Control Techniques Commander S100 User Guide

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Control User Guide

Commander S100

Variable Speed AC drive for induction motors

Part Number: 0478-0650-00 Issue: 0

MARSHAL

Original Instructions

For the purposes of compliance with the EU Machinery Directive 2006/42/EC, the English version of this User Guide is the Original Instructions.

User Guides in other languages are Translations of the Original Instructions.

The information contained in this User Guide is believed to be correct at the time of printing and does not form part of any contract. The manufacturer reserves the right to change the specification of the product and its performance, and the contents of the User Guide, without notice.

Documentation & User Software Tools

User Guides, datasheets and software are available to download from: http://www.drive-setup.com

Marshal (Mobile App) is available to download from the Google Play store and the App Store.

Warranty and Liability

In no event and under no circumstances shall the manufacturer be liable for damages and failures due to misuse, abuse, improper installation, or abnormal conditions of temperature, dust, or corrosion, or failures due to operation outside the published ratings. The manufacturer is not liable for consequential and incidental damages. Contact the supplier of the drive for full details of the warranty terms.

Environmental policy

Control Techniques operates an Environmental Management System (EMS) that conforms to the International Standard ISO 14001. Further information on our Environmental Policy can be found at: http://www.drive-setup.com/environment

Restriction of Hazardous Substances (RoHS)

The products covered by this User Guide comply with European and International regulations on the Restriction of Hazardous Substances including EU directive 2011/65/EU and the Chinese Administrative Measures for Restriction of Hazardous Substances in Electrical and Electronic Products.

Disposal and Recycling (WEEE)

When electronic products reach the end of their useful life, they must not be disposed of along with domestic waste but should be recycled by a specialist recycler of electronic equipment. Control Techniques products are designed to be easily dismantled into their major component parts for efficient recycling. The majority of materials used in the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Smaller products are packaged in strong cardboard cartons which have a high recycled fibre content. Cartons can be re-used and recycled. Polythene, used in protective film and bags for wrapping the product, can be recycled. When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice..

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation.

Further information on our compliance with REACH can be found at: http://www.drive-setup.com/reach

Registered Office

Nidec Control Techniques Ltd

The Gro

Newtown

Powys

SY16 3BE

Registered in England and Wales. Company Reg. No. 01236886.

The contents of this publication are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the User Guide, without notice.

All rights reserved. No parts of this User Guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Contents

1 Safety information .................................4

1.1 Important Safety Information .................................4

1.2 Responsibility ........................................................4

1.3 Compliance with regulations .................................4

1.4 Electrical hazards ..................................................4

1.5 Mechanical hazards ..............................................5

1.6 Access to equipment .............................................5

1.7 Environmental limits ..............................................5

1.8 Hazardous environments ......................................5

1.9 Motor .....................................................................5

1.10 Adjusting parameters ............................................5

1.11 Electromagnetic compatibility (EMC) ....................5

1.12 Repairs ..................................................................5

1.13 Maintenance .........................................................5

2 Electrical installation ............................6

2.1 Control connections ..............................................6

3 Drive Parameters ...................................9

3.1 Parameter Groups ................................................9

3.2 Menu 0 - Quick Start ...........................................10

3.3 Full Parameter List ..............................................10

3.4 Menu 1 - Status & Monitoring .............................11

3.5 Menu 2 - Reference & Ramps ...........................12

3.6 Menu 3 – Motor Setup ........................................13

3.7 Menu 4 - General ................................................13

3.8 Menu 5 - PID Controller ......................................14

3.9 Menu 6 - IO Configuration ...................................15

3.10 Parameter Descriptions ......................................16

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WARNING

CAUTION

NOTE

1 Safety information

1.1 Important Safety Information

Specific warnings are given at the relevant places in this User Guide as follows:

A Warning contains information which is essential for avoiding a safety hazard.

A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment.

A Note contains information which helps to ensure correct operation of the product.

1.1.1 Hazards

This User Guide applies to the Commander S100 and auxiliary equipment. In all cases the hazards associated with powerful electrical drives are present, and all safety information relating to drives and associated equipment must be observed.

1.1.2 Competence of Designers and Installers

Drives and controllers are intended as components for professional incorporation into complete systems. If installed incorrectly they may present a safety hazard. The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury. Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, commissioning and maintenance must be carried out by personnel who have the necessary training and competence. They must read all of the safety information and instructions in this User Guide carefully

1.2 Responsibility

It is the responsibility of the installer to ensure that the equipment is installed correctly with regard to all instructions given in this User Guide. They must give due consideration to the safety of the complete system, so as to avoid the risk of injury both in normal operation and in the event of a fault or of reasonably foreseeable misuse.

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation of the equipment.

1.3 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses or other protection, and protective ground (earth) connections.

This guide contains instructions for achieving compliance with specific EMC standards.

All machinery to be supplied within the European Union in which this product is used must comply with the following directives:

2006/42/EC Safety of machinery.

2014/30/EU: Electromagnetic Compatibility.

1.4 Electrical hazards

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive. Hazardous voltage may be present in any of the following locations:

• AC and DC supply cables and connections

• Output cables and connections

• Control terminals and cables

• Many internal parts of the drive, and external option units

The drive must be installed in accordance with the instructions given in this User Guide. Failure to observe the instructions could result in a fire hazard

1.4.1 Isolating the Drive

The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated by an approved electrical isolation at least five minutes before work may continue. Ensure the motor is not able to be driven by another part of the system as this could produce a regenerating current which could cause unsafe voltages on the drive terminals.

1.4.2 Stored Charge

Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, contact the supplier of the drive.

1.4.3 Products Connected by Plug and Socket

A special hazard may exist where the drive is incorporated into a product which is connected to the supply by a plug and socket. When unplugged, the pins of the plug may be connected to the drive input, which is separated from the charge stored in the capacitor only by semiconductor devices. To avoid any possibility of electric shock from the pins, if they are accessible, a means must be provided for automatically isolating the plug from the drive - e.g. a latching contactor.

1.4.4 Grounding / Earthing

The drive must be grounded by a conductor sufficient to carry the prospective fault current in the event of a fault and in a zone of equipotential bonding. The ground loop impedance must conform to the requirements of local safety regulations. The ground connections must be inspected and tested at appropriate intervals.

Ground conductor size:- Either a single copper 10 mm² conductor or two conductors of the same cross-sectional area and material as the input conductors so long as the size of each conductor is 2.5 mm2. For location of ground connections refer to Figure 1-1 in the Step by Step guide.

Each ground connection requires an individual terminal or connection point. If using two conductors for the input and the cable management bracket, the motor ground should be connected to the grounding bracket.

1.4.5 Fuses and Circuit Breakers

The AC supply to the drive must be installed with suitable protection against overload. Failure to observe this requirement will cause risk of fire. Integral solid-state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code (NEC), The Canadian Electrical Code, and any additional local codes. Opening of the branchcircuit protective device may be an indication that a fault has been interrupted. To reduce the risk of fire or electric shock, the equipment should be examined and replaced if damaged. If burnout of the current element of an overload relay occurs, the complete overload relay must be replaced. If opting to use a residual current device, only type B should be used with the drive.

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1.4.6 Over-Current Protection

The devices incorporate solid state overload protection for the motor load. The protection levels are expressed as a percentage of full-load current. For the motor protection to work properly, Motor Rated Current (P0.06) must be set correctly. The protection level may be adjusted below 150 % if required using Motor Output Current Limit (P3.17). All models are provided with thermal memory retention.

