 … 22.000 mA Maximum AO2 output value.
1000 = 1 mA
Parameters 99
No.
19
Name/Value
Description
Def/FbEq16
Selection of external control location sources and operating
modes.
Displays the operation mode currently used.
-
This parameter is read-only.
Zero
None.
1
2
3
4
Speed
Torque
Min
Speed control (in DTC motor control mode).
Torque control (in DTC motor control mode).
The torque selector is comparing the output of the speed
two is used.
Max
The torque selector is comparing the output of the speed
two is used.
5
Add
The speed controller output is added to the torque reference.
Frequency control in scalar motor control mode.
Speed control in scalar motor control mode.
Motor is in magnetizing mode.
6
Scalar (Hz)
Scalar (rpm)
Forced magn.
10
11
20
selection.
0 = EXT1
1 = EXT2
EXT1
EXT2
EXT1.
EXT2.
0
1
2
loc
DI1
3
DI2
4
DI3
5
DI4
6
DI5
7
DI6
8
DIO1
DIO2
11
12
-
Speed
EXT1.
Zero
None.
1
2
Speed
chain).
Torque
3
ramped (output of the torque reference chain).
100 Parameters
No.
Name/Value
Description
Def/FbEq16
Minimum
Combination of selections Speed and Torque: the torque
If speed error becomes negative, the drive follows the speed
controller output until speed error becomes positive again.
This prevents the drive from accelerating uncontrollably if the
load is lost in torque control.
4
Maximum
Combination of selections Speed and Torque: the torque
If speed error becomes positive, the drive follows the speed
controller output until speed error becomes negative again.
This prevents the drive from accelerating uncontrollably if the
load is lost in torque control.
5
Add
Combination of selections Speed and Torque: Torque selector
adds the speed reference chain output to the torque
reference chain output.
6
EXT2.
Speed
Speed
Speed
chain).
0
Torque
1
Enables/disables local control.
WARNING! Before disabling local control, ensure that
the control panel is not needed for stopping the drive.
No
Local control enabled.
Local control disabled.
0
Yes
1
Selects the reference type for scalar motor control mode.
Hz
ref ramped (output of the frequency control chain).
0
1
Rpm
ramp out (speed reference after ramping and shaping).
20
Start/stop/direction and run/start/jog enable signal source
selection; positive/negative reference enable signal source
selection.
For information on control locations, see section Local control
Selects the source of start, stop and direction commands for In1 Start; In2
external control location 1 (EXT1).
Dir
Not sel
No start or stop command sources selected.
0
Parameters 101
No.
Name/Value
Description
Def/FbEq16
In1 Start
The source of the start and stop commands is selected by
bits are interpreted as follows:
1
Start
0
Stop
In1 Start; In2 Dir
The state transitions of the source bits are interpreted as
follows:
2
State of source 1
State of source 2
Command
0
Any
0
Stop
Start forward
Start reverse
1
In1 Start fwd; In2
Start rev
start signal. The state transitions of the source bits are
interpreted as follows:
3
State of source 1
State of source 2
Command
Stop
0
0
0
Start forward
0
1
Start reverse
Stop
1
In1P Start; In2 Stop The sources of the start and stop commands are selected by
4
transitions of the source bits are interpreted as follows:
State of source 1
State of source 2
Command
-
0 > 1
1
0
Start
Stop
Any
Notes:
setting.
• When source 2 is 0, the Start and Stop keys on the control
panel are disabled.
102 Parameters
No.
Name/Value
Description
Def/FbEq16
In1P Start; In2 Stop; The sources of the start and stop commands are selected by
5
In3 Dir
state transitions of the source bits are interpreted as follows:
State of
source 1
State of
source 2
State of
source 3
Command
-
0 > 1
1
1
0
0
1
Start forward
Start reverse
Stop
-
0 > 1
Any
Any
Notes:
setting.
• When source 2 is 0, the Start and Stop keys on the control
panel are disabled.
In1P Start fwd; In2P The sources of the start and stop commands are selected by
6
Start rev; In3 Stop
direction. The state transitions of the source bits are
interpreted as follows:
State of
source 1
State of
source 2
State of
source 3
Command
-
0 > 1
Any
1
1
0
Start forward
Start reverse
Stop
-
Any
Any
0 > 1
Any
this setting.
Fieldbus A
The start and stop commands are taken from fieldbus adapter 12
A.
Embedded fieldbus Reserved.
14
15
16
D2D link
Reserved.
Reserved.
ABB controller
Application
Program
The start and stop commands are taken from the application 21
ATF
Reserved.
22
Defines whether the start signal for external control location
EXT1 is edge-triggered or level-triggered.
Note: This parameter is not effective if a pulse-type start
signal is selected. See the descriptions of the selections of
Edge
Level
Off
The start signal is edge-triggered.
0
The start signal is level-triggered.
1
0
0.
On
1.
1
DI1
2
Parameters 103
No.
Name/Value
DI2
Description
Def/FbEq16
3
4
5
6
7
DI3
DI4
DI5
DI6
DIO1
10
11
-
DIO2
external control location 2 (EXT2).
Not sel
No start or stop command sources selected.
0
1
In1 Start
The source of the start and stop commands is selected by
bits are interpreted as follows:
Start
0
Stop
In1 Start; In2 Dir
The state transitions of the source bits are interpreted as
follows:
2
State of source 1
State of source 2
Command
0
Any
0
Stop
Start forward
Start reverse
1
In1 Start fwd; In2
Start rev
start signal. The state transitions of the source bits are
interpreted as follows:
3
State of source 1
State of source 2
Command
Stop
0
0
0
Start forward
0
1
Start reverse
Stop
1
104 Parameters
No.
Name/Value
Description
Def/FbEq16
In1P Start; In2 Stop The sources of the start and stop commands are selected by
4
transitions of the source bits are interpreted as follows:
State of source 1
State of source 2
Command
-
0 > 1
1
0
Start
Stop
Any
Notes:
setting.
• When source 2 is 0, the Start and Stop keys on the control
panel are disabled.
In1P Start; In2 Stop; The sources of the start and stop commands are selected by
5
In3 Dir
state transitions of the source bits are interpreted as follows:
State of
source 1
State of
source 2
State of
source 3
Command
-
0 > 1
1
1
0
0
1
Start forward
Start reverse
Stop
-
0 > 1
Any
Any
Notes:
setting.
• When source 2 is 0, the Start and Stop keys on the control
panel are disabled.
In1P Start fwd; In2P The sources of the start and stop commands are selected by
6
Start rev; In3 Stop
direction. The state transitions of the source bits are
interpreted as follows:
State of
source 1
State of
source 2
State of
source 3
Command
-
0 > 1
Any
1
1
0
Start forward
Start reverse
Stop
-
Any
Any
0 > 1
Any
this setting.
Fieldbus A
The start and stop commands are taken from fieldbus adapter 12
A.
Embedded fieldbus Reserved.
14
15
16
D2D link
Reserved.
Reserved.
ABB controller
Application
Program
The start and stop commands are taken from the application 21
ATF
Reserved.
22
Parameters 105
No.
Name/Value
Description
Def/FbEq16
Defines whether the start signal for external control location
EXT2 is edge-triggered or level-triggered.
Edge
The start signal is edge-triggered.
The start signal is level-triggered.
0
Level
1
Selects the way the motor is stopped when the run enable
signal switches off.
The source of the run enable signal is selected by parameter
Coast
Ramp
Stop by cutting off the motor power supply. The motor coasts
to a stop.
0
1
WARNING! If a mechanical brake is used, ensure it is
safe to stop the drive by coasting.
Stop along the active deceleration ramp. See parameter
Torque limit
enable signal is switched off, the drive will not start. If already
running, the drive will stop according to the setting of
1 = Run enable signal on.
Note: This parameter cannot be changed while the drive is
running.
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Selects the source for the start enable signal.
1 = Start enable.
With the signal switched off, the drive will not start. (Switching
the signal off while the drive is running will not stop the drive.)
Off
On
0.
1.
0
1
106 Parameters
No.
Name/Value
DI1
Description
Def/FbEq16
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Selects the source of the positive speed enable command.
1 = Positive speed enabled.
0 = Positive speed interpreted as zero speed reference. In the
figure below, 23.01 Speed ref ramp in is set to zero after the
positive speed enable signal has cleared.
Actions in different control modes:
Speed control: Speed reference is set to zero and the motor is
stopped along the currently active deceleration ramp. The
rush controller prevents additional torque terms from running
the motor in the positive direction.
Torque control: The rush controller monitors the rotation
direction of the motor.
23.01 Speed ref ramp in
Example: The motor is rotating in the forward direction. To
stop the motor, the positive speed enable signal is
deactivated by a hardware limit switch (e.g. via digital input).
If the positive speed enable signal remains deactivated and
the negative speed enable signal is active, only reverse
rotation of the motor is allowed.
Off
0.
0
1
2
3
4
5
6
7
On
1.
DI1
DI2
DI3
DI4
DI5
DI6
Parameters 107
No.
Name/Value
DIO1
Description
Def/FbEq16
10
11
-
DIO2
Selects the source of the negative speed reference enable
1 = Jogging is enabled.
0 = Jogging is disabled.
Note: Jogging can be enabled using this parameter only
when no start command from an external control location is
active. On the other hand, if jogging is already enabled, the
drive cannot be started from an external control location apart
from jog commands through fieldbus.
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
source for the activation of jogging function 1. (Jogging
function 1 can also be activated through fieldbus regardless
1 = Active.
Notes:
• The jogging functions can only be used in speed and
frequency (scalar) control.
• This parameter cannot be changed while the drive is
running.
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
108 Parameters
No.
Name/Value
Description
Def/FbEq16
source for the activation of jogging function 2. (Jogging
function 2 can also be activated through fieldbus regardless
1 = Active.
Notes:
• Jogging function 1 has priority over jogging function 2.
• This parameter cannot be changed while the drive is
running.
21
Start and stop modes; emergency stop mode and signal
source selection; DC magnetization settings; autophasing
mode selection.
Selects the motor start function.
Notes:
• Starting to a rotating machine is not possible when DC
must be used.
• This parameter cannot be changed while the drive is
running.
Fast
The drive pre-magnetizes the motor before start. The pre-
magnetizing time is determined automatically, being typically
200 ms to 2 s depending on motor size. This mode should be
selected if a high break-away torque is required.
0
1
Const time
The drive pre-magnetizes the motor before start. The pre-
magnetizing time is defined by parameter 21.02
pre-magnetizing time is required (e.g. if the motor start must
be synchronized with the release of a mechanical brake).
This setting also guarantees the highest possible break-away
torque when the pre-magnetizing time is set long enough.
WARNING! The drive will start after the set
magnetizing time has passed even if motor
magnetization is not completed. In applications where
a full break-away torque is essential, ensure that the constant
magnetizing time is long enough to allow generation of full
magnetization and torque.
Automatic
Automatic start guarantees optimal motor start in most cases.
It includes the flying start function (starting to a rotating
machine) and the automatic restart function (a stopped motor
can be restarted immediately without waiting the motor flux to
die away). The drive motor control program identifies the flux
as well as the mechanical state of the motor and starts the
motor instantly under all conditions.
2
flying start or automatic restart is possible by default.
Parameters 109
No.
Name/Value
After the start command, the drive automatically
Description
Def/FbEq16
500 ms
premagnetizes the motor for the set time. To ensure full
magnetizing, set this parameter to the same value as or
higher than the rotor time constant. If not known, use the rule-
of-thumb value given in the table below:
Motor rated power
< 1 kW
Constant magnetizing time
> 50 to 100 ms
1 to 10 kW
> 100 to 200 ms
10 to 200 kW
200 to 1000 kW
> 200 to 1000 ms
> 1000 to 2000 ms
Note: This parameter cannot be changed while the drive is
running.
0 … 10000 ms
Constant DC magnetizing time.
1 = 1 ms
Selects the way the motor is stopped when a stop command Coast
is received.
Coast
Stop by cutting off the motor power supply. The motor coasts
to a stop.
0
1
WARNING! If a mechanical brake is used, ensure it is
safe to stop the drive by coasting.
Ramp
Stop along the active deceleration ramp. See parameter
Torque limit
Selects the way the motor is stopped when an emergency
stop command is received.
The source of the emergency stop signal is selected by
parameter 21.05 Emergency stop source.
Ramp stop (Off1)
With the drive running:
0
• 1 = Normal operation.
• 0 = Normal stop along the standard deceleration ramp
defined for the particular reference type (see section
by removing the emergency stop signal and switching the
start signal from 0 to 1.
With the drive stopped:
• 1 = Starting allowed.
• 0 = Starting not allowed.
Coast stop (Off2)
With the drive running:
1
• 1 = Normal operation.
• 0 = Stop by coasting. The drive can be restarted by
restoring the start interlock signal and switching the start
signal from 0 to 1.
With the drive stopped:
• 1 = Starting allowed.
• 0 = Starting not allowed.
110 Parameters
No.
Name/Value
Description
Def/FbEq16
Eme ramp stop
(Off3)
With the drive running:
• 1 = Normal operation
2
• 0 = Stop by ramping along emergency stop ramp defined
be restarted by removing the emergency stop signal and
switching the start signal from 0 to 1.
With the drive stopped:
• 1 = Starting allowed
• 0 = Starting not allowed
Selects the source of the emergency stop signal. The stop
mode is selected by parameter 21.04 Emergency stop mode. (true)
Inactive
0 = Emergency stop active
1 = Normal operation
Note: This parameter cannot be changed while the drive is
running.
Active (false)
0.
0
Inactive (true)
1.
1
DIIL
2
DI1
3
DI2
4
DI3
5
DI4
6
DI5
7
DI6
8
DIO1
11
DIO2
12
-
Defines the zero speed limit. The motor is stopped along a
speed ramp until the defined zero speed limit is reached.
After the zero speed delay, the motor coasts to a stop.
30.00 rpm
0.00 … 30000.00
rpm
Zero speed limit.
1 = 1 rpm
Parameters 111
No.
Name/Value
Description
Def/FbEq16
Defines the delay for the zero speed delay function. The
0 ms
function is useful in applications where a smooth and quick
restarting is essential. During the delay, the drive knows the
rotor position accurately.
Without zero speed delay:
The drive receives a stop command and decelerates along
a ramp. When actual motor speed falls below the value of
stopped and the motor coasts to a standstill.
Speed
Speed controller switched off:
Motor coasts to a stop.
Time
With zero speed delay:
The drive receives a stop command and decelerates along a
ramp. When actual motor speed falls below the value of
function activates. During the delay the function keeps the
speed controller live: the inverter modulates, motor is
magnetized and the drive is ready for a quick restart. Zero
speed delay can be used e.g. with the jogging function.
Speed
Speed controller remains
active. Motor is decelerated to
true zero speed.
Time
Delay
Zero speed delay.
0 … 30000 ms
1 = 1 ms
112 Parameters
No.
Name/Value
Description
Def/FbEq16
Activates/deactivates the DC hold and post-magnetization
Note: DC magnetization causes the motor to heat up. In
applications where long DC magnetization times are required,
externally ventilated motors should be used. If the DC
magnetization period is long, DC magnetization cannot
prevent the motor shaft from rotating if a constant load is
applied to the motor.
00b
Bit
Value
0
Notes:
• The DC hold function has no effect if the start signal is switched off.
• The DC hold function can only be activated in speed control mode.
Scalar.
1
Note: Post-magnetization is only available when ramping is the selected stop mode (see
2…15 Reserved
0000h…FFFFh
DC magnetization selection.
1 = 1
Defines the DC hold speed. See parameter 21.08 DC current 5.0 rpm
0.0 … 1000.0 rpm
DC hold speed.
1 = 1 rpm
30.0%
Defines the DC hold current in percent of the motor nominal
current. See parameter 21.08 DC current control, and section
0.0 … 100.0%
DC hold current.
1 = 1%
0 ms
active after stopping the motor. The magnetization current is
See parameter 21.08 DC current control.
0…30000 ms
Post-magnetization time.
1 = 1 ms
Turning
This mode gives the most accurate autophasing result. This
mode can be used, and is recommended, if the motor is
allowed to rotate during the ID run and the start-up is not
time-critical.
0
Note: This mode will cause the motor to rotate during the ID
run.
Standstill 1
Standstill 2
Faster than the Turning mode, but not as accurate. The motor
will not rotate.
1
2
An alternative standstill autophasing mode that can be used if
the Turning mode cannot be used, and the Standstill 1 mode
gives erratic results. However, this mode is considerably
slower than Standstill 1.
Parameters 113
No.
Name/Value
Description
Def/FbEq16
The motor can be automatically started after a short supply
power failure using the automatic restart function. See section
5.0 s
When this parameter is set to 0.0 seconds, automatic
restarting is disabled. Otherwise, the parameter defines the
maximum duration of the power failure after which restarting
is attempted. Note that this time also includes the DC pre-
charging delay.
0.0 s
Automatic restarting disabled.
0
0.1 … 5.0 s
Maximum power failure duration.
1 = 1 s
22
Speed reference selection.
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Value of the selected speed reference.
1 = 1 rpm
Zero
None.
0
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
PID
Fieldbus adapter A reference 1.
Fieldbus adapter A reference 2.
1
2
4
5
15
controller).
Other
The value is taken from another parameter.
-
Selects speed reference source 2.
Ref1
Ref1
Add
Sub
speed reference 1 as such.
0
1
2
The sum of the reference sources is used as speed reference
1.
reference 1.
Mul
Min
Max
The multiplication of the reference sources is used as speed
reference 1.
3
4
5
The smaller of the reference sources is used as speed
reference 1.
The greater of the reference sources is used as speed
reference 1.
114 Parameters
No.
Name/Value
Description
Def/FbEq16
(The sources for the references are defined by parameters
respectively.)
0 = Speed reference 1
1 = Speed reference 2
Speed reference 1
Speed reference 2
0.
1.
0
1
2
loc
DI1
A specific bit in another parameter.
3
DI2
4
DI3
5
DI4
6
DI5
7
DI6
8
DIO1
DIO2
11
12
-
Note: For safety reasons, the additive is not applied when
any of the stop functions are active.
Defines the scaling factor for speed reference 1/2 (speed
reference 1 or 2 is multiplied by the defined value). Speed
1.000
-8.000 …8.000
Speed reference scaling factor.
1000 = 1
Note: For safety reasons, the additive is not applied when
any of the stop functions are active.
Parameters 115
No.
Name/Value
Description
Def/FbEq16
Determines how constant speeds are selected, and whether 00b
the rotation direction signal is considered or not when
applying a constant speed.
Bit
Name
Information
0
Const speed
mode
1 = Packed: 7 constant speeds are selectable using the three sources
0 = Separate: Constant speeds 1, 2 and 3 are separately activated by
In case of conflict, the constant speed with the smaller number takes
priority.
1
Dir ena
1 = Start dir: To determine running direction for a constant speed, the
multiplied by the direction signal (forward: +1, reverse: -1). For example,
if the direction signal is reverse and the active constant speed is
negative, the drive will run in the forward direction.
0 = Accord Par: The running direction for the constant speed is
determined by the sign of the constant speed setting (parameters
2…15 Reserved
0000h…FFFFh
Constant speeds configuration word.
1 = 1
(Separate), selects a source that activates constant speed 1.
sources whose states activate constant speeds as follows:
Source defined Source defined Source defined
Constant speed active
by par. 22.22
by par. 22.23
by par. 22.24
0
1
0
1
0
1
0
1
0
0
1
1
0
0
1
1
0
0
0
0
1
1
1
1
None
Constant speed 1
Constant speed 2
Constant speed 3
Constant speed 4
Constant speed 5
Constant speed 6
Constant speed 7
Off
0.
1.
0
1
On
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
2
3
4
5
6
7
10
116 Parameters
No.
Name/Value
DIO2
Description
Def/FbEq16
11
-
(Separate), selects a source that activates constant speed 2.
sources that are used to activate constant speeds. See table
(Separate), selects a source that activates constant speed 3.
sources that are used to activate constant speeds. See table
Defines constant speed 1.
Constant speed 1.
300.00 rpm
1 = 1 rpm
-30000.00 …
30000.00 rpm
Defines constant speed 2.
Constant speed 2.
0.00 rpm
1 = 1 rpm
-30000.00 …
30000.00 rpm
Defines constant speed 3.
Constant speed 3.
0.00 rpm
1 = 1 rpm
-30000.00 …
30000.00 rpm
Defines constant speed 4.
Constant speed 4.
0.00 rpm
1 = 1 rpm
-30000.00 …
30000.00 rpm
Defines constant speed 5.
Constant speed 5.
0.00 rpm
1 = 1 rpm
-30000.00 …
30000.00 rpm
Defines constant speed 6.
Constant speed 6.
0.00 rpm
1 = 1 rpm
-30000.00 …
30000.00 rpm
Defines constant speed 7.
Constant speed 7.
0.00 rpm
1 = 1 rpm
-30000.00 …
30000.00 rpm
Defines a safe speed reference that is used with supervision 0.00 rpm
parameters such as
-30000.00 …
30000.00 rpm
Safe speed reference.
1 = 1 rpm
Defines the speed reference for jogging function 1. For more 0.00 rpm
-30000.00 …
30000.00 rpm
Speed reference for jogging function 1.
1 = 1 rpm
Parameters 117
No.
Name/Value
Description
Def/FbEq16
Defines the speed reference for jogging function 2. For more 0.00 rpm
-30000.00 …
30000.00 rpm
Speed reference for jogging function 2.
1 = 1 rpm
00b
Enables/disables the critical speeds function. Also
determines whether the specified ranges are effective in both
rotating directions or not.
Bit
Name
Information
0
Enable
1 = Enable: Critical speeds enabled.
0 = Disable: Critical speeds disabled.
1
Sign mode
account.
Each range is effective in both directions of rotation.
2…15 Reserved
0000h…FFFFh
Critical speeds configuration word.
1 = 1
Note: This value must be less than or equal to the value of
0.00 rpm
-30000.00 …
30000.00 rpm
Low limit for critical speed 1.
1 = 1 rpm
0.00 rpm
Defines the high limit for critical speed range 1.
Note: This value must be greater than or equal to the value of
-30000.00 …
30000.00 rpm
High limit for critical speed 1.
1 = 1 rpm
0.00 rpm
Note: This value must be less than or equal to the value of
-30000.00 …
30000.00 rpm
Low limit for critical speed 2.
1 = 1 rpm
0.00 rpm
Defines the high limit for critical speed range 2.
Note: This value must be greater than or equal to the value of
-30000.00 …
30000.00 rpm
High limit for critical speed 2.
1 = 1 rpm
0.00 rpm
Note: This value must be less than or equal to the value of
-30000.00 …
30000.00 rpm
Low limit for critical speed 3.
1 = 1 rpm
0.00 rpm
Defines the high limit for critical speed range 3.
Note: This value must be greater than or equal to the value of
-30000.00 …
30000.00 rpm
High limit for critical speed 3.
1 = 1 rpm
118 Parameters
No.
Name/Value
Description
Def/FbEq16
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Value of reference source 1.
1 = 1 rpm
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Value of reference source 2.
1 = 1 rpm
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed reference after source selection.
1 = 1 rpm
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed reference after additive 1.
1 = 1 rpm
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed reference after speed share scaling.
1 = 1 rpm
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed reference after additive 2.
1 = 1 rpm
-
unless overridden by
• any constant speed
• a jogging reference
• control panel reference
• safe speed reference.
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed reference before application of critical speeds.
1 = 1 rpm
Parameters 119
No.
23
Name/Value
Description
Def/FbEq16
Speed reference ramp settings.
Displays the used speed reference before ramping and
This parameter is read-only.
-
-30000.00 …
30000.00 rpm
Speed reference before ramping and shaping.
1 = 1 rpm
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed reference after ramping and shaping.
1 = 1 rpm
acceleration/deceleration times defined by parameters
0 = Acceleration time 1 and deceleration time 1 are in force
1 = Acceleration time 2 and deceleration time 2 are in force
Acc/Dec time 1
0.
1
Acc/Dec time 2
1.
2
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
to change from zero to the speed defined by parameter 46.01
Speed scaling.
If the speed reference increases faster than the set
acceleration rate, the motor speed will follow the acceleration
rate.
If the speed reference increases slower than the set
acceleration rate, the motor speed will follow the reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to exceed
the drive torque limits.
0.000 …1800.000 s Acceleration time 1.
10 = 1 s
120 Parameters
No.
Name/Value
Description
Def/FbEq16
to change from the speed defined by parameter 46.01 Speed
scaling to zero.
If the speed reference decreases slower than the set
deceleration rate, the motor speed will follow the reference.
If the reference changes faster than the set deceleration rate,
the motor speed will follow the deceleration rate.
If the deceleration rate is set too short, the drive will
automatically prolong the deceleration in order not to exceed
drive torque limits. If there is any doubt about the deceleration
time being too short, ensure that DC overvoltage control is on
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with braking
equipment such as a brake chopper and brake resistor.
0.000 …1800.000 s Deceleration time 1.
10 = 1 s
20.000 s
0.000 …1800.000 s Acceleration time 2.
10 = 1 s
20.000 s
0.000 …1800.000 s Deceleration time 2.
10 = 1 s
Parameters 121
No.
Name/Value
Description
Def/FbEq16
Defines the shape of the acceleration ramp at the beginning
of the acceleration.
0.0 s
0.000 s: Linear ramp. Suitable for steady acceleration or
deceleration and for slow ramps.
0.001…1000.000 s: S-curve ramp. S-curve ramps are ideal
for lifting applications. The S-curve consists of symmetrical
curves at both ends of the ramp and a linear part in between.
Acceleration:
Linear ramp:
23.17 = 0 s
Speed
Linear ramp:
S-curve ramp:
23.17 > 0 s
S-curve ramp:
Time
Deceleration:
Speed
S-curve ramp:
Linear ramp:
S-curve ramp:
23.19 > 0 s
Linear ramp:
Time
0.000 …1800.000 s Ramp shape at start of acceleration.
10 = 1 s
Defines the shape of the acceleration ramp at the end of the 0.000 s
0.000 …1800.000 s Ramp shape at end of acceleration.
10 = 1 s
Defines the shape of the deceleration ramp at the beginning 0.000 s
0.000 …1800.000 s Ramp shape at start of deceleration.
10 = 1 s
Defines the shape of the deceleration ramp at the end of the 0.000 s
0.000 …1800.000 s Ramp shape at end of deceleration.
10 = 1 s
122 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the acceleration time for the jogging function i.e. the 60.000 s
time required for the speed to change from zero to the speed
value defined by parameter 46.01 Speed scaling.
0.000 …1800.000 s Acceleration time for jogging.
10 = 1 s
Defines the deceleration time for the jogging function i.e. the 60.000 s
time required for the speed to change from the speed value
defined by parameter 46.01 Speed scaling to zero.
0.000 …1800.000 s Deceleration time for jogging.
10 = 1 s
3.000 s
Defines the time inside which the drive is stopped if an
emergency stop Off3 is activated (i.e. the time required for the
speed to change from the speed value defined by parameter
46.01 Speed scaling to zero). Emergency stop mode and
activation source are selected by parameters 21.04
Emergency stop mode and 21.05 Emergency stop source
respectively. Emergency stop can also be activated through
fieldbus.
Note: Emergency stop Off1 uses the standard deceleration
0.000 …1800.000 s Emergency stop Off3 deceleration time.
10 = 1 s
Selects a source that forces the speed reference to zero.
0 = Force speed reference to zero
1 = Normal operation
Active
Inactive
DI1
0.
0
1.
1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Selects the source for enabling/disabling speed reference
ramp balancing. See parameter 23.27 Ramp out balance ref.
0 = Disabled
1 = Enabled
Off
0.
0
1
2
3
4
5
6
7
On
1.
DI1
DI2
DI3
DI4
DI5
DI6
Parameters 123
No.
Name/Value
DIO1
Description
Def/FbEq16
10
DIO2
11
-
Defines the reference for speed ramp balancing. The output
of the ramp generator is forced to this value when balancing
0.00 rpm
-30000.00 …
30000.00 rpm
Speed ramp balancing reference.
1 = 1 rpm
of the speed ramp during a speed reference change.
If the update interval of the signal from an external control
a straight line.
Speed reference
Speed
reference
t
A
Time
t = update interval of signal from external control system
A = speed reference change during t
This function is only active in remote control.
Off
On
Variable slope disabled.
0
1
Variable slope enabled (not available in local control).
For the best result, enter the reference update interval into
this parameter.
2…30000 ms
Variable slope rate.
1 = 1 ms
24
Speed error calculation; speed error window control
configuration; speed error step.
Displays the ramped and corrected speed reference (before
speed error calculation). See the control chain diagram on
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed reference used for speed error calculation.
1 = 1 rpm
124 Parameters
No.
Name/Value
Description
Def/FbEq16
-
This parameter is read-only.
-30000.00 …
30000.00 rpm
Speed feedback used for speed error calculation.
1 = 1 rpm
-
This parameter is read-only.
-30000.0 …
30000.0 rpm
Filtered speed error.
1 = 1 rpm
-
Displays the inverted (unfiltered) speed error. See the control
This parameter is read-only.
-30000.0 …
30000.0 rpm
Inverted speed error.
1 = 1 rpm
0
Defines a speed reference correction. This value is added to
the existing reference between ramping and limitation. See
-10000…10000
Speed reference correction.
1 = 1
0 ms
Defines the time constant of the speed error low-pass filter.
If the used speed reference changes rapidly, the possible
interferences in the speed measurement can be filtered with
the speed error filter. Reducing the ripple with filter may cause
speed controller tuning problems. A long filter time constant
and fast acceleration time contradict one another. A very long
filter time results in unstable control.
0…10000 ms
Speed error filtering time constant. 0 = filtering disabled.
1 = 1 ms
Parameters 125
No.
Name/Value
Description
Def/FbEq16
Speed error window control forms a speed supervision
function for a torque-controlled drive. It supervises the speed
error value (speed reference – actual speed). In the normal
operating range, window control keeps the speed controller
input at zero. The speed controller is evoked only if the speed
error exits the speed error window.
When the speed error moves outside the window, the
exceeding part of the error value is connected to the speed
controller. The speed controller produces a reference term
relative to the input and gain of the speed controller
adds to the torque reference. The result is used as the
internal torque reference for the drive.
The window boundaries are defined by parameters 24.43
as follows:
Speed (rpm)
Speed error
Reference
window
Forward
0 rpm
Reverse
Speed error
Reference
window
defines the overspeed limit in both directions of rotation. This
is because the function monitors speed error (which is
negative in case of overspeed, positive in case of
underspeed).
Example: In a load loss condition, the internal torque
reference of the drive is decreased to prevent an excessive
rise of the motor speed. If window control were inactive, the
motor speed would rise until a speed limit of the drive were
reached.
Disable
Enable
Speed error window control inactive.
Speed error window control active.
0
1
0 rpm
0 … 3000 rpm
Upper boundary of speed error window.
1 = 1 rpm
0 rpm
0 … 3000 rpm
Lower boundary of speed error window.
1 = 1 rpm
126 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines an additional speed step given to the input of the
speed controller (and added to the speed error value).
0.0 rpm
-3000.0 … 3000.0
rpm
Speed error step.
10 = 1 rpm
25
Speed controller settings.
Displays the speed controller output that is transferred to the
This parameter is read-only.
-
-1600.0 … 1600.0% Limited speed controller output torque.
1 = 1%
Defines the proportional gain (Kp) of the speed controller. Too 10.00
high a gain may cause speed oscillation. The figure below
shows the speed controller output after an error step when
the error remains constant.
%
Gain = Kp = 1
TI = Integration time = 0
TD= Derivation time = 0
Error value
Controller output
Controller
output = Kp × e
e = Error value
Time
If gain is set to 1, a 10% change in error value (reference -
actual value) causes the speed controller output to change by
10%.
0.00 …250.00
Proportional gain for speed controller.
100 = 1
Parameters 127
No.
Name/Value
Description
Def/FbEq16
Defines the integration time of the speed controller. The
2.50 s
integration time defines the rate at which the controller output
changes when the error value is constant and the
proportional gain of the speed controller is 1. The shorter the
integration time, the faster the continuous error value is
corrected. Too short an integration time makes the control
unstable.
If parameter value is set to zero, the I-part of the controller is
disabled.
Anti-windup stops the integrator if the controller output is
limited.
The figure below shows the speed controller output after an
error step when the error remains constant.
%
Controller output
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time = 0
Kp × e
Kp × e
e = Error value
Time
TI
0.00 … 1000.00 s
Integration time for speed controller.
10 = 1 s
128 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the derivation time of the speed controller. Derivative 0.000 s
action boosts the controller output if the error value changes.
The longer the derivation time, the more the speed controller
output is boosted during the change. If the derivation time is
set to zero, the controller works as a PI controller, otherwise
as a PID controller. The derivation makes the control more
responsive for disturbances.
The speed error derivative must be filtered with a low pass
filter to eliminate disturbances.
The figure below shows the speed controller output after an
error step when the error remains constant.
%
Controller output
e
Kp × TD ×
Ts
Kp × e
Error value
Kp × e
e = Error value
Time
TI
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time > 0
Ts= Sample time period = 250 µs
e = Error value change between two samples
Note: Changing this parameter value is recommended only if
a pulse encoder is used.
0.000 … 10000.000 Derivation time for speed controller.
s
1000 = 1 s
8.0 ms
0.0 … 1000.0 ms
Derivation filter time constant.
1 = 1 ms
Parameters 129
No.
Name/Value
Description
Def/FbEq16
Defines the derivation time for acceleration(/deceleration)
compensation. In order to compensate inertia during
acceleration, a derivative of the reference is added to the
output of the speed controller. The principle of a derivative
Note: As a general rule, set this parameter to the value
between 50 and 100% of the sum of the mechanical time
constants of the motor and the driven machine.
0.00 s
The figure below shows the speed responses when a high
inertia load is accelerated along a ramp.
No acceleration compensation:
Speed reference
Actual speed
Time
Acceleration compensation:
Speed reference
Actual speed
Time
0.00 … 1000.00 s
Acceleration compensation derivation time.
10 = 1 s
0.0 … 1000.0 ms
Acceleration/deceleration compensation filter time.
1 = 1 ms
130 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the droop rate in percent of the nominal motor speed. 0.00%
Drooping decreases the drive speed slightly as the drive load
increases. The actual speed decrease at a certain operating
point depends on the droop rate setting and the drive load (=
torque reference / speed controller output). At 100% speed
controller output, drooping is at its nominal level, i.e. equal to
the value of this parameter. The drooping effect decreases
linearly to zero along with the decreasing load.
The droop rate can be used e.g. to adjust the load sharing in
a Master/Follower application run by several drives. In a
Master/Follower application the motor shafts are coupled to
each other.
The correct droop rate for a process must be found out case
by case in practice.
Speed decrease = Speed controller output × Drooping × Nominal speed
Example: Speed controller output is 50%, droop rate is 1%, nominal speed of the drive is
1500 rpm.
Speed decrease = 0.50 × 0.01 × 1500 rpm = 7.5 rpm.
Motor speed in
% of nominal
No drooping
100%
D
roop
ing
Speed controller
output / %
Drive load
100%
0.00 … 100.00%
Droop rate.
100 = 1%
0 = Disabled
1 = Enabled
Off
0.
1
On
1.
2
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Parameters 131
No.
Name/Value
Description
Def/FbEq16
0
balancing. The output of the speed controller is forced to this
In order to guarantee smooth operation during output
balancing, the D-part of the speed controller is disabled and
the acceleration compensation term is set to zero.
-300 … 300
Speed control output balancing reference.
1 = 1
Defines the minimum speed controller output torque.
-300.0%
-1600.0 … 0.0%
Minimum speed controller output torque.
1 = 1%
300.0%
Defines the maximum speed controller output torque.
0.0 … 1600.0%
Maximum speed controller output torque.
1 = 1%
Defines the proportional gain for the speed controller when an 10.00
0.00 … 250.00
Proportional gain upon an emergency stop.
100 = 1
26
Displays the output of the proportional (P) part of the speed
This parameter is read-only.
-
-30000.0 …
30000.0%
P-part output of speed controller.
1 = 1%
-
Displays the output of the integral (I) part of the speed
This parameter is read-only.
-30000.0 …
30000.0%
I-part output of speed controller.
1 = 1%
-
Displays the output of the derivative (D) part of the speed
This parameter is read-only.
-30000.0 …
30000.0%
D-part output of speed controller.
1 = 1%
-
Displays the output of the acceleration compensation
This parameter is read-only.
-30000.0 …
30000.0%
Output of acceleration compensation function.
1 = 1%
-
Displays the acceleration-compensated output of the speed
This parameter is read-only.
-30000.0 …
30000.0%
Acceleration-compensated output of speed controller.
1 = 1%
Settings of the torque reference chain.
Displays the torque reference given to the torque controller in
This parameter is read-only.
-
-1600.0 … 1600.0% Torque reference for torque control.
10 = 1%
132 Parameters
No.
Name/Value
Description
Def/FbEq16
Displays the torque reference after frequency, voltage and
torque limitation in percent of motor nominal torque. See the
-
This parameter is read-only.
-1600.0 … 1600.0% Torque reference for torque control.
10 = 1%
-300.0%
10 = 1%
300.0%
10 = 1%
-1000.0 … 0.0%
Minimum torque reference.
0.0 … 1000.0%
Maximum torque reference.
Zero
None.
0
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
PID
1
2
4
5
15
controller).
Other
The value is taken from another parameter.
-
then selectable as torque reference 1 in parameter 26.14
Ref 1
torque reference 1 as such.
0
1
2
Add
The sum of the reference sources is used as torque reference
1.
Sub
reference 1.
Mul
Min
Max
The multiplication of the reference sources is used as torque
reference 1.
3
4
5
The smaller of the reference sources is used as torque
reference 1.
The greater of the reference sources is used as torque
reference 1.
(The sources of the references are defined by parameters
respectively.)
0 = Torque reference 1
1 = Torque reference 2
Torque reference 1 0.
Torque reference 2 1.
0
1
Parameters 133
No.
Name/Value
Description
Def/FbEq16
-
Defines the scaling factor for the torque reference (the torque 1.000
reference is multiplied by the value).
-8.000 … 8.000
Torque reference scaling factor.
1000 = 1
Selects the source for torque reference additive 1.
Note: For safety reasons, the additive is not applied when an
emergency stop is active.
Zero
None.
0
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
PID
1
2
4
5
15
controller).
Other
The value is taken from another parameter.
-
0.000 s
reference.
0.000 … 30.000 s
Filter time constant for torque reference.
1000 = 1 s
Defines the torque reference ramp-up time, ie. the time for the 0.000 s
reference to increase from zero to nominal motor torque.
0.000 … 60.000 s
Torque reference ramp-up time.
100 = 1 s
the reference to decrease from nominal motor torque to zero.
0.000 … 60.000 s
Torque reference ramp-down time.
100 = 1 s
Selects the source of torque reference additive 2.
The value received from the selected source is added to the
torque reference after operating mode selection. Because of
this, the additive can be used in speed and torque modes.
Note: For safety reasons, the additive is not applied when an
emergency stop is active.
Zero
None.
0
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
PID
1
2
4
5
15
controller).
Other
The value is taken from another parameter.
-
0 = Normal operation
1 = Force torque reference additive 2 to zero.
Off
On
DI1
0.
0
1
2
1.
134 Parameters
No.
Name/Value
DI2
Description
Def/FbEq16
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
10
11
-
DIO2
an additional step to the torque reference.
-300.00 … 300.00% Torque step.
100 = 1%
Disable
Torque step disabled.
Torque step enabled.
0
1
-
Enable
Displays the value of torque reference source 1 (selected by
This parameter is read-only.
-1600.0 … 1600.0% Value of torque reference source 1.
10 = 1%
-
This parameter is read-only.
-1600.0 … 1600.0% Value of torque reference source 2.
10 = 1%
-
This parameter is read-only.
-1600.0 … 1600.0% Torque reference after selection.
10 = 1%
-
This parameter is read-only.
-1600.0 … 1600.0% Torque reference after application of reference additive A.
10 = 1%
-
Displays the torque reference after limiting and ramping. See
This parameter is read-only.
-1600.0 … 1600.0% Torque reference after limiting and ramping.
10 = 1%
-
This parameter is read-only.
-1600.0 … 1600.0% Torque reference after control mode selection.
10 = 1%
-
Displays the torque reference after application of reference
This parameter is read-only.
-1600.0 … 1600.0% Torque reference after application of reference additive 2.
10 = 1%
Parameters 135
No.
Name/Value
Description
Def/FbEq16
Displays the value of the source of torque reference additive
This parameter is read-only.
-
-1600.0 … 1600.0% Torque reference additive 2.
10 = 1%
-
Displays the value of torque reference additive 2 before it is
added to torque reference. See the control chain diagram on
This parameter is read-only.
-1600.0 … 1600.0% Torque reference additive 2.
10 = 1%
10.0
Rush controller gain term.
Rush controller gain.
1.0 …10000.0
1 = 1
Rush controller integration time term.
2.0 s
0.1 …10.0 s
Rush controller integration time.
1 = 1 s
28
Settings of the frequency reference chain.
-
This parameter is read-only.
-3000.0 … 3000.0
Hz
Frequency reference before ramping.
10 = 1 Hz
-
Displays the final frequency reference (after selection,
limitation and ramping). See the control chain diagram on
This parameter is read-only.
-3000.0 … 3000.0
Hz
Final frequency reference.
10 = 1 Hz
Selects frequency reference source 1. See also parameter
Zero
None.
0
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
PID
1
2
4
5
15
controller).
Other
The value is taken from another parameter.
-
Selects frequency reference source 2. See also parameter
Selects a mathematical function between the reference
the function is then selectable as frequency reference 1 in
Ref1
0
frequency reference 1 as such.
136 Parameters
No.
Name/Value
Description
Def/FbEq16
Add
The sum of the reference sources is used as frequency
reference 1.
1
Sub
as frequency reference 1.
2
Mul
Min
Max
The multiplication of the reference sources is used as
frequency reference 1.
3
4
5
The smaller of the reference sources is used as frequency
reference 1.
The greater of the reference sources is used as frequency
reference 1.
0 = Frequency reference 1
1 = Frequency reference 2
Frequency
reference 1
0.
0
1
Frequency
reference 2
1.
-
00b
whether the rotation direction signal is considered or not
when applying a constant frequency.
Bit
Name
Information
0
Const freq
mode
1 = Packed: 7 constant frequencies are selectable using the three
0 = Separate: Constant frequencies 1, 2 and 3 are separately activated
respectively. In case of conflict, the constant frequency with the smaller
number takes priority.
1
Dir ena
1 = Start dir: To determine running direction for a constant frequency, the
multiplied by the direction signal (forward: +1, reverse: -1). For example,
if the direction signal is reverse and the active constant frequency is
negative, the drive will run in the forward direction.
0 = According to par: The running direction for the constant frequency is
determined by the sign of the constant speed setting (parameters
0000h…FFFFh
Constant speeds configuration word.
1 = 1
Parameters 137
No.
Name/Value
Description
Def/FbEq16
0 (Separate), selects a source that activates constant
frequency 1.
three sources whose states activate constant frequencies as
follows:
Source defined Source defined Source defined
Constant frequency
active
by par. 28.22
by par. 28.23
by par. 28.24
0
1
0
1
0
1
0
1
0
0
1
1
0
0
1
1
0
0
0
0
1
1
1
1
None
Constant frequency 1
Constant frequency 2
Constant frequency 3
Constant frequency 4
Constant frequency 5
Constant frequency 6
Constant frequency 7
Off
0.
1.
0
1
On
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
0 (Separate), selects a source that activates constant
frequency 2.
three sources that are used to activate constant frequencies.
0 (Separate), selects a source that activates constant
frequency 3.
three sources that are used to activate constant frequencies.
138 Parameters
No.
Name/Value
Description
Def/FbEq16
0 Hz
-3000.00 …
3000.00 Hz
Constant frequency 1.
10 = 1 Hz
0 Hz
-3000.00 …
3000.00 Hz
Constant frequency 2.
10 = 1 Hz
0 Hz
-3000.00 …
3000.00 Hz
Constant frequency 3.
10 = 1 Hz
0 Hz
-3000.00 …
3000.00 Hz
Constant frequency 4.
10 = 1 Hz
0 Hz
-3000.00 …
3000.00 Hz
Constant frequency 5.
10 = 1 Hz
0 Hz
-3000.00 …
3000.00 Hz
Constant frequency 6.
10 = 1 Hz
0 Hz
-3000.00 …
3000.00 Hz
Constant frequency 7.
10 = 1 Hz
0 Hz
Defines a safe frequency reference that is used with
supervision parameters such as
-3000…3000 Hz
Safe frequency reference.
10 = 1 Hz
00b
Enables/disables the critical frequencies function. Also
determines whether the specified ranges are effective in both
rotating directions or not.
Bit
Name
Information
0
Crit freq
1 = Enable: Critical frequencies enabled.
0 = Disable: Critical frequencies disabled.
1
Sign mode
into account.
Each range is effective in both directions of rotation.
0000h…FFFFh
Critical frequencies configuration word.
1 = 1
Parameters 139
No.
Name/Value
Description
Def/FbEq16
0.0 Hz
Note: This value must be less than or equal to the value of
-3000.00 …
3000.00 Hz
Low limit for critical frequency 1.
10 = 1 Hz
0.0 Hz
Note: This value must be greater than or equal to the value of
-3000.00 …
3000.00 Hz
High limit for critical frequency 1.
10 = 1 Hz
0.0 Hz
Note: This value must be less than or equal to the value of
-3000.00 …
3000.00 Hz
Low limit for critical frequency 2.
10 = 1 Hz
0.0 Hz
Note: This value must be greater than or equal to the value of
-3000.00 …
3000.00 Hz
High limit for critical frequency 2.
10 = 1 Hz
0.0 Hz
Note: This value must be less than or equal to the value of
-3000.00 …
3000.00 Hz
Low limit for critical frequency 3.
10 = 1 Hz
0.0 Hz
Note: This value must be greater than or equal to the value of
-3000.00 …
3000.00 Hz
High limit for critical frequency 3.
10 = 1 Hz
acceleration/deceleration times defined by parameters
0 = Acceleration time 1 and deceleration time 1 are in force
1 = Acceleration time 2 and deceleration time 2 are in force
Acc/Dec time 1
0.
0
Acc/Dec time 2
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
140 Parameters
No.
Name/Value
Description
Def/FbEq16
frequency to change from zero to the frequency defined by
parameter 46.02 Frequency scaling.
20.000 s
If the reference increases faster than the set acceleration
rate, the motor will follow the acceleration rate.
If the reference increases slower than the set acceleration
rate, the motor frequency will follow the reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to exceed
the drive torque limits.
0.000 … 1800.000 Acceleration time 1.
s
10 = 1 s
20.000 s
frequency to change from the frequency defined by
parameter 46.02 Frequency scaling to zero.
If there is any doubt about the deceleration time being too
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with braking
equipment such as a brake chopper and brake resistor.
0.000 … 1800.000 Deceleration time 1.
s
10 = 1 s
60.000 s
10 = 1 s
60.000 s
10 = 1 s
0.000 … 1800.000 Acceleration time 2.
s
0.000 … 1800.000 Deceleration time 2.
s
0 = Force frequency reference to zero
1 = Normal operation
Active
Inactive
DI1
0.
0
1.
1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
generator to actual frequency value.
0 = Force ramp output to actual frequency
1 = Normal operation
Active
0.
0
Parameters 141
No.
Name/Value
Inactive
DI1
Description
Def/FbEq16
1.
1
2
3
4
5
6
7
DI2
DI3
DI4
DI5
DI6
DIO1
DIO2
10
11
-
Defines a reference for frequency ramp balancing. The output 0.0 Hz
of the ramp generator is forced to this value when balancing
-3000.00 …
3000.00 Hz
Frequency ramp balancing reference.
10 = 1 Hz
Selects the source for enabling/disabling speed ramp
0 = Disabled
1 = Enabled
Off
0.
On
1.
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
input.
Not selected
Freq ref unlimited
Other
None.
0
-
The value is taken from another parameter.
Selects the signal that is used as a frequency reference in
scalar control.
Not selected
None.
0
1
Frequency ref
ramped
Other
The value is taken from another parameter.
-
142 Parameters
No.
Name/Value
Description
Def/FbEq16
-
This parameter is read-only.
-3000.00 …
3000.00 Hz
Value of frequency reference source 1.
10 = 1 Hz
-
This parameter is read-only.
-3000.00 …
3000.00 Hz
Value of frequency reference source 2.
10 = 1 Hz
-
This parameter is read-only.
-3000.00 …
3000.00 Hz
Frequency reference after selection.
10 = 1 Hz
-
frequencies, control panel reference, etc. See the control
This parameter is read-only.
-3000.00 …
3000.00 Hz
Frequency reference 7.
10 = 1 Hz
-
Displays the frequency reference after application of critical
frequencies, but before ramping and limiting. See the control
This parameter is read-only.
-3000.00 …
3000.00 Hz
Frequency reference before ramping and limiting.
10 = 1 Hz
Parameters 143
No.
30
Name/Value
Description
Def/FbEq16
Drive operation limits.
Displays limit word 1.
-
This parameter is read-only.
Bit
Name
Description
0
Torq lim
1 = Drive torque is being limited by the motor control (undervoltage
control, current control, load angle control or pull-out control), or by the
torque limits defined by parameters.
1
2
3
4
5
Torq ref max
Torq ref min
Tlim max speed 1 = Torque reference is being limited by the rush control because of
6
Tlim min speed 1 = Torque reference is being limited by the rush control because of
7
8
9
10
Min freq ref lim
11…15 Reserved
0000h…FFFFh
Limit word 1.
1 = 1
144 Parameters
No.
Name/Value
Description
Def/FbEq16
Displays the torque controller limitation status word.
This parameter is read-only.
-
Bit
0
Name
Description
Undervoltage
Overvoltage
*1 = Intermediate DC circuit undervoltage
*1 = Intermediate DC circuit overvoltage
1
2
3
4
Internal current 1 = An inverter current limit (identified by bits 8…11) is active
5
Load angle
(With permanent magnet motors and reluctance motors only)
1 = Load angle limit is active, ie. the motor cannot produce any more
torque
6
Motor pullout
(With asynchronous motors only)
Motor pull-out limit is active, ie. the motor cannot produce anymore
torque
7
Reserved
8
Thermal
1 = Input current is being limited by the main circuit thermal limit
*1 = Maximum output current (IMAX) is being limited
9
SOA current
User current
Thermal IGBT
10
11
*1 = Output current is being limited by a calculated thermal current
value
12…15 Reserved
*Only one out of bits 0…3, and one out of bits 9…11 can be on simultaneously. The bit typically
indicates the limit that is exceeded first.
0000h…FFFFh
Torque limitation status word.
1 = 1
Defines the minimum allowed speed.
-1500.00 rpm
WARNING! In frequency control mode, this limit is not
used.
-30000.00 …
30000.00 rpm
Minimum allowed speed.
1 = 1 rpm
Defines the maximum allowed speed.
1500.00 rpm
WARNING! In frequency control mode, this limit is not
used.
-30000.00 …
30000.00 rpm
Maximum speed.
1 = 1 rpm
-50.0 Hz
-3000.00 …
3000.00 Hz
Minimum frequency.
10 = 1 Hz
Parameters 145
No.
Name/Value
Description
Def/FbEq16
Defines the maximum allowed frequency.
50 Hz
-3000.00 …
3000.00 Hz
Maximum frequency.
10 = 1 Hz
Defines the maximum allowed motor current.
0.00 A
0.00 … 30000.00 A Maximum motor current.
nominal motor torque).
-1600.0 … 1600.0% Minimum torque.
1 = 1 A
-300.0%
1 = 1%
Defines the maximum torque limit for the drive (in percent of 300.0%
nominal motor torque).
-1600.0 … 1600.0% Maximum torque.
1 = 1%
Defines the maximum allowed power fed by the inverter to the 300.00%
motor in percent of nominal motor power.
0.00 … 600.00%
Maximum motoring power.
1 = 1%
Defines the maximum allowed power fed by the motor to the -300.00%
inverter in percent of nominal motor power.
-600.00 … 0.00%
Maximum generating power.
1 = 1%
Fast braking of a high inertia load causes the voltage to rise
to the overvoltage control limit. To prevent the DC voltage
from exceeding the limit, the overvoltage controller
automatically decreases the braking torque.
Enable
Note: If the drive is equipped with a brake chopper and
resistor, or a regenerative supply unit, the controller must be
disabled.
Disable
Enable
Overvoltage control disabled.
Overvoltage control enabled.
0
1
Enables the undervoltage control of the intermediate DC link. Enable
If the DC voltage drops due to input power cut off, the
undervoltage controller will automatically decrease the motor
torque in order to keep the voltage above the lower limit. By
decreasing the motor torque, the inertia of the load will cause
regeneration back to the drive, keeping the DC link charged
and preventing an undervoltage trip until the motor coasts to
a stop. This will act as a power-loss ride-through functionality
in systems with high inertia, such as a centrifuge or a fan.
Disable
Enable
Undervoltage control disabled.
Undervoltage control enabled.
0
1
31
Settings that define the behavior of the drive upon fault
situations.
Defines the source of external event 1. See also parameter
0 = Trigger event
1 = Normal operation
Inactive (true)
Active (false)
DIIL
1.
0
1
2
0.
146 Parameters
No.
Name/Value
DI1
Description
Def/FbEq16
Selects the type of external event 1.
3
DI2
4
DI3
5
DI4
6
DI5
7
DI6
8
DIO1
DIO2
11
12
-
Fault
The external event generates a fault.
The external event generates a warning.
0
1
Warning
resets the drive after a fault trip if the cause of the fault no
longer exists.
0 - 1 = Reset
>
Note: A fault reset from the fieldbus interface is always
observed regardless of this parameter.
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Parameters 147
No.
Name/Value
Description
Def/FbEq16
Selects faults that are automatically reset. The parameter is a 0000h
16-bit word with each bit corresponding to a fault type.
Whenever a bit is set to 1, the corresponding fault is
automatically reset.
Note: The autoreset function is only available in external
The bits of the binary number correspond to the following
faults:
Bit
0
Fault
Overcurrent
Overvoltage
1
2
Undervoltage
3
AI < Min
4…9
10
11
Reserved
12…15 Reserved
0000h…FFFFh
Automatic reset configuration word.
1 = 1
0
Defines the fault that can be automatically reset using
decimal.
0…65535
Fault code.
10 = 1
0
Defines the number of automatic fault resets the drive
0…5
Number of automatic resets.
10 = 1
30.0 s
Defines the time for the automatic reset function. See
1.0 … 600.0 s
Time for automatic resets.
10 = 1 s
0.0 s
Defines the time that the drive will wait after a fault before
attempting an automatic reset. See parameter 31.12
0.0 … 120.0 s
Autoreset delay.
10 = 1 s
Selects how the drive reacts when a motor phase loss is
detected.
Fault
No
No action taken.
0
Fault
Selects how the drive reacts when an earth fault or current
unbalance is detected in the motor or the motor cable.
Fault
No
No action taken.
0
Warning
1
Fault
Selects how the drive reacts when a supply phase loss is
detected.
Fault
No
No action taken.
0
148 Parameters
No.
Name/Value
Fault
Description
Def/FbEq16
Selects how the drive reacts when it detects the absence of
one or both Safe torque off (STO) signals.
Fault
Note: This parameter only affects the supervision of the Safe
torque off (STO) function. The STO operates regardless of
the setting of this parameter: a running drive will stop upon
STO activation, and will not start until both STO signals are
restored and all faults reset.
For more information on the STO, see the Hardware manual
of the drive.
Fault
If only one of the STO signals is lost, the drive generates a
0
1
Warning
Drive running:
If only one of the STO signals is lost, the drive generates a
Drive stopped:
If only one of the STO signals is lost, the drive generates a
warning.
No
Drive running:
2
If only one of the STO signals is lost, the drive generates a
Drive stopped:
If only one of the STO signals is lost, the drive trips on FA81
lost, no action is taken.
Only warning
If only one of the STO signals is lost, the drive generates a
warning.
3
Selects how the drive reacts to incorrect input power and
motor cable connection (i.e. input power cable is connected
to drive motor connection).
Fault
No
No action taken.
0
Fault
Selects how the drive reacts to a motor stall condition.
A stall condition is defined as follows:
and
• the output frequency is below the level set by parameter
• the conditions above have been valid longer than the time
No
None (stall supervision disabled).
0
Parameters 149
No.
Name/Value
Warning
Description
Def/FbEq16
1
Fault
Stall current limit in percent of the nominal current of the
200.0%
0.0 … 1600.0%
Stall current limit.
-
150.0 rpm
-
0.0 … 10000.0 rpm Stall speed limit.
15.0 Hz
Note: Setting the limit below 10 Hz is not recommended.
0.0 … 1000.0 Hz
Stall frequency limit.
-
Stall time.
20 s
0 … 3600 s
-
500 rpm
WARNING! This function only supervises the speed
reference in DTC motor control mode. The function is
not effective with other reference types or in scalar
motor control mode.
Example: If the maximum speed is 1420 rpm and speed trip
margin is 300 rpm, the drive trips at 1720 rpm.
Speed
Overspeed trip level
0
Time
Overspeed trip level
0…10000 rpm
Overspeed trip margin.
1 = 1 rpm
150 Parameters
No.
32
Name/Value
Description
Def/FbEq16
Configuration of signal supervision functions 1…3.
Three values can be chosen to be monitored; a warning or
fault is generated whenever predefined limits are exceeded.
Signal supervision status word.
000b
Indicates whether the values monitored by the signal
supervision functions are within or outside their respective
limits.
Note: This word is independent of the drive actions defined
Bit
0
Name
Description
Supervision 1 active
Supervision 2 active
Supervision 3 active
1
2
3…15 Reserved
000…111b
Signal supervision status word.
1 = 1
The action to be taken when the condition is fulfilled is
Disabled
Low
Signal supervision 1 not in use.
0
1
2
Action is taken whenever the signal falls below its lower limit.
High
Action is taken whenever the signal rises above its upper
limit.
Abs Low
Abs High
Both
Action is taken whenever the absolute value of the signal falls
below its (absolute) lower limit.
3
4
5
6
Action is taken whenever the absolute value of the signal
rises above its (absolute) upper limit.
Action is taken whenever the signal falls below its low limit or
rises above its high limit.
Abs Both
Action is taken whenever the absolute value of the signal falls
below its (absolute) low limit or rises above its (absolute) high
limit.
Selects the action the drive takes when the value monitored
by signal supervision 1 exceeds its limits.
Note: This parameter does not affect the status indicated by
No
No action taken.
0
Warning
Fault
1
Selects the signal to be monitored by signal supervision
function 1.
Zero
None.
0
1
2
3
Speed
Frequency
Current
Parameters 151
No.
Name/Value
Torque
Description
Def/FbEq16
23.01 Speed ref ramp in (page 119).
4
DC voltage
Output power
AI1
5
6
7
AI2
8
Speed ref ramp in
15
16
Speed ref used
Torque ref used
Freq ref used
17
18
19
20
21
Other
The value is taken from another parameter.
Defines the filter time constant for signal supervision 1.
Signal filter time.
-
0.000 … 30.000 s
0.000 s
1000 = 1 s
0.00
Defines the lower limit for signal supervision 1.
Low limit.
-21474836.48 …
21474836.47
-
Defines the upper limit for signal supervision 1.
Upper limit.
0.00
-
-21474836.48 …
21474836.47
The action to be taken when the condition is fulfilled is
Disabled
Low
Signal supervision 2 not in use.
0
1
2
Action is taken whenever the signal falls below its lower limit.
High
Action is taken whenever the signal rises above its upper
limit.
Abs Low
Abs High
Both
Action is taken whenever the absolute value of the signal falls
below its (absolute) lower limit.
3
4
5
6
Action is taken whenever the absolute value of the signal
rises above its (absolute) upper limit.
Action is taken whenever the signal falls below its low limit or
rises above its high limit.
Abs Both
Action is taken whenever the absolute value of the signal falls
below its (absolute) low limit or rises above its (absolute) high
limit.
Selects the action the drive takes when the value monitored
by signal supervision 2 exceeds its limits.
Note: This parameter does not affect the status indicated by
No
No action taken.
0
1
Warning
Fault
152 Parameters
No.
Name/Value
Description
Def/FbEq16
Selects the signal to be monitored by signal supervision
function 2.
0.000 … 30.000 s
Defines the filter time constant for signal supervision 2.
Signal filter time.
0.000 s
1000 = 1 s
0.00
Defines the lower limit for signal supervision 2.
Low limit.
-21474836.48 …
21474836.47
-
Defines the upper limit for signal supervision 2.
Upper limit.
0.00
-
-21474836.48 …
21474836.47
The action to be taken when the condition is fulfilled is
Disabled
Low
Signal supervision 3 not in use.
0
1
2
Action is taken whenever the signal falls below its lower limit.
High
Action is taken whenever the signal rises above its upper
limit.
Abs Low
Abs High
Both
Action is taken whenever the absolute value of the signal falls
below its (absolute) lower limit.
3
4
5
6
Action is taken whenever the absolute value of the signal
rises above its (absolute) upper limit.
Action is taken whenever the signal falls below its low limit or
rises above its high limit.
Abs Both
Action is taken whenever the absolute value of the signal falls
below its (absolute) low limit or rises above its (absolute) high
limit.
Selects the action the drive takes when the value monitored
by signal supervision 3 exceeds its limits.
Note: This parameter does not affect the status indicated by
No
No action taken.
0
Warning
Fault
1
Selects the signal to be monitored by signal supervision
function 3.
0.000 … 30.000 s
Defines the filter time constant for signal supervision 3.
Signal filter time.
0.000 s
1000 = 1 s
0.00
Defines the lower limit for signal supervision 3.
Low limit.
-21474836.48 …
21474836.47
-
Parameters 153
No.
Name/Value
Description
Def/FbEq16
Defines the upper limit for signal supervision 3.
Upper limit.
0.00
-
-21474836.48 …
21474836.47
33
Configuration of maintenance timers/counters.
Displays the maintenance timer/counter status word,
indicating which maintenance timers/counters have exceeded
their limits.
-
This parameter is read-only.
Bit
0
Name
Description
On-time1
On-time2
Edge 1
Edge 2
Value 1
Value 2
1 = On-time timer 1 has reached its preset limit.
1 = On-time timer 2 has reached its preset limit.
1 = Signal edge counter 1 has reached its preset limit.
1 = Signal edge counter 2 has reached its preset limit.
1 = Value counter 1 has reached its preset limit.
1 = Value counter 2 has reached its preset limit.
1
2
3
4
5
6…15 Reserved
0000h…FFFFh
Maintenance time/counter status word.
1 = 1
-
Reading of on-time timer 1. Can be reset on the control panel
by keeping Reset depressed for over 3 seconds.
0…4294967295 s
Reading of on-time timer 1.
-
Sets the warning limit for on-time timer 1.
Warning limit for on-time counter 1.
-
0…4294967295 s
-
Configures on-time timer 1. This timer runs whenever the
(if enabled by this parameter), and the timer reset.
The current value of the timer is readable from parameter
indicates that the time has exceeded the limit.
00b
Bit
Function
0
Counter mode
0 = Loop: If warning is enabled by bit 1, it stays active only for 10 seconds
1 = Saturate: If warning is enabled by bit 1, it stays active until reset
1
Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning is given when the limit is reached
2…15 Reserved
0000h…FFFFh
False
On-time timer 1 configuration word.
Selects the signal to be monitored by on-time timer 1.
Constant 0.
1 = 1
0
1
2
True
Constant 1.
RO1
154 Parameters
No.
Name/Value
Description
Def/FbEq16
Selects the warning message for on-time timer 1.
-
On-time 1
Pre-selectable warning message for on-time timer 1.
Pre-selectable warning message for on-time timer 1.
Pre-selectable warning message for on-time timer 1.
0
6
7
Device clean
Additional cooling
fan
Cabinet fan
Pre-selectable warning message for on-time timer 1.
Pre-selectable warning message for on-time timer 1.
Pre-selectable warning message for on-time timer 1.
8
DC-capacitor
Motor bearing
9
10
-
Reading of on-time timer 2. Can be reset on the control panel
by keeping Reset depressed for over 3 seconds.
0…4294967295 s
Reading of on-time timer 2.
-
Sets the warning limit for on-time timer 2.
Warning limit for on-time counter 2.
0 s
-
0…4294967295 s
Configures on-time timer 2. This timer runs whenever the
(if enabled by this parameter), and the timer reset.