1.4.7 Isolation of control circuits

Unless otherwise indicated, control terminals and the EIA-485 Communications port are isolated from the power circuits in the drive by double/reinforced insulation. The installer must ensure that the external control circuits do not compromise this insulation barrier. If the control circuits are to be connected to circuits classified as Safety Extra Low Voltage (SELV) - for example, to a personal computer - an additional basic barrier must be included in order to maintain the SELV classification.

1.4.8 Terminal Connections and Torque Settings

Loose power connections are a fire risk. Always ensure that terminals are tightened to the specified torques. Refer to the tables in chapter 4 Electrical Installation.

1.5 Mechanical hazards

Careful consideration must be given to the functions of the drive or controller which might result in a hazard, either through their intended behaviour or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking.

None of the drive functions must be used to ensure safety of personnel. i.e. they must not be used for safety-related functions.

The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

The design of safety-related control systems must only be done by personnel with the required training and experience. The system must be subject to a risk assessment to confirm that the residual risk of an unsafe event is at an acceptable level for the application.

The values of the motor parameters set in the drive affect the protection of the motor. The default values in the drive must not be relied upon. It is essential that the correct value is entered in the Motor Rated Current (P3.01).

1.9.1 Motor Sizing

The motor rated current should not exceed the maximum continuous output current of the drive. The maximum output voltage of the drive is not able to exceed the input voltage and the rated voltage of the motor should therefore be less than this value. Typical overloads are 150% for 60 s (from cold) or 150% for 8 s (from hot). The drive will initiate an error if the drive output current exceeds the over-current threshold which could occur in the event of a short circuit of the motor output cables. The over-current threshold is the maximum current the drive can measure.

1.10 Adjusting parameters

It is essential that changes to the drive parameters are given careful consideration. Depending on the application, a change could result in unexpected motor behaviour. Appropriate precautions must be taken against inadvertent changes or tampering. Some specific parameters which require particular care are: parameters in IO Configuration (Menu

6) (the drive may start unexpectedly if the logic or functions are changed); Restore Factory Defaults (P4.01) (depending on the application this may cause unpredictable or hazardous operation); parameters in Motor Setup (Menu 3) (overheating and possible fire risk could result from seriously incorrect settings).

1.11 Electromagnetic compatibility (EMC)

Installation instructions for a range of EMC environments are provided in

section 4.5 Electromagnetic compatibility (EMC). If the installation is

poorly designed or other equipment does not comply with suitable standards for EMC, the product might cause or suffer from disturbance due to electromagnetic interaction with other equipment. It is the responsibility of the installer to ensure that the equipment or system into which the product is incorporated complies with the relevant EMC legislation in the place of use.

1.12 Repairs

Users must not attempt to repair a drive if it is faulty. It must be returned to the supplier of the drive. Users must not make any attempt at removing drive plastics to inspect the internal parts of the drive.

1.6 Access to equipment

Access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

1.7 Environmental limits

Instructions in this guide regarding transport, storage, installation and use of the equipment must be complied with, including the specified environmental limits. This includes temperature, humidity, contamination, shock and vibration. Drives must not be subjected to excessive physical force.

1.13 Maintenance

Regular inspections and maintenance should be carried out to ensure drive's reliability is maximized. See detailed information in the in section

3.11 Routine Maintenance.

1.8 Hazardous environments

The equipment must not be installed in a hazardous environment (i.e. a potentially explosive environment).

1.9 Motor

The safety of the motor under variable speed conditions must be ensured.

To avoid the risk of physical injury, do not exceed the maximum specified speed of the motor.

Low speeds may cause the motor to overheat because the cooling fan becomes less effective, causing a fire hazard. If possible, the motor should be installed with a protection thermistor. If necessary, an electric forced vent fan should be used.

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CAUTION

NOTE

2 Electrical installation

2.1 Control connections

2.1.1 General Warnings

If any of the digital inputs are connected in parallel with an inductive load (i.e. contactor or motor brake) then suitable suppression (i.e. diode or varistor) should be used on the coil of the load. If no suppression is used, then over voltage spikes can cause damage to the digital inputs and outputs on the drive.

The control 0 V terminals are connected to earth but must not be used for protective purposes.

Any signal cables which are carried inside the motor cable (i.e. motor thermistor, motor brake) will pick up large pulse currents via the cable capacitance. The shield of these signal cables must be connected to ground close to the point of exit of the motor cable, to avoid this noise current spreading through the control system.

2.1.2 Control Terminal Connections

The default connections are suitable for basic motor speed control using analog inputs to define a frequency reference.

Figure 2-1 Default Control Terminal Connections

2.1.3 Control Terminal Specification

Control and relay terminals maximum cable size is 1.5 mm

T1 +10 V User Output

Supply for external analog devices

Nominal voltage 10.2 V

Voltage tolerance ±3 %

T2 Analog Input 1

Unipolar single-ended analog voltage or unipolar current input

Default function Remote Frequency Reference

Default Type 4 to 20 mA

Type Select Parameter T2 Analog Input 1 Type (P6.01)

As a Voltage Input (Default)

Full scale voltage range 0 V to +10 V ±3 %

Maximum offset ±30 mV

Absolute maximum voltage range

Input resistance 100k Ω

As a Current Input

-18 V to +30 V relative to 0V

Current ranges 0 to 20 mA ±5 %, 4 to 20 mA ±5 %

Maximum offset 250 µA

Absolute maximum voltage (reverse bias)

Absolute maximum current 25 mA

-18 V to +30 V relative to 0V

T2 Analog Input 1 (Continued)

As a Digital Input

Digital Function Select Parameter

Switching Threshold as a Voltage Input

Switching Threshold as a Current Input

Common to all modes

Resolution 11 bits

Sample rate 4 ms

T2 Analog Input 1 Digital Function Select (P6.14)

70 to 80 % *

45 to 55 %

T3,T5, T10 0 V Common

Unipolar single-ended analog voltage or unipolar current input

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T4 Analog Input 2

Unipolar single-ended analog voltage or unipolar current input

Default function Ramp Output

Default Type 0 to 10 V

Type Select Parameter T4 Analog Input 2 Type (P6.02)

As a Voltage Input (Default)

Full scale voltage range 0 V to +10 V ±3 %

Maximum offset ±30 mV

Absolute maximum voltage range

Input resistance 100k Ω

-18 V to +30 V relative to 0V

As a Current Input

Current ranges 0 to 20 mA ±5 %, 4 to 20 mA ±5 %

Maximum offset 250 µA

Absolute maximum voltage (reverse bias)

Absolute maximum current 25 mA

-18 V to +30 V relative to 0V

As a Digital Input

Digital Function Select Parameter

Switching Threshold as a Voltage Input

Switching Threshold as a Current Input

T4 Analog Input 2 Digital Function Select (P6.15)

70 to 80 % *1

45 to 55 %

Common to all modes

Resolution 11 bits

Sample rate 4 ms

T6 Analog Output

Unipolar single-ended analog voltage or unipolar current output

Default function Ramp Output

Function Select Parameter T6 Analog Output Function Select

Default type 0 to 10 V

Type Select Parameter T6 Analog Output Type (P6.03)

Voltage Range 0 to 10 V

Current Range 0 to 20 mA or 4 to 20 mA

Maximum offset 15 mV Load resistance ± 2k Ω

Protection Short circuit relative to 0 V

Resolution 0.1 %

Sample rate 4 ms

(P6.06)

T9 +24 V User Output

Supply for external analog devices

Voltage tolerance ±20 %

Maximum output current 100 mA (Shared with T11 Digital Output)

T11 Digital Input/Output 1

Multi-functional digital input or output

Default Function None

Function Select Parameters T11 Digital Input 1 Function (P6.16)

T11 Digital Output Function Select (P6.09)

Default type Digital Input (Positive Logic)

Type Select Parameter

T11 Digital IO 1 Type (P6.04)

As a digital input (default)

Lower Threshold < 5 V

Upper Threshold > 11 V

T11 Digital Input/Output 1 (Continued)

Absolute maximum applied voltage range -8 V to +30 V relative to 0V

Impedance 6.8 kΩ

Input threshold 10 V ±0.8 V (IEC 61131-2)

As a digital output

Maximum Source Current 50 mA (100 mA total limit on T9 and T11)

As a Frequency or PWM Output

Maximum Output

PWM Output

Resolution at Maximum Output

Resolution at Minimum Input

Common to all output types

Voltage Range 0 V to +24 V

Sample rate 4 ms

T12 Digital Input 2

T13 Digital Input 3

T14 Digital Input 4

Programmable Digital Inputs

T12 Default Function Enable

T13 Default Function Run Forward

T14 Default Function Run Reverse

Function Select Parameters

Default Logic Positive Logic

Lower Threshold < 5 V

Upper Threshold > 11 V

Absolute maximum applied voltage range

Impedance 6.8 kΩ

Input threshold 10 V ±0.8 V (IEC 61131-2)

Voltage Range 0 V to +24 V

Sample rate 4 ms

T12 Digital Input 2 Function (P6.17) T13 Digital Input 3 Function (P6.18) T14 Digital Input 4 Function (P6.19)

-8 V to +30 V relative to 0V

T15 Digital Input 5

Programmable Digital Input or Frequency Input

T15 Default Function Enable

Function Select Parameter T15 Digital Input 5 Function (P6.20)

Default Logic Positive Logic

Lower Threshold < 5 V

Upper Threshold > 11 V

Absolute maximum applied voltage range

Impedance 6.8 kΩ

Input threshold 10 V ±0.8 V (IEC 61131-2)

Voltage Range 0 V to +24 V

Sample rate 4 ms

-8 V to +30 V relative to 0V

As a Frequency Input

Maximum Frequency 100 kHz

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T41 Relay Normally Open

T42 Relay Common

T43 Relay Normally Closed

Programmable Relay

Relay Default Function Drive Healthy

Function Select Parameter T12 Digital Input 2 Function (P6.17)

Default Logic Positive Logic

Lower Threshold

Upper Threshold > 11 V

Absolute maximum applied voltage range

Impedance 6.8 kΩ

Input threshold 10 V ±0.8 V (IEC 61131-2)

Voltage Range 0 V to +24 V

Sample rate 4 ms

< 5 V

-8 V to +30 V relative to 0V

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3 Drive Parameters

Parameters are variables within the drive that can be used to monitor output levels and drive statuses or to control the settings within the drive. Parameters are divided into six menus based on their function which are:.

Menu 1 - Status & Monitoring (All read-only parameters)

Menu 2 - References and Ramps

Menu 3 - Motor Setup

Menu 4 - General

Menu 5 - PID Controller

Menu 6 - IO Configuration

There is also a quick start menu (Menu 0) that contains shortcuts to ten parameters used for basic drive setup. Because parameters in menu 0 are shortcuts, changing the value of the parameter in menu 0 will also change the value in its original menu and vice versa.

3.1 Parameter Groups

The parameter groups listed below are parameters that behave in the same way.

Configuration Parameters

Automatically adjust settings of multiple parameters to quickly setup a certain function.

• Frequency Reference Configuration (P0.05)

• Enable/Run Configuration (P0.10)

Selector Parameters

Select an analog value to be used as an input.

• Reference Selector 1 (P2.21)

• Reference Selector 2 (P2.22)

• Reference Selector 3 (P2.23)

• Reference Selector 4 (P2.24)

• PID Reference Selector (P5.02)

• PID Feedback Selector (P5.03)

• PID Feedforward Selector (P5.04)

• PID Enable Selector (P5.10)

• Threshold Detector Selector (P5.11)

Input Function Select Parameters

Define the function of an input

• Keypad Run/Stop Key Function Select (P4.07)

• T2 Analog Input 1 Digital Function Select (P6.14)

• T4 Analog Input 2 Digital Function Select (P6.15)

• T11 Digital Input 1 Function Select (P6.16)

• T12 Digital Input 2 Function Select (P6.17)

• T13 Digital Input 3 Function Select (P6.18)

• T14 Digital Input 4 Function Select (P6.19)

• T15 Digital Input 5 Function Select (P6.20)

Output Function Select Parameters

Define the function of an output

• T6 Analog Output Function Select (P6.06)

• T11 Digital Output 1 Function Select (P6.09)

• T11 Frequency/PWM Output Function Select (P6.10)

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Safety information Electrical installation Drive Parameters

WARNING

3.2 Menu 0 - Quick Start

For a description of a parameter in menu 0, refer to the alternative location of the parameter in the section 7.4 Parameter Descriptions.

Parameter

P0.01 Minimum Frequency Clamp 0.0 to 300.0 Hz (50 Hz: -50.0 Hz, 60 Hz: -60.0 Hz) P2.01

P0.02 Maximum Frequency Clamp 0.0 to 300.0 Hz (50 Hz: 50.0 Hz, 60 Hz: 60.0 Hz) P2.02

P0.03 Acceleration Rate 1 0.0 to 6000.0 s/Hz(max) (5.0 s/Hz(max)) P2.07

P0.04 Deceleration Rate 1 0.0 to 6000.0 s/Hz(max) (10.0 s/Hz(max)) P2.08

P0.05 Frequency Reference Configuration

P0.06 Motor Rated Current 0.00 to Drive Rated Current A (Rating Dependent) P3.01

P0.07 Motor Rated Speed 0 to 18000 rpm (50 Hz: 1500 rpm, 60 Hz: 1800 rpm) P3.02

P0.08 Motor Rated Voltage 0 to Drive Rated Voltage (Rating Dependent) P3.03

P0.09 Motor Rated Power Factor 0.00 to 1.00 (0.80) P3.04

P0.10 Run/Stop Configuration

Range (Default)

Custom (0), Local/Remote (1), Voltage/Preset Input (2), Current/Preset Input (3), Presets (4), Keypad (5), Terminal Up/Down (6), Frequency Input (7), PID Voltage Ref. (8), PID + Feed Forward (9)

Custom (0), Enable + Run Forward + Run Reverse (1), Run Forward + Run Reverse (3 Wire) (2), Enable + Run + Reverse (3), Run + Reverse (4), Run + Jog (5), Run Forward + Run Reverse (6), Run + Reverse (7), Keypad (8), Keypad With Enable (9), Keypad Jog (10)

Alternative Location

P2.03

P6.13

3.3 Full Parameter List

The list below contains all parameters within the drive and states the possible settings of the parameter with the default value outlined in bold where applicable. For further description of the parameters refer to section 7.4 Parameter Descriptions or the help within the Marshal App that contain useful

graphics.

The lists in this table are for reference only and do not include sufficient information for adjusting these parameters. Incorrect adjustment can affect the safety of the system and damage the drive and or external equipment. Before attempting to adjust any of these parameters, refer to section 7.4 Parameter Descriptions.