The current value of the timer is readable from parameter
indicates that the time has exceeded the limit.
00b
Bit
Function
0
Counter mode
0 = Loop: If warning is enabled by bit 1, it stays active only for 10 seconds
1 = Saturate: If warning is enabled by bit 1, it stays active until reset
1
Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning is given when the limit is reached
2…15 Reserved
0000h…FFFFh
False
On-time timer 2 configuration word.
Selects the signal to be monitored by on-time timer 2.
Constant 0.
1 = 1
0
True
Constant 1.
1
RO1
Selects the warning message for on-time timer 2.
2
-
On-time 2
Pre-selectable warning message for on-time timer 2.
Pre-selectable warning message for on-time timer 2.
Pre-selectable warning message for on-time timer 2.
Pre-selectable warning message for on-time timer 2.
Pre-selectable warning message for on-time timer 2.
Pre-selectable warning message for on-time timer 2.
1
Device clean
Additional cool fan
Cabinet fan
6
7
8
DC-capacitor
Motor bearing
9
10
Parameters 155
No.
Name/Value
Description
Def/FbEq16
Reading of signal edge counter 1. Can be reset on the control
panel by keeping Reset depressed for over 3 seconds.
-
0…4294967295
Reading of signal edge counter 1.
-
0…4294967295 Warning limit for signal edge counter 1.
0
-
incremented every time the signal selected by parameter
depending on the setting of this parameter). A divisor may be
selection is given (if enabled by this parameter), and the
counter reset.
0000b
The current value of the counter is readable from parameter
indicates that the count has exceeded the limit.
Bit
Function
0
Counter mode
0 = Loop: If warning is enabled by bit 1, it stays active only for 10 seconds
1 = Saturate: If warning is enabled by bit 1, it stays active until reset
1
2
3
Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning is given when the limit is reached
Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
4…15 Reserved
0000h…FFFFh
Edge counter 1 configuration word.
1 = 1
False
Constant 0.
0
1
2
-
True
Constant 1.
RO1
Divisor for signal edge counter 1. Determines how many
signal edges increment the counter by 1.
1
1…4294967295
Divisor for signal edge counter 1.
-
Selects the warning message for signal edge counter 1.
Edge counter 1
Main contactor
Output relay
Motor starts
Power ups
Pre-selectable warning message for signal edge counter 1.
Pre-selectable warning message for signal edge counter 1.
Pre-selectable warning message for signal edge counter 1.
Pre-selectable warning message for signal edge counter 1.
Pre-selectable warning message for signal edge counter 1.
2
11
12
13
14
156 Parameters
No.
Name/Value
Description
Def/FbEq16
DC-charge
Pre-selectable warning message for signal edge counter 1.
15
-
Reading of signal edge counter 2. Can be reset on the control
panel by keeping Reset depressed for over 3 seconds.
0…4294967295
Reading of signal edge counter 2.
-
0
0…4294967295
Warning limit for signal edge counter 2.
-
Configures signal edge counter 2. This counter is
incremented every time the signal selected by parameter
depending on the setting of this parameter). A divisor may be
counter reset.
0000b
The current value of the counter is readable from parameter
indicates that the count has exceeded the limit.
Bit
Function
Counter mode
0
0 = Loop: If warning is enabled by bit 1, it stays active only for 10 seconds
1 = Saturate: If warning is enabled by bit 1, it stays active until reset
1
2
3
Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning is given when the limit is reached
Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
4…15 Reserved
0000h…FFFFh
Edge counter 2 configuration word.
1 = 1
False
0.
0
1
2
-
True
1.
RO1
Divisor for signal edge counter 2. Determines how many
signal edges increment the counter by 1.
1
1…4294967295
Divisor for signal edge counter 2.
-
Selects the warning message for signal edge counter 2.
Edge counter 2
Main contactor
Output relay
Pre-selectable warning message for signal edge counter 2.
Pre-selectable warning message for signal edge counter 2.
Pre-selectable warning message for signal edge counter 2.
Pre-selectable warning message for signal edge counter 2.
3
11
12
13
Motor starts
Parameters 157
No.
Name/Value
Power ups
DC-charge
Description
Def/FbEq16
Pre-selectable warning message for signal edge counter 2.
Pre-selectable warning message for signal edge counter 2.
14
15
-
Reading of value counter 1. Can be reset on the control panel
by keeping Reset depressed for over 3 seconds.
-2147483008 …
2147483008
Reading of value counter 1.
-
Sets the warning limit for value counter 1.
Warning limit for value counter 1.
0
-2147483008 …
2147483008
-
Configures value counter 1. This counter measures, by
integration, the area below the signal selected by parameter
When the total area exceeds the limit set by parameter 33.51
parameter).
00b
The signal is sampled at 1-second intervals. Note that the
question) value is used.
The current value of the counter is readable from parameter
indicates that the count has exceeded the limit.
Bit
Function
Counter mode
0
0 = Loop: If warning is enabled by bit 1, it stays active only for 10 seconds
1 = Saturate: If warning is enabled by bit 1, it stays active until reset
1
Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning is given when the limit is reached
2…15 Reserved
0000h…FFFFh
Value counter 1 configuration word.
1 = 1
Selects the signal to be monitored by value counter 1.
Not selected
Motor speed
Other
None.
0
1
-
The value is taken from another parameter.
Divisor for value counter 1. The value of the monitored signal 1.000
is divided by this value before integration.
0.001 …
2147483.647
Divisor for value counter 1.
-
Selects the warning message for value counter 1.
Value 1
Pre-selectable warning message for value counter 1.
Pre-selectable warning message for value counter 1.
4
Motor bearing
10
158 Parameters
No.
Name/Value
Description
Def/FbEq16
Reading of value counter 2. Can be reset on the control panel
by keeping Reset depressed for over 3 seconds.
-
-2147483008 …
2147483008
Reading of value counter 2.
-
Sets the warning limit for value counter 2.
Warning limit for value counter 2.
0
-2147483008 …
2147483008
-
Configures value counter 2. This counter measures, by
integration, the area below the signal selected by parameter
When the total area exceeds the limit set by parameter 33.61
counter 2 warning selection is given (if enabled by this
parameter).
00b
The signal is sampled at 1-second intervals. Note that the
scaled (see the “FbEq” column at the signal in question) value
is used.
The current value of the counter is readable from parameter
indicates that the count has exceeded the limit.
Bit
Function
Counter mode
0
0 = Loop: If warning is enabled by bit 1, it stays active only for 10 seconds
1 = Saturate: If warning is enabled by bit 1, it stays active until reset
1
Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning is given when the limit is reached
2…15 Reserved
0000h…FFFFh
Value counter 2 configuration word.
1 = 1
Selects the signal to be monitored by value counter 2.
Not selected
Motor speed
Other
None.
0
1
-
The value is taken from another parameter.
Divisor for value counter 2. The value of the monitored signal 1.000
is divided by this value before integration.
0.001 …
2147483.647
Divisor for value counter 1.
-
Selects the warning message for value counter 2.
Value 2
Pre-selectable warning message for value counter 2.
Pre-selectable warning message for value counter 2.
5
Motor bearing
10
Parameters 159
No.
35
Name/Value
Description
Def/FbEq16
Motor thermal protection settings.
Displays the motor temperature in degrees Celsius as
estimated by the motor thermal protection model (see
-
This parameter is read-only.
-60 … 1000 °C
Estimated motor temperature.
1 = 1 °C
-
Displays the temperature received through the source
Note: With a PTC sensor, either 0 ohm (normal temperature)
(excessive temperature) is shown.
This parameter is read-only.
-10 … 1000 °C or
ohm
Measured temperature 1.
1 = 1 unit
-
Displays the temperature received through the source
Note: With a PTC sensor, either 0 ohm (normal temperature)
(excessive temperature) is shown.
This parameter is read-only.
-10 … 1000 °C or
ohm
Measured temperature 2.
1 = 1 unit
Defines the action taken by the drive when measured
No
No action.
0
1
Warning
measured temperature 1 exceeds the limit set by parameter
Fault
measured temperature 1 exceeds the limit set by parameter
2
Selects the source from which measured temperature 1 is
read.
Disabled
None. Temperature supervision 1 is disabled.
0
1
Estimated
temperature
160 Parameters
No.
Name/Value
Description
Def/FbEq16
KTY84 StdIO /
Extension module
KTY84 sensor connected to the analog input selected by
output.
2
The following settings are required:
• Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
• Set the appropriate analog input unit selection parameter
selection parameter of the analog output to “Force KTY84
The analog output feeds a constant current through the
sensor. As the resistance of the sensor increases along with
its temperature, the voltage over the sensor increases. The
voltage is read by the analog input and converted into
degrees.
KTY84 module 1
KTY84 module 2
PT100 x1 StdIO
KTY84 sensor connected to encoder interface 1.
3
4
5
KTY84 sensor connected to encoder interface 2.
Pt100 sensor connected to the analog input selected by
output.
The following settings are required:
• Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
• Set the appropriate analog input unit selection parameter
selection parameter of the analog output to “Force PT100
The analog output feeds a constant current through the
sensor. As the resistance of the sensor increases along with
its temperature, the voltage over the sensor increases. The
voltage is read by the analog input and converted into
degrees.
PT100 x2 StdIO
PT100 x3 StdIO
in series. Using multiple sensors improves measurement
accuracy significantly.
6
7
connected in series. Using multiple sensors improves
measurement accuracy significantly.
PTC DI6
PTC sensor connected to digital input DI6.
8
9
PTC module 1
PTC sensor connected to encoder interface 1.
PTC module 2
PTC sensor connected to encoder interface 2.
10
Parameters 161
No.
Name/Value
Description
Def/FbEq16
Direct temperature The temperature is taken from the source selected by
11
source is assumed to be degrees Celsius.
Defines the fault limit for temperature supervision 1. See
130 °C
Note: With a PTC sensor, the unit is ohm.
-10 … 1000 °C or
ohm
Fault limit for temperature supervision 1.
1 = 1 unit
Defines the warning limit for temperature supervision 1. See 110 °C
Note: With a PTC sensor, the unit is ohm.
-10 … 1000 °C or
ohm
Warning limit for temperature supervision 1.
1 = 1 unit
Not selected
AI1 actual value
AI2 actual value
Other
None.
0
Analog input AI1 on the control unit.
Analog input AI2 on the control unit.
The value is taken from another parameter.
1
2
-
Defines the action taken by the drive when measured
No
No action.
0
1
Warning
measured temperature 1 exceeds the limit set by parameter
Fault
measured temperature 1 exceeds the limit set by parameter
2
Selects the source from which measured temperature 2 is
read.
Disabled
None. Temperature supervision 2 is disabled.
0
1
Estimated
temperature
162 Parameters
No.
Name/Value
Description
Def/FbEq16
KTY84 StdIO /
Extension module
KTY84 sensor connected to the analog input selected by
output.
2
The following settings are required:
• Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
• Set the appropriate analog input unit selection parameter
selection parameter of the analog output to “Force KTY84
The analog output feeds a constant current through the
sensor. As the resistance of the sensor increases along with
its temperature, the voltage over the sensor increases. The
voltage is read by the analog input and converted into
degrees.
KTY84 module 1
KTY84 module 2
PT100 x1 StdIO
KTY84 sensor connected to encoder interface 1.
3
4
5
KTY84 sensor connected to encoder interface 2.
Pt100 sensor connected to the analog input selected by
output.
The following settings are required:
• Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
• Set the appropriate analog input unit selection parameter
selection parameter of the analog output to “Force PT100
The analog output feeds a constant current through the
sensor. As the resistance of the sensor increases along with
its temperature, the voltage over the sensor increases. The
voltage is read by the analog input and converted into
degrees.
PT100 x2 StdIO
PT100 x3 StdIO
in series. Using multiple sensors improves measurement
accuracy significantly.
6
7
connected in series. Using multiple sensors improves
measurement accuracy significantly.
PTC DI6
PTC sensor connected to digital input DI6.
8
9
PTC module 1
PTC sensor connected to encoder interface 1.
PTC module 2
PTC sensor connected to encoder interface 2.
10
Parameters 163
No.
Name/Value
Description
Def/FbEq16
Direct temperature The temperature is taken from the source selected by
11
source is assumed to be degrees Celsius.
Defines the fault limit for temperature supervision 2. See
130 °C
Note: With a PTC sensor, the unit is ohm.
-10 … 1000 °C or
ohm
Fault limit for temperature supervision 2.
1 = 1 unit
Defines the warning limit for temperature supervision 2. See 110 °C
Note: With a PTC sensor, the unit is ohm.
-10 … 1000 °C or
ohm
Warning limit for temperature supervision 2.
1 = 1 unit
Not selected
AI1 actual value
AI2 actual value
Other
None.
0
Analog input AI1 on the control unit.
Analog input AI2 on the control unit.
The value is taken from another parameter.
1
2
-
Defines the ambient temperature of the motor (in °C) for the
motor thermal protection model.
20 °C
The motor thermal protection model estimates the motor
temperature on the basis of the parameters in this group. The
motor temperature increases if it operates in the region above
the load curve, and decreases if it operates in the region
below the load curve (if the motor is overheated).
WARNING! The model cannot protect the motor if it
does not cool properly because of dust, dirt, etc.
-60 … 100 °C
Ambient temperature.
1 = 1 °C
164 Parameters
No.
Name/Value
Description
Def/FbEq16
used by the motor thermal protection model to estimate the
motor temperature.
When the parameter is set to 100%, the maximum load is
(higher loads heat up the motor). The load curve level should
be adjusted if the ambient temperature differs from the
nominal value.
I/IN
I = Motor current
(%)
IN = Nominal motor current
150
100
50
Drive output
frequency
50 … 150%
Maximum load for the motor load curve.
1 = 1%
maximum motor load at zero speed of the load curve. A
higher value can be used if the motor has an external motor
fan to boost the cooling. See the motor manufacturer's
recommendations.
50 … 150%
Zero speed load for the motor load curve.
1 = 1%
break point frequency of the load curve i.e. the point at which
the motor load curve begins to decrease from the value of
1.00 … 500.00 Hz
Break point for the motor load curve.
1 = 1 Hz
Parameters 165
No.
Name/Value
Description
Def/FbEq16
80 °C
loaded with nominal current. See the motor manufacturer's
recommendations.
Temperature
Motor nominal
temperature rise
Ambient temperature
Time
0 … 300 °C
Temperature rise.
1 = 1 °C
256 s
protection model (i.e. time inside which the temperature has
reached 63% of the nominal temperature). See the motor
manufacturer's recommendations.
Motor current
100%
Time
Temperature rise
100%
63%
Time
Motor thermal time
100 … 10000 s
Motor thermal time constant.
1 = 1 s
166 Parameters
No.
36
Name/Value
Description
Def/FbEq16
Peak value and amplitude logger settings.
Selects the signal to be monitored by the peak value logger.
The signal is filtered using the filtering time specified by
The peak value is stored, along with other pre-selected
The peak value logger can be reset using parameter 36.09
Zero
None (peak value logger disabled).
0
Motor speed used
Output frequency
Motor current
Motor torque
Dc-voltage
1
3
4
6
7
Power inu out
Speed ref ramp in
Speed ref ramped
Speed ref used
Torq ref used
Freq ref used
Process PID out
Process PID fbk
Process PID act
Process PID dev
Other
8
23.01 Speed ref ramp in (page 119).
The value is taken from another parameter.
10
11
12
13
14
16
17
18
19
-
2.00 s
0.00 … 120.00 s
Peak value logger filtering time.
100 = 1 s
signal is sampled at 200-millisecond intervals when the drive
is running.
parameter represents an amplitude range, and shows what
portion of the samples fall within that range.
The signal value corresponding to 100% is defined by
0.00 … 32767.00
Defines the signal value that corresponds to 100% amplitude. 100.00
Signal value corresponding to 100%.
1 = 1
Resets the peak value logger and/or amplitude logger 2.
(Amplitude logger 1 cannot be reset.)
Done
Reset completed or not requested (normal operation).
0
Parameters 167
No.
Name/Value
Description
Def/FbEq16
All
Reset both the peak value logger and amplitude logger 2.
Reset the peak value logger.
1
PVL
2
AL2
Reset amplitude logger 2.
3
Peak value recorded by the peak value logger.
Peak value.
0.00
1 = 1
-32768.00 …
32767.00
The date on which the peak value was recorded.
Peak occurrence date.
-
-
-
The time at which the peak value was recorded.
Peak occurrence time.
-
-
-
0.00 A
1 = 1 A
-32768.00 …
32767.00 A
Motor current at peak.
Voltage in the intermediate DC circuit of the drive at the
moment the peak value was recorded.
0.00 V
0.00 … 2000.00 V
DC voltage at peak.
10 = 1 V
0.00 rpm
1 = 1
-32768.00 …
32767.00 rpm
Motor speed at peak.
The date on which the peak value logger was last reset.
Last reset date of the peak value logger.
-
-
-
The time at which the peak value logger was last reset.
Last reset time of the peak value logger.
-
-
-
Percentage of samples recorded by amplitude logger 1 that
fall between 0 and 10%.
0.00%
0.00 … 100.00%
Amplitude logger 1 samples between 0 and 10%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
fall between 10 and 20%.
0.00 … 100.00%
Amplitude logger 1 samples between 10 and 20%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
fall between 20 and 30%.
0.00 … 100.00%
Amplitude logger 1 samples between 20 and 30%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
fall between 30 and 40%.
0.00 … 100.00%
Amplitude logger 1 samples between 30 and 40%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
fall between 40 and 50%.
0.00 … 100.00%
Amplitude logger 1 samples between 40 and 50%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
fall between 50 and 60%.
0.00 … 100.00%
Amplitude logger 1 samples between 50 and 60%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
fall between 60 and 70%.
0.00 … 100.00%
Amplitude logger 1 samples between 60 and 70%.
1 = 1%
168 Parameters
No.
Name/Value
Description
Def/FbEq16
Percentage of samples recorded by amplitude logger 1 that
fall between 70 and 80%.
0.00%
0.00 … 100.00%
Amplitude logger 1 samples between 70 and 80%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
fall between 80 and 90%.
0.00 … 100.00%
Amplitude logger 1 samples between 80 and 90%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 1 that
exceed 90%.
0.00 … 100.00%
Amplitude logger 1 samples over 90%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 0 and 10%.
0.00 … 100.00%
Amplitude logger 2 samples between 0 and 10%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 10 and 20%.
0.00 … 100.00%
Amplitude logger 2 samples between 10 and 20%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 20 and 30%.
0.00 … 100.00%
Amplitude logger 2 samples between 20 and 30%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 30 and 40%.
0.00 … 100.00%
Amplitude logger 2 samples between 30 and 40%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 40 and 50%.
0.00 … 100.00%
Amplitude logger 2 samples between 40 and 50%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 50 and 60%.
0.00 … 100.00%
Amplitude logger 2 samples between 50 and 60%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 60 and 70%.
0.00 … 100.00%
Amplitude logger 2 samples between 60 and 70%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 70 and 80%.
0.00 … 100.00%
Amplitude logger 2 samples between 70 and 80%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
fall between 80 and 90%.
0.00 … 100.00%
Amplitude logger 2 samples between 80 and 90%.
1 = 1%
0.00%
Percentage of samples recorded by amplitude logger 2 that
exceed 90%.
0.00 … 100.00%
Amplitude logger 2 samples over 90%.
1 = 1%
The date on which amplitude logger 2 was last reset.
Last reset date of amplitude logger 2.
-
-
-
-
-
The time at which amplitude logger 2 was last reset.
Last reset time of amplitude logger 2.
-
Parameters 169
No.
40
Name/Value
Description
Def/FbEq16
Parameter values for process PID control.
Two different sets of parameter values can be pre-defined.
second set is defined by the parameters in group 41 Process
*The remaining parameters in this group are common for both
sets.
-
This parameter is read-only. The unit is selected by
-32768 … 32767
Process PID controller output.
1 = 1 unit
-
Displays the value of process feedback after source
This parameter is read-only. The unit is selected by
-32768 … 32767
Process feedback.
1 = 1 unit
-
Displays the value of process PID setpoint after source
limitation and ramping. See the control chain diagram on
This parameter is read-only. The unit is selected by
-32768 … 32767
Setpoint for process PID controller.
1 = 1 unit
-
Displays the process PID deviation. By default, this value
equals setpoint - feedback, but deviation can be inverted by
This parameter is read-only. The unit is selected by
-32768 … 32767
PID deviation.
1 = 1 unit
-
Displays the trimmed reference output. See the control chain
This parameter is read-only. The unit is selected by
-32768 … 32767
Trimmed reference.
1 = 1 unit
170 Parameters
No.
Name/Value
Description
Def/FbEq16
Displays status information on process PID control.
This parameter is read-only.
-
Bit
0
Name
Value
PID active
1 = Process PID control active.
1
Setpoint frozen
Output frozen
PID sleep mode
Sleep boost
1 = Process PID setpoint frozen.
1 = Process PID controller output frozen.
1 = Sleep mode active.
2
3
4
1 = Sleep boost active.
5
Trim mode
1 = Trim function active.
6
Tracking mode
Output limit high
Output limit low
1 = Tracking function active.
7
8
9
PID set 0 = Parameter set 1 in use. 1 = Parameter set 2 in use.
10
11…15 Reserved
0000h…FFFFh
Process PID control status word.
1 = 1
0
Off
On
Process PID control inactive.
Process PID control active.
1
On when drive
running
Process PID control is active when the drive is running.
2
Zero
Zero feedback.
0
AI1 scaled
AI2 scaled
Freq in scaled
Motor current
Power inu out
Motor torque
Other
The value is taken from another parameter.
1
2
3
5
6
7
-
Defines how process feedback is calculated from the two
In1
Source 1.
0
1
2
3
4
5
6
In1+In2
In1-In2
Sum of sources 1 and 2.
Source 2 subtracted from source 1.
Source 1 multiplied by source 2.
Source 1 divided by source 2.
Smaller of the two sources.
Greater of the two sources.
In1*In2
In1/In2
MIN(In1,In2)
MAX(In1,In2)
Parameters 171
No.
Name/Value
AVE(In1,In2)
sqrt(In1)
Description
Def/FbEq16
Average of the two sources.
7
Square root of source 1.
8
sqrt(In1-In2)
sqrt(In1+In2)
sqrt(In1)+sqrt(In2)
Square root of (source 1 - source 2).
Square root of (source 1 + source 2).
Square root of source 1 + square root of source 2.
9
10
11
0.000 s
1 = 1 s
0.000 … 30.000 s
Feedback filter time.
rpm
rpm.
%.
7
%
4
Hz
Hz.
3
general scaling factor for the process PID control chain.
The scaling can be utilized when, for example, the process
setpoint is input in Hz, and the output of the PID controller is
used as an rpm value in speed control. In this case, this
nominal motor speed at 50 Hz.
1500
the same scaling as 1 and 30.
-32768 … 32767
Process setpoint base.
1 = 1
1500
1 = 1
Process PID controller output base.
-32768 … 32767
Zero
Zero.
0
1
2
Control panel
Internal setpoint
AI1 scaled
The value is taken from another parameter.
3
AI2 scaled
4
Freq in scaled
Other
10
-
2.
Selects a mathematical function between the setpoint
In1 or In2
In1+In2
No mathematical function applied. The source selected by
0
1
Sum of sources 1 and 2.
172 Parameters
No.
Name/Value
In1-In2
Description
Def/FbEq16
Source 2 subtracted from source 1.
Source 1 multiplied by source 2.
Source 1 divided by source 2.
Smaller of the two sources.
2
In1*In2
3
In1/In2
4
MIN(In1,In2)
MAX(In1,In2)
AVE(In1,In2)
sqrt(In1)
5
Greater of the two sources.
6
Average of the two sources.
7
Square root of source 1.
8
sqrt(In1-In2)
sqrt(In1+In2)
sqrt(In1)+sqrt(In2)
Square root of (source 1 - source 2).
Square root of (source 1 + source 2).
Square root of source 1 + square root of source 2.
9
10
11
internal setpoint out of the presets defined by parameters
Source defined Source defined
Setpoint preset active
by par. 40.19
by par. 40.20
0
1
0
1
0
0
1
1
Not selected
Selected
DI1
0.
1.
0
1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
internal setpoint out of the presets defined by parameters
Not selected
Selected
DI1
0.
0
1
2
3
4
5
6
7
1.
DI2
DI3
DI4
DI5
DI6
Parameters 173
No.
Name/Value
DIO1
Description
Def/FbEq16
10
11
-
DIO2
0
-32768.0 …
32767.0
Process setpoint preset 1.
1 = 1 unit
0
-32768.0 …
32767.0
Process setpoint preset 2.
1 = 1 unit
0
-32768.0 …
32767.0
Process setpoint preset 3.
1 = 1 unit
0
-32768.0 …
32767.0
Process setpoint preset 4.
1 = 1 unit
This parameter is only effective when parameter 40.18
0 = Setpoint source 1
1 = Setpoint source 2
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Defines a minimum limit for the process PID controller
setpoint.
0.0
-32768.0 …
32767.0
Minimum limit for process PID controller setpoint.
1 = 1
Defines a maximum limit for the process PID controller
setpoint.
32767.0
1 = 1
-32768.0 …
32767.0
Maximum limit for process PID controller setpoint.
174 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the minimum time it takes for the setpoint to increase 0.0 s
from 0% to 100%.
0.0 … 1800.0 s
Setpoint increase time.
1 = 1
Defines the minimum time it takes for the setpoint to decrease 0.0 s
from 100% to 0%.
0.0 … 1800.0 s
Setpoint decrease time.
1 = 1
Freezes, or defines a source that can be used to freeze, the
setpoint of the process PID controller. This feature is useful
when the reference is based on a process feedback
connected to an analog input, and the sensor must be
serviced without stopping the process.
1 = Process PID controller setpoint frozen
Not selected
Selected
DI1
Process PID controller setpoint not frozen.
0
Process PID controller setpoint frozen.
1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
0 = Setpoint - Feedback
1 = Feedback - Setpoint
Ref - Fbk
Fbk - Ref
0.
0
1.
1
-
Defines the gain for the process PID controller. See
1.0
0.1 … 100.0
Gain for PID controller.
100 = 1
Parameters 175
No.
Name/Value
Description
Def/FbEq16
Defines the integration time for the process PID controller.
Error/Controller output
60.0 s
O
I
G × I
G × I
Time
Ti
I = controller input (error)
O = controller output
G = gain
Ti = integration time
Note: Setting this value to 0 disables the “I” part, turning the
PID controller into a PD controller.
0.0 … 3600.0 s
Integration time.
1 = 1 s
Defines the derivation time of the process PID controller. The 0.0 s
derivative component at the controller output is calculated on
basis of two consecutive error values (EK-1 and EK) according
to the following formula:
PID DERIV TIME × (EK - EK-1)/TS, in which
TS = 2 ms sample time
E = Error = Process reference - process feedback.
0.0 … 10.0 s
Derivation time.
1000 = 1 s
0.0 s
the derivative component of the process PID controller.
%
Unfiltered signal
100
63
Filtered signal
t
T
O = I × (1 - e-t/T
)
I = filter input (step)
O = filter output
t = time
T = filter time constant
0.0 … 10.0 s
Filter time constant.
10 = 1 s
176 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the minimum limit for the process PID controller
output. Using the minimum and maximum limits, it is possible
to restrict the operation range.
-32768.0
-32768.0 …
32767.0
Minimum limit for process PID controller output.
1 = 1
Defines the maximum limit for the process PID controller
32767.0
1 = 1
-32768.0 …
32767.0
Maximum limit for process PID controller output.
Freezes, or defines a source that can be used to freeze, the
output of the process PID controller. This feature can be used
when, for example, a sensor providing process feedback
must to be serviced without stopping the process.
1 = Process PID controller output frozen
Not selected
Selected
DI1
Process PID controller output not frozen.
0
Process PID controller output frozen.
1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
10
11
-
DIO2
Defines a deadband around the setpoint. Whenever process 0.0
feedback enters the deadband, a delay timer starts. If the
feedback remains within the deadband longer than the delay
Normal operation resumes after the feedback value leaves
the deadband.
Setpoint
Feedback
PID controller
output
PID controller
output frozen
Time
Parameters 177
No.
Name/Value
Description
Def/FbEq16
-32768.0 …
32767.0
Deadband range.
1 = 1
0.0 s
0.0 … 3600.0 s
Delay for deadband area.
1 = 1 s
Selects the mode of the sleep function.
No
Sleep function disabled.
0
1
Internal
mode.
External
The sleep function is activated by the source selected by
2
Defines a source that is used to activate the sleep function
0 = Sleep function disabled
1 = Sleep function activated
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Defines the start limit for the sleep function when parameter
0.0
0.0 … 32767.0
Sleep start level.
1 = 1
Defines a delay for the sleep function.
60.0 s
The delay timer starts when the sleep condition selected by
condition becomes false.
0.0 … 3600.0 s
Sleep start delay.
1 = 1 s
Defines a boost time for the sleep boost step. See parameter 0.0 s
0.0 … 3600.0 s
Sleep boost time.
1 = 1 s
When the drive is entering sleep mode, the process setpoint 0.0
is increased by this percentage for the time defined by
If active, sleep boost is aborted when the drive wakes up.
0.0 … 32767.0
Sleep boost step.
1 = 1
178 Parameters
No.
Name/Value
Description
Def/FbEq16
setpoint and feedback. The unit is selected by parameter
0
When the deviation exceeds the value of this parameter, and
remains there for the duration of the wake-up delay (40.48
-2147483648 …
2147483647
Wake-up level (as deviation between process setpoint and
feedback).
1 = 1 unit
0.50 s
Defines a wake-up delay for the sleep function. See
The delay timer starts when the deviation exceeds the wake-
falls below the wake-up level.
0.00 … 60.00 s
Wake-up delay.
1 = 1 s
Activates (or selects a source that activates) tracking mode.
In tracking mode, the value selected by parameter 40.50
1 = Tracking mode enabled
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
Selects the value source for tracking mode. See parameter
Zero
None.
0
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
Other
Fieldbus adapter A reference 1.
Fieldbus adapter A reference 2.
The value is taken from another parameter.
1
2
3
4
-
Activates the trim function and selects between direct and
proportional trimming (or a combination of both). With
trimming, it is possible to apply a corrective factor to the drive
reference (setpoint). The output after trimming is available as
Off
The trim function is inactive.
0
Parameters 179
No.
Name/Value
Description
Def/FbEq16
Direct
The trim function is active. The trimming factor is relative to
the maximum speed, torque or frequency; the selection
1
Proportional
Combined
The trim function is active. The trimming factor is relative to
2
The trim function is active. The trimming factor is a
3
Selects whether trimming is used for correcting the speed,
torque or frequency reference.
Torque
Torque reference trimming.
Speed reference trimming.
Frequency reference trimming.
1
Speed
2
Frequency
3
Zero
None.
0
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
Other
Fieldbus adapter A reference 1.
Fieldbus adapter A reference 2.
The value is taken from another parameter.
1
2
3
4
-
defines the effect of direct and proportional trim sources in the
final trimming factor.
0.000 = 100% proportional
0.500 = 50% proportional, 50% direct
1.000 = 100% direct
0.000
0.000 … 1.000
Trim mix.
1 = 1
Defines a multiplier for the trimming factor. This value is
Consequently, the result of the multiplication is used to
1.000
-100.000 …
100.000
Multiplier for trimming factor.
1 = 1
PID ref
Selects the reference to be trimmed.
PID setpoint.
1
PID output
PID controller output.
2
Selects the source that determines whether process PID
0 = Process PID parameter set 1 in use
1 = Process PID parameter set 2 in use
Not selected
Selected
DI1
0.
0
1
2
3
4
5
1.
DI2
DI3
DI4
Parameters 181
No.
Name/Value
Description
Def/FbEq16
0.0 s
0.0 s
-32768.0
32767.0
0.0
0.0 s
0.0
60.0 s
0.0 s
0.0
0.50 s
43
0.000
1.000
Settings of the internal brake chopper.
Displays the estimated temperature of the braking resistor.
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
-
This parameter is read-only.
0.0 … 120.0%
Estimated brake resistor temperature.
1 = 1%
Enables brake chopper control.
Note: Before enabling brake chopper control, ensure that
• a brake resistor is connected
Disabled
has been selected correctly.
Disabled
Brake chopper control disabled.
0
1
Enabled with
thermal model
Brake chopper control enabled with resistor overload
protection.
182 Parameters
No.
Name/Value
Description
Def/FbEq16
Enabled without
thermal model
Brake chopper control enabled without resistor overload
protection. This setting can be used, for example, if the
resistor is equipped with a thermal circuit breaker that is wired
to stop the drive if the resistor overheats.
2
Selects the source for quick run-time brake chopper control.
0 = Brake chopper IGBT pulses are cut off
1 = Normal brake chopper IGBT modulation.
This parameter can be used to program the chopper control
to function only when the drive is operating in generating
mode.
Off
0.
0
On
1.
1
-
Defines the thermal time constant of the brake resistor for
overload protection.
0 s
0 … 10000 s
Brake resistor thermal time constant.
1 = 1 s
-
Defines the maximum continuous braking power which will
raise the resistor temperature to the maximum allowed value.
The value is used in the overload protection.
0.10 …
Maximum continuous braking power.
1 = 1 kW
10000.00 kW
Defines the resistance value of the brake resistor. The value 0 ohm
is used for brake chopper protection.
0…1000 ohm
Brake resistor resistance value.
1 = 1 ohm
105%
supervision. When the limit is exceeded, the drive trips on
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
0 … 150%
Brake resistor temperature fault limit.
1 = 1%
95%
Selects the warning limit for the brake resistor temperature
supervision. When the limit is exceeded, the drive generates
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
0 … 150%
Brake resistor temperature warning limit.
1 = 1%
Parameters 183
No.
44
Name/Value
Description
Def/FbEq16
Configuration of mechanical brake control.
-
This parameter is read-only.
Bit
Name
Information
0
Open command
Close/open command to brake actuator (0 = close, 1 = open).
Connect this bit to desired output.
1
2
Opening torque
1 = Opening torque requested from drive logic
1 = Hold requested from drive logic
Hold stopped
request
3
4
5
6
7
8
Ramp to stopped 1 = Ramping down to zero speed requested from drive logic
Enabled
Closed
Opening
Open
1 = Brake control is enabled
Closing
9…15 Reserved
0000h…FFFFh
Mechanical brake control status word.
1 = 1
-
Torque (in percent). Memorized when a brake close
command is issued.
This value can be used as a reference for the brake open
-1600.0 … 1600.0
%
Torque at brake closure.
-
-
Displays the currently active brake open torque. See
This parameter is read-only.
-1000 … 1000%
Currently active brake open torque.
1 = 1%
Activates/deactivates (or selects a source that
activates/deactivates) the mechanical brake control logic.
0 = Brake control inactive
1 = Brake control active
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
184 Parameters
No.
Name/Value
Description
Def/FbEq16
open/close status (acknowledgement) supervision.
When a brake control error (unexpected state of the
acknowledgement signal) is detected, the drive reacts as
0 = Brake open
1 = Brake closed
Off
0.
0
On
1.
1
No acknowledge
Brake open/closed supervision disabled.
2
DI1
3
DI2
4
DI3
5
DI4
6
DI5
7
DI6
8
DIO1
11
DIO2
12
-
Defines the brake open delay, ie. the delay between the
internal open brake command and the release of motor speed
control. The delay timer starts when the drive has magnetized
the motor and increased the motor torque to the level
brake control logic energizes the brake control output and the
brake starts to open.
0.00 s
Set this parameter to the value of mechanical opening delay
specified by the brake manufacturer.
0.00 … 5.00 s
Brake open delay.
100 = 1 s
reference if
• its absolute value is greater than the setting of parameter
Zero
Zero.
0
1
2
3
4
7
AI1 scaled
AI2 scaled
FBA ref1
FBA ref2
Fieldbus adapter A reference 1.
Fieldbus adapter A reference 2.
Brake torque
memory
Other The value is taken from another parameter.
-
Parameters 185
No.
Name/Value
Description
Def/FbEq16
Defines the sign (ie. direction of rotation) and minimum
absolute value of the brake open torque (motor torque
requested at brake release in percent of motor nominal
torque).
0%
open torque source is used as the brake open torque only if it
has the same sign as this parameter and has a greater
absolute value.
-1000 … 1000%
Minimum torque at brake release.
1 = 1%
0 = Normal brake operation
1 = Keep brake closed
Note: This parameter cannot be changed while the drive is
running.
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
When on, the signal overrides the internal logic and closes
the brake.
0 = Normal operation/No external close signal connected
1 = Close brake
Note: This parameter cannot be changed while the drive is
running.
Off
0.
0
On
1.
1
DI1
2
DI2
3
DI3
4
DI4
5
DI5
6
DI6
7
DIO1
DIO2
10
11
-
186 Parameters
No.
Name/Value
Description
Def/FbEq16
Specifies a delay between a close command (that is, when
the brake control output is de-energized) and when the drive
stops modulating. This is to keep the motor live and under
control until the brake actually closes.
0.00 s
Set this parameter equal to the value specified by the brake
manufacturer as the mechanical make-up time of the brake.
0.00 … 60.00 s
Brake close delay.
100 = 1 s
10.0 rpm
Defines the brake close speed as an absolute value.
After motor speed remains below this level for the duration of
close command is given.
0.0 … 1000.0 rpm
Brake close speed.
10 = 1 rpm
0.00 s
0.00 … 10.00 s
Brake close level delay.
100 = 1 s
0.00 s
subsequent open command.
0.00 … 10.00 s
Brake reopen delay.
100 = 1 s
control error.
disabled altogether and will generate no warnings or faults.
However, the brake open conditions are always supervised.
Fault
acknowledgement does not match the status presumed by
the brake control logic.
(for example, the required motor starting torque is not
achieved).
0
1
2
Warning
the acknowledgement does not match the status presumed
by the brake control logic.
fulfilled (for example, the required motor starting torque is not
achieved).
Open fault
Upon closing the brake, the drive generates a A7A1
acknowledgement does not match the status presumed by
the brake control logic.
acknowledgement does not match the status presumed by
the brake control logic.
(for example, the required motor starting torque is not
achieved).
Parameters 187
No.
Name/Value
Description
Def/FbEq16
Defines a close fault delay, ie. time between brake closure
and brake close fault trip.
0.00 s
0.00 … 60.00 s
Brake close fault delay.
100 = 1 s
45
Settings of the energy savings calculator.
Energy saved in GWh compared to direct-on-line motor
connection. This parameter is incremented when 45.02
-
0…65535 GWh
Energy savings in GWh.
1 = 1 GWh
-
Energy saved in MWh compared to direct-on-line motor
connection. This parameter is incremented when 45.03
0…999 MWh
Energy savings in MWh.
1 = 1 MWh
-
Energy saved in kWh compared to direct-on-line motor
connection.
If the internal braking chopper of the drive is enabled, all
energy fed by the motor to the drive is assumed to be
converted into heat.
0.0 … 999.9 kWh
Energy savings in kWh.
10 = 1 kWh
-
Monetary savings in thousands compared to direct-on-line
motor connection. This parameter is incremented when 45.06
0…4294967295
thousands
Monetary savings in thousands of units.
1 = 1
thousand
Monetary savings compared to direct-on-line motor
connection. This value is a calculated by multiplying the
saved energy in kWh by the currently active energy tariff
-
0.00 … 999.99 units Monetary savings.
1 = 1 unit
188 Parameters
No.
Name/Value
Description
Def/FbEq16
Reduction in CO2 emissions in metric kilotons compared to
direct-on-line motor connection. This value is incremented
-
0…65535 metric
kilotons
Reduction in CO2 emissions in metric kilotons.
1 = 1 metric
kiloton
tons
Reduction in CO2 emissions in metric tons compared to
direct-on-line motor connection. This value is calculated by
multiplying the saved energy in MWh by the value of
metric tons/MWh).
-
0.0 … 999.9 metric Reduction in CO2 emissions in metric tons.
tons
1 = 1 metric
ton
Enables/disables the energy optimization function. The
function optimizes the flux so that total energy consumption
and motor noise level are reduced when the drive operates
below the nominal load. The total efficiency (motor and drive)
can be improved by 1…10% depending on load torque and
speed.
Note: With a permanent magnet motor, energy optimization is
always enabled regardless of this parameter.
Disable
Energy optimization disabled.
Energy optimization enabled.
0
1
Enable
Defines energy tariff 1 (price of energy per kWh). Depending 1.000 units
savings are calculated.
Note: Tariffs are read only at the instant of selection, and are
not applied retroactively.
0.000 …
Energy tariff 1.
-
4294967295.000
units
Defines energy tariff 2 (price of energy per kWh).
2.000 units
-
0.000 …
4294967295.000
units
Energy tariff 2.
Selects (or defines a source that selects) which pre-defined
energy tariff is used.
Energy tariff 1
Energy tariff 2
DI1
0.
0
1
2
3
1.
DI2
Parameters 189
No.
Name/Value
Description
Def/FbEq16
DI3
4
5
6
7
DI4
DI5
DI6
DIO1
Specifies the currency used for the savings calculations.
Euro.
10
DIO2
11
EUR
-
101
102
100
USD
US dollar.
Local currency
The currency is determined by the language selection (see
Defines a factor for conversion of saved energy into CO2
emissions (kg/kWh or tn/MWh).
0.500
tn/MWh
0.000 … 65.535
tn/MWh
Factor for conversion of saved energy into CO2 emissions.
1 = 1 tn/MWh
value is used for reference when energy savings are
calculated.
-
Note: The accuracy of the energy savings calculation is
directly dependent on the accuracy of this value.
0.0 … 10000000.0
kW
Motor power.
1 = 1 kW
Done
Reset
Reset not requested (normal operation).
0
1
Reset the savings counter parameters. The value reverts
46
Speed supervision settings; actual signal filtering; general
scaling settings.
Defines the terminal speed value used in acceleration and the 1500 rpm
initial speed value used in deceleration (see parameter group
Also defines the rpm value that corresponds to 20000 in
fieldbus communication using the ABB Drives profile.
0…30000 rpm
Acceleration/deceleration terminal/initial speed.
1 = 1 rpm
Defines the terminal frequency value used in acceleration and 50.0 Hz
the initial speed value used in deceleration (see parameter
Also defines the output frequency value that corresponds to
20000 in fieldbus communication.
0.0 … 30000.0 Hz
Frequency corresponding to 20000 on fieldbus.
10 = 1 Hz
Defines the output torque value (in percent of nominal motor 100.0%
torque) that corresponds to 1000 in fieldbus communication.
0.0 … 30000.0%
Torque corresponding to 1000 on fieldbus.
10 = 1%
Defines the output power value that corresponds to 10000 in 1000.0 kW
fieldbus communication.
190 Parameters
No.
Name/Value
Description
Def/FbEq16
1 = 1 kW
500 ms
0.0 … 30000.0 kW Power corresponding to 10000 on fieldbus.
2…20000 ms
Motor speed signal filter time.
1 = 1 ms
500 ms
2…20000 ms
Output frequency signal filter time.
1 = 1 ms
100 ms
2…20000 ms
Motor torque signal filter time.
1 = 1 ms
100 ms
2…20000 ms
Output power signal filter time.
1 = 1 ms
Defines the absolute value for the motor speed window
supervision, ie. the absolute value of the difference between
100.00 rpm
When motor speed is within the limits defined by this
is not within the limits, bit 8 is 0.
0.00 … 30000.00
rpm
Absolute value for motor speed window supervision.
1 = 1 rpm
10.00 Hz
supervision, ie. the absolute value of the difference between
When motor frequency is within the limits defined by this
frequency is not within the limits, bit 8 is 0.
0.00 … 3000.00 Hz Absolute value for motor frequency window supervision.
1 = 1 Hz
10%
Defines the absolute value for the motor torque window
supervision, ie. the absolute value of the difference between
When motor torque is within the limits defined by this
torque is not within the limits, bit 8 is 0.
0…300%
Absolute value for motor torque window supervision.
1 = 1%
Defines the supervision limit for actual speed.
0.00 rpm
0.00 … 30000.00
rpm
Actual speed supervision limit.
1 = 1 rpm
0.00 Hz
Defines the supervision limit for actual frequency.
0.00 … 3000.00 Hz Actual frequency supervision limit.
1 = 1 Hz
0.0 N•m
Defines the supervision limit for actual torque.
0.0 … 300.0 N•m
Actual torque supervision limit.
1 = 1 N•m
Parameters 191
No.
47
Name/Value
Description
Def/FbEq16
Data storage parameters that can be written to and read from
using other parameters’ source and target settings.
Note that there are different storage parameters for different
data types.
Data storage parameter 1.
0.000
-2147483.008 …
2147483.008
32-bit data.
-
Data storage parameter 2.
32-bit data.
0.000
-2147483.008 …
2147483.008
-
Data storage parameter 3.
32-bit data.
0.000
-2147483.008 …
2147483.008
-
Data storage parameter 4.
32-bit data.
0.000
-2147483.008 …
2147483.008
-
Data storage parameter 5.
32-bit data.
0.000
-2147483.008 …
2147483.008
-
Data storage parameter 6.
32-bit data.
0.000
-2147483.008 …
2147483.008
-
Data storage parameter 7.
32-bit data.
0.000
-2147483.008 …
2147483.008
-
Data storage parameter 8.
32-bit data.
0.000
-2147483.008 …
2147483.008
-
Data storage parameter 9.
32-bit data.
0
-
-2147483648 …
2147483647
Data storage parameter 10.
32-bit data.
0
-
-2147483648 …
2147483647
Data storage parameter 11.
32-bit data.
0
-
-2147483648 …
2147483647
192 Parameters
No.
Name/Value
Description
Def/FbEq16
Data storage parameter 12.
0
-2147483648 …
2147483647
32-bit data.
-
Data storage parameter 13.
32-bit data.
0
-
-2147483648 …
2147483647
Data storage parameter 14.
32-bit data.
0
-
-2147483648 …
2147483647
Data storage parameter 15.
32-bit data.
0
-
-2147483648 …
2147483647
Data storage parameter 16.
32-bit data.
0
-
-2147483648 …
2147483647
Data storage parameter 17.
0
-32768 … 32767
16-bit data.
1 = 1
0
Data storage parameter 18.
-32768 … 32767
16-bit data.
1 = 1
0
Data storage parameter 19.
-32768 … 32767
16-bit data.
1 = 1
0
Data storage parameter 20.
-32768 … 32767
16-bit data.
1 = 1
0
Data storage parameter 21.
-32768 … 32767
16-bit data.
1 = 1
0
Data storage parameter 22.
-32768 … 32767
16-bit data.
1 = 1
0
Data storage parameter 23.
-32768 … 32767
16-bit data.
1 = 1
0
Data storage parameter 24.
-32768 … 32767
16-bit data.
1 = 1
Parameters 193
No.
49
Name/Value
Description
Def/FbEq16
Communication settings for the control panel port on the
drive.
Defines the node ID of the drive. All devices connected to the
network must have a unique node ID.
1
Note: For networked drives, it is advisable to reserve ID 1 for
spare/replacement drives.
1…32
Node ID.
1 = 1
38.4 kbps
57.6 kbps
86.4 kbps
115.2 kbps
230.4 kbps
460.8 kbps
Defines the transfer rate of the link.
38.4 kbit/s.
1
2
3
4
5
6
57.6 kbit/s.
86.4 kbit/s.
115.2 kbit/s.
230.4 kbit/s.
460.8 kbit/s.
Sets a timeout for control panel (or PC tool) communication. If 10.0 s
a communication break lasts longer than the timeout, the
0.1 … 3000.0 s
Panel/PC tool communication timeout.
10 = 1 s
Selects how the drive reacts to a control panel (or PC tool)
communication break.
No action
Fault
No action taken.
0
2
Last speed
speed to the level the drive was operating at. The speed is
determined by using 10-second low-pass filtering.
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
Speed ref safe
reference is used).
3
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
Note: Refreshing may cause a communication break, so
reconnecting the drive may be required.
Done
Refresh done or not requested.
0
1
Configure
50
Fieldbus communication configuration.
Enables/disables communication between the drive and
fieldbus adapter A.
Disable
Communication between drive and fieldbus adapter A
disabled.
0
194 Parameters
No.
Name/Value
Description
Def/FbEq16
Enable
Communication between drive and fieldbus adapter A
enabled.
1
func
No action
Fault
No action taken.
0
1
Communication break detection active. Upon a
Last speed
Communication break detection active. Upon a
communication break, the drive generates a warning (A7C1
drive was operating at. The speed is determined by the
average speed over the previous 10 seconds.
2
3
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
Speed ref safe
Communication break detection active. Upon a
communication break, the drive generates a warning (A7C1
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
the communication link fails to update the message.
0.3 … 6553.5 s
Time delay.
1 = 1 s
Selects the type and scaling of reference 1 received from
fieldbus adapter A. The scaling of the reference is defined by
parameters 46.01…46.04, depending on which reference
type is selected by this parameter.
Auto
Reference type and scaling is chosen automatically
according to the currently active control mode.
0
Transparent
General
No scaling is applied.
1
2
3
4
Generic reference without a specific unit.
The scaling is defined by parameter 46.03 Torque scaling.
The scaling is defined by parameter 46.01 Speed scaling.
Torque
Speed
Frequency
Position
The scaling is defined by parameter 46.02 Frequency scaling. 5
Reserved.
Reserved.
Reserved.
Reserved.
Reserved.
6
Velocity
7
DC voltage
Active power
Reactive power
8
9
10
Selects the type and scaling of reference 2 received from
fieldbus adapter A. The scaling of the reference is defined by
parameters 46.01…46.04, depending on which reference
type is selected by this parameter.
Parameters 195
No.
Name/Value
Description
Def/FbEq16
Selects the source of the Status word to be sent to the
fieldbus network through fieldbus adapter A.
Auto
Source of the Status word is chosen automatically.
0
1
Transparent mode
fieldbus network through fieldbus adapter A.
the fieldbus network through fieldbus adapter A. The scaling
of the value is defined by parameters 46.01…46.04,
depending on which actual value type is selected by this
parameter.
the fieldbus network through fieldbus adapter A. The scaling
of the value is defined by parameters 46.01…46.04,
depending on which actual value type is selected by this
parameter.
Selects the source of the fieldbus status word when
Not selected
Other
No source selected.
-
The value is taken from another parameter.
-
1 transmitted to the fieldbus network through fieldbus adapter
A.
Not selected
Other
No source selected.
-
The value is taken from another parameter.
-
2 transmitted to the fieldbus network through fieldbus adapter
A.
Not selected
Other
No source selected.
-
The value is taken from another parameter.
-
Enables the display of raw (unmodified) data received from
This functionality should only be used for debugging.
Disable
Enable
Display of raw data from fieldbus adapter A disabled.
Display of raw data from fieldbus adapter A ensabled.
0
1
-
master (PLC) to fieldbus adapter A if debugging is enabled by
This parameter is read-only.
00000000h …
FFFFFFFFh
Control word sent by master to fieldbus adapter A.
-
-
Displays raw (unmodified) reference REF1 sent by the master
(PLC) to fieldbus adapter A if debugging is enabled by
This parameter is read-only.
-2147483648 …
2147483647
Raw REF1 sent by master to fieldbus adapter A.
-
196 Parameters
No.
Name/Value
Description
Def/FbEq16
(PLC) to fieldbus adapter A if debugging is enabled by
-
This parameter is read-only.
-2147483648 …
2147483647
Raw REF2 sent by master to fieldbus adapter A.
-
-
adapter A to the master (PLC) if debugging is enabled by
This parameter is read-only.
00000000h …
FFFFFFFFh
Status word sent by fieldbus adapter A to master.
-
-
adapter A to the master (PLC) if debugging is enabled by
This parameter is read-only.
-2147483648 …
2147483647
Raw ACT1 sent by fieldbus adapter A to master.
-
-
adapter A to the master (PLC) if debugging is enabled by
This parameter is read-only.
-2147483648 …
2147483647
Raw ACT2 sent by fieldbus adapter A to master.
-
In general, lower time levels of read/write services reduce
CPU load. The table below shows the time levels of the
read/write services for cyclic high and cyclic low data with
each parameter setting.
Selection
Cyclic high *
10 ms
Cyclic low **
10 ms
2 ms
10 ms
500 µs
2 ms
250 µs
2 ms
* Cyclic high data consists of fieldbus Control and Status
words, Ref1, Ref2, Act1 and Act2.
** Cyclic low data consists of the parameter data mapped to
Acyclic data is handled as a background task.
Slow
Slow speed.
3
0
1
2
Normal
Fast
Normal speed.
Fast speed.
Very fast
Very fast speed.
Parameters 197
No.
51
Name/Value
Description
Def/FbEq16
Fieldbus adapter A configuration.
Displays the type of the connected fieldbus adapter module.
0 = Module is not found or is not properly connected, or is
32 = FCAN; 37 = FDNA; 128 = FENA-11; 135 = FECA;
136 = FEPL; 485 = FSCA.
-
This parameter is read-only.
more information, see the documentation of the fieldbus
adapter module. Note that not all of these parameters are
necessarily in use.
-
0…65535
…
Fieldbus adapter configuration parameter.
…
1 = 1
…
…
0…65535
Fieldbus adapter configuration parameter.
1 = 1
settings. After refreshing, the value reverts automatically to
Note: This parameter cannot be changed while the drive is
running.
Done
Refreshing done.
Refreshing.
0
1
-
Configure
Displays the parameter table revision of the fieldbus adapter
module mapping file (stored in the memory of the drive).
In format axyz, where ax = major table revision number; yz =
minor table revision number.
This parameter is read-only.
Parameter table revision of adapter module.
-
-
Displays the drive type code in the fieldbus adapter module
mapping file (stored in the memory of the drive).
This parameter is read-only.
0…65535
Drive type code stored in the mapping file.
1 = 1
-
Displays the fieldbus adapter module mapping file revision
stored in the memory of the drive in decimal format.
This parameter is read-only.
0…65535
Mapping file revision.
1 = 1
-
Displays the status of the fieldbus adapter module
communication.
Idle
Adapter is not configured.
Adapter is initializing.
0
1
2
Exec.init
Time out
A timeout has occurred in the communication between the
adapter and the drive.
Conf.err
Off-line
Adapter configuration error: mapping file not found in the file
system of the drive, or mapping file upload has failed more
than three times.
3
4
Fieldbus communication is off-line.
198 Parameters
No.
Name/Value
Description
Def/FbEq16
On-line
Fieldbus communication is on-line, or fieldbus adapter has
been configured not to detect a communication break. For
more information, see the documentation of the fieldbus
adapter.
5
Reset
Adapter is performing a hardware reset.
6
-
52
in format axyz, where a = major revision number, xy = minor
revision number, z = correction number or letter.
Example: 190A = revision 1.90A.
Common program revision of adapter module.
Displays the application program revision of the adapter
module in format axyz, where a = major revision number, xy =
minor revision number, z = correction number or letter.
Example: 190A = revision 1.90A.
Application program version of adapter module.
-
Selection of data to be transferred from drive to fieldbus
controller through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
the drive to the fieldbus controller through fieldbus adapter A.
None
None.
0
CW 16bit
Ref1 16bit
Ref2 16bit
SW 16bit
Act1 16bit
Act2 16bit
CW 32bit
Ref1 32bit
Ref2 32bit
SW 32bit
Act1 32bit
Act2 32bit
SW2 16bit
Other
Control Word (16 bits)
Reference REF1 (16 bits)
Reference REF2 (16 bits)
Status Word (16 bits)
1
2
3
4
Actual value ACT1 (16 bits)
Actual value ACT2 (16 bits)
Control Word (32 bits)
Reference REF1 (32 bits)
Reference REF2 (32 bits)
Status Word (32 bits)
5
6
11
12
13
14
15
16
24
-
Actual value ACT1 (32 bits)
Actual value ACT2 (32 bits)
Status Word 2 (16 bits)
The value is taken from another parameter.
…
…
…
…
Parameters 199
No.
53
Name/Value
Description
Def/FbEq16
Selection of data to be transferred from fieldbus controller to
drive through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
the fieldbus controller to the drive through fieldbus adapter A.
None
None.
0
CW 16bit
Ref1 16bit
Ref2 16bit
CW 32bit
Ref1 32bit
Ref2 32bit
CW2 16bit
Other
Control Word (16 bits)
Reference REF1 (16 bits)
Reference REF2 (16 bits)
Control Word (32 bits)
Reference REF1 (32 bits)
Reference REF2 (32 bits)
Control Word 2 (16 bits)
The value is taken from another parameter.
…
1
2
3
11
12
13
21
-
…
…
…
90
Motor speed feedback configuration.
Displays the estimated or measured motor speed that is used
for motor control, ie. final motor speed feedback selected by
-
This parameter is read-only.
-21474836.48 …
21474836.47 rpm
Motor speed used for control.
-
-
Displays the motor position received from the source selected
This parameter is read-only.
-21474836.48 …
21474836.47 rev
Motor position.
-
-
Displays the estimated or measured load speed that is used
for motor control, ie. final load speed feedback selected by
This parameter is read-only.
-21474836.48 …
21474836.47 rpm
Load speed.
-
-
Displays the load position received from the source selected
This parameter is read-only.
-2147483648 …
2147483647 rev
Load position.
-
200 Parameters
No.
Name/Value
Description
Def/FbEq16
Displays the load position scaled with feed constant (see
-
This parameter is read-only.
-2147483648 …
2147483647
Scaled load position.
-
-
-
-
Displays encoder 1 speed in rpm.
This parameter is read-only.
-21474836.48 …
21474836.47 rpm
Encoder 1 speed.
revolution.
This parameter is read-only.
-21474836.48 …
21474836.47 rev
Encoder 1 position within one revolution.
-
-
This parameter is read-only.
0 … 4294967295
Encoder 1 position in revolutions.
-
-
Displays the revolution counter extension for encoder 1. The
decremented in the negative direction.
This parameter is effective only if position is absolute;
updated for both single-turn and multiturn encoders.
This parameter is read-only.
-2147483648 …
2147483647
Encoder 1 revolution counter extension.
-
-
unsigned integer received from the encoder interface.
This parameter is read-only.
0.00 … 65535.00
Raw encoder 1 position within one revolution.
-
-
Displays encoder 1 revolutions as a raw measurement.
This parameter is read-only.
0…65535
Raw encoder 1 revolution count.
-
-
Displays encoder 2 speed in rpm.
This parameter is read-only.
-21474836.48 …
21474836.47 rpm
Encoder 2 speed.
-
-
revolution.
This parameter is read-only.
-21474836.48 …
21474836.47 rev
Encoder 2 position within one revolution.
-
-
This parameter is read-only.
0 … 4294967295
Encoder 2 position in revolutions.
-
Parameters 201
No.
Name/Value
Description
Displays the revolution counter extension for encoder 2. The
Def/FbEq16
-
decremented in the negative direction.
This parameter is effective only if position is absolute;
updated for both single-turn and multiturn encoders.
This parameter is read-only.
-2147483648 …
2147483647
Encoder 2 revolution counter extension.
-
-
(24-bit unsigned integer) measurement.
This parameter is read-only.
0…65535
Raw encoder 2 position within one revolution.
-
-
Displays encoder 2 revolutions as a raw measurement.
This parameter is read-only.
0…65535
Raw encoder 2 revolution count.
-
-
Displays the motor revolution counter extension. The counter
is incremented when encoder position wraps around in the
positive direction, and decremented in the negative direction.
This parameter is effective only if position is absolute;
updated for both single-turn and multiturn encoders.
This parameter is read-only.
-2147483648 …
2147483647
Motor revolution counter extension.
-
-
Displays the load revolution counter extension. The counter is
incremented when encoder position wraps around in the
positive direction, and decremented in the negative direction.
This parameter is effective only if position is absolute;
updated for both single-turn and multiturn encoders.
This parameter is read-only.
-2147483648 …
2147483647
Load revolution counter extension.
-
Selects the motor speed feedback value used in control.
A calculated speed estimate is used.
Estimate
0
1
Encoder 1
Actual speed measured by encoder 1. The encoder is set up
Encoder 2
Actual speed measured by encoder 2. The encoder is set up
2
Defines a filter time for motor speed feedback used for control 3 ms
0 … 10000 ms
Motor speed filter time.
1 = 1 ms
202 Parameters
No.
Name/Value
Description
Def/FbEq16
the motor speed feedback and motor control. The gear is
used to correct a difference between the motor and encoder
speeds for example if the encoder is not mounted directly on
the motor shaft.
1
Motor speed
=
Encoder speed
-2147483648 …
2147483647
Motor gear numerator.
-
Motor gear denominator.
-2147483648 …
2147483647
-
fault
Selects how the drive reacts to loss of motor feedback.
Fault
No action taken.
0
Warning
None
1
2
No
Forces the use of estimated speed feedback.
0
used.
Yes
Calculated speed estimate is used (regardless of setting of
1
Selects the load speed feedback value used in control.
No load feedback selected.
None
0
1
Encoder 1
Actual speed measured by encoder 1. The encoder is set up
Encoder 2
Actual speed measured by encoder 2. The encoder is set up
2
Estimate
A calculated speed estimate is used.
3
4
Motor feedback
Any difference between the motor and load speeds can be
compensated by using the load gear function; see parameter
4 ms
-
0 … 10000 ms
Load speed filter time.
Parameters 203
No.
Name/Value
Description
Def/FbEq16
the load (ie. driven equipment) speed feedback and motor
control. The gear is used to correct a difference between the
load and encoder speeds for example if the encoder is not
mounted directly on the rotated machinery.
1
Load speed
=
Encoder speed
-2147483648 …
2147483647
Load gear numerator.
-
-2147483648 …
2147483647
Load gear denominator.
-
0 rev
-
-32768 … 32767
rev
Load-side position offset.
Defines how many bits are used for load position count within 16
one revolution.
0…32
Load position resolution.
-
1
the motor and load speeds.
Motor speed
Load speed
=
-2147483648 …
2147483647
Gear numerator (motor-side).
-
-
-2147483648 …
2147483647
Gear denominator (load-side).
position calculation:
1
The feed constant converts rotational motion into translatory
motion. The feed constant is the distance the load moves
during one turn of the motor shaft.
The translatory load position is shown by parameter 90.05
-2147483648 …
2147483647
Feed constant numerator.
-
Feed constant denominator.
-
-2147483648 …
2147483647
204 Parameters
No.
91
Name/Value
Description
Def/FbEq16
Configuration of encoder interface modules.
Displays the status of the digital inputs of FEN-xx encoder
interface modules.
-
This parameter is read-only.
Bit
0
Name
Reserved
1
2…3
4
5
6…15 Reserved
0000h…FFFFh
Status word of digital inputs on FEN-xx modules.
1 = 1
-
Displays the type of the interface module found in the location
0 = No module found; 1 = No communication; 2 = Unknown;
3 = FEN-01; 4 = FEN-11; 5 = FEN-21; 6 = FEN-31.
This parameter is read-only.
Displays the type of the interface module found in the location
0 = No module found; 1 = No communication; 2 = Unknown;
3 = FEN-01; 4 = FEN-11; 5 = FEN-21; 6 = FEN-31.
This parameter is read-only.
-
-
Displays the temperature measured through the sensor input
of interface module 1.
This parameter is read-only.
0…1000 °C
Temperature measured through interface module 1.
-
-
Displays the temperature measured through the sensor input
of interface module 2.
This parameter is read-only.
0…1000 °C
Temperature measured through interface module 2.
-
modules, which is needed for any parameter changes in
groups 90…93 to take effect.
Note: The parameter cannot be changed while the drive is
running.
Done
Reconfiguration done (normal operation).
0
Configure
None
Defines the type of the module used as interface module 1.
None (communication disabled).
0
1
2
3
4
FEN-01
FEN-11
FEN-21
FEN-31
FEN-01.
FEN-11.
FEN-21.
FEN-31.
Parameters 205
No.
Name/Value
Description
Def/FbEq16
Specifies the slot (1…3) on the control unit of the drive into
which the interface module is installed.
1
1…254
Slot number.
-
None
Defines the type of the module used as interface module 2.
None (communication disabled).
0
1
2
3
4
1
FEN-01
FEN-01.
FEN-11.
FEN-21.
FEN-31.
FEN-11
FEN-21
FEN-31
Specifies the slot (1…3) on the control unit of the drive into
which the interface module is installed.
1…254
Slot number.
-
interface module 1.
None
PTC
None.
0
PTC.
1
KTY-84
KTY84.
2
Defines a filtering time for the temperature measurement
through interface module 1.