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3.4 Menu 1 - Status & Monitoring

Parameter

P1.01 Output Frequency - Maximum Frequency Reference (P2.02) to Maximum Frequency Reference (P2.02) Hz

Output Voltage

P1.02

P1.03 Output Power Drive Rating Dependent kW

P1.04 Motor RPM ±18000 rpm

P1.05 Drive State

P1.06 Output Current - Drive Rated Current to Drive Rated Current A

P1.07 Torque Producing Current - Drive Rated Current to Drive Rated Current A

P1.08 Percentage Load - Motor Output Current Limit (Max) to Motor Output Current Limit (Max) %

P1.09 Alarm Indicators 00000000 to 11111111

P1.10 Drive Status Indicators 00000000 to 11111111

P1.11 Sequencer Input and Output Indicators 00000000 to 11111111

P1.12 Run & Direction Indicators 00000000 to 11111111

P1.13 Ramp Input ± Maximum Frequency Reference (P2.02) Hz

P1.14 Ramp Output ± Maximum Frequency Reference (P2.02) Hz

P1.15 T2 Analog Input 1 Percentage ±100.00 %

P1.16 T4 Analog Input 2 Percentage ±100.00 %

P1.17 T15 Frequency Input Percentage ±100.00 %

P1.18 Up/Down Percentage 0.00 to 100.00 %

P1.19 PID Percentage ±100.00 %

P1.20 PID Status Indicators 00000000 to 11111111

P1.21 PID Error ±100.00 %

P1.22 Motor Thermal Percentage 0 to 100 %

P1.23 Drive Thermal Percentage 0 to 100 %

P1.24 DC Bus Voltage

P1.25 Digital IO Indicators 00000000 to 11111111

P1.26 Parameter 1 Saved Value on Error -32768 to 32767

P1.27 Parameter 2 Saved Value on Error -32768 to 32767

P1.28 Parameter 3 Saved Value on Error -32768 to 32767

P1.29 Error 0to255

P1.30 Error History 1 0to255

P1.31 Error History 2 0to255

P1.32 Error History 3 0to255

P1.33 Drive Diagnostic 0to15

Inhibited (0), Ready (1), NA (2), NA (3), Running (4), Supply Loss (5), Deceleration (6), Injecting DC (7),

NA (8), Error (9), NA (10), NA (11), NA (12), NA (13), NA (14), Under Voltage (15)

(110 V, 200 V Drives = 240 V, 400 V Drives = 480 V)

(110 V, 200 V Drives = 415 V, 400 V Drives = 830 V)

0 to Maximum Output Voltage V

0 to Maximum D.C. Link Voltage V

Range

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Safety information Electrical installation Drive Parameters

3.5 Menu 2 - Reference & Ramps

Parameter

P2.01 Minimum Frequency Limit 0.0 to 300.0 Hz 0.0 Hz

Maximum Frequency Limit

P2.02

P2.03 Frequency Reference Configuration

P2.04 Stopping Mode Selector

P2.05 S-Ramp Percentage 0.0 to 50.0 0.0

P2.06 Acceleration Rate 1 0.0 to 6000.0 s 5.0 s

P2.07 Deceleration Rate 1 0.0 to 6000.0 s 10.0 s

P2.08 Acceleration Rate 2 0.0 to 6000.0 s 5.0 s

P2.09 Deceleration Rate 2 0.0 to 6000.0 s 10.0 s

P2.10 Ramp Rate Selector 0 to 2 0

P2.11 Deceleration Ramp Type Fast (0), Standard Ramp (1), Standard Ramp + Motor (2) Standard Ramp (1)

P2.12 Standard Ramp Voltage 0 to DC Link Voltage (Max) V

P2.13 Jog Frequency ± Maximum Frequency Reference (P2.02) Hz 1.5 Hz

P2.14 Up/Down Percent Configuration

P2.15 Up/Down Percentage Time to Max 0 to 250 s 20 s

P2.16 Preset Frequency 1

P2.17 Preset Frequency 2 10.0 Hz

P2.18 Preset Frequency 3 25.0 Hz

P2.19 Preset Frequency 4 50.0 Hz

P2.20 Frequency Reference 1 to 4 Selector

P2.21 Frequency Reference 1 Selector

P2.22 Frequency Reference 2 Selector Analog 2 Percent (7)

P2.23 Frequency Reference 3 Selector None (0)

P2.24 Frequency Reference 4 Selector None (0)

P2.25 Skip Frequency

P2.26 Skip Frequency Band 0.0 to 25.0 Hz 0.0 Hz

Custom (0), Local/Remote (1), Voltage/Preset Input (2), Current/Preset Input (3),

Presets (4), Keypad (5), Terminal Up/Down (6), Frequency Input (7),

PID Voltage Ref. (8), PID + Feed Forward (9)

Coast (0), Ramp (1), Ramp & Brake (2), DC Brake, 0Hz detect (3),

Reset (0), Last (1), Preset 1 (2), Keypad and Reset (3), Keypad and Last (4),

± Maximum Frequency Reference (P2.02) Hz

Binary (0), Freq. Reference 1 (1), Freq. Reference 2 (2), Freq. Reference 3 (3),

None (0), Preset 1 (1), Preset 2 (2), Preset 3 (3), Preset 4 (4), Up/

Down Percent (5), Analog 1 Percent (6), Analog 2 Percent (7),

Frequency Input % (8), PID Percent (9)

- Maximum Frequency Reference (P2.02) to Maximum Frequency Reference

Range Default

0.0 to 300.0 Hz

Timed DC Brake (4)

Keypad and Preset 1 (5)

Freq. Reference 4 (4)

(P2.02) Hz

50Hz: 50.0 Hz

60Hz: 60.0 Hz

Local/Remote (1)

Ramp (1)

400V drive 50Hz: 375

400V drive: 750 V

400V drive 60Hz: 775

Reset (0)

5.0 Hz

Binary (0)

Analog 1 Percent (6)

0.0 Hz

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Safety information Electrical installation Drive Parameters

3.6 Menu 3 – Motor Setup

Parameter

P3.01 Motor Rated Current VM_RATED_CURRENT[MIN] to VM_RATED_CURRENT[MAX] A 6.80 A

Motor Rated Speed

P3.02

P3.03 Motor Rated Voltage 0 to Drive Rated Voltage V

P3.04 Motor Rated Power Factor 0.00 to 1.00 0.80

P3.05 Motor Control Mode Resistance Comp (0), Linear V to F (1), Square V to F (2) Linear V to F (1)

P3.06 Motor Starting Boost 0.0 to 25.0 5.0

P3.07 Motor Starting Boost End Voltage 0.0 to 100.0 50.0

P3.08 Motor Starting Boost End Frequency 0.0 to 100.0 50.0

P3.09 Perform Auto-tune Off (0) or On (1) Off (0)

P3.10 Energy Optimiser Off (0) or On (1) Off (0)

P3.11 Catch An Already Spinning Motor Disabled (0), Enabled (1), Forwards Only (2), Reverse Only (3) Disabled (0)

P3.12 PWM Switching Frequency Off (0) or On (1) Off (0)

P3.13 DC Braking Current Level 0.0 to 150.0 100.0

P3.14 DC Braking Time 0.0 to 100.0 s 1.0 s

P3.15 Motor Rated Frequency 0.0 to 300.0 Hz

P3.16 Number Of Motor Poles 0 to 8 0

P3.17 Motor Output Current Limit VM_MOTOR_CURRENT[MIN] to VM_MOTOR_CURRENT[MAX] 171.0 P3.18 Stator Resistance 0.00 to 199.99 Ω 2.00 Ω

P3.19 Motor Stability Optimiser Off (0) or On (1) Off (0)

P3.20 Reverse Motor Direction Off (0) or On (1) Off (0)

P3.21 Thermal Protection Action Disabled (0), Error with Save (1), Error (2), Limit with Save (3), Limit (4) Limit with Save (3)

P3.22 Low Frequency Thermal Protection Off (0) or On (1) On (1)