1500 ms
0…10000 ms
Filtering time for temperature measurement.
-
Defines how many consecutive samples must be received by
interface module 1 before the status of a PTC sensor is
interpreted as true instead of false.
1
0…65535
Number of samples.
-
interface module 2.
None
PTC
None.
0
PTC.
1
KTY-84
KTY84.
2
Defines a filtering time for the temperature measurement
through interface 2.
1500 ms
0…10000 ms
Filtering time for temperature measurement.
-
Defines how many consecutive samples must be received by
interface module 2 before the status of a PTC sensor is
interpreted as true instead of false.
1
0…65535
Number of samples.
-
206 Parameters
No.
92
Name/Value
Description
Def/FbEq16
Settings for encoder 1.
Notes:
• The contents of the parameter group vary according to the
selected encoder type.
• It is recommended that encoder connection 1 (this group)
is used whenever possible since the data received through
that interface is fresher than the data received through
Activates the communication with optional encoder/resolver
interface module 1.
None
Inactive.
0
3
Abs enc
Communication active. Module type: FEN-11 Absolute
Encoder Interface. Input: Absolute encoder input (X42).
Resolver
Communication active. Module type: FEN-21 Resolver
Interface. Input: Resolver input (X52).
4
HTL
Communication active. Module type: FEN-31 HTL Encoder
Interface. Input: HTL encoder input (X82).
5
Selects the interface module that the encoder is connected
to. (The physical locations and types of encoder interface
modules are defined in parameter group 91 Encoder module
Module 1
Module 2
Interface module 1.
Interface module 2.
1
2
-
This parameter is read-only.
Defines the number of sine/cosine wave cycles within one
revolution.
0
Note: This parameter need not be set when an EnDat or SSI
encoder is used in continuous mode. See parameter 92.30
0…65535
Number of sine/cosine wave cycles within one revolution.
-
Defines the frequency of the excitation signal.
1 kHz
1…20 kHz
Excitation signal frequency.
1 = 1 kHz
0
Defines the pulse number per revolution.
0…65535
Number of pulses.
-
Selects the source of the absolute position information.
None
Not selected.
0
1
2
3
4
5
Commut sig
EnDat
Commutation signals.
Serial interface: EnDat encoder.
Serial interface: HIPERFACE encoder.
Serial interface: SSI encoder.
Serial interface: Tamagawa 17/33-bit encoder.
Hiperface
SSI
Tamagawa
Parameters 207
No.
Name/Value
Description
Def/FbEq16
Defines the amplitude of the excitation signal.
4.0 V
4.0 … 12.0 V
Excitation signal amplitude.
10 = 1 V
Selects the type of encoder.
Quadrature
Quadrature encoder (has two channels, A and B)
Single-track encoder (has one channel, A)
0
Single track
1
Enables the encoder zero pulse for the absolute encoder
input (X42) of the FEN-11 interface module.
Note: No zero pulse exists with serial interfaces, ie. when
Disable
Enable
Zero pulse disabled.
Zero pulse enabled.
0
1
1
Defines the number of pole pairs of the encoder.
1…32
Number of encoder pole pairs.
1 = 1
Selects the speed calculation mode.
A&B all
A all
Channels A and B: Rising and falling edges are used for
speed calculation.
*Channel B: Defines the direction of rotation.
0
1
Channel A: Rising and falling edges are used for speed
calculation.
*Channel B: Defines the direction of rotation.
A rising
Channel A: Rising edges are used for speed calculation.
*Channel B: Defines the direction of rotation.
2
3
4
A falling
Auto rising
Channel A: Falling edges are used for speed calculation.
*Channel B: Defines the direction of rotation.
One of the above modes is selected automatically depending
on the pulse frequency as follows:
Pulse frequency of the
Used mode
channel(s)
< 2442 Hz
2442…4884 Hz
> 4884 Hz
Auto falling
One of the above modes is selected automatically depending
on the pulse frequency as follows:
5
Pulse frequency of the
Used mode
channel(s)
< 2442 Hz
2442…4884 Hz
> 4884 Hz
208 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the number of bits used to indicate position within
one revolution. For example, a setting of 15 bits corresponds
to 32768 positions per revolution.
0
parameter is internally set to 17.
0…32
Number of bits used in position indication within one
revolution.
1 = 1
Selects whether position estimation is used with encoder 1 to
increase position data resolution or not.
Disable
Measured position used. (The resolution is 4 × pulses per
revolution for quadrature encoders, 2 × pulses per revolution
for single-track encoders.)
0
Enable
Estimated position used. (Uses position interpolation;
extrapolated at the time of data request.)
1
0
Defines the number of bits used in revolution counting with an
multiturn encoder. For example, a setting of 12 bits would
support counting up to 4096 revolutions.
this parameter to a non-zero value activates multiturn data
requesting.
0…32
Number of bits used in revolution count.
1 = 1
Selects whether calculated or estimated speed is used.
Estimation increases the speed ripple in steady state
operation, but improves the dynamics.
Disable
Last calculated speed used. (The calculation interval is 62.5
microseconds to 4 milliseconds.)
0
Enable
Estimated speed (estimated at the time of data request) is
used.
1
Activates transient filtering for the encoder (changes in
direction of rotation are ignored above the selected pulse
frequency).
4880 Hz
2440 Hz
1220 Hz
Disabled
Change in direction of rotation allowed below 4880 Hz.
Change in direction of rotation allowed below 2440 Hz.
Change in direction of rotation allowed below 1220 Hz.
0
1
2
3
Change in direction of rotation allowed at any pulse
frequency.
Selects the action taken by the drive in case an encoder
wiring fault is detected by the FEN-31 encoder interface.
No
Wiring fault monitoring disabled.
0
1
Warning
Fault
Parameters 209
No.
Name/Value
Description
Def/FbEq16
Selects which encoder cable channels and wires are
A, B
A and B.
0
1
2
3
A, B, Z
A, B and Z.
A+, A-, B+, B-
A+, A-, B+ and B-.
A+, A-, B+, B-, Z+ and Z-.
A+, A-, B+, B-, Z+,
Z-
Selects the serial link mode with an EnDat or SSI encoder.
Initial pos.
Single position transfer mode (initial position).
Continuous position data transfer mode.
0
Continuous
1
Selects the maximum encoder calculation time for an EnDat
encoder.
Note: This parameter needs to be set only when an EnDat
encoder is used in continuous mode, ie. without incremental
sin/cos signals (supported only as encoder 1). See also
10 us
10 microseconds.
100 microseconds.
1 millisecond.
0
100 us
1
1 ms
2
50 ms
50 milliseconds.
3
Selects the transmission cycle for an SSI encoder.
Note: This parameter needs to be set only when an SSI
encoder is used in continuous mode, ie. without incremental
sin/cos signals (supported only as encoder 1). See also
50 us
50 microseconds.
100 microseconds.
200 microseconds.
500 microseconds.
1 millisecond.
0
1
2
3
4
5
2
100 us
200 us
500 us
1 ms
2 ms
2 milliseconds.
Defines the length of an SSI message. The length is defined
as the number of clock cycles. The number of cycles can be
calculated by adding 1 to the number of bits in an SSI
message frame.
2…127
SSI message length.
-
1
With an SSI encoder, defines the location of the MSB (most
significant bit) of the position data within an SSI message.
1…126
Position data MSB location (bit number).
-
210 Parameters
No.
Name/Value
Description
Def/FbEq16
With an SSI encoder, defines the location of the MSB (most
significant bit) of the revolution count within an SSI message.
1
1…126
Revolution count MSB location (bit number).
-
Selects the data format for an SSI encoder.
binary
Binary code.
Gray code.
0
gray
1
Selects the baud rate for an SSI encoder.
10 kBit/s
10 kbit/s.
0
50 kBit/s
50 kbit/s.
1
100 kBit/s
200 kBit/s
500 kBit/s
1000 kBit/s
100 kbit/s.
200 kbit/s.
500 kbit/s.
1000 kbit/s.
2
3
4
5
Defines the phase angle within one sine/cosine signal period
that corresponds to the value of zero on the SSI serial link
data. The parameter is used to adjust the synchronization of
the SSI position data and the position based on sine/cosine
incremental signals. Incorrect synchronization may cause an
error of ±1 incremental period.
Note: This parameter needs to be set only when an SSI
encoder is used in initial position mode (see parameter 92.30
315-45 deg
315-45 degrees.
45-135 degrees.
135-225 degrees.
225-315 degrees.
0
45-135 deg
1
135-225 deg
225-315 deg
2
3
Defines the use of parity and stop bits with a HIPERFACE
encoder.
Typically this parameter need not be set.
Odd
Odd parity indication bit, one stop bit.
Even parity indication bit, one stop bit.
0
Even
1
Defines the transfer rate of the link with a HIPERFACE
encoder.
Typically this parameter need not be set.
4800 bits/s
9600 bits/s
19200 bits/s
38400 bits/s
4800 bit/s.
9600 bit/s.
19200 bit/s.
38400 bit/s.
0
1
2
3
Parameters 211
No.
Name/Value
Description
Def/FbEq16
Defines the node address for a HIPERFACE encoder.
Typically this parameter need not be set.
64
0…255
HIPERFACE encoder node address.
-
92
Settings for encoder 2.
Notes:
• The contents of the parameter group vary according to the
selected encoder type.
the data received through that interface is fresher than the
data received through connection 2 (this group).
Activates the communication with optional encoder/resolver
interface module 2.
None
None
Inactive.
0
3
Abs enc
Communication active. Module type: FEN-11 Absolute
Encoder Interface. Input: Absolute encoder input (X42).
Resolver
Communication active. Module type: FEN-21 Resolver
Interface. Input: Resolver input (X52).
4
HTL
Communication active. Module type: FEN-31 HTL Encoder
Interface. Input: HTL encoder input (X82).
5
Selects the interface module that the encoder is connected
to. (The physical locations and types of encoder interface
modules are defined in parameter group 91 Encoder module
Module 1
Module 2
Interface module 1.
Interface module 2.
1
2
-
module 1.
For the possible values, see parameter 93.01 Encoder 2 type.
This parameter is read-only.
0
1 kHz
0
4.0 V
1
212 Parameters
No.
Name/Value
Description
Def/FbEq16
0
0
2
1
1
64
Parameters 213
No.
95
Name/Value
Description
Def/FbEq16
Various hardware-related settings.
Selects the supply voltage range. This parameter is used by
the drive to determine the nominal voltage of the supply
network. The parameter also affects the current ratings and
the DC voltage control functions (trip and brake chopper
activation limits) of the drive.
WARNING! An incorrect setting may cause the motor
to rush uncontrollably, or the overloading of the brake
chopper or resistor.
Not given
No voltage defined. The drive will not start modulating before
another value is selected.
0
208…240 V
380…415 V
440…480 V
500 V
208…240 V
380…415 V
440…480 V
500 V
1
2
3
4
525…600 V
660…690 V
525…600 V
660…690 V
5
6
Enables adaptive voltage limits.
Adaptive voltage limits can be used if, for example, an IGBT
supply unit is used to raise the DC voltage level. If the
communication between the inverter and IGBT supply unit is
active, the voltage limits are fixed to the DC voltage reference
from the IGBT supply unit. Otherwise the limits are calculated
based on the measured DC voltage at the end of the pre-
charging sequence.
Disable
Enable
Adaptive voltage limits disabled.
0
Adaptive voltage limits enabled.
1
Specifies how the control unit of the drive is powered.
Internal 24V
The drive control unit is powered from the drive power unit it
is connected to. This is the default setting.
0
1
External 24V
The drive control unit is powered from an external power
supply.
214 Parameters
No.
Name/Value
Description
Def/FbEq16
Enables/disables DC switch monitoring via the DIIL input.
This setting is intended for use with inverter modules with an
internal charging circuit that are connected to the DC bus
through a DC switch.
An auxiliary contact of the DC switch must be wired to the
DIIL input so that the input switches off when the DC switch is
opened.
DC bus
DC switch
Inverter module
Charging
logic
Charging
contactor
M
If the DC switch is opened with the inverter running, the
inverter is given a coast-to-stop command, and its charging
circuit activated.
Starting the inverter is prevented until the DC switch is closed
and the DC circuit in the inverter unit recharged.
Note: An internal charging circuit is standard on some
inverter module types but optional on others; check with your
local ABB representative.
Disable
Enable
DC switch monitoring through the DIIL input disabled.
DC switch monitoring through the DIIL input enabled.
0
1
This setting is intended for use with inverter modules that are
connected to a DC bus through a DC switch/charging circuit
controlled by a BSFC-xx switch fuse controller.
The BSFC controls and monitors the charging of the inverter
unit, and sends an enable command when the charging has
finished. When the DC switch is opened, the BSFC stops the
inverter.
For more information, see BSFC documentation.
Disable
Enable
Communication with BSFC disabled.
Communication with BSFC enabled.
0
1
Parameters 215
No.
96
Name/Value
Description
Def/FbEq16
Language selection; parameter save and restore; control unit
reboot.
Selects the language of the parameter interface and other
displayed information when viewed on the control panel.
Notes:
-
• Not all languages listed below are necessarily supported.
• This parameter does not affect the languages visible in the
Drive composer PC tool. (Those are specified under View
– Settings.)
Not selected
English US
Deutsch
None.
0
US English.
German.
Italian.
1033
1031
1040
3082
2070
1043
1036
1030
1035
1053
1049
1055
0
Italiano
Español
Spanish.
Portuguese.
Dutch.
Portugues
Nederlands
Français
Dansk
French.
Danish.
Suomi
Finnish.
Svenska
Russki
Swedish.
Russian.
Turkish.
Reserved.
Pass code.
Türkçe
0…99999999
-
Selects the application macro. See chapter Application
After a selection is made, the parameter reverts automatically
Done
Macro selection complete; normal operation.
Reserved.
0
Factory
1
Hand/Auto
PID-CTRL
T-CTRL
2
3
4
Sequence control
FIELDBUS
5
6
Shows which application macro is currently selected. See
Factory
Factory
1
2
3
4
5
6
Hand/Auto
PID-CTRL
T-CTRL
Sequence control
FIELDBUS
216 Parameters
No.
Name/Value
Description
Def/FbEq16
Restores the original settings of the control program, ie.
parameter default values.
Note: This parameter cannot be changed while the drive is
running.
Done
Restoring is completed.
0
8
Restore defaults
All editable parameter values are restored to default values,
except
• motor data and ID run results
• control panel/PC communication settings
• fieldbus adapter settings
• encoder configuration data.
Clear all
All editable parameter values are restored to default values,
except
62
• control panel/PC communication settings
• fieldbus adapter settings
• encoder configuration data.
PC tool communication is interrupted during the restoring.
The drive control unit is re-booted after the restoring is
completed.
Saves the valid parameter values to permanent memory.
Note: A new parameter value is saved automatically when
changed from the PC tool or panel but not when altered
through a fieldbus adapter connection.
Done
Save
Save completed.
Save in progress.
0
1
0
unit. The value reverts to 0 automatically.
0…4294967295
1 = Reboot control unit.
1 = 1
96
Switching frequency; slip gain; voltage reserve; flux braking;
signal injection; IR compensation.
An optimization setting for balancing between control
performance and motor noise level.
Cyclic
Control performance optimized for cyclic load applications.
Note: With this setting, the maximum motor cable length is
0
Low noise
Minimizes motor noise; control performance optimized for
high (> 300 Hz) output frequencies.
1
2
Note: Drive loadability is reduced with this setting and some
derating must be applied if a certain constant output current is
needed. This setting is not recommended for cyclic load
applications. The maximum motor cable length is 50 m
(164 ft) with drives up to 45 kW.
Normal
Control performance optimized for long motor cables.
Parameters 217
No.
Name/Value
Description
Def/FbEq16
Defines the slip gain which is used to improve the estimated 100%
motor slip. 100% means full slip gain; 0% means no slip gain.
The default value is 100%. Other values can be used if a
static speed error is detected despite of the full slip gain.
Example (with nominal load and nominal slip of 40 rpm): A
1000 rpm constant speed reference is given to the drive.
Despite of the full slip gain (= 100%), a manual tachometer
measurement from the motor axis gives a speed value of 998
rpm. The static speed error is 1000 rpm - 998 rpm = 2 rpm. To
compensate the error, the slip gain should be increased. At
the 105% gain value, no static speed error exists (2 rpm / 40
rpm = 5%).
0 … 200%
Slip gain.
1 = 1%
0%
Defines the minimum allowed voltage reserve. When the
voltage reserve has decreased to the set value, the drive
enters the field weakening area.
If the intermediate circuit DC voltage Udc = 550 V and the
voltage reserve is 5%, the RMS value of the maximum output
voltage in steady-state operation is
0.95 × 550 V / sqrt(2) = 369 V
The dynamic performance of the motor control in the field
weakening area can be improved by increasing the voltage
reserve value, but the drive enters the field weakening area
earlier.
-4 … 50%
Disabled
Voltage reserve.
1 = 1%
Defines the level of braking power.
Flux braking is disabled.
0
1
Moderate
Flux level is limited during the braking. Deceleration time is
longer compared to full braking.
Full
Maximum braking power. Almost all available current is used
to convert the mechanical braking energy to thermal energy
in the motor.
2
Defines the source of flux reference.
Zero
None.
0
Other The value is taken from another parameter.
-
100%
0…200%
User-defined flux reference.
100 = 1%
injected to the motor in the low speed region to improve the
stability of torque control. Signal injection can be enabled with
different amplitude levels.
Notes:
• Use as low a level as possible that gives satisfactory
performance.
• Signal injection cannot be applied to asynchronous
motors.
Disabled
Signal injection disabled.
0
1
2
Enabled (5 %)
Enabled (10 %)
Signal injection enabled with amplitude level of 5%.
Signal injection enabled with amplitude level of 10%.
218 Parameters
No.
Name/Value
Enabled (15 %)
Enabled (20 %)
Description
Def/FbEq16
Signal injection enabled with amplitude level of 15%.
Signal injection enabled with amplitude level of 20%.
3
4
Rotor time constant tuning.
100%
This parameter can be used to improve torque accuracy in
closed-loop control of an induction motor. Normally, the motor
identification run provides sufficient torque accuracy, but
manual fine-tuning can be applied in exceptionally
demanding applications to achieve optimal performance.
25…400%
Rotor time constant tuning.
1 = 1%
0.00%
Defines the relative output voltage boost at zero speed (IR
compensation). The function is useful in applications with a
high break-away torque where direct torque control (DTC
mode) cannot be applied.
U / UN
(%)
Relative output voltage. IR
compensation set to 15%.
100%
Relative output voltage. No
15%
IR compensation.
f (Hz)
Field weakening point
50% of nominal
frequency
0.00 … 50.00%
Voltage boost at zero speed in percent of nominal motor
voltage.
1 = 1%
98
Motor values supplied by the user that are used in the motor
model.
Notes:
• Parameter value is automatically set to zero when ID run is
according to the motor characteristics identified during the
ID run.
• Measurements made directly from the motor terminals are
likely to produce slightly different values than those
detected by the ID run.
• This parameter cannot be changed while the drive is
running.
No
0
Parameters 219
No.
Name/Value
Description
Def/FbEq16
Motor parameters
model.
1
2
3
Position offset
position offset
angle offset.
Defines the stator resistance RS of the motor model.
With a star-connected motor, RS is the resistance of one
winding. With a delta-connected motor, RS is one-third of the
resistance of one winding.
0.00000 p.u.
0.00000 … 0.50000 Stator resistance in per unit.
p.u.
-
Defines the rotor resistance RR of the motor model.
Note: This parameter is valid only for asynchronous motors.
0.00000 p.u.
0.00000 … 0.50000 Rotor resistance in per unit.
p.u.
-
Defines the main inductance LM of the motor model.
Note: This parameter is valid only for asynchronous motors.
0.00000 p.u.
0.00000 …
10.00000 p.u.
Main inductance in per unit.
-
Defines the leakage inductance LS.
0.00000 p.u.
-
Note: This parameter is valid only for asynchronous motors.
0.00000 … 1.00000 Leakage inductance in per unit.
p.u.
Defines the direct axis (synchronous) inductance.
0.00000 p.u.
Note: This parameter is valid only for permanent magnet
motors.
0.00000 …
Direct axis inductance in per unit.
-
10.00000 p.u
Defines the quadrature axis (synchronous) inductance.
Note: This parameter is valid only for permanent magnet
motors.
0.00000 p.u.
0.00000 …
10.00000 p.u
Quadrature axis inductance in per unit.
-
Defines the permanent magnet flux.
Note: This parameter is valid only for permanent magnet
motors.
0.00000 p.u.
0.00000 … 2.00000 Permanent magnet flux in per unit.
p.u
-
Defines the stator resistance RS of the motor model.
0.00000 ohm
-
0.00000 …
100.00000 ohm
Stator resistance.
Defines the rotor resistance RR of the motor model.
Note: This parameter is valid only for asynchronous motors.
0.00000 ohm
-
0.00000 …
Rotor resistance.
100.00000 ohm
220 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the main inductance LM of the motor model.
0.00 mH
Note: This parameter is valid only for asynchronous motors.
0.00 …100000.00
mH
Main inductance.
1 = 10000
mH
Defines the leakage inductance LS.
0.00 mH
Note: This parameter is valid only for asynchronous motors.
0.00 …100000.00
mH
Leakage inductance.
1 = 10000
mH
Defines the direct axis (synchronous) inductance.
Note: This parameter is valid only for permanent magnet
motors.
0.00 mH
0.00 …100000.00
mH
Direct axis inductance.
1 = 10000
mH
Defines the quadrature axis (synchronous) inductance.
Note: This parameter is valid only for permanent magnet
motors.
0.00 mH
0.00 …100000.00
mH
Quadrature axis inductance.
1 = 10000
mH
synchronous motor and the zero position of the position
sensor.
0°
Notes:
• The value is in electrical degrees. The electrical angle
equals the mechanical angle multiplied by the number of
motor pole pairs.
• This parameter is valid only for permanent magnet motors.
0…360°
Angle offset.
1 = 1°
99
Motor configuration settings.
Selects the motor type.
Note: This parameter cannot be changed while the drive is
running.
Asynchronous
motor
Asynchronous induction motor.
0
1
Permanent magnet Permanent magnet motor. Three-phase AC synchronous
motor
motor with permanent magnet rotor and sinusoidal BackEMF
voltage.
Selects the motor control mode.
DTC
DTC
Direct torque control. This mode is suitable for most
applications.
0
Note: Instead of direct torque control, use scalar control
• with multimotor applications 1) if the load is not equally
shared between the motors, 2) if the motors are of different
sizes, or 3) if the motors are going to be changed after the
motor identification (ID run)
• if the nominal current of the motor is less than 1/6 of the
nominal output current of the drive
• if the drive is used with no motor connected (for example,
for test purposes).
Parameters 221
No.
Name/Value
Description
Def/FbEq16
Scalar
Scalar control. The outstanding motor control accuracy of
DTC cannot be achieved in scalar control. Some standard
features are disabled in scalar control mode.
Note: Correct motor run requires that the magnetizing current
of the motor does not exceed 90% of the nominal current of
the inverter.
1
Defines the nominal motor current. Must be equal to the value 0.0 A
on the motor rating plate. If multiple motors are connected to
the drive, enter the total current of the motors.
Notes:
• Correct motor run requires that the magnetizing current of
the motor does not exceed 90% of the nominal current of
the drive.
• This parameter cannot be changed while the drive is
running.
0.0 … 6400.0 A
Nominal current of the motor. The allowable range is 1/6…2 × 1 = 1 A
IHd of the drive (0…2 × IHd with scalar control mode).
Defines the nominal motor voltage as fundamental phase-to- 0.0 V
phase rms voltage supplied to the motor at the nominal
operating point. This setting must match the value on the
rating plate of the motor.
Notes:
• With permanent magnet motors, the nominal voltage is the
BackEMF voltage at nominal speed of the motor. If the
voltage is given as voltage per rpm, e.g. 60 V per 1000
rpm, the voltage for a nominal speed of 3000 rpm is
3 × 60 V = 180 V. Note that the nominal voltage is not
equal to the equivalent DC motor voltage (EDCM)
specified by some motor manufacturers. The nominal
voltage can be calculated by dividing the EDCM voltage by
1.7 (or square root of 3).
• The stress on the motor insulation is always dependent on
the drive supply voltage. This also applies to the case
where the motor voltage rating is lower than that of the
drive and the supply.
• This parameter cannot be changed while the drive is
running.
0.0 … 800.0
Nominal voltage of the motor.
10 = 1 V
Defines the nominal motor frequency.
Note: This parameter cannot be changed while the drive is
running.
50.0 Hz
0.0 … 500.0 Hz
Nominal frequency of the motor.
10 = 1 Hz
Defines the nominal motor speed. The setting must match the 0 rpm
value on the rating plate of the motor.
Note: This parameter cannot be changed while the drive is
running.
0 … 30000 rpm
Nominal speed of the motor.
1 = 1 rpm
222 Parameters
No.
Name/Value
Description
Def/FbEq16
Defines the nominal motor power. The setting must match the 0.00 kW
value on the rating plate of the motor. If multiple motors are
connected to the drive, enter the total power of the motors.
Note: This parameter cannot be changed while the drive is
running.
-10000.00 …
10000.00 kW
Nominal power of the motor.
1 = 1 kW
model. (Not applicable to permanent magnet motors.) Not
obligatory; if set, should match the value on the rating plate of
the motor.
0.00
Note: This parameter cannot be changed while the drive is
running.
0.00 … 1.00
Cosphi of the motor.
100 = 1
Defines the nominal motor shaft torque for a more accurate
motor model. Not obligatory.
0.000 N•m
Note: This parameter cannot be changed while the drive is
running.
0.00 …
Nominal motor torque.
1 = 100 N•m
4294672329.296
N•m
Selects the type of the motor identification performed at the
next start of the drive (for Direct Torque Control). During the
identification, the drive will identify the characteristics of the
motor for optimum motor control. After the ID run, the drive is
stopped. Note: This parameter cannot be changed while the
drive is running.
No
Once the ID run is activated, it can be cancelled by stopping
the drive: If ID run has already been performed once,
parameter is automatically set to NO. If no ID run has been
performed yet, parameter is automatically set to Standstill. In
this case, the ID run must be performed.
Notes:
• ID run must be performed every time any of the motor
Parameter is automatically set to Standstill after the motor
parameters have been set.
With a permanent magnet or synchronous reluctance
motor, the motor shaft must NOT be locked and the load
torque must be < 10% during the ID run
machinery must always be de-coupled from the motor.
• Ensure that possible Safe Torque Off and emergency stop
circuits are closed during ID run.
• Mechanical brake is not opened by the logic for the ID run.
No
No motor ID run is requested. This mode can be selected
already been performed once.
0
Parameters 223
No.
Name/Value
Description
Def/FbEq16
Normal
Normal ID run. Guarantees good control accuracy for all
1
cases. The ID run takes about 90 seconds. This mode should
be selected whenever it is possible.
Notes:
• The driven machinery must be de-coupled from the motor
with Normal ID run, if the load torque is higher than 20%,
or if the machinery is not able to withstand the nominal
torque transient during the ID run.
• Check the direction of rotation of the motor before starting
the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to approximately
50…100% of the nominal speed during the ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
Reduced
Reduced ID Run. This mode should be selected instead of
2
• mechanical losses are higher than 20% (i.e. the motor
cannot be de-coupled from the driven equipment), or if
• flux reduction is not allowed while the motor is running (i.e.
in case of a motor with an integrated brake supplied from
the motor terminals).
With Reduced ID run, the control in the field weakening area
or at high torques is not necessarily as accurate as with the
Normal ID run. Reduced ID run is completed faster than the
Normal ID Run (< 90 seconds).
Note: Check the direction of rotation of the motor before
starting the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to approximately
50…100% of the nominal speed during the ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
Standstill
Standstill ID run. The motor is injected with DC current. With
an asynchronous motor, the motor shaft is not rotating (with
permanent magnet motor the shaft can rotate < 0.5
revolution).
Note: This mode should be selected only if the Normal,
restrictions caused by the connected mechanics (e.g. with lift
or crane applications).
3
4
Autophasing
During autophasing, the start angle of the motor is
determined. Note that other motor model values are not
Notes:
• Autophasing can only be selected after the
performed once. Autophasing is used with a permanent
magnet motor when an absolute encoder, a resolver or an
encoder with commutation signals has been added or
replaced, and there is no need to perform the
• During Autophasing, the motor shaft must NOT be locked
and the load torque must be < 5%.
Current
measurement
calibration
Current offset and gain measurement calibration. The
calibration will be performed at next start.
5
224 Parameters
No.
Name/Value
Description
Def/FbEq16
Advanced
Advanced ID run. Guarantees the best possible control
accuracy. The ID run can take a couple of minutes. This mode
should be selected when top performance is needed in the
whole operating area.
6
Notes:
• The driven machinery must be de-coupled from the motor
because of high torque and speed transients that are
applied.
• During the run, the motor may rotate both in the forward
and reverse direction.
WARNING! The motor may run at up to the maximum
(positive) and minimum (negative) allowed speed
during the ID run. Several accelerations and
decelerations are done. The maximum torque, current and
speed allowed by the limit parameters may be utilized.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE
PERFORMING THE ID RUN!
Shows the mode of the ID run that was performed last. For
more information of the different modes, see the selections of
No
No ID run has been performed.
Normal ID run.
0
1
2
3
Normal
Reduced
Standstill
Autophasing
Reduced ID run.
Standstill ID run.
Current
measurement
calibration
Advanced
6
0…1000
Calculated number of pole pairs in the motor.
Number of pole pairs.
0
1 = 1
Switches the rotation direction of motor. This parameter can
be used if the motor turns in the wrong direction (for example,
because of the wrong phase order in the motor cable), and
correcting the cabling is considered impractical.
Note: After changing this parameter, the sign of encoder
feedback (if any) must be checked. This can be done by
U V W
U W V
Normal.
0
1
Reversed rotation direction.
Additional parameter data 225
7
Additional parameter data
What this chapter contains
This chapter lists the parameters with some additional data. For parameter
Terms and abbreviations
Term
Definition
Actual signal
Signal measured or calculated by the drive. Usually can only be monitored
but not adjusted; some counter-type signals can however be reset.
Analog src
Binary src
The parameter can be set to the value of another parameter by choosing
“Other”, and selecting the source parameter from a list.
In addition to the “Other” selection, the parameter may offer other pre-
selected settings.
The value of the parameter can be taken from a specific bit in another
parameter value (“Other”). Sometimes the value can be fixed to 0 (false) or
1 (true). In addition, the parameter may offer other pre-selected settings.
Data
Data parameter.
FbEq32
32-bit fieldbus equivalent: The scaling between the value shown on the
panel and the integer used in fieldbus communication when a 32-bit value
is selected in parameter group 52 FBA A data in or 53 FBA A data out.
List
No.
Selection list.
Parameter number.
Additional parameter data 227
Parameter groups 1…9
No.
Name
Type
Range
Unit
FbEq32
01 Actual values
01.01 Motor speed used
01.02 Motor speed estimated
01.04 Encoder 1 speed filtered
01.05 Encoder 2 speed filtered
01.06 Output frequency
01.07 Motor current
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-3000.00 … 3000.00
0.00 … 30000.00
-1600.0 … 1600.0
0.00 … 2000.00
-32768.00 … 32767.00
0…65535
rpm
rpm
rpm
rpm
Hz
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 Hz
100 = 1 A
A
01.10 Motor torque %
%
10 = 1%
01.11 DC voltage
V
100 = 1 V
01.14 Output power
kW
GWh
MWh
kWh
%
100 = 1 kW
1 = 1 GWh
1 = 1 MWh
1 = 1 kWh
1 = 1%
01.18 Inverter GWh counter
01.19 Inverter MWh counter
01.20 Inverter kWh counter
01.24 Flux actual %
0…999
0…999
0…200
01.30 Nominal torque scale
01.31 Ambient temperature
-
N•m
°C
1000 = 1 N•m
10 = 1 °C
-32768.0…32767.0
03 Input references
03.01 Panel reference
03.05 FB A reference 1
03.06 FB A reference 2
03.15 Application reference 1
03.16 Application reference 2
04 Warnings and faults
04.01 Tripping fault
-100000.00 … 100000.00
-100000.00 … 100000.00
-100000.00 … 100000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-
-
-
-
-
100 = 1
100 = 1
100 = 1
100 = 1
100 = 1
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
04.02 Active fault 2
04.03 Active fault 3
04.04 Active fault 4
04.05 Active fault 5
04.06 Active warning 1
04.07 Active warning 2
04.08 Active warning 3
04.09 Active warning 4
04.10 Active warning 5
04.11 Latest fault
04.12 2nd latest fault
04.13 3rd latest fault
04.14 4th latest fault
04.15 5th latest fault
04.16 Latest warning
04.17 2nd latest warning
228 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
1 = 1
04.18 3rd latest warning
04.19 4th latest warning
04.20 5th latest warning
05 Diagnostics
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
-
-
-
1 = 1
1 = 1
05.01 On-time counter
05.02 Run-time counter
05.04 Fan on-time counter
05.11 Inverter temperature %
06 Control and status words
06.01 Main control word
06.02 Application control word
0…4294967295
0…4294967295
0…4294967295
-40.0 … 160.0
d
d
1 = 1 d
1 = 1 d
1 = 1 d
10 = 1%
d
%
0000h…FFFFh
0000h…FFFFh
-
-
-
1 = 1
1 = 1
1 = 1
06.03 FBA A transparent control
word
00000000h…FFFFFFFFh
06.11 Main status word
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
-
-
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
06.16 Drive status word 1
06.17 Drive status word 2
06.18 Start inhibit status word
06.19 Speed control status word
06.20 Constant speed status word
06.30 User bit 0 selection
Binary
src
06.31 User bit 1 selection
06.32 User bit 2 selection
06.33 User bit 3 selection
Binary
src
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
Binary
src
Binary
src
07 System info
07.03 Drive rating id
07.04 Firmware name
07.05 Firmware version
07.11 Cpu usage
0…999
-
-
1 = 1
1 = 1
-
-
1 = 1
0…100
%
1 = 1%
Additional parameter data 229
Parameter groups 10…99
No.
Name
Type
Range
Unit
FbEq32
10 Standard DI, RO
10.01 DI status
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0000h…FFFFh
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0.0 … 3000.0
0000h…FFFFh
-
-
-
1 = 1
1 = 1
10.02 DI delayed status
10.03 DI force selection
10.04 DI force data
10.05 DI1 ON delay
10.06 DI1 OFF delay
10.07 DI2 ON delay
10.08 DI2 OFF delay
10.09 DI3 ON delay
10.10 DI3 OFF delay
10.11 DI4 ON delay
10.12 DI4 OFF delay
10.13 DI5 ON delay
10.14 DI5 OFF delay
10.15 DI6 ON delay
10.16 DI6 OFF delay
10.21 RO status
-
1 = 1
-
1 = 1
s
s
s
s
s
s
s
s
s
s
s
s
-
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
1 = 1
10.24 RO1 source
Binary
src
-
1 = 1
10.25 RO1 ON delay
10.26 RO1 OFF delay
10.27 RO2 source
0.0 … 3000.0
0.0 … 3000.0
-
s
s
-
10 = 1 s
10 = 1 s
1 = 1
Binary
src
10.28 RO2 ON delay
10.29 RO2 OFF delay
10.30 RO3 source
0.0 … 3000.0
0.0 … 3000.0
-
s
s
-
10 = 1 s
10 = 1 s
1 = 1
Binary
src
10.31 RO3 ON delay
10.32 RO3 OFF delay
0.0 … 3000.0
0.0 … 3000.0
s
s
10 = 1 s
10 = 1 s
11 Standard DIO, FI, FO
11.01 DIO status
00000000b…11111111b
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
11.02 DIO delayed status
11.05 DIO1 configuration
11.06 DIO1 output source
00000000b…11111111b
0…2
-
Binary
src
11.07 DIO1 ON delay
11.08 DIO1 OFF delay
11.09 DIO2 configuration
11.10 DIO2 output source
0.0 … 3000.0
s
s
-
10 = 1 s
10 = 1 s
1 = 1
0.0 … 3000.0
0…2
-
Binary
src
1 = 1
230 Additional parameter data
No.
Name
Type
Range
0.0 … 3000.0
0.0 … 3000.0
0…16000
Unit
s
FbEq32
10 = 1 s
10 = 1 s
1 = 1 Hz
1000 = 1
1 = 1 Hz
1 = 1 Hz
1000 = 1
1000 = 1
1 = 1 Hz
1 = 1
11.11 DIO2 ON delay
11.12 DIO2 OFF delay
11.38 Freq in 1 actual value
11.39 Freq in 1 scaled
11.42 Freq in 1 min
s
Hz
-
-32768.000 … 32767.000
0…16000
Hz
Hz
-
11.43 Freq in 1 max
0…16000
11.44 Freq in 1 scaled at min
11.45 Freq in 1 scaled at max
11.54 Freq out 1 actual value
11.55 Freq out 1 source
-32768.000 … 32767.000
-32768.000 … 32767.000
0…16000
-
Hz
-
-
11.58 Freq out 1 src min
11.59 Freq out 1 src max
11.60 Freq out 1 at src min
11.61 Freq out 1 at src max
-32768.000 … 32767.000
-32768.000 … 32767.000
0…16000
-
1000 = 1
1000 = 1
1 = 1 Hz
1 = 1 Hz
-
Hz
Hz
0…16000
12 Standard AI
12.11 AI1 actual value
12.12 AI1 scaled value
12.15 AI1 unit selection
12.16 AI1 filter time
12.17 AI1 min
-22.000 … 22.000
-32768.000 … 32767.000
-
mA or V 1000 = 1 unit
-
-
1000 = 1
1 = 1
0.000 … 30.000
-22.000 … 22.000
s
1000 = 1 s
mA or V 1000 = 1 mA
or V
12.18 AI1 max
-22.000 … 22.000
mA or V 1000 = 1 mA
or V
12.19 AI1 scaled at AI1 min
12.20 AI1 scaled at AI1 max
12.21 AI2 actual value
-32768.000 … 32767.000
-32768.000 … 32767.000
-22.000 … 22.000
-
-
1000 = 1
1000 = 1
mA or V 1000 = 1 mA
or V
12.22 AI2 scaled value
12.25 AI2 unit selection
12.26 AI2 filter time
12.27 AI2 min
-32768.000 … 32767.000
-
-
-
1000 = 1
1 = 1
0.000 … 30.000
-22.000 … 22.000
s
1000 = 1 s
mA or V 1000 = 1 mA
or V
12.28 AI2 max
-22.000 … 22.000
mA or V 1000 = 1 mA
or V
12.29 AI2 scaled at AI2 min
12.30 AI2 scaled at AI2 max
13 Standard AO
-32768.000 … 32767.000
-32768.000 … 32767.000
-
-
1000 = 1
1000 = 1
13.11 AO1 actual value
13.12 AO1 source
0.000 … 22.000
-
mA
-
1000 = 1 mA
1 = 1
13.16 AO1 filter time
13.17 AO1 source min
0.000 … 30.000
s
-
1000 = 1 s
10 = 1
-32768.0 … 32767.0
Additional parameter data 231
No.
Name
Type
Range
-32768.0 … 32767.0
0.000 … 22.000
0.000 … 22.000
0.000 … 22.000
-
Unit
-
FbEq32
10 = 1
13.18 AO1 source max
13.19 AO1 out at AO1 src min
13.20 AO1 out at AO1 src max
13.21 AO2 actual value
13.22 AO2 source
mA
mA
mA
-
1000 = 1 mA
1000 = 1 mA
1000 = 1 mA
1 = 1
13.26 AO2 filter time
0.000 … 30.000
-32768.0 … 32767.0
-32768.0 … 32767.0
0.000 … 22.000
s
-
1000 = 1 s
10 = 1
13.27 AO2 source min
13.28 AO2 source max
13.29 AO2 out at AO2 src min
13.30 AO2 out at AO2 src max
-
10 = 1
mA
mA
1000 = 1 mA
1000 = 1 mA
0.000 … 22.000
19 Operation mode
19.01 Actual operation mode
19.11 Ext1/Ext2 selection
-
-
-
-
1 = 1
1 = 1
Binary
src
19.12 Ext1 control mode 1
19.14 Ext2 control mode 1
19.16 Local control mode
19.17 Local control disable
19.20 Scalar control reference unit
20 Start/stop/direction
1…6
1…6
0…1
0…1
0…1
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
20.01 Ext1 commands
20.02 Ext1 start trigger
20.03 Ext1 in1
-
0…1
-
-
-
-
1 = 1
1 = 1
1 = 1
Binary
src
20.04 Ext1 in2
20.05 Ext1 in3
Binary
src
-
-
-
-
1 = 1
1 = 1
Binary
src
20.06 Ext2 commands
20.07 Ext2 start trigger
20.08 Ext2 in1
-
0…1
-
-
-
-
1 = 1
1 = 1
1 = 1
Binary
src
20.09 Ext2 in2
20.10 Ext2 in3
Binary
src
-
-
-
-
1 = 1
1 = 1
Binary
src
20.11 Run enable stop mode
20.12 Run enable 1
0…2
-
-
-
1 = 1
1 = 1
Binary
src
20.19 Enable start command
Binary
src
-
-
-
-
1 = 1
1 = 1
20.23 Positive speed reference
enable
Binary
src
232 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
20.24 Negative speed reference
enable
Binary
src
-
-
1 = 1
20.25 Jogging enable
20.26 Jogging 1 start
20.27 Jogging 2 start
Binary
src
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
Binary
src
Binary
src
21 Start/stop mode
21.01 Start mode
0…2
0…10000
0…1
-
ms
-
1 = 1
1 = 1 ms
1 = 1
21.02 Magnetization time
21.03 Stop mode
21.04 Emergency stop mode
21.05 Emergency stop source
0…2
-
1 = 1
Binary
src
-
-
1 = 1
21.06 Zero speed limit
21.07 Zero speed delay
21.08 DC current control
21.09 DC hold speed
0.00 … 30000.00
0…30000
rpm
ms
-
100 = 1 rpm
1 = 1 ms
1 = 1
00b…11b
0.0 … 1000.0
0.0 … 100.0
0…30000
rpm
%
100 = 1 rpm
10 = 1%
1 = 1 ms
1 = 1
21.10 DC current reference
21.11 Post magnetization time
21.13 Autophasing mode
21.18 Auto restart time
ms
-
0…2
0.0, 0.1 … 5.0
s
10 = 1 s
22 Speed reference selection
22.01 Speed ref unlimited
22.11 Speed ref1 selection
-30000.00 … 30000.00
-
rpm
-
100 = 1 rpm
1 = 1
22.12 Speed ref2 selection
-
-
1 = 1
22.13 Speed ref1 function
0…5
-
-
-
1 = 1
1 = 1
22.14 Speed ref1/2 selection
Binary
src
22.15 Additive speed ref1
-
-
1 = 1
22.16 Speed share
-8.000 … 8.000
-
-
-
1000 = 1
1 = 1
22.17 Additive speed ref2
22.21 Constant speed function
22.22 Constant speed sel1
00b…11b
-
-
-
1 = 1
1 = 1
Binary
src
22.23 Constant speed sel2
22.24 Constant speed sel3
22.26 Constant speed 1
Binary
src
-
-
-
1 = 1
1 = 1
Binary
src
-
-30000.00 … 30000.00
rpm
100 = 1 rpm
Additional parameter data 233
No.
Name
Type
Range
Unit
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
-
FbEq32
22.27 Constant speed 2
22.28 Constant speed 3
22.29 Constant speed 4
22.30 Constant speed 5
22.31 Constant speed 6
22.32 Constant speed 7
22.41 Speed ref safe
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
00b…11b
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
1 = 1
22.42 Jogging 1 ref
22.43 Jogging 2 ref
22.51 Critical speed function
22.52 Critical speed 1 low
22.53 Critical speed 1 high
22.54 Critical speed 2 low
22.55 Critical speed 2 high
22.56 Critical speed 3 low
22.57 Critical speed 3 high
22.81 Speed reference 1 act
22.82 Speed reference 2 act
22.83 Speed reference 3 act
22.84 Speed reference 4 act
22.85 Speed reference 5 act
22.86 Speed reference 6 act
22.87 Speed reference 7 act
23 Speed reference ramp
23.01 Speed ref ramp in
23.02 Speed ref ramp out
23.11 Ramp set selection
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.00 … 30000.00
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
-30000.00 … 30000.00
rpm
rpm
-
100 = 1 rpm
100 = 1 rpm
1 = 1
-30000.00 … 30000.00
-
Binary
src
23.12 Acceleration time 1
23.13 Deceleration time 1
23.14 Acceleration time 2
23.15 Deceleration time 2
23.16 Shape time acc 1
23.17 Shape time acc 2
23.18 Shape time dec 1
23.19 Shape time dec 2
23.20 Acc time jogging
23.21 Dec time jogging
23.23 Emergency stop time
23.24 Ramp in zero
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
-
s
s
s
s
s
s
s
s
s
s
s
-
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1 = 1
Binary
src
234 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
23.26 Ramp out balance enable
Binary
src
-
-
1 = 1
23.27 Ramp out balance ref
23.28 Variable slope enable
23.29 Variable slope rate
-30000.00 … 30000.00
0…1
rpm
-
100 = 1 rpm
1 = 1
2…30000
ms
1 = 1 ms
24 Speed reference conditioning
24.01 Used speed reference
24.02 Used actual speed
24.03 Speed error filtered
24.04 Speed error negative
24.11 Speed correction
-30000.00 … 30000.00
-30000.00 … 30000.00
-30000.0 … 30000.0
-30000.0 … 30000.0
-10000…10000
0…10000
rpm
rpm
rpm
rpm
-
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
100 = 1
24.12 Speed error filter time
ms
-
1 = 1 ms
24.41 Speed error window control
enable
0…1
1 = 1
24.43 Speed error window high
24.44 Speed error window low
24.46 Speed error step
0…3000
0…3000
rpm
rpm
rpm
100 = 1 rpm
100 = 1 rpm
100 = 1 rpm
-3000.0 … 3000.0
25 Speed control
25.01 Torque reference speed
control
-1600.0 … 1600.0
%
10 = 1%
25.02 Proportional gain
25.03 Integration time
0.00 … 250.00
0.00 … 1000.00
0.000 … 10000.000
0.0 … 1000.0
0.00 … 1000.00
0.0 … 1000.0
0.00 … 100.00
-
-
s
100 = 1
100 = 1 s
1000 = 1 s
1 = 1 ms
100 = 1 s
10 = 1 ms
100 = 1%
1 = 1
25.04 Derivation time
s
25.05 Derivation filter time
25.06 Acc comp derivation time
25.07 Acc comp filter time
25.08 Drooping rate
ms
s
ms
%
-
25.09 Speed ctrl balance enable
Binary
src
25.10 Speed ctrl balance reference
25.11 Min torque speed control
25.12 Max torque speed control
25.15 Proportional gain em stop
25.53 Torque prop reference
25.54 Torque integ reference
25.55 Torque der reference
25.56 Torque acc compensation
25.57 Torque reference unbalanced
26 Torque reference chain
-300 … 300
-
10 = 1
-1600.0 … 0.0
%
%
-
10 = 1%
10 = 1%
100 = 1
10 = 1%
10 = 1%
10 = 1%
10 = 1%
10 = 1%
0.0 … 1600.0
0.00 … 250.00
-30000.0 … 30000.0
-30000.0 … 30000.0
-30000.0 … 30000.0
-30000.0 … 30000.0
-30000.0 … 30000.0
%
%
%
%
%
26.01 Torque ref to TC
-1600.0 … 1600.0
-1600.0 … 1600.0
-1000.0 … 0.0
%
%
%
10 = 1%
10 = 1%
10 = 1%
26.02 Torque ref used
26.08 Minimum torque ref
Additional parameter data 235
No.
Name
Type
Range
Unit
%
FbEq32
10 = 1%
1 = 1
26.09 Maximum torque ref
26.11 Torque ref1 selection
0.0 … 1000.0
-
-
26.12 Torque ref2 selection
-
-
1 = 1
26.13 Torque ref1 function
0…5
-
-
-
1 = 1
1 = 1
26.14 Torque ref1/2 selection
Binary
src
26.15 Load share
-8.000 … 8.000
-
-
-
1000 = 1
1 = 1
26.16 Torque additive 1 source
26.17 Torque ref filter time
26.18 Torque ramp up time
26.19 Torque ramp down time
26.25 Torque additive 2 source
0.000 … 30.000
0.000 … 60.000
0.000 … 60.000
-
s
s
s
-
1000 = 1 s
1000 = 1 s
1000 = 1 s
1 = 1
26.26 Force torque ref add 2 zero
Binary
src
-
-
1 = 1
26.41 Torque step
-300.00 … 300.00
0…1
%
-
100 = 1%
1 = 1
26.42 Torque step enable
26.70 Torque ref1 actual
26.71 Torque ref2 actual
26.72 Torque ref3 actual
26.73 Torque ref4 actual
26.74 Torque ref ramped
26.75 Torque ref5 actual
26.76 Torque ref6 actual
26.77 Torque ref add A actual
26.78 Torque ref add B actual
26.81 Rush control gain
-1600.0 … 1600.0
-1600.0 … 1600.0
-1600.0 … 1600.0
-1600.0 … 1600.0
-1600.0 … 1600.0
-1600.0 … 1600.0
-1600.0 … 1600.0
-1600.0 … 1600.0
-1600.0 … 1600.0
1.0 … 10000.0
0.1 … 10.0
%
%
%
%
%
%
%
%
%
-
10 = 1%
10 = 1%
10 = 1%
10 = 1%
10 = 1%
10 = 1%
10 = 1%
10 = 1%
10 = 1%
10 = 1
26.82 Rush control integration time
28 Frequency reference chain
28.01 Frequency ref ramp in
28.02 Frequency ref ramped
28.11 Frequency ref1 selection
s
10 = 1 s
-3000.0 … 3000.0
Hz
Hz
-
100 = 1 Hz
100 = 1 Hz
1 = 1
-3000.0 … 3000.0
-
28.12 Frequency ref2 selection
-
-
1 = 1
28.13 Frequency ref1 function
28.14 Frequency ref1/2 selection
0…5
-
-
-
1 = 1
1 = 1
Binary
src
28.21 Constant frequency function
28.22 Constant frequency sel1
00b…11b
-
-
-
1 = 1
1 = 1
Binary
src
236 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
28.23 Constant frequency sel2
Binary
src
-
-
1 = 1
28.24 Constant frequency sel3
Binary
src
-
-
1 = 1
28.26 Constant frequency 1
28.27 Constant frequency 2
28.28 Constant frequency 3
28.29 Constant frequency 4
28.30 Constant frequency 5
28.31 Constant frequency 6
28.32 Constant frequency 7
28.41 Failure frequency ref
28.51 Critical frequency function
28.52 Critical frequency 1 low
28.53 Critical frequency 1 high
28.54 Critical frequency 2 low
28.55 Critical frequency 2 high
28.56 Critical frequency 3 low
28.57 Critical frequency 3 high
28.71 Ramp set selection
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
00b…11b
Hz
Hz
Hz
Hz
Hz
Hz
Hz
Hz
-
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
1 = 1
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-
Hz
Hz
Hz
Hz
Hz
Hz
-
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
1 = 1
Binary
src
28.72 Acceleration time 1
28.73 Deceleration time 1
28.74 Acceleration time 2
28.75 Deceleration time 2
28.76 Ramp in zero
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
0.000 …1800.000
-
s
s
s
s
-
1000 = 1 s
1000 = 1 s
1000 = 1 s
1000 = 1 s
1 = 1
Binary
src
28.77 Ramp hold
Binary
src
-
-
1 = 1
28.78 Ramp output balance
-3000.00 … 3000.00
-
Hz
-
100 = 1 Hz
1 = 1
28.79 Ramp output balance ena
Binary
src
28.80 Frequency ref ramp in sel
-
-
-
-
1 = 1
1 = 1
28.90 Frequency ref1 act
28.91 Frequency ref2 act
28.92 Frequency ref3 act
28.96 Frequency ref7 act
28.97 Frequency ref unlimited
30 Limits
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
Hz
Hz
Hz
Hz
Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
100 = 1 Hz
30.01 Limit word 1
0000h…FFFFh
0000h…FFFFh
-
-
1 = 1
1 = 1
30.02 Torque limit status
Additional parameter data 237
No.
Name
Type
Range
-30000.00 … 30000.00
-30000.00 … 30000.00
-3000.00 … 3000.00
-3000.00 … 3000.00
0.00 … 30000.00
-1600.0 … 1600.0
-1600.0 … 1600.0
0.00 … 600.00
Unit
rpm
rpm
Hz
Hz
A
FbEq32
100 = 1 rpm
100 = 1 rpm
100 = 1 Hz
100 = 1 Hz
100 = 1 A
10 = 1%
30.11 Minimum speed
30.12 Maximum speed
30.13 Minimum frequency
30.14 Maximum frequency
30.17 Maximum current
30.19 Minimum torque
%
30.20 Maximum torque
30.26 Power motoring limit
30.27 Power generating limit
30.30 Overvoltage control
30.31 Undervoltage control
31 Fault functions
%
10 = 1%
%
100 = 1%
100 = 1%
1 = 1
-600.00 … 0.00
0…1
%
-
0…1
-
1 = 1
31.01 External event 1 source
Binary
src
-
-
1 = 1
31.02 External event 1 type
31.11 Fault reset selection
0…1
-
-
-
1 = 1
1 = 1
Binary
src
31.12 Autoreset sel
31.13 Selectable fault
31.14 Number of trials
31.15 Trial time
0000h…FFFFh
0…65535
0…5
-
1 = 1
1 = 1
-
-
1 = 1
1.0 … 600.0
0.0 … 120.0
0…1
s
10 = 1 s
10 = 1 s
1 = 1
31.16 Delay time
s
31.19 Motor phase loss
31.20 Earth fault
-
0…2
-
-
1 = 1
31.21 Supply phase loss
31.22 STO diagnostics
31.23 Cross connection
31.24 Stall function
31.25 Stall current limit
31.26 Stall speed high
31.27 Stall frequency high
31.28 Stall time
0…1
1 = 1
0…3
-
1 = 1
0…1
-
1 = 1
0…2
-
1 = 1
0.0 … 1600.0
0.0 … 10000.0
0.0 … 1000.0
0…3600
0…10000
%
rpm
Hz
s
10 = 1%
100 = 1 rpm
100 = 1 Hz
1 = 1 s
100 = 1 rpm
31.30 Speed trip margin
32 Supervision
rpm
32.01 Supervision status
32.05 Superv1 function
32.06 Superv1 action
32.07 Superv1 signal
000b…111b
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
0…6
0…2
-
32.08 Superv1 filter time
32.09 Superv1 lo
0.000 … 30.000
s
-
1000 = 1 s
100 = 1
-21474836.48 …
21474836.47
238 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
32.10 Superv1 hi
-21474836.48 …
21474836.47
-
100 = 1
32.15 Superv2 function
32.16 Superv2 action
32.17 Superv2 signal
0…6
0…2
-
-
-
-
1 = 1
1 = 1
1 = 1
32.18 Superv2 filter time
32.19 Superv2 lo
0.000 … 30.000
s
-
1000 = 1 s
100 = 1
-21474836.48 …
21474836.47
32.20 Superv2 hi
-21474836.48 …
21474836.47
-
100 = 1
32.25 Superv3 function
32.26 Superv3 action
32.27 Superv3 signal
0…6
0…2
-
-
-
-
1 = 1
1 = 1
1 = 1
32.28 Superv3 filter time
32.29 Superv3 lo
0.000 … 30.000
s
-
1000 = 1 s
100 = 1
-21474836.48 …
21474836.47
32.30 Superv3 hi
-21474836.48 …
21474836.47
-
100 = 1
33 Maintenance timer & counter
33.01 Counter status
000000b…111111b
0…4294967295
0…4294967295
00b…11b
-
s
s
-
1 = 1
1 = 1 s
1 = 1 s
1 = 1
33.10 On-time 1 actual
33.11 On-time 1 limit
33.12 On-time 1 function
33.13 On-time 1 source
Binary
src
-
-
1 = 1
33.14 On-time 1 warning select
33.20 On-time 2 actual
33.21 On-time 2 limit
-
-
s
s
-
1 = 1
1 = 1 s
1 = 1 s
1 = 1
0…4294967295
0…4294967295
00b…11b
-
33.22 On-time 2 function
33.23 On-time 2 source
Binary
src
-
1 = 1
33.24 On-time 2 warning select
33.30 Edge counter 1 actual
33.31 Edge counter 1 limit
33.32 Edge counter 1 func
33.33 Edge counter 1 source
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
0…4294967295
0…4294967295
0000b…1111b
-
Binary
src
33.34 Edge counter 1 divider
1…4294967295
-
-
-
1 = 1
1 = 1
33.35 Edge counter 1 warning
selection
33.40 Edge counter 2 actual
33.41 Edge counter 2 limit
33.42 Edge counter 2 function
0…4294967295
0…4294967295
0000b…1111b
-
-
-
1 = 1
1 = 1
1 = 1
Additional parameter data 239
No.
Name
Type
Range
Unit
FbEq32
33.43 Edge counter 2 source
Binary
src
-
-
1 = 1
33.44 Edge counter 2 divider
1…4294967295
-
-
-
1 = 1
1 = 1
33.45 Edge counter 2 warning
selection
33.50 Value counter 1 actual
-2147483008 …
2147483008
-
-
1 = 1
1 = 1
33.51 Value counter 1 limit
-2147483008 …
2147483008
33.52 Value counter 1 function
33.53 Value counter 1 source
00b…11b
-
-
-
1 = 1
1 = 1
33.54 Value counter 1 divider
33.55 Value counter 1 warning select
33.60 Value counter 2 actual
0.001 … 2147483.647
-
-
-
-
1000 = 1
1 = 1
-2147483008 …
2147483008
1 = 1
33.61 Value counter 2 limit
-2147483008 …
2147483008
-
1 = 1
33.62 Value counter 2 function
33.63 Value counter 2 source
00b…11b
-
-
-
1 = 1
1 = 1
33.64 Value counter 2 divider
0.001 … 2147483.647
-
-
-
1000 = 1
1 = 1
33.65 Value counter 2 warning
selection
35 Motor thermal protection
35.01 Motor estimated temperature
35.02 Measured temperature 1
-60 … 1000
-10 … 1000
°C
1 = 1 °C
1 = 1 °C
°C or
ohm
35.03 Measured temperature 2
-10 … 1000
°C or
ohm
1 = 1 °C
35.10 Supervision 1 protection
35.11 Supervision 1 source
35.12 Supervision 1 fault limit
0…2
0…11
-
-
1 = 1
1 = 1
-10 … 1000
°C or
ohm
1 = 1 °C
35.13 Supervision 1 warning limit
35.14 Supervision 1 AI select
-10 … 1000
-
°C or
ohm
1 = 1 °C
1 = 1
-
35.20 Supervision 2 protection
35.21 Supervision 2 source
35.22 Supervision 2 fault limit
0…2
0…11
-
-
1 = 1
1 = 1
-10 … 1000
°C or
ohm
1 = 1 °C
35.23 Supervision 2 warning limit
35.24 Supervision 2 AI select
35.50 Motor ambient temperature
-10 … 1000
-
°C or
ohm
1 = 1 °C
1 = 1
-
-60…100
°C
1 = 1 °C
240 Additional parameter data
No.
Name
Type
Range
50…150
Unit
%
FbEq32
1 = 1%
35.51 Motor load curve
35.52 Zero speed load
35.53 Break point
50…150
%
1 = 1%
1.00 … 500.00
0…300
Hz
°C
s
100 = 1 Hz
1 = 1 °C
1 = 1 s
35.54 Motor nominal temp rise
35.55 Motor thermal time const
36 Load analyzer
100…10000
36.01 PVL signal
-
-
1 = 1
36.02 PVL filter time
36.06 AL2 signal
0.00 … 120.00
-
s
-
100 = 1 s
1 = 1
36.07 AL2 signal base
36.09 Reset loggers
36.10 PVL peak value
36.11 PVL peak date
36.12 PVL peak time
36.13 PVL current at peak
36.14 PVL DC voltage at peak
36.15 PVL speed at peak
36.16 PVL reset date
36.17 PVL reset time
36.20 AL1 0 to 10%
36.21 AL1 10 to 20%
36.22 AL1 20 to 30%
36.23 AL1 30 to 40%
36.24 AL1 40 to 50%
36.25 AL1 50 to 60%
36.26 AL1 60 to 70%
36.27 AL1 70 to 80%
36.28 AL1 80 to 90%
36.29 AL1 over 90%
36.40 AL2 0 to 10%
36.41 AL2 10 to 20%
36.42 AL2 20 to 30%
36.43 AL2 30 to 40%
36.44 AL2 40 to 50%
36.45 AL2 50 to 60%
36.46 AL2 60 to 70%
36.47 AL2 70 to 80%
36.48 AL2 80 to 90%
36.49 AL2 over 90%
36.50 AL2 reset date
0.00 … 32767.00
0…3
-
-
100 = 1
1 = 1
-32768.00 … 32767.00
-
-
100 = 1
-
1 = 1
-
-
1 = 1
-32768.00 … 32767.00
0.00 … 2000.00
-32768.00 … 32767.00
-
A
100 = 1 A
100 = 1 V
100 = 1 rpm
1 = 1
V
rpm
-
-
-
1 = 1
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
0.00 … 100.00
-
%
%
%
%
%
%
%
%
%
%
%
%
%
%
%
%
%
%
%
%
-
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
100 = 1%
1 = 1
Additional parameter data 241
No.
Name
Type
Range
Unit
FbEq32
36.51 AL2 reset time
-
-
1 = 1
40 Process PID set 1
40.01 Process PID actual value
-32768 … 32767
-32768 … 32767
-32768 … 32767
-32768 … 32767
-32768 … 32767
rpm, % or 100 = 1 rpm, %
Hz or Hz
40.02 Feedback actual value
40.03 Setpoint actual value
40.04 Deviation actual value
40.05 Trim output actual value
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz
or Hz
1 = 1
1 = 1
1 = 1
40.06 PID status word
0000h…FFFFh
-
-
-
40.07 PID operation mode
40.08 Feedback 1 source
0…2
-
40.09 Feedback 2 source
-
-
1 = 1
40.10 Feedback function
40.11 Feedback filter time
40.12 Unit selection
0…11
0.000 … 30.000
0…2
-
s
-
1 = 1
1000 = 1 s
1 = 1
40.14 Setpoint base
40.15 Output base
-32768 … 32767
-32768 … 32767
-
-
100 = 1
100 = 1
1 = 1
-
40.16 Setpoint 1 source
-
40.17 Setpoint 2 source
-
-
1 = 1
40.18 Setpoint function
0…11
-
-
-
1 = 1
1 = 1
40.19 Internal setpoint selection 1
Binary
src
40.20 Internal setpoint selection 2
40.21 Internal setpoint 1
40.22 Internal setpoint 2
40.23 Internal setpoint 3
40.24 Internal setpoint 4
40.25 Setpoint selection
Binary
src
-
-
1 = 1
-32768.0 … 32767.0
-32768.0 … 32767.0
-32768.0 … 32767.0
-32768.0 … 32767.0
-
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz
or Hz
Binary
src
-
1 = 1
40.26 Setpoint min
-32768.0 … 32767.0
-32768.0 … 32767.0
0.0 … 1800.0
-
-
100 = 1
100 = 1
10 = 1 s
10 = 1 s
40.27 Setpoint max
40.28 Setpoint increase time
40.29 Setpoint decrease time
s
s
0.0 … 1800.0
242 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
40.30 Setpoint freeze enable
Binary
src
-
-
1 = 1
40.31 Deviation inversion
Binary
src
-
-
1 = 1
40.32 Gain
0.1 … 100.0
0.0 … 3600.0
0.0 … 10.0
-
s
s
s
-
100 = 1
10 = 1 s
1000 = 1 s
10 = 1 s
10 = 1
40.33 Integration time
40.34 Derivation time
40.35 Derivation filter time
40.36 Output min
0.0 … 10.0
-32768.0 … 32767.0
-32768.0 … 32767.0
-
40.37 Output max
-
10 = 1
40.38 Output freeze enable
Binary
src
-
1 = 1
40.39 Deadband range
40.40 Deadband delay
40.41 Sleep mode
-32768.0 … 32767.0
-
s
-
10 = 1
10 = 1 s
1 = 1
0.0 … 3600.0
0…2
-
40.42 Sleep enable
Binary
src
-
1 = 1
40.43 Sleep level
0.0 … 32767.0
0.0 … 3600.0
0.0 … 3600.0
0.0 … 32767.0
-
s
s
-
10 = 1
10 = 1 s
10 = 1 s
10 = 1
40.44 Sleep delay
40.45 Sleep boost time
40.46 Sleep boost step
40.47 Wake-up deviation
-2147483648 …
2147483647
rpm, %or 100 = 1 rpm, %
Hz
or Hz
100 = 1 s
1 = 1
40.48 Wake up delay
40.49 Tracking mode
0.00 … 60.00
-
s
Binary
src
-
40.50 Tracking ref selection
-
-
1 = 1
40.51 Trim mode
0…3
1…3
-
-
-
-
1 = 1
1 = 1
1 = 1
40.52 Trim selection
40.53 Trimmed ref pointer
40.54 Trim mix
0.000 … 1.000
-
-
-
-
1000 = 1
1000 = 1
1 = 1
40.55 Trim adjust
-100.000 … 100.000
40.56 Correction source
40.57 Sel between set1 set2
1…2
-
Binary
src
1 = 1
41 Process PID set 2
41.07 PID operation mode
41.08 Feedback 1 source
0…2
-
-
-
1 = 1
1 = 1
41.09 Feedback 2 source
-
-
1 = 1
41.10 Feedback function
41.11 Feedback filter time
0…11
-
1 = 1
0.000 … 30.000
s
1000 = 1 s
Additional parameter data 243
No.