P3.23 Current Controller Gain 0 to 250 40

Range Default

0 to 18000 rpm

50 Hz: 1500 rpm

60 Hz: 1800 rpm

400 V drive 50

400 V drive: 400 V

400 V drive 60

50 Hz: 50.0 Hz

60 Hz: 60.0 Hz

Hz: 230 V

Hz: 460 V

3.7 Menu 4 - General

Parameter

P4.01 Restore Factory Defaults None (0), 50Hz (1), 60Hz (2) None (0)

P4.02 Security Pin 0 to 9999 0

P4.03 Serial Node Address 1 to 247 1

P4.04 Serial Mode 8.2NP (0), 8.1NP (1), 8.1EP (2), 8.1OP (3) 8.2NP (0)

P4.05 Serial Baud Rate

Minimum Serial Comms Transmit

P4.06

Delay

P4.07 Keypad Run and Stop Function Select 0 to 2 0

P4.08 Supply Loss Action Disable (0), Ramp Stop (1), Ride Through (2) Disable (0)

P4.09 Parameter 1 Save on Error Selector None (0), Output Frequency (1), Output Voltage (2), Output Power (3),

P4.10 Parameter 2 Save on Error Selector Motor RPM (4)

P4.11 Parameter 3 Save on Error Selector Drive State (5)

P4.12 Number of Auto Reset Attempts None (0), One (1), Two (2), Three (3), Four (4), Five (5), Continuous (6) None (0)

Hold Drive Healthy on Auto Reset Atte

P4.13

mpts

Drive Reset When Enable or Run Appli

P4.14

P4.15 Motor Phase Loss Detection Off (0) or On (1) Off (0)

P4.16 User Error 0 to 255 0

P4.17 Drive Enable Off (0) or On (1) On (1)

P4.18 Binary Control Word 0000000000000000 to 1111111111111111 0000000000000000

P4.19 Save Parameters Off (0) or On (1) Off (0)

P4.20 Near Field Communication (NFC) Disabled (0), Read Only (1), Read & Write (2) Read & Write (2)

Disabled (0), 600 (1), 1200 (2), 2400 (3), 4800 (4), 9600 (5), 19200 (6), 38400 (7),

57600 (8), 76800 (9), 115200 (10)

Motor RPM (4), Drive State (5), Output Current (6), Torque Prod. Current (7),

Percentage Load (8), Alarm Indicators (9), Drive Status Indica. (10),

Sequ. In and Out (11), Run and Direction (12), Ramp Input (13),

Ramp Output (14), T2 Analog 1 Percent (15), T4 Analog 2 Percent (16),

T15 Freq. Input % (17), Up/Down Percentage (18), PID Percentage (19),

PID Status Indica. (20), PID Error (21), Motor Therm. Percent (22),

Drive Therm. Percent (23), DC Bus Voltage (24), Digital IO Indica. (25)

Range Default

115200 (10)

0to250ms 0ms

Output Power (3)

Off (0) or On (1) Off (0)

Off (0) or On (1) On (1)

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Safety information Electrical installation Drive Parameters

3.8 Menu 5 - PID Controller

ParameterParameter RangeRange DDefaultefault

P5.01 PID Fixed Reference Set-Point 1 ±100.00 % 0.00 %

P5.02 PID Fixed Reference Set-Point 2 ±100.00 % 0.00 %

None (0), Analog 1 Percent (1), Analog 2 Percent (2),

P5.03 PID Reference Selector

P5.04 PID Feedback Selector

P5.05 PID Feed Forward Selector

P5.06 PID Reference Slew Rate Limit 0.0 to 3200.0 s 0.0 s

P5.07 PID Proportional Gain 0.000 to 4.000 1.000

P5.08 PID Integral Gain 0.000 to 4.000 0.500

P5.09 PID Output Lower Limit ±100.00 % 0.00 %

P5.10 PID Output Upper Limit 0.00 to 100.00 % 100.00 %

P5.11 PID Enable Selector

P5.12 Threshold Detector Selector

P5.13 Threshold Detector Level 0.00 to 100.00 % 0.00 %

P5.14 Threshold Detector Hysteresis 0.00 to 25.00 % 0.00 %

P5.15 Threshold Detector Delay ±25.0 s 0.0 s

P5.16 Threshold Detector Output Invert Off (0) or On (1) Off (0)

P5.17 Threshold Detector Function Select

P5.18 PID Lower Limit Off (0) or On (1) Off (0)

Frequency Input % (3), Up/Down Percent (4), Fixed Reference 1 (5),

Fixed Reference 2 (6)

None (0), Analog 1 Percent (1), Analog 2 Percent (2),

Frequency Input % (3)

None (0), Analog 1 Percent (1), Analog 2 Percent (2),

Frequency Input % (3), Up/Down Percent (4), Fixed Reference 1 (5),

Fixed Reference 2 (6)

None (0), Drive Active Running (1), At Speed (2), At Zero (3),

Under Voltage (4), External Error (5), Drive Ready (6), Drive Healthy (7),

Current Limit Active (8), Reverse Selected (9), An In Current Loss (10),

Threshold Detector (11)

None (0), Ramp Input (1), Ramp Output (2), Output Frequency (3),

Output Current (4), Torque Prod Current (5), Output Voltage (6),

DC Bus Voltage (7), Analog 1 Percentage (8), Analog 2 Percentage (9),

Freq. input Percent (10), Output Power (11), Motor RPM (12),

Percentage Load (13), PID Percentage (14), PID Error (15)

None (0), Hardware Enable (1), Run Forward (2), Run Reverse (3),

Run Permit (/Stop) (4), Forward Limit Switch (5), Reverse Limit Switch (6),

Up/Down % Increase (7), Up/Down % Decrease (8), Up/Down % Reset (9),

Ref Sel Bit 0 (10), Ref Sel Bit 1 (11), Ramp Select (12),

PID Hardware Enable (13), External Error (14), Drive Reset (15), Run (16),

Reverse(17), JogForward(18), JogReverse(19)

Fixed Reference 2 (6)

None (0)

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Safety information Electrical installation Drive Parameters

3.9 Menu 6 - IO Configuration

Parameter Range Default

P6.01 T2 Analog Input 1 Type

P6.02 T4 Analog Input 2 Type 0-10V (0)

P6.03 T6 Analog Output Type 0-10V (0), 0-20mA (1), 4-20mA (2) 0-10V (0)

P6.04 T11 Digital IO 1 Type

P6.05 T15 Digital Input 5 Type Digital Input (0), Frequency Input (1) Digital Input (0)

P6.06 T6 Analog Output Function Select

P6.07 T6 Analog Output Scaling 0.000 to 40.000 1.000

P6.08 T41-T43 Relay Function Select

P6.09 T11 Digital Output 1 Function Select None (0)

P6.10

P6.11 T11 Frequency/PWM Output Scaling 0.000 to 40.000 1.000

P6.12 Negative Logic (NPN Sensor) Select Off (0) or On (1) Off (0)

P6.13 Run/Stop Configuration

P6.14

P6.15

P6.16 T11 Digital Input 1 Function Select None (0)

P6.17 T12 Digital Input 2 Function Select Hardware Enable (1)

P6.18 T13 Digital Input 3 Function Select Run Forward (2)

P6.19 T14 Digital Input 4 Function Select Run Reverse (3)

P6.20 T15 Digital Input 5 Function Select Ref Sel Bit 0 (10)