Name
Type
Range
0…2
Unit
FbEq32
1 = 1
41.12 Unit selection
41.14 Setpoint base
41.15 Output base
41.16 Setpoint 1 source
-
-
-
-
-32768 … 32767
-32768 … 32767
-
100 = 1
100 = 1
1 = 1
41.17 Setpoint 2 source
-
-
1 = 1
41.18 Setpoint function
0…11
-
-
-
1 = 1
1 = 1
41.19 Internal setpoint selection 1
Binary
src
41.20 Internal setpoint selection 2
41.21 Internal setpoint 1
41.22 Internal setpoint 2
41.23 Internal setpoint 3
41.24 Internal setpoint 4
41.25 Setpoint selection
Binary
src
-
-
1 = 1
-32768.0 … 32767.0
-32768.0 … 32767.0
-32768.0 … 32767.0
-32768.0 … 32767.0
-
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz or Hz
rpm, % or 100 = 1 rpm, %
Hz
or Hz
Binary
src
-
1 = 1
41.26 Setpoint min
-32768.0 … 32767.0
-32768.0 … 32767.0
0.0 … 1800.0
0.0 … 1800.0
-
-
-
100 = 1
100 = 1
10 = 1 s
10 = 1 s
1 = 1
41.27 Setpoint max
41.28 Setpoint increase time
41.29 Setpoint decrease time
41.30 Setpoint freeze enable
s
s
-
Binary
src
41.31 Deviation inversion
Binary
src
-
-
1 = 1
41.32 Gain
0.1 … 100.0
0.0 … 3600.0
0.0 … 10.0
-
s
s
s
-
100 = 1
10 = 1 s
1000 = 1 s
10 = 1 s
10 = 1
41.33 Integration time
41.34 Derivation time
41.35 Derivation filter time
41.36 Output min
0.0 … 10.0
-32768.0 … 32767.0
-32768.0 … 32767.0
-
41.37 Output max
-
10 = 1
41.38 Output freeze enable
Binary
src
-
1 = 1
41.39 Deadband range
41.40 Deadband delay
41.41 Sleep mode
-32768.0 … 32767.0
-
s
-
10 = 1
10 = 1 s
1 = 1
0.0 … 3600.0
0…2
-
41.42 Sleep enable
Binary
src
-
1 = 1
41.43 Sleep level
41.44 Sleep delay
0.0 … 32767.0
0.0 … 3600.0
-
10 = 1
s
10 = 1 s
244 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
10 = 1 s
10 = 1
41.45 Sleep boost time
41.46 Sleep boost step
41.47 Wake-up deviation
0.0 … 3600.0
0.0 … 32767.0
s
-
-2147483648 …
2147483647
rpm, %or 100 = 1 rpm, %
Hz
or Hz
100 = 1 s
1 = 1
41.48 Wake-up delay
41.49 Tracking mode
0.00 … 60.00
-
s
Binary
src
-
41.50 Tracking ref selection
-
-
1 = 1
41.51 Trim mode
0…3
1…3
-
-
-
-
1 = 1
1 = 1
1 = 1
41.52 Trim selection
41.53 Trimmed ref pointer
41.54 Trim mix
0.000 … 1.000
-100.000 … 100.000
1…2
-
-
-
1000 = 1
1000 = 1
1 = 1
41.55 Trim adjust
41.56 Correction source
43 Brake chopper
43.01 Braking resistor temperature
43.06 Brake chopper enable
43.07 Brake chopper runtime enable
0.0 … 120.0
%
-
10 = 1%
1 = 1
0…2
-
Binary
src
-
1 = 1
43.08 Brake resistor thermal tc
43.09 Brake resistor Pmax cont
43.10 Brake resistance
0…10000
0.10 … 10000.00
0…1000
s
kW
ohm
%
1 = 1 s
100 = 1 kW
10 = 1 ohm
1 = 1%
43.11 Brake resistor fault limit
43.12 Brake resistor warning limit
44 Mechanical brake control
44.01 Brake control status
0…150
0…150
%
1 = 1%
00000000b…11111111b
-1600.0 … 1600.0
-1000…1000
-
-
1 = 1
10 = 1%
10 = 1%
1 = 1
44.02 Brake torque memory
44.03 Brake open torque reference
44.06 Brake control enable
%
%
-
Binary
src
44.07 Brake acknowledge selection
Binary
src
-
-
1 = 1
44.08 Brake open delay
0.00 … 5.00
-
s
-
100 = 1 s
1 = 1
44.09 Brake open torque source
44.10 Brake open torque
44.11 Keep brake closed
-1000…1000
-
%
-
10 = 1%
1 = 1
Binary
src
44.12 Brake close request
Binary
src
-
-
1 = 1
44.13 Brake close delay
44.14 Brake close level
0.00 … 60.00
0.0 … 1000.0
s
100 = 1 s
rpm
100 = 1 rpm
Additional parameter data 245
No.
Name
Type
Range
0.00 … 10.00
0.00 … 10.00
0…2
Unit
FbEq32
100 = 1 s
100 = 1 s
1 = 1
44.15 Brake close level delay
44.16 Brake reopen delay
44.17 Brake fault function
44.18 Brake fault delay
s
s
-
0.00 … 60.00
s
100 = 1 s
45 Energy efficiency
45.01 Saved GW hours
45.02 Saved MW hours
45.03 Saved kW hours
45.05 Saved money x1000
45.06 Saved money
0…65535
0…999
GWh
MWh
kWh
1 = 1 GWh
1 = 1 MWh
10 = 1 kWh
0.0 … 999.0
0…4294967295
0.00 … 999.99
thousand 1 = 1 thousand
(selecta-
ble)
100 = 1 unit
45.08 CO2 reduction in kilotons
45.09 CO2 reduction in tons
0…65535
0.0 … 999.9
0…1
metric kil- 1 = 1 metric
oton
kiloton
metric
ton
10 = 1 metric
ton
45.11 Energy optimizer
45.12 Energy tariff 1
-
1 = 1
0.000 … 4294967295.000 (selecta- 1000 = 1 unit
ble)
45.13 Energy tariff 2
45.14 Tariff selection
0.000 … 4294967295.000 (selecta- 1000 = 1 unit
ble)
Binary
src
-
-
1 = 1
45.17 Tariff currency unit
100…102
-
1 = 1
45.18 CO2 conversion factor
0.000 … 65.535
metric
ton/ MWh
1000 = 1
metric
ton/MWh
45.19 Comparison power
45.21 Energy calculations reset
46 Monitoring/scaling settings
46.01 Speed scaling
0.0 … 10000000.0
0…1
kW
-
10 = 1 kW
1 = 1
0.00 … 30000.00
0.00 … 30000.00
0.0 … 30000.0
0.0 … 30000.0
2…20000
rpm
Hz
100 = 1 rpm
100 = 1 Hz
10 = 1%
46.02 Frequency scaling
46.03 Torque scaling
%
46.04 Power scaling
kW
ms
ms
ms
ms
rpm
Hz
10 = 1 kW
1 = 1 ms
46.11 Filter time motor speed
46.12 Filter time output frequency
46.13 Filter time motor torque
46.14 Filter time power out
46.21 Speed setpoint hysteresis
46.22 Frequency setpoint hysteresis
46.23 Torque setpoint hysteresis
46.31 Above speed limit
2…20000
1 = 1 ms
2…20000
1 = 1 ms
2…20000
1 = 1 ms
0.00 … 30000.00
0.00 … 3000.00
0.00 … 3000.00
0.00 … 30000.00
0.00 … 3000.00
0.0 … 300.0
100 = 1 rpm
100 = 1 Hz
1 = 1%
%
rpm
Hz
100 = 1 rpm
100 = 1 Hz
10 = 1 N•m
46.32 Above frequency limit
46.33 Above torque limit
N•m
246 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
47 Data storage
47.01 Data storage 1 real32
47.02 Data storage 2 real32
47.03 Data storage 3 real32
47.04 Data storage 4 real32
47.05 Data storage 5 real32
47.06 Data storage 6 real32
47.07 Data storage 7 real32
47.08 Data storage 8 real32
47.11 Data storage 1 int32
47.12 Data storage 2 int32
47.13 Data storage 3 int32
47.14 Data storage 4 int32
47.15 Data storage 5 int32
47.16 Data storage 6 int32
47.17 Data storage 7 int32
47.18 Data storage 8 int32
-2147483.008 …
2147483.008
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
1000 = 1
1000 = 1
1000 = 1
1000 = 1
1000 = 1
1000 = 1
1000 = 1
1000 = 1
1 = 1
-2147483.008 …
2147483.008
-2147483.008 …
2147483.008
-2147483.008 …
2147483.008
-2147483.008 …
2147483.008
-2147483.008 …
2147483.008
-2147483.008 …
2147483.008
-2147483.008 …
2147483.008
-2147483648 …
2147483647
-2147483648 …
2147483647
1 = 1
-2147483648 …
2147483647
1 = 1
-2147483648 …
2147483647
1 = 1
-2147483648 …
2147483647
1 = 1
-2147483648 …
2147483647
1 = 1
-2147483648 …
2147483647
1 = 1
-2147483648 …
2147483647
1 = 1
47.21 Data storage 1 int16
47.22 Data storage 2 int16
47.23 Data storage 3 int16
47.24 Data storage 4 int16
47.25 Data storage 5 int16
47.26 Data storage 6 int16
47.27 Data storage 7 int16
47.28 Data storage 8 int16
49 Panel port communication
49.01 Node ID number
-32768 … 32767
-32768 … 32767
-32768 … 32767
-32768 … 32767
-32768 … 32767
-32768 … 32767
-32768 … 32767
-32768 … 32767
-
-
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1…32
1…6
-
-
1 = 1
1 = 1
49.03 Baud rate
49.04 Communication loss time
49.05 Communication loss action
0.1 … 3000.0
0…3
s
-
10 = 1 s
1 = 1
Additional parameter data 247
No.
Name
Type
Range
Unit
FbEq32
49.06 Refresh settings
50 Fieldbus adapter (FBA)
50.01 FBA A enable
0…1
-
1 = 1
0…1
0…3
-
-
s
-
-
-
-
-
-
1 = 1
1 = 1
10 = 1 s
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
50.02 FBA A comm loss func
50.03 FBA A comm loss t out
50.04 FBA A ref1 type
50.05 FBA A ref2 type
50.06 FBA A SW sel
0.3 … 6553.5
0…10
0…10
0…1
50.07 FBA A actual 1 type
50.08 FBA A actual 2 type
0…10
0…10
-
-
-
-
-
1 = 1
1 = 1
50.12 FBA A debug enable
50.13 FBA A control word
50.14 FBA A reference 1
0…1
-
-
-
1 = 1
1 = 1
1 = 1
00000000h … FFFFFFFFh
-2147483648 …
2147483647
50.15 FBA A reference 2
-2147483648 …
2147483647
-
1 = 1
50.16 FBA A status word
50.17 FBA A actual value 1
00000000h … FFFFFFFFh
-
-
1 = 1
1 = 1
-2147483648 …
2147483647
50.18 FBA A actual value 2
-2147483648 …
2147483647
-
-
1 = 1
1 = 1
50.21 FBA A timelevel sel
51 FBA A settings
51.01 FBA type
0…3
…
-
-
-
1 = 1
1 = 1
51.02 FBA Par2
0…65535
…
…
…
…
-
51.26 FBA Par26
0…65535
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
51.27 FBA par refresh
51.28 Par table ver
0…1
-
-
-
51.29 Drive type code
51.30 Mapping file ver
51.31 D2FBA comm sta
51.32 FBA comm SW ver
51.33 FBA appl SW ver
0…65535
-
0…65535
-
0…6
-
-
-
-
-
52 FBA A data in
52.01 FBA data in1
-
-
1 = 1
…
…
…
…
…
248 Additional parameter data
No.
Name
Type
Range
Unit
FbEq32
52.12 FBA data in12
53 FBA A data out
-
-
1 = 1
53.01 FBA data out1
…
-
…
-
-
…
-
1 = 1
1 = 1
…
…
53.12 FBA data out12
90 Feedback selection
90.01 Motor speed for control
-21474836.48 …
21474836.47
rpm
rev
rpm
rev
-
100 = 1 rpm
100 = 1 rev
100 = 1 rpm
1 = 1 rev
1 = 1
90.02 Motor position
90.03 Load speed
-21474836.48 …
21474836.47
-21474836.48 …
21474836.47
90.04 Load position
-2147483648 …
2147483647
90.05 Load position scaled
90.10 Encoder 1 speed
90.11 Encoder 1 position
-2147483648 …
2147483647
-21474836.48 …
21474836.47
rpm
rev
-
100 = 1 rpm
100 = 1 rev
1 = 1
-21474836.48 …
21474836.47
90.12 Encoder 1 multiturn
revolutions
0…4294967295
90.13 Encoder 1 revolution
extension
-2147483648 …
2147483647
-
1 = 1
90.14 Encoder 1 position raw
90.15 Encoder 1 revolutions raw
90.20 Encoder 2 speed
0.00 … 65535.00
0…65535
-
-
100 = 1
1 = 1
-21474836.48 …
21474836.47
rpm
100 = 1 rpm
90.21 Encoder 2 position
-21474836.48 …
21474836.47
rev
100 = 1 rev
1 = 1
90.22 Encoder 2 multiturn
revolutions
0…4294967295
-
-
90.23 Encoder 2 revolution
extension
-2147483648 …
2147483647
1 = 1
90.24 Encoder 2 position raw
90.25 Encoder 2 revolutions raw
90.26 Motor revolution extension
0…65535
0…65535
-
-
-
100 = 1
100 = 1
1 = 1
-2147483648 …
2147483647
90.27 Load revolution extension
-2147483648 …
2147483647
-
1 = 1
90.41 Motor feedback selection
90.42 Motor speed filter time
90.43 Motor gear numerator
90.44 Motor gear denominator
90.45 Motor feedback fault
90.46 Force open loop
0…2
0…10000
-32768…32767
-32768…32767
0…2
-
1 = 1
1 = 1 ms
1 = 1
ms
-
-
-
-
1 = 1
1 = 1
0…1
1 = 1
Additional parameter data 249
No.
Name
Type
Range
0…4
Unit
FbEq32
1 = 1
90.51 Load feedback selection
90.52 Load speed filter time
90.53 Load gear numerator
-
ms
-
0…10000
1 = 1 ms
1 = 1
-2147483648 …
2147483647
90.54 Load gear denominator
-2147483648 …
2147483647
-
1 = 1
90.56 Load position offset
90.57 Load position resolution
90.61 Gear numerator
-32768 … 32767
0…32
rev
1 = 1 rev
1 = 1
-
-
-2147483648 …
2147483647
1 = 1
90.62 Gear denominator
-2147483648 …
2147483647
-
-
-
1 = 1
1 = 1
1 = 1
90.63 Feed constant numerator
90.64 Feed constant denominator
-2147483648 …
2147483647
-2147483648 …
2147483647
91 Encoder module settings
91.01 FEN DI status
000000b…111111b
-
-
1 = 1
1 = 1
91.02 Module 1 status
-
91.03 Module 2 status
-
-
1 = 1
91.04 Module 1 temperature
91.06 Module 2 temperature
91.10 Encoder parameter refresh
91.11 Module 1 type
0…1000
0…1000
0…1
°C
1 = 1 °C
1 = 1 °C
1 = 1
°C
-
0…4
-
1 = 1
91.12 Module 1 location
91.13 Module 2 type
1…254
0…4
-
1 = 1
-
1 = 1
91.14 Module 2 location
91.21 Temperature meas sel1
91.22 Temperature filtering time 1
91.23 PTC filtering 1
1…254
0…2
-
-
1 = 1
1 = 1
0…10000
0…65535
0…2
ms
-
1 = 1 ms
1 = 1
91.24 Temperature meas sel2
91.25 Temperature filtering time 2
91.26 PTC filtering 2
-
1 = 1
0…10000
0…65535
ms
-
1 = 1 ms
1 = 1
92 Encoder 1 configuration
92.01 Encoder 1 type
-
1…2
-
-
-
-
1 = 1
1 = 1
1 = 1
92.02 Encoder 1 source
92.03 Encoder 1 type act
92.10 Sine/cosine number
92.11 Absolute position source
92.12 Zero pulse enable
92.13 Position data width
92.14 Revolution data width
0…65535
0…5
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
0…1
0…32
0…32
250 Additional parameter data
No.
Name
Type
Range
0…1
Unit
FbEq32
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
92.30 Serial link mode
92.31 EnDat max calculation time
92.32 SSI cycle time
-
-
-
-
-
-
-
-
-
-
-
-
0…3
0…5
92.33 SSI clock cycles
92.34 SSI position msb
92.35 SSI revolution msb
92.36 SSI data format
92.37 SSI baud rate
2…127
1…126
1…126
0…1
0…5
92.40 SSI zero phase
0…3
92.45 Hiperface parity
92.46 Hiperface baud rate
92.47 Hiperface node address
0…1
0…3
0…255
92.10 Excitation signal frequency
92.11 Excitation signal amplitude
92.12 Resolver polepairs
1…20
4.0 … 12.0
1…32
kHz
1 = 1 kHz
10 = 1 V
1 = 1
V
-
92.10 Pulses/revolution
92.11 Pulse encoder type
92.12 Speed calculation mode
92.13 Position estimation enable
92.14 Speed estimation enable
92.15 Transient filter
0…65535
0…1
-
-
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
0…5
0…1
0…1
0…3
92.20 Enc cable fault func
92.21 Enc cable fault mode
93 Encoder 2 configuration
93.01 Encoder 2 type
0…2
0…3
-
1…2
-
-
-
-
1 = 1
1 = 1
1 = 1
93.02 Encoder 2 source
93.03 Encoder 2 type act
93.10 Sine/cosine number
93.11 Absolute position source
93.12 Zero pulse enable
93.13 Position data width
93.14 Revolution data width
93.30 Serial link mode
93.31 EnDat calc time
0…65535
0…5
-
-
-
-
-
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
0…1
0…32
0…32
0…1
0…3
93.32 SSI cycle time
0…5
93.33 SSI clock cycles
93.34 SSI position msb
93.35 SSI revolution msb
2…127
1…126
1…126
Additional parameter data 251
No.
Name
Type
Range
0…1
Unit
FbEq32
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
93.36 SSI data format
93.37 SSI baud rate
-
-
-
-
-
-
0…5
93.40 SSI zero phase
93.45 Hiperface parity
93.46 Hiperface baud rate
93.47 Hiperface node address
0…3
0…1
0…3
0…255
93.10 Excitation signal frequency
93.11 Excitation signal amplitude
93.12 Resolver polepairs
1…20
4.0 … 12.0
1…32
kHz
1 = 1 kHz
10 = 1 V
1 = 1
V
-
93.10 Pulses/revolution
93.11 Pulse encoder type
93.12 Speed calc mode
93.13 Position estimation ena
93.14 Speed estimation enable
93.15 Transient filter
0…65535
0…1
-
-
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
0…5
0…1
0…1
0…3
93.20 Enc cable fault func
93.21 Enc cable fault mode
95 HW configuration
0…2
0…3
95.01 Supply voltage
95.02 Adaptive voltage limits
95.04 Control board supply
95.08 Forced charging enable
95.09 Fuse switch control
96 System
0…6
0…1
0…1
0…1
0…1
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
enum
enum
96.01 Language
enum
enum
-
-
-
-
-
-
-
-
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
1 = 1
96.02 Pass code
0…99999999
96.04 Macro select
0…6
96.05 Macro active
0…6
96.06 Parameter restore
96.07 Parameter save
96.08 Control board boot
-
0…1
0…4294967295
97 Motor control
97.01 Switching frequency mode
97.03 Slip gain
0…2
0…200
-4…50
0…2
-
-
%
%
-
1 = 1
1 = 1%
1 = 1%
1 = 1
97.04 Voltage reserve
97.05 Flux braking
97.06 Flux reference select
Binary
src
-
1 = 1
97.07 User flux reference
0…200
%
100 = 1%
252 Additional parameter data
No.
Name
Type
Range
0…4
Unit
-
FbEq32
1 = 1
97.10 Signal injection
97.11 TR tuning
25…400
0.00 … 50.00
%
1 = 1%
100 = 1%
97.13 IR compensation
98 User motor parameters
98.01 User motor model
98.02 Rs user
%
0…3
-
1 = 1
0.0000 … 0.50000
p.u.
100000 = 1
p.u.
98.03 Rr user
0.0000 … 0.50000
0.00000 … 10.00000
0.00000 … 1.00000
0.00000 … 10.00000
0.00000 … 10.00000
0.00000 … 2.00000
0.00000 … 100.00000
0.00000 … 100.00000
p.u.
p.u.
p.u.
p.u.
p.u.
p.u.
ohm
ohm
100000 = 1
p.u.
98.04 Lm user
98.05 SigmaL user
98.06 Ld user
100000 = 1
p.u.
100000 = 1
p.u.
100000 = 1
p.u.
98.07 Lq user
100000 = 1
p.u.
98.08 PM flux user
98.09 Rs user SI
98.10 Rr user SI
100000 = 1
p.u.
100000 = 1
p.u.
100000 = 1
p.u.
98.11 Lm user SI
0.00 … 100000.00
0.00 … 100000.00
0.00 … 100000.00
0.00 … 100000.00
0…360
mH
mH
mH
mH
100 = 1 mH
100 = 1 mH
100 = 1 mH
100 = 1 mH
98.12 SigmaL user SI
98.13 Ld user SI
98.14 Lq user SI
98.15 Position offset user
° electri- 1 = 1° electri-
cal
cal
99 Motor data
99.03 Motor type
0…1
0…1
-
1 = 1
1 = 1
99.04 Motor ctrl mode
-
99.06 Motor nominal current
99.07 Motor nominal voltage
99.08 Motor nominal frequency
99.09 Motor nominal speed
99.10 Motor nominal power
99.11 Motor nominal cosfii
99.12 Motor nominal torque
99.13 Identification run request
99.14 Identification run performed
99.15 Motor polepairs
0.0 … 6400.0
0.0 … 800.0
0.0 … 500.0
0 … 30000
-10000.00 … 10000.00
0.00 … 1.00
0.00 … 4294672329.296
0…6
A
10 = 1 A
10 = 1 V
10 = 1 Hz
1 = 1 rpm
100 = 1 kW
100 = 1
1000 = 1 N•m
1 = 1
V
Hz
rpm
kW
-
N•m
-
-
-
-
0…6
1 = 1
0…1000
1 = 1
99.16 Phase order
0…1
1 = 1
Fault tracing 253
8
Fault tracing
What this chapter contains
The chapter lists the warning and fault messages including possible causes and
corrective actions.
The warning/fault code is displayed on the control panel of the drive, as well as the
Drive composer PC tool. A warning or a fault message indicates abnormal drive
status. Most warning and fault causes can be identified and corrected using the
information in this chapter. If not, an ABB representative should be contacted.
In this chapter, the warnings and faults are sorted by code.
Safety
WARNING! Only qualified electricians are allowed to service the drive. Read
the Safety instructions on the first pages of the Hardware manual before
working on the drive.
How to reset
After the cause of the fault has been corrected, the active fault can be reset from the
control panel or Drive composer PC tool. When the fault has been removed, the drive
can be restarted.
254 Fault tracing
Warning/fault history
Event log
When a warning or fault is detected, it is stored in the event log with a time stamp and
other information. The event log stores information on the 16 latest faults and 16
latest warnings that occurred.
The event log can be accessed from the main Menu on the control panel. It can also
be accessed (and reset) using the Drive composer PC tool.
Auxiliary code
Some events generate an auxiliary code that often helps in pinpointing the problem.
On the control panel, the auxiliary code is stored as part of the details of the event; in
the Drive composer PC tool, the auxiliary code is shown in the event listing.
Parameters that contain warning/fault information
The codes of active warnings and faults (maximum five each), and five previously
occurred warnings and faults are stored in the parameters of groups 04 Warnings and
Fault tracing 255
Warning messages
Code Warning
(hex)
Cause
What to do
A2A1 Current calibration
A2B1 Overcurrent
Current measurement
calibration will occur at next
start.
Informative warning.
Output current has exceeded
internal fault limit.
Check motor load.
Check acceleration times in parameter
(torque control) or 28 Frequency
reference chain (frequency control). Also
Check motor and motor cable (including
phasing and delta/star connection).
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
correction capacitors or surge absorbers
in motor cable.
Check encoder cable (including
phasing).
A2B3 Earth leakage
Drive has detected load
unbalance typically due to
earth fault in motor or motor
cable.
Check there are no power factor
correction capacitors or surge absorbers
in motor cable.
Check for an earth fault in motor or motor
cables by measuring the insulation
resistances of motor and motor cable.
If no earth fault can be detected, contact
your local ABB representative.
A2B4 Short circuit
Short-circuit in motor cable(s)
or motor.
Check motor and motor cable.
Check there are no power factor
correction capacitors or surge absorbers
in motor cable.
A2BA IGBT overload
Excessive IGBT junction to
case temperature. This
Check motor cable.
warning protects the IGBT(s)
and can be activated by a short
circuit in the motor cable.
A3A1 DC link overvoltage
A3A2 DC link undervoltage
A3AA DC not charged
Intermediate circuit DC voltage Check the supply voltage setting
too high (when the drive is
stopped).
that the wrong setting of the parameter
may cause the motor to rush
uncontrollably, or the overloading of the
brake chopper or resistor.
Intermediate circuit DC voltage
too low (when the drive is
stopped).
Check the supply voltage.
The voltage of the intermediate
DC circuit has not yet risen to
operating level.
If the problem persists, contact your local
ABB representative.
A3C1 DC voltage difference Difference in DC voltages
between parallel-connected
Contact your local ABB representative.
inverter modules.
256 Fault tracing
Code Warning
(hex)
Cause
What to do
A490 Incorrect temperature Sensor type mismatch or
sensor setup
Check the settings of supervision source
Faulty wiring between an
encoder interface module and
the temperature sensor.
Check the wiring of the sensor.
The auxiliary code (see the event log)
identifies the interface module. (0 =
Module 1, 1 = Module 2).
A491 External temperature
Measured temperature 1 or 2
has exceeded warning limit.
Check the values of parameters 35.02
Check the cooling of the motor (or other
equipment whose temperature is being
measured).
Check the warning limits for measured
temperatures 1 and 2 in parameter group
A4A1 IGBT overtemperature Estimated drive IGBT
temperature is excessive.
Check ambient conditions.
Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive power.
A4A9 Cooling
Drive module temperature is
excessive.
Check ambient temperature. If it exceeds
40 °C (104 °F), ensure that load current
does not exceed derated load capacity of
drive. See appropriate Hardware Manual.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
A4B0 Excess temperature
Power unit module
Check ambient conditions.
temperature is excessive.
Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive power.
A4B1 Excess temperature
difference
High temperature difference
between the IGBTs of different
phases.
Check the motor cabling.
Check cooling of drive module(s).
A4F6 IGBT temperature
Drive IGBT temperature is
excessive.
Check ambient conditions.
Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive power.
A580 PU communication
A5A0 Safe torque off
Communication errors
detected between the drive
control unit and the power unit.
Check the connections between the drive
control unit and the power unit.
Safe torque off function is
active, i.e. safety circuit
signal(s) connected to
connector XSTO is lost.
Check safety circuit connections. For
more information, see appropriate drive
hardware manual and description of
Programmable warning:
A5EA Measurement circuit
temperature
Problem with internal
temperature measurement of
the drive.
Contact your local ABB representative.
A5EB PU board powerfail
Power unit power supply
failure.
Contact your local ABB representative.
Fault tracing 257
Code Warning
(hex)
Cause
What to do
A5EC PU communication
internal
Communication errors
detected between the drive
control unit and the power unit.
Check the connections between the drive
control unit and the power unit.
A5ED Measurement circuit
ADC
Measurement circuit fault.
Contact your local ABB representative.
Contact your local ABB representative.
Contact your local ABB representative.
A5EE Measurement circuit
DFF
Measurement circuit fault.
A5EF PU state feedback
State feedback from output
phases does not match control
signals.
A5F0 Charging feedback
A6A4 Motor nominal value
Charging feedback signal
missing.
Check the feedback signal coming from
the charging system.
The motor parameters are set Check the settings of the motor
incorrectly.
configuration parameters in group 99.
The drive is not dimensioned
correctly.
Check that the drive is sized correctly for
the motor.
A6A5 No motor data
Parameters in group 99 have
not been set.
Check that all the required parameters in
group 99 have been set.
Note: It is normal for this warning to
appear during the start-up until the motor
data is entered.
A6A6 Voltage category
unselected
The supply voltage range has Define supply voltage range (parameter
not been defined.
A6D1 FBA A parameter
conflict
The drive does not have a
functionality requested by
PLC, or requested functionality
has not been activated.
Check PLC programming.
Check settings of parameter groups 50
A6E5 AI parametrization
The current/voltage jumper
Adjust either the jumper setting (on the
setting of an analog input does drive control unit) or parameter
not correspond to parameter
settings.
Note: Control board reboot (either by
cycling the power or through parameter
validate any changes in the jumper
settings.
A780 Motor stall
Motor is operating in stall
region because of e.g.
excessive load or insufficient
motor power.
Check motor load and drive ratings.
Check fault function parameters.
Programmable warning:
A782 FEN temperature
Error in temperature
measurement when
temperature sensor (KTY or
PTC) connected to encoder
interface FEN-xx is used.
setting corresponds to actual encoder
interface installation.
Error in temperature
FEN-01 does not support temperature
measurement with KTY sensor. Use PTC
sensor or other encoder interface
module.
measurement when KTY
sensor connected to encoder
interface FEN-01 is used.
A791 Brake resistor
Brake resistor broken or not
connected.
Check that a brake resistor has been
connected.
Check the condition of the brake resistor.
258 Fault tracing
Code Warning
(hex)
Cause
What to do
A793 BR excess
temperature
Brake resistor temperature has Stop drive. Let resistor cool down.
exceeded warning limit defined
Check resistor overload protection
function settings (parameter group 43
Check warning limit setting, parameter
Check that braking cycle meets allowed
limits.
A794 Brake resistor wiring
A79B BC short circuit
Brake resistor short circuit or
brake chopper control fault
Check brake chopper and brake resistor
connection.
Ensure brake resistor is not damaged.
Short circuit in brake chopper
IGBT
Replace brake chopper.
Ensure brake resistor is connected and
not damaged.
A79C BC IGBT excess
temperature
Brake chopper IGBT
temperature has exceeded
internal warning limit.
Let chopper cool down.
Check for excessive ambient
temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of
the cabinet.
Check resistor overload protection
function settings (parameters
Check that braking cycle meets allowed
limits.
Check that drive supply AC voltage is not
excessive.
A7A1 Mechanical brake
closing failed
Status of mechanical brake
acknowledgement is not as
expected during brake close.
Check mechanical brake connection.
Check mechanical brake settings in
parameter group 44 Mechanical brake
Programmable warning:
Check that acknowledgement signal
matches actual status of brake.