P6.21 T2 Analog Input 1 Minimum Input 0.00 to 100.00 % 0.00 %

P6.22

P6.23 T2 Analog Input 1 Maximum Input 0.00 to 100.00 % 100.00 %

P6.24

P6.25 T4 Analog Input 2 Minimum Input 0.00 to 100.00 % 0.00 %

P6.26

P6.27 T4 Analog Input 2 Maximum Input 0.00 to 100.00 % 100.00 %

P6.28

P6.29 T15 Frequency Input Minimum Input 0.00 to 100.00 % 0.00 %

P6.30

P6.31 T15 Frequency Input Maximum Input 0.00 to 100.00 % 100.00 %

P6.32

T11 Frequency/ PWM Output Function Select

T2 Analog Input 1 Digital Function Select T4 Analog Input 2 Digital Function Select

T2 Analog Input 1 Percentage at Minimum Input

T2 Analog Input 1 Percentage at Maximum Input

T4 Analog Input 2 Percentage at Minimum Input

T4 Analog Input 2 Percentage at Maximum Input

T15 Frequency Input Percentage at Minimum Input

T15 Frequency Input Percentage at Maximum Input

0-10V (0), 0-20mA (1), 4-20mA (2), 4-20mA Hold (3), 4-20mA Stop (4),

4-20mA Error (5)

Digital Input (0), Digital Output (1), Frequency Output (2), PWM Output (3),

Digital Out Inverted (4)

None (0), Ramp Input (1), Ramp Output (2), Output Frequency (3),

Output Current (4), Torque Prod Current (5), Output Voltage (6),

DC Bus Voltage (7), Analog 1 Percentage (8), Analog 2 Percentage (9),

Freq. input Percent (10), Output Power (11), Motor RPM (12),

Percentage Load (13), PID Percentage (14), PID Error (15), Motor Thermal % (16),

Drive Thermal % (17)

None (0), Drive Active Running (1), At Speed (2), At Zero (3), Under Voltage (4),

External Error (5), Drive Ready (6), Drive Healthy (7), Current Limit Active (8),

Reverse Selected (9), An In Current Loss (10), Threshold Detector (11)

None (0), Ramp Input (1), Ramp Output (2), Output Frequency (3),

Output Current (4), Torque Prod Current (5), Output Voltage (6),

DC Bus Voltage (7), Analog 1 Percentage (8), Analog 2 Percentage (9),

Freq. input Percent (10), Output Power (11), Motor RPM (12),

Percentage Load (13), PID Percentage (14), PID Error (15), Motor Thermal % (16),

Drive Thermal % (17)

Custom (0), Enable + Run Forward + Run Reverse (1),

Run Forward + Run Reverse (3 Wire) (2), Enable + Run + Reverse (3),

Run + Reverse (4), Run + Jog (5), Run Forward + Run Reverse (6),

Run + Reverse (7), Keypad (8), Keypad With Enable (9), Keypad Jog (10)

None (0), Hardware Enable (1), Run Forward (2), Run Reverse (3), Run Permit (/

Stop) (4), Forward Limit Switch (5), Reverse Limit Switch (6), Up/

Down % Increase (7), Up/Down % Decrease (8), Up/Down % Reset (9),

Ref Sel Bit 0 (10), Ref Sel Bit 1 (11), Ramp Select (12), PID Hardware Enable (13),

External Error (14), Drive Reset (15), Run (16), Reverse (17), Jog Forward (18),

Jog Reverse (19)

±100.00 % 0.00 %

±100.00 % 100.00 %

±100.00 % 0.00 %

±100.00 % 100.00 %

±100.00 % 0.00 %

±100.00 % 100.00 %

4-20mA (2)

Digital Input (0)

Ramp Output (2)

Drive Healthy (7)

None (0)

Enable + Run Forward

+ Run Reverse (1)

None (0)

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Safety information Electrical installation Drive Parameters

3.10 Parameter Descriptions

This section provides detailed descriptions on the functions of all parameters within the drive. Not all parameters of the parameters listed can be

accessed via the keypad as they are intended for use via Modbus RTU and are therefore marked Communication. The table below shows a list of

additional attributes a parameter may have.

Tab le 3- 1

Coding Attribute

RW Read/Write: can be written by the user

RO Read only: can only be read by the user

Bit 1 bit parameter. ‘On’ or ‘Off’ on the display

Num Number: can be uni-polar or bi-polar

Txt Text: the parameter uses text strings instead of numbers.

Bin Binary parameter

IP IP Address parameter

Mac Mac Address parameter

Date Date parameter

Time Time parameter

Chr Character parameter

FI Filtered: Some parameters which can have rapidly changing values are filtered when displayed on the drive keypad for easy viewing

DE Destination: This parameter selects the destination of an input or logic function

Rating dependent: this parameter is likely to have different values and ranges with drives of different voltage and current ratings. Parameters

ND No default: The parameter is not modified when defaults are loaded

NC Not copied: not transferred to or from non-volatile media during copying.

PT Protected: Cannot be used as a destination

with this attribute will be transferred to the destination drive by non-volatile storage media when the rating of the destination drive is different from the source drive and the file is a parameter file.

However, the values will be transferred if only the current rating is different and the file is a difference from default type file.

3.10.1 Menu 1 – Status & Monitoring

This menu contains all parameters that show an output variable of the drive for status and monitoring purposes. All parameters are read-only.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

Displays the drive output frequency in Hz. This can be higher than motor rotation frequency and Ramp Output compensation. A positive value is used for forward rotation, a negative value is used for reverse rotation.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

Displays the r.m.s. line to line voltage at the output terminals of the drive. (U to V; V to W; W to U.)

P1.01 Output Frequency

The output frequency of the drive

−Maximum Frequency Limit (P2.02)

16 Bit Volatile

Standard

RO, FI, VM, ND, NC

P1.02 Output Voltage

The r.m.s. line to line voltage at the output of the drive

-Drive Rated Voltage

16 Bit Volatile

Standard

RO, FI, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

Maximum

Units

Update Rate

Decimal Places

Maximum Frequency Limit (P2.02)

 (P1.13) due to motor slip

Drive Rated Voltage

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.03 Output Power

Displays the power flowing through the output terminals of the drive

−VM_POWER

16 Bit Volatile

Standard

RO, FI, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

VM_POWER

Displays the power flowing through the output terminals of the drive. This parameter should be used for indication purposes only. A positive value indicates power flowing from the drive to the motor.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.04 Motor RPM

The drive output in terms of motor rpm

-18000

16 Bit Volatile

Standard

RO, FI, ND, NC

Maximum

Units

Update Rate

Decimal Places

18000

rpm

The drive output frequency is converted to the equivalent RPM using the number of motor poles. The actual motor RPM could be lower due to the load and slip frequency if motor rated speed is not set correctly.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.05 Drive State

Displays the current state of the drive

8 Bit Volatile

Standard

RO, VM, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

DriveState

This parameter shows the present state of the drive as described below.

Value Text Description

0 Inhibited The drive is not enabled

1 Ready The drive is enabled but has not received a run command

2NA

3NA

4 Running The drive is running

5 Supply Loss Supply loss has been detected

6 Deceleration The drive is stopping the motor with a decelerating ramp

7 Injecting DC The drive is injecting DC braking current into the motor

8NA

9 Error The drive in an error state, check the error log for more information

10 NA

11 NA

12 NA

13 NA

14 NA

15 Under Voltage The drive is in the under-voltage state

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Safety information Electrical installation Drive Parameters

NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.06 Output Current

The total output current to the motor

−Drive Rated Current

16 Bit Volatile

Standard

RO, FI, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

Drive Rated Current

Displays the total r.m.s phase current being delivered to the motor. This is made up of two components, motor magnetising current and motor Torque Producing Current (P1.07).

This is an equivalent r.m.s. current at 0 Hz or low output frequency.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.07 Torque Producing Current

The output current that produces torque in the motor

−Drive Rated Current

16 Bit Volatile

Standard

RO, FI, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

Drive Rated Current

This parameter displays the component of the Output Current (P1.06) that is in phase with the voltage and does not include the magnetising current of the motor. The value is proportional to the torque produced by the motor provided the frequency applied to the motor is at or below the motor rated frequency.   This torque includes the load torque and acceleration torque.

If the Output Frequency is positive (forward), a positive value of Torque Producing Current would hold the motor load or cause the motor to accelerate, a negative value would decelerate the motor.

If the Output Frequency is negative (reverse), a negative value of torque producing current would hold the motor load or cause the motor to accelerate, a positive value would decelerate the motor.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.08 Percentage Load

The load as a percentage of motor rated torque

−Motor Output Current Limit (Max)

16 Bit Volatile

Standard

RO, FI, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

Motor Output Current Limit (Max)

Percentage Load (P1.08) indicates the load on the motor as a percentage of the rated load of the motor. For forward rotation, this value is positive for a motoring load and negative for a regenerating load. For reverse rotation this value is negative for a motoring load and positive for a regenerating load. Percentage Load (P1.08) = Torque Producing Current (P1.07) / I

 = Rated Torque Current = Motor Rated Current (P3.01) x Motor Rated Power Factor (P3.04)

Trated

  x 100

See Motor Output Current Limit (P3.17)

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.09 Alarm Indicators

A set of indicators that represent the drive alarms

(Display: 00000000)

8 Bit Volatile

Binary

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255

(Display: 11111111)

Bit Alarm How to remove the alarm

Bit 0 Motor Overload Reduce the load on the motor

Bit 1 Drive Overload Reduce the load on the motor or ambient temperature of the drive

Bit 2 Auto-tune Active Will be reset when Autotune complete

Bit 3 Limit Switch Active Rotate the motor away from the limit switch

Bit 4 Input Phase Loss or Imbalance Check input fuses to the drive

Bit 5 Analog Input Current Loop Loss Check current loop master is powered and the integrity of the wiring is good

Bit 6 Current Limit Active Reduce the load on the motor

Bit 7 I/O Overload Check 24 V output and digital output for an overload condition

An alarm is used by the drive to give an early warning of a problem which could lead to a drive error. In some alarm conditions, the drive may take action to prevent an error for example reducing the motor current or speed.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.10 Drive Status Indicators    

A set of indicators that represent the drive status

(Display: 00000000)

8 Bit Volatile

Binary

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255

(Display: 11111111

)

Bit Alarm How to remove the alarm

Bit 0 Supply Loss

Bit 1 Limit Switch Active Indicates at least one limit switch is active.

Bit 2Thermal Limit Active

Bit 3 Current Limit Active

Bit 4 Drive Active Indicates the drive is applying voltage to the motor.

Bit 5 Healthy Indicates the drive is healthy and there are no errors.

Bit 6At Speed ± 1 Hz Indicates the output frequency of the drive is within 1 Hz of the demand.

Bit 7 At Zero ± 2 Hz Indicates the output frequency of the drive is within 2 Hz of 0Hz

Indicates supply loss has been detected. The behaviour in this situation is controlled

by Supply Loss Action (P4.08).

Indicates the output current is being limited further than that defined by Motor Output Current Limit (P3.17) for thermal protection.

Indicates the output current is being limited by the current limit defined by Motor Output Current Limit (P3.17) or Bit 2 above.

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.11 Sequencer Input and Output Indicators

A set of indicators that represent the enable inputs, the Limit Switch inputs, and the sequencer outputs

(Display: 00000000)

8 Bit Volatile

Binary

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255

(Display: 11111111)

Displays a set of indicators that represent the enable inputs, the Limit Switch inputs, and the sequencer outputs.

Bit 0 Hardware Enable

Bit 1 Software Enable

Bit 2

Bit 3

Bit 4 Reference On

Limit Switch Forwards

Limit Switch Reverse

Set to 1 if an active digital input has been configured as the Hardware Enable function (1), or if no digital input has been configured as a Hardware Enable

If the Binary Control Word (P4.18) is enabled this is set to 1 when the enable bit of the control word is set otherwise this is

set to 1 if Drive Enable (P4.17) is set to true

Set to 1 if an active digital input has been configured as the Forward Limit Switch function (5). The drive will stop if there is with a positive reference

Set to 1 if an active digital input has been configured as the Forward Limit Switch function (6). The drive will stop if there is a negative reference

Set to 1 by the sequencer to switch the selected reference through to the Ramps when a start command is detected. See References & Ramps

Bit 5 Reverse

Bit 6 Jog Set to 1 by the sequencer to select the Jog reference when a Jog command is detected. See References & Ramps

Bit 7 Under Voltage Set to 1 by the sequencer if the drive is in an under voltage state

Set to 1 by the sequencer to reverse the selected reference when a Reverse command is detected. See References & Ramps

Bits 0, 2 & 3 shown here can be set by any of the digital inputs using their function selector parameters such as T11 Digital Input 1 Function Select (P6.16) or by selecting an appropriate Run/Stop Configuration (P6.13).

Before the drive can run the motor, it must check that certain conditions are met. These are handled by the drive sequencer. The drive sequencer monitors all drive inputs and compares them to the drive's configuration, set by the user, to ensure the motor only runs when it should.

For example:

1. If a drive input is configured as a Hardware Enabled (1), the drive will not be able to run the motor, even if a Run Forward (2) signal is provided, until the enable signal is given on that input.

2. If Limit Switch Forward is active, only a Run Reverse signal would allow the motor to run.

3. If a drive input is configured as a Run Permit (4), the drive will not be able to run the motor while a Run Permit (4) signal is not provided.

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

Bit 0 Run Forward Set to 1 if a digital input has been configured as the Run Forward function (2) and is active.

Bit 1 Run Reverse Set to 1 if a digital input has been configured as the Run Reverse function (3) and is active.

Bit 2 Run Set to 1 if a digital input has been configured as the Run function (16) and is active.

Bit 3 Reverse Set to 1 if a digital input has been configured as the Reverse function (17) and is active.

Bit 4 Jog Forward Set to 1 if a digital input has been configured as the Jog Forward function (18) and is active.

Bit 5 Jog Reverse Set to 1 if a digital input has been configured as the Jog Reverse function (19) and is active.

Bit 6 Run Permit (Not Stop) Set to 1 if a digital input has been configured as the Run Permit (Not Stop) function (4) and is active.

P1.12 Run & Direction Indicators

A set of indicators that represent the sequencer run and direction inputs

(Display: 00000000)

8 Bit Volatile

Binary

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255

(Display: 11111111)

The Indicators that are shown here can be set by any of the digital inputs using their function selector parameters such as T11 Digital Input 1 Function Select (P6.16) or by selecting an appropriate Run / Stop Config in Run/Stop Configuration (P6.13) .

For example:

4. If a drive input is configured as a Hardware Enabled (1), the drive will not be able to run the motor, even if a Run Forward (2) signal is provided,

until the enable signal is given on that input.

5. If Limit Switch Forward is active, only a Run Reverse signal would allow the motor to run.

6. If a drive input is configured as a Run Permit (4), the drive will not be able to run the motor if a Run Permit (4) signal is not provided.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.13 Ramp Input

The selected reference fed into the Ramp System

−MAXIMUM FREQUENCY LIMIT (P2.02)

8 Bit Volatile

Standard

RO, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

MAXIMUM FREQUENCY LIMIT (P2.02)

1 ms

Displays the reference frequency after the skip band and frequency limits have been applied but before it is fed into the ramp system. See References & Ramps .