A7A2 Mechanical brake
opening failed
Status of mechanical brake
acknowledgement is not as
expected during brake open.
Check mechanical brake connection.
Check mechanical brake settings in
parameter group 44 Mechanical brake
Programmable warning:
Check that acknowledgement signal
matches actual status of brake.
A7A5 Mechanical brake
opening not allowed
Open conditions of mechanical Check mechanical brake settings in
brake cannot be fulfilled (for
example, brake has been
prevented from opening by
parameter group 44 Mechanical brake
Check that acknowledgement signal (if
used) matches actual status of brake.
Programmable warning:
A7B0 Motor speed feedback No motor speed feedback is
Check the settings of the parameters in
received.
Programmable warning:
Check encoder installation.
Fault tracing 259
Code Warning
(hex)
Cause
What to do
A7C1 FBA A communication Cyclical communication
between drive and fieldbus
Check status of fieldbus communication.
See user documentation of fieldbus
adapter module A or between interface.
PLC and fieldbus adapter
module A is lost.
Check settings of parameter groups 50
Check cable connections.
Check if communication master is able to
communicate.
A7E1 Encoder 1
Encoder 1 error.
Check that the parameter settings in
correct.
Note: New settings will only take effect
parameter refresh is used or after the
drive control unit is powered up the next
time.
Check the event log for an auxiliary code.
See appropriate actions for each code
below.
Aux code: 410
Data read error
Overspeed
Contact your local ABB representative.
Aux code: 411
Aux code: 412
Aux code: 413
Pulse overfrequency
Cable fault
Check the wiring of the encoder.
Aux code: 414
Aux code: 415
Aux code: 416
Aux code: 424
Aux code: 425
Resolver ID run fault
Resolver SW version
Resolver speed scale
Data read error
Contact your local ABB representative.
Cable fault mode not
supported
module.
Aux code: 514
Communication loss
Check the wiring of the encoder.
A7E2 Encoder 2
Encoder 2 has been activated Check that the parameter settings in
interface (FEN-xx) cannot be
found.
correct.
Note: New settings will only take effect
parameter refresh is used or after the
drive control unit is powered up the next
time.
Check the event log for an auxiliary code.
See appropriate actions for each code at
A7EE Panel loss
Control panel or PC tool
selected as active control
location for drive has ceased
communicating.
Check PC tool or control panel
connection.
Check control panel connector.
Replace control panel in mounting
platform.
Programmable warning:
260 Fault tracing
Code Warning
(hex)
Cause
What to do
A880 Motor bearing warning Warning generated by an on-
Check the event log for an auxiliary code.
Check the source of the warning
corresponding to the code:
time timer or a value counter.
Programmable warnings:
A881 Output relay warning
A882 Motor starts warning
A883 Power ups warning
Warning generated by an edge Check the event log for an auxiliary code.
counter.
Check the source of the warning
corresponding to the code:
Programmable warnings:
A884 Main contactor
warning
A885 DC charge warning
A886 On-time 1 warning
Warning generated by on-time Check the source of the warning
Programmable warning:
A887 On-time 2 warning
Warning generated by on-time Check the source of the warning
timer 2.
Programmable warning:
A888 Edge counter 1
warning
Warning generated by edge
counter 1.
Check the source of the warning
Programmable warning:
A889 Edge counter 2
warning
Warning generated by edge
counter 2.
Check the source of the warning
Programmable warning:
A88A Value integrator 1
warning
Warning generated by value
counter 1.
Check the source of the warning
Programmable warning:
A88B Value integrator 2
warning
Warning generated by value
counter 2.
Check the source of the warning
Programmable warning:
A88C Device clean warning Warning generated by an on-
time timer.
A88D DC capacitor warning
Programmable warnings:
Check the event log for an auxiliary code.
Check the source of the warning
corresponding to the code:
A88E Cabinet fan warning
A88F Cooling fan warning
A890 Additional cooling fan
warning
A8B0 Signal supervision
Warning generated by a signal Check the source of the warning
Programmable warning:
Fault tracing 261
Code Warning
(hex)
Cause
What to do
A981 External warning 1
Warning generated by an
external device. (This
information is configured
through one of programmable
digital inputs.)
Check external devices.
Programmable warning:
AF8C Process PID sleep
mode
The drive is entering sleep
mode.
Informative warning. See section Sleep
AFAA Autoreset
A fault is about to be autoreset. Informative warning. See the settings in
AFE1 Emergency stop (off2) Drive has received an
emergency stop (mode
Check that it is safe to continue
operation.
selection off2) command.
Return emergency stop push button to
normal position.
Restart drive.
AFE2 Emergency stop (off1 Drive has received an
or off3)
emergency stop (mode
selection off1 or off3)
command.
AFEA Enable start signal
missing
No enable start signal
received.
Check the setting of (and the source
AFEB Run enable missing
No run enable signal is
received.
fieldbus Control Word) or check wiring of
selected source.
AFF6 Identification run
AFF7 Autophasing
Motor ID run will occur at next Informative warning.
start.
Autophasing will occur at next Informative warning.
start.
262 Fault tracing
Fault messages
Code Fault
(hex)
Cause
What to do
2281 Calibration
Measured offset of output
Try performing the current calibration
difference between output
phase U2 and W2 current
fault persists, contact your local ABB
measurement is too great (the representative.
values are updated during
current calibration).
2310 Overcurrent
Output current has exceeded
internal fault limit.
Check motor load.
Check acceleration times in parameter
(torque control) or 28 Frequency
Check motor and motor cable (including
phasing and delta/star connection).
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
correction capacitors or surge absorbers
in motor cable.
Check encoder cable (including
phasing).
2330 Earth leakage
Drive has detected load
unbalance typically due to
earth fault in motor or motor
cable.
Check there are no power factor
correction capacitors or surge absorbers
in motor cable.
Check that there is no earth fault in motor
or motor cables:
Programmable fault: 31.20
Measure insulation resistances of motor
and motor cable.
If no earth fault can be detected, contact
your local ABB representative.
2340 Short circuit
Short-circuit in motor cable(s)
or motor
Check motor and motor cable.
Check there are no power factor
correction capacitors or surge absorbers
in motor cable.
2381 IGBT overload
Excessive IGBT junction to
case temperature. This fault
protects the IGBT(s) and can
be activated by a short circuit
in the motor cable.
Check motor cable.
3130 Input phase loss
Intermediate circuit DC voltage Check input power line fuses.
is oscillating due to missing
input power line phase or
blown fuse.
Programmable fault: 31.21
Check for input power supply imbalance.
3180 Charge relay lost
3181 Cross connection
No acknowledgement received Contact your local ABB representative.
from charge relay.
Incorrect input power and
motor cable connection (i.e.
input power cable is connected
to drive motor connection).
Check input power connections.
Programmable fault: 31.23
Fault tracing 263
Code Fault
(hex)
Cause
What to do
3210 DC link overvoltage
Excessive intermediate circuit Check that overvoltage control is on
DC voltage.
Check that the supply voltage matches
the nominal input voltage of the drive.
Check the supply line for static or
transient overvoltage.
Check brake chopper and resistor (if
present).
Check deceleration time.
Use coast-to-stop function (if applicable).
Retrofit drive with brake chopper and
brake resistor.
3220 DC link undervoltage
3280 Standby timeout
Intermediate circuit DC voltage Check supply cabling, fuses and
is not sufficient because of a
missing supply phase, blown
fuse or fault in the rectifier
bridge.
switchgear.
Automatic restart failed (see
Check the condition of the supply
(voltage, cabling, fuses, switchgear).
3291 DC voltage difference Difference in DC voltages
between parallel-connected
Contact your local ABB representative.
Connect motor cable.
inverter modules.
3381 Output phase loss
Motor circuit fault due to
missing motor connection (all
three phases are not
connected).
3385 Autophasing
Autophasing routine (see
Try other autophasing modes (see
possible.
4210 IGBT overtemperature Estimated drive IGBT
temperature is excessive.
Check ambient conditions.
Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive power.
4290 Cooling
Drive module temperature is
excessive.
Check ambient temperature. If it exceeds
40 °C (104 °F), ensure that load current
does not exceed derated load capacity of
drive. See appropriate Hardware Manual.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
4310 Excess temperature
Power unit module
Check ambient conditions.
temperature is excessive.
Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive power.
4380 Excess temperature
difference
High temperature difference
between the IGBTs of different
phases.
Check the motor cabling.
Check cooling of drive module(s).
264 Fault tracing
Code Fault
(hex)
Cause
What to do
42F1 IGBT temperature
Drive IGBT temperature is
excessive.
Check ambient conditions.
Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive power.
4981 External temperature
Measured temperature 1 or 2
has exceeded fault limit.
Check the values of parameters 35.02
Check the cooling of the motor (or other
equipment whose temperature is being
measured).
Check the fault limits for measured
temperatures 1 and 2 in parameter group
5080 Fan
Cooling fan stuck or
disconnected.
Check fan operation and connection.
Replace fan if faulty.
5090 STO hardware failure Safe torque off hardware
failure.
Contact your local ABB representative.
5091 Safe torque off
Safe torque off function is
active, i.e. safety circuit
signal(s) connected to
connector XSTO is broken
during start or run, or while
drive is stopped and parameter
Check safety circuit connections. For
more information, see appropriate drive
hardware manual and description of
Programmable fault: 31.22
5092 PU logic error
Power unit memory has
cleared.
Contact your local ABB representative.
5093 Rating ID mismatch
The hardware of the drive does Cycle the power to the drive.
not match the information
stored in the memory unit. This
may occur eg. after a firmware
update or memory unit
replacement.
5681 PU communication
5682 Power unit lost
Communication errors
detected between the drive
control unit and the power unit.
Check the connection between the drive
control unit and the power unit.
Connection between the drive Check the connection between the
control unit and the power unit control unit and the power unit.
is lost.
5690 PU communication
internal
Internal communication error.
Contact your local ABB representative.
Contact your local ABB representative.
Contact your local ABB representative.
Contact your local ABB representative.
5691 Measurement circuit
ADC
Measurement circuit fault.
5692 PU board powerfail
Power unit power supply
failure.
5693 Measurement circuit
DFF
Measurement circuit fault.
5694 PU communication
configuration
Version check cannot find a
matching power unit FPGA
logic.
Update the FPGA logic of the power unit.
Contact your local ABB representative.
5696 PU state feedback
State feedback from output
phases does not match control
signals.
Contact your local ABB representative.
Fault tracing 265
Code Fault
(hex)
Cause
What to do
5697 Charging feedback
Charging feedback signal
missing.
Check the feedback signal coming from
the charging system.
5698 Unknown power unit
fault
Unidentified power unit logic
fault.
Check power unit logic and firmware
compatibility.
Contact your local ABB representative.
6180 Internal SW error
Internal error.
Contact your local ABB representative.
Quote the auxiliary code (check the
event details in the event log).
6181 FPGA version
incompatible
Firmware and FPGA versions Update power unit FPGA logic or
are incompatible.
firmware (whichever is older).
Contact your local ABB representative.
6306 FBA A mapping file
6481 Task overload
Fieldbus adapter A mapping
file read error.
Contact your local ABB representative.
Internal fault.
Contact your local ABB representative.
Note: This fault cannot be
reset.
6487 Stack overflow
64A1 Internal file load
Internal fault.
Note: This fault cannot be
reset.
Contact your local ABB representative.
Contact your local ABB representative.
Contact your local ABB representative.
File read error.
Note: This fault cannot be
reset.
64A2 Internal record load
64A3 Application loading
Internal record load error.
Application file incompatible or Contact your local ABB representative.
corrupted.
Note: This fault cannot be
reset.
64B2 User set fault
Loading of user parameter set Ensure that a valid user parameter set
failed because
exists. Reload.
• requested set does not exist
• set is not compatible with
control program
• drive was switched off
during loading.
64E1 Kernel overload
Operating system error.
Note: This fault cannot be
reset.
Contact your local ABB representative.
6581 Parameter system
65A1 FBA A parameter
conflict
The drive does not have a
functionality requested by
PLC, or requested functionality
has not been activated.
Check PLC programming.
Check settings of parameter groups 50
6881 Text data overflow
Internal fault.
Internal fault.
Internal fault.
Reset the fault. Contact your local ABB
representative if the fault persists.
6882 Text 32-bit table
overflow
Reset the fault. Contact your local ABB
representative if the fault persists.
6883 Text 64-bit table
overflow
Reset the fault. Contact your local ABB
representative if the fault persists.
266 Fault tracing
Code Fault
(hex)
Cause
What to do
6885 Text file overflow
Internal fault.
Reset the fault. Contact your local ABB
representative if the fault persists.
7080 Option module comm Communication between drive Check that the option modules are
loss
and option module (FEN-xx
and/or FIO-xx) is lost.
properly seated in their slots.
Check that the option modules or slot
connectors are not damaged. To pinpoint
the problem, try installing the modules
into different slots.
7081 Panel port
Control panel or PC tool
selected as active control
location for drive has ceased
communicating.
Check PC tool or control panel
connection.
Check control panel connector.
Replace control panel in mounting
platform.
communication
Programmable fault: 49.05
7121 Motor stall
Motor is operating in stall
region because of e.g.
excessive load or insufficient
motor power.
Check motor load and drive ratings.
Check fault function parameters.
Programmable fault: 31.24
7181 Brake resistor
Brake resistor broken or not
connected.
Check that a brake resistor has been
connected.
Check the condition of the brake resistor.
Check the dimensioning of the brake
resistor.
7183 BR excess
temperature
Brake resistor temperature has Stop drive. Let resistor cool down.
exceeded fault limit defined by
Check resistor overload protection
function settings (parameter group 43
Check fault limit setting, parameter 43.11
Check that braking cycle meets allowed
limits.
7184 Brake resistor wiring
7191 BC short circuit
Brake resistor short circuit or
brake chopper control fault.
Check brake chopper and brake resistor
connection.
Ensure brake resistor is not damaged.
Short circuit in brake chopper
IGBT.
Ensure brake resistor is connected and
not damaged.
Check the electrical specifications of the
brake resistor against the Hardware
manual.
Replace brake chopper (if replaceable).
7192 BC IGBT excess
temperature
Brake chopper IGBT
temperature has exceeded
internal fault limit.
Let chopper cool down.
Check for excessive ambient
temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of
the cabinet.
Check resistor overload protection
function settings (parameter group 43
Check that braking cycle meets allowed
limits.
Check that drive supply AC voltage is not
excessive.
Fault tracing 267
Code Fault
(hex)
Cause
What to do
71A2 Mechanical brake
closing failed
Mechanical brake control fault. Check mechanical brake connection.
Activated eg. if brake
Check mechanical brake settings in
parameter group 44 Mechanical brake
acknowledgement is not as
expected during brake closing.
Check that acknowledgement signal
matches actual status of brake.
71A3 Mechanical brake
opening failed
Mechanical brake control fault. Check mechanical brake connection.
Activated eg. if brake
acknowledgement is not as
expected during brake
opening.
Check mechanical brake settings in
parameter group 44 Mechanical brake
Check that acknowledgement signal
matches actual status of brake.
71A5 Mechanical brake
opening not allowed
Open conditions of mechanical Check mechanical brake settings in
brake cannot be fulfilled (for
example, brake has been
prevented from opening by
parameter group 44 Mechanical brake
Check that acknowledgement signal (if
used) matches actual status of brake.
7301 Motor speed feedback No motor speed feedback
Check the setting of parameter 90.41
source selected.
received.
7310 Overspeed
Motor is turning faster than
highest allowed speed due to
incorrectly set
minimum/maximum speed,
insufficient braking torque or
changes in load when using
torque reference.
Check minimum/maximum speed
Check adequacy of motor braking torque.
Check applicability of torque control.
Check need for brake chopper and
resistor(s).
7380 Encoder internal
7381 Encoder 1
Internal fault.
Contact your local ABB representative.
Encoder 1 feedback fault.
If fault appears during first start-up before
encoder feedback is used:
- Check cable between encoder and
encoder interface module (FEN-xx) and
order of connector signal wires at both
ends of cable.
If fault appears after encoder feedback
has already been used or during drive :
- Check that encoder connection wiring
or encoder is not damaged.
- Check that encoder interface module
(FEN-xx) connection or module is not
damaged.
- Check earthings (when disturbances
are detected in communication between
encoder interface module and encoder).
For more information on encoders, see
parameter groups 90 Feedback
Check the event log for an auxiliary code.
See appropriate actions for each code at
7391 Encoder 2
Encoder 2 feedback fault.
See fault 7381.
268 Fault tracing
Code Fault
(hex)
Cause
What to do
73A0 Speed feedback
configuration
Speed feedback configuration Check the feedback source selection
incorrect, eg. an encoder that
is not present is selected as
the feedback interface.
parameters in group 90 Feedback
encoder interface, check parameter
settings in groups 91 Encoder module
73A1 Load feedback
No load feedback received.
Check the setting of parameter 90.51
source selected. In case the source is an
encoder interface, check parameter
settings in groups 91 Encoder module
7510 FBA A communication Cyclical communication
Check status of fieldbus communication.
See user documentation of fieldbus
between drive and fieldbus
Programmable fault: 50.02
adapter module A or between interface.
PLC and fieldbus adapter
module A is lost.
Check settings of parameter groups 50
Check cable connections.
Check if communication master is able to
communicate.
80B0 Signal supervision
Fault generated by a signal
supervision function.
Check the source of the fault (parameter
Programmable fault:
9081 External fault 1
Fault in external device 1.
(This information is configured
through one of programmable
digital inputs.)
Check external devices for faults.
Check setting of parameter 31.01
Programmable fault: 31.01
FA81 Safe torque off 1
FA82 Safe torque off 2
FF61 ID run
Safe torque off function is
active, ie. STO circuit 1 is
broken.
Check safety circuit connections. For
more information, see appropriate drive
hardware manual, description of
Safe torque off function is
active, ie. STO circuit 2 is
broken.
Motor ID run was not
completed successfully.
Check the nominal motor values in
Check that no external control system is
connected to the drive.
Cycle the power to the drive (and its
control unit, if powered separately).
Check that no operation limits prevent
the completion of the ID run. Restore
parameters to default settings and try
again.
Check that the motor shaft is not locked.
FF81 FB A force trip
A fault trip command has been Check the fault information provided by
received through fieldbus
adapter A.
the PLC.
Fault tracing 269
Code Fault
(hex)
Cause
What to do
FF82 FB B force trip
A fault trip command has been Check the fault information provided by
received through fieldbus
adapter B.
the PLC.
FF8E EFB force trip
A fault trip command has been Check the fault information provided by
received through the
the PLC.
embedded fieldbus interface.
270 Fault tracing
272 Fieldbus control through the embedded fieldbus interface (EFB)
Fieldbus control through a fieldbus adapter 273
10
Fieldbus control through a
fieldbus adapter
What this chapter contains
This chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) through an optional fieldbus adapter module.
The fieldbus control interface of the drive is described first, followed by a
configuration example.
274 Fieldbus control through a fieldbus adapter
System overview
The drive can be connected to an external control system through a serial
communication link using a fieldbus adapter. The fieldbus adapter can be installed
into any free drive slot.
Drive
Fieldbus
controller
Fieldbus
Other
devices
Type Fxxx fieldbus
adapter installed on
drive
Data Flow
Control word (CW)
References
Process I/O (cyclic)
Status word (SW)
Actual values
Process I/O (cyclic) or
Service messages (acyclic)
Parameter R/W requests/responses
The drive can be set to receive all of its control information through the fieldbus
interface, or the control can be distributed between the fieldbus interface and other
available sources such as digital and analog inputs.
Fieldbus adapters are available for various serial communication systems and
protocols, for example
• PROFIBUS DP (FPBA-01 adapter)
• CANopen (FCAN-01 adapter)
• DeviceNet (FDNA-01 adapter)
• EtherNet/IPTM (FENA-11 adapter)
• EtherCAT® (FECA-01 adapter).
Fieldbus control through a fieldbus adapter 275
Basics of the fieldbus control interface
The cyclic communication between a fieldbus system and the drive consists of 16/32-
bit input and output data words. The drive supports at the maximum the use of 12
data words (16 bits) in each direction.
Data transmitted from the drive to the fieldbus controller is defined by parameters
Fieldbus network
1)
Fieldbus adapter
DATA
FBA Profile
EXT1/2
Start func
Profile
selection
OUT 2)
FBA MAIN CW
FBA REF1
4)
4)
1
FBA REF2
DATA OUT
selection
2
3
3)
Speed/Torque
REF1 sel
…
12
Par. 10.01…99.99
DATA
IN 2)
Profile
selection
Group 53
5)
FBA MAIN SW
FBA ACT1
5)
1
/ 26.12
FBA ACT2
DATA IN
selection
2
Speed/Torque
REF2 sel
3
3)
…
12
Par. 01.01…99.99
Cyclic communication
Acyclic communication
Group 52
/ 26.12
See the manual of the fieldbus
adapter module.
Parameter
table
1) See also other parameters which can be controlled from fieldbus.
2) The maximum number of used data words is protocol-dependent.
3) Profile/instance selection parameters. Fieldbus module specific parameters. For more
information, see the User’s Manual of the appropriate fieldbus adapter module.
4) With DeviceNet, the control part is transmitted directly.
5) With DeviceNet, the actual value part is transmitted directly.
276 Fieldbus control through a fieldbus adapter
Control word and Status word
The Control word is the principal means for controlling the drive from a fieldbus
system. It is sent by the fieldbus master station to the drive through the adapter
module. The drive switches between its states according to the bit-coded instructions
on the Control word, and returns status information to the master in the Status word.
Fieldbus control through a fieldbus adapter 277
References
References are 16-bit words containing a sign bit and a 15-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by calculating the two’s
complement from the corresponding positive reference.
ABB drives can receive control information from multiple sources including analog
and digital inputs, the drive control panel and a fieldbus adapter module. In order to
have the drive controlled through the fieldbus, the module must be defined as the
source for control information, e.g. Reference.
Scaling of references
The references are scaled as shown below. The values REFx MIN and REFx MAX
Fieldbus
Drive
REF2: 10000
REF1: 20000
REFx MAX
0
0
REF2: -10000
REF1: -20000
-(REFx MAX)
278 Fieldbus control through a fieldbus adapter
Actual values
Actual values are 16-bit words containing information on the operation of the drive.
Scaling of actual values
The actual values are scaled as shown below. The values REFx MIN and REFx MAX
Fieldbus
Drive
ACT2: 10000
ACT1: 20000
REFx MAX
0
0
ACT: -10000
ACT: -20000
-(REFx MAX)
Fieldbus control through a fieldbus adapter 279
Contents of the fieldbus Control word
The upper case boldface text refers to the states shown in the state diagram (page
Bit
Name
Value STATE/Description
0
Off1 control
1
0
Proceed to READY TO OPERATE.
Stop along currently active deceleration ramp. Proceed to OFF1
ACTIVE; proceed to READY TO SWITCH ON unless other interlocks
(OFF2, OFF3) are active.
1
2
Off2 control
Off3 control
1
0
Continue operation (OFF2 inactive).
Emergency OFF, coast to a stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON INHIBITED.
1
0
Continue operation (OFF3 inactive).
Emergency stop, stop within time defined by drive parameter.
Proceed to OFF3 ACTIVE; proceed to SWITCH-ON INHIBITED.
WARNING: Ensure motor and driven machine can be
stopped using this stop mode.
3
Run
1
Proceed to OPERATION ENABLED.
Note: Run enable signal must be active; see drive documentation. If
the drive is set to receive the Run enable signal from the fieldbus, this
bit activates the signal.
0
1
Inhibit operation. Proceed to OPERATION INHIBITED.
Normal operation. Proceed to RAMP FUNCTION GENERATOR:
OUTPUT ENABLED.
Force Ramp function generator output to zero. The drive will
immediately decelerate to zero speed (observing the torque limits).
Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR: ACCELERATOR
ENABLED.
Halt ramping (Ramp Function Generator output held).
Normal operation. Proceed to OPERATING.
Note: This bit is effective only if the fieldbus interface is set as the
source for this signal by drive parameters.
Force Ramp function generator input to zero.
Fault reset if an active fault exists. Proceed to SWITCH-ON
INHIBITED.
4
5
6
7
Ramp out zero
Ramp hold
Ramp in zero
Reset
0
1
0
1
0
0=>1
Note: This bit is effective only if the fieldbus interface is set as the
source for this signal by drive parameters.
0
1
0
1
0
1
0
Continue normal operation.
Accelerate to inching (jogging) setpoint 1.
Inching (jogging) 1 disabled.
Accelerate to inching (jogging) setpoint 2.
Inching (jogging) 2 disabled.
Fieldbus control enabled.
8
Inching 1
9
Inching 2
10
Remote cmd
Control word and reference not getting through to the drive, except
for bits OFF1, OFF2 and OFF3.
11
Ext ctrl loc
1
0
Select External Control Location EXT2. Effective if control location
parameterized to be selected from fieldbus.
Select External Control Location EXT1. Effective if control location
parameterized to be selected from fieldbus.
12 to 15 Reserved.
280 Fieldbus control through a fieldbus adapter
Contents of the fieldbus Status word
The upper case boldface text refers to the states shown in the state diagram (page
Bit
Name
Value STATE/Description
0
Ready to switch
ON
1
0
1
0
1
0
1
0
1
0
1
0
READY TO SWITCH ON.
NOT READY TO SWITCH ON.
READY TO OPERATE.
OFF1 ACTIVE.
OPERATION ENABLED.
OPERATION INHIBITED.
FAULT.
No fault.
OFF2 inactive.
OFF2 ACTIVE.
OFF3 inactive.
OFF3 ACTIVE.
SWITCH-ON INHIBITED.
1
2
3
4
5
6
7
8
Ready run
Ready ref
Tripped
Off 2 inactive
Off 3 inactive
Switch-on inhibited 1
0
Warning
–
1
0
1
Warning active.
No warning active.
OPERATING. Actual value equals reference = is within tolerance
limits, i.e. in speed control, speed error is 10% max. of nominal motor
speed.
At setpoint
0
1
0
1
Actual value differs from reference = is outside tolerance limits.
Drive control location: REMOTE (EXT1 or EXT2).
Drive control location: LOCAL.
Actual speed, frequency or torque equals or exceeds supervision
limit. Valid in both directions of rotation. The supervision limits are
Actual speed, frequency or torque within supervision limit.
9
Remote
10
Above limit
0
-
-
-
-
11
12
13
14
15
User bit 0
User bit 1
User bit 2
User bit 3
Reserved
Fieldbus control through a fieldbus adapter 281
The state diagram
SWITCH-ON
INHIBITED
from any state
Fault
MAINS OFF
SW b6=1
SW b0=0
Power ON
CW b0=0
FAULT
NOT READY TO
SWITCH ON
SW b3=1
A
B
C
D
CW b7=1
CW=xxxx x1xx xxxx x110
CW b3=0
READY TO
SWITCH ON
OPERATION
INHIBITED
SW b0=1
from any state
SW b2=0
Emergency stop
OFF2 (CW b1=0)
operation
inhibited
CW=xxxx x1xx xxxx x111
OFF2
ACTIVE SW b4=0
READY TO
OPERATE
from any state
OFF1 (CW b0=0)
SW b1=1
CW=xxxx x1xx xxxx 1111 and
SW b12=1
OFF1
ACTIVE
SW b1=0
from any state
CW b3=1 and
SW b12=1
Emergency stop
OFF3 (CW b2=0)
n(f) = 0 / I = 0
B C D
CW b4=0
OFF3
SW b5=0
ACTIVE
n(f) = 0 / I = 0
OPERATION
ENABLED
C D
SW b2=1
A
CW=xxxx x1xx xxx1 1111
CW b5=0
STATE
RFG: OUTPUT
ENABLED
condition
D
B
rising edge of
bit
CW=xxxx x1xx xx11 1111
CW b6=0
CW = Control word
SW = Status word
RFG: ACCELERATOR
ENABLED
bx
n
= bit x
C
D
= Speed
CW=xxxx x1xx x111 1111
I
= Input Current
RFG = Ramp Function
Generator
OPERATION
f
= Frequency
SW b8=1
282 Fieldbus control through a fieldbus adapter
Setting up the drive for fieldbus control
Before configuring the drive for fieldbus control, the adapter module must be
mechanically and electrically installed according to the instructions given in the
User’s manual of the appropriate fieldbus adapter module.
1. Power up the drive.
2. Enable the communication between the drive and the fieldbus adapter module by
communication break.
Note: This function monitors both the communication between the fieldbus
master and the adapter module and the communication between the adapter
module and the drive.
detection and the selected action.
shown in the tables below.
profile.
Note: The adapter module sets the Status word and Control word automatically
8. Save the valid parameter values to permanent memory by setting parameter
9. Validate the settings made in parameter groups 51 52 and 53 by setting
10. Set the relevant drive control parameters to control the drive according to the
application. Examples of appropriate values are shown in the tables below.
Fieldbus control through a fieldbus adapter 283
Parameter setting example: FPBA (PROFIBUS DP)
This example shows how to configure a basic speed control application that uses the
PROFIdrive communication profile with PPO Type 2. The start/stop commands and
reference are according to the PROFIdrive profile, speed control mode.
in the forward and reverse directions.
Direction
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
Out
In
Control word
Status word
Speed reference
Acc time 1
Dec time 1
DC voltage
Speed actual value Motor current
The table below gives the recommended drive parameter settings.
Drive parameter
Setting for ACS880 Description
drives
Enables communication between the
drive and the fieldbus adapter module.
Selects the fieldbus A reference 1 type
and scaling.
Selects the actual value type and scaling
according to the currently active Ref1
51.02 Node address
51.03 Baud rate
51.04 MSG type
51.05 Profile
1 = FPBA1)
Displays the type of the fieldbus adapter
module.
32)
Defines the PROFIBUS node address of
the fieldbus adapter module.
120001)
Displays the current baud rate on the
PROFIBUS network in kbit/s.
1 = PPO11)
0 = PROFIdrive
0 = Disabled
Displays the telegram type selected by
the PLC configuration tool.
Selects the Control word according to the
PROFIdrive profile (speed control mode).
51.07 RPBA mode
Disables the RPBA emulation mode.
52.01 FBA data in1
52.02 FBA data in2
52.03 FBA data in3
52.05 FBA data in5
53.01 FBA data out1
53.02 FBA data out2
53.03 FBA data out3
53.05 FBA data out5
4 = SW 16bit1)
5 = Act1 16bit
01.072)
Status word
Actual value 1
Motor current
01.112)
DC voltage
1 = CW 16bit1)
2 = Ref1 16bit
23.122)
Control word
Reference 1 (speed)
Acceleration time 1
Deceleration time 1
23.132)
284 Fieldbus control through a fieldbus adapter
Drive parameter
Setting for ACS880 Description
drives
Validates the configuration parameter
settings.
Selects speed control as the control
mode 1 for external control location
EXT1.
Selects fieldbus adapter A as the source
of the start and stop commands for
external control location EXT1.
Selects fieldbus A reference 1 as the
source for speed reference 1.
1) Read-only or automatically detected/set
2) Example
The start sequence for the parameter example above is given below.
Control word:
• 47Eh (1150 decimal) –> READY TO SWITCH ON
• 47Fh (1151 decimal) –> OPERATING (Speed mode)
286 Drive-to-drive link
302 Control chain diagrams
Further information
Product and service inquiries
Address any inquiries about the product to your local ABB representative, quoting
the type designation and serial number of the unit in question. A listing of ABB sales,
selecting Sales, Support and Service network.
Product training
Training courses.
Providing feedback on ABB Drives manuals
Document Library – Manuals feedback form (LV AC drives).
Document library on the Internet
You can find manuals and other product documents in PDF format on the Internet.
or enter selection criteria, for example a document code, in the search field.
Contact us
ABB Oy
ABB Inc.
ABB Beijing Drive Systems Co. Ltd.
No. 1, Block D, A-10 Jiuxianqiao Beilu
Chaoyang District
Drives
Automation Technologies
Drives & Motors
P.O. Box 184
FI-00381 HELSINKI
FINLAND
16250 West Glendale Drive
New Berlin, WI 53151
USA
Beijing, P.R. China, 100015
Telephone +86 10 5821 7788
Telephone +358 10 22 11
Fax
+86 10 5821 7618
Fax
+358 10 22 22681
Telephone 262 785-3200
1-800-HELP-365
Fax
262 780-5135
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