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.14 Ramp Output

The frequency output from the Ramp System

−MAXIMUM FREQUENCY LIMIT (P2.02

8 Bit Volatile

Standard

RO, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

MAXIMUM FREQUENCY LIMIT (P2.02)

Displays the reference frequency after the skip band and frequency limits have been applied but before it is fed into the ramp system. See References & Ramps .

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.15 T2 Analog Input 1 Percentage

The input level of analog input 1 as a percentage after it has been scaled

-100

16 Bit Volatile

Binary

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

100

Displays the input level of analog input 1 as a percentage after it has been scaled according to the terminal's scaling parameters. See T2 Analog Input 1 Minimum Input (P6.21).

Frequency Limit (P2.02).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.16 T4 Analog Input 2 Percentage

The input level of analog input 2 as a percentage after it has been scaled

-100.00

16 Bit Volatile

Standard

RO, FI, ND, NC

Maximum

Units

Update Rate

Decimal Places

100.00

Displays the input level of analog input 2 as a percentage after it has been scaled according to the terminal's scaling parameters. See T4 Analog Input 2 Minimum Input (P6.25).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.17 T15 Frequency Input Percentage

The input level of T15 Frequency Input as a percentage after it has been scaled

-100.00

16 Bit Volatile

Standard

RO, FI, ND, NC

Maximum

Units

Update Rate

Decimal Places

100.00

Displays the input level of T15 Frequency Input as a percentage after it has been scaled according to the frequency input's scaling parameters. See T15 Frequency Input Minimum Input (P6.29).

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.18 Up/Down Percentage

The value of the Up/Down reference as a percentage which can be increased or decreased by the keypad or drive control terminals

0.00

16 Bit Power Down Save

Standard

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

100.00

This can be configured to set the motor frequency by selecting it as one of the 4 references (P2.21 - P2.24). See Frequency Reference 1 Selector (P2.21). This value can then be used as a frequency reference, where 0% is the Minimum Frequency Limit (P2.01) and 100% is the Maximum Frequency Limit (P2.02). The value can be increased or decreased using the UP and DOWN keys on the keypad (when in Status View) or, if selected, by the drive control terminals.

See Up/Down Percent Configuration (P2.14) and Up/Down Percentage Time to Max (P2.15) for information on Up/Down control configuration.

This parameter is unidirectional with motor direction set by run forward / run reverse.

This feature is sometimes referred to as a Motorised Pot.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.19 PID Percentage

The percentage output for the PID controller including the Feed Forward

-100.00

16 Bit Volatile

Standard

RO, ND, NC

Maximum

Units

Update Rate

Decimal Places

100.00

This is derived from the output of the PID controller plus the Feed Forward term selected by PID Feed Forward Selector (P5.05).

The derivative term in the PID controller is fixed to 0.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.20 PID Status Indicators

A set of indicators that represent the status of the PID and Threshold Detector

0 (Display: 00000000)

8 Bit Volatile

Standard

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255 (D i spla y : 11111111)

If a source has been set at PID Enable Selector (P5.11) or Threshold Detector Selector (P5.12) they must be true to enable the PID controller. If an

input has been routed to PID Hardware Enable (13) this must also be true to enable the PID controller.

Bit 0 PID Enabled Indicates that the PID is enabled and active

Bit 1 PID limit applied

Bit 2

Threshold Detector Output

Indicates that the PID output is being limited by PID Output Lower Limit (P5.09) or PID Output Upper Limit (P5.10), or a limit following the addition of the Feed Forward is being applied

Indicates that the Threshold Detector output is active

Commander S100 User Guide 23

Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.21 PID Error

The error the PID controller is operating on

-100.00

16 Bit Volatile

Standard

RO, ND, NC

Maximum

Units

Update Rate

Decimal Places

100.00

The PID Error is the difference between the PID reference and PID feedback which are selected by PID Reference Selector (P5.03) and PID Feedback Selector (P5.04).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.22 Motor Thermal Percentage

The percentage of the maximum allowed temperature for the motor

8 Bit Power Down Save

Standard

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

100

The drive estimates the percentage of the motor maximum temperature from the output current and uses this to limit the overload period to protect the motor. This function allows a longer overload period when the motor is cool and reduces the allowable overload period as the motor heats.

The overload period depends on the percentage overload current and motor starting temperature.

The action taken by the drive can be set in Thermal Protection Action (P3.21). If Thermal Protection Action (P3.21) is set to Limit, the output current will be limited if this parameter > 90%. If Thermal Protection Action (P3.21) is set to Error, the error will occur when this parameter = 100%.

An alarm is indicated if this percentage is >95% and cleared when <75% (Alarm Indicators (P1.09)).

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.23 Drive Thermal Percentage

The percentage of the maximum allowed temperature in the drive

8 Bit Volatile

Standard

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

100

The drive measures its internal temperature which changes depending on the output current. This is displayed as a percentage of the maximum allowed drive temperature.

An alarm is indicated if this percentage is >95% and cleared when <75% (Alarm Indicators (P1.09)).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.24 DC Bus Voltage

The voltage on the DC Bus of the drive

16 Bit Volatile

Standard

RO, FI, VM, ND, NC

Maximum

Units

Update Rate

Decimal Places

Maximum D.C. Link Voltage (110 V, 200 V Drives = 415 V, 400 V Drives = 830 V)

Displays the voltage on the DC Bus of the drive. This is the Supply Voltage x √2. This voltage must exceed the under-voltage (UV) level for the drive to run. 100 V and 200 V drives (UV) = 175 V 400 V UV = 330 V

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

Bit 0 T11 Digital IO 1 Set to 1 if the input or output is active

Bit 1 T12 Digital Input 2 Set to 1 if the input is active

Bit 2 T13 Digital Input 3 Set to 1 if the input is active

Bit 3 T14 Digital Input 4 Set to 1 if the input is active

Bit 4 T15 Digital Input 5 Set to 1 if the input is active when a digital input, otherwise 0

Bit 5 T2 Analog Input 1 Set to 1 if the input is active

P1.25 Digital IO Indicators

A set of indicators that represent the status of the digital I/O

(Display: 00000000)

8 Bit Volatile

Binary

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255

(D i spla y : 11111111)

Bit 6 T4 Analog Input 2 Set to 1 if the input is active

Bit 7 T41 Relay Set to 1 if the relay is active

Commander S100 User Guide 25

Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.26 Parameter 1 Saved Value on Error

The value of a designated parameter when the latest error occurred

-32768

16 Bit Power Down Save

Standard

RO, ND, NC

Maximum

Units

Update Rate

Decimal Places

32767

Write on Error

If an error occurs the drive will save the value of the parameter selected by Parameter 1 Save on Error Selector (P4.09). There are two other saved parameters that behave in the same way, Parameter 2 Saved Value on Error (P1.27) & Parameter 3 Saved Value on Error (P1.28) . All of these parameters are saved at the point when an Error (P1.29) occurs.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.27 Parameter 2 Saved Value on Error

The value of a designated parameter when the latest error occurred

-32768

16 Bit Power Down Save

Standard

RO, ND, NC

Maximum

Units

Update Rate

Decimal Places

32767

Write on Error

See Parameter 1 Saved Value on Error (P1.26).

Parameter

Short description

Minimum

P1.28 Parameter 3 Saved Value on Error

The value of a designated parameter when the latest error occurred

-32768

Maximum

32767

Default

Typ e

Display Format

Coding

16 Bit Power Down Save

Standard

RO, ND, NC

Units

Update Rate

Decimal Places

Write on Error

See Parameter 1 Saved Value on Error (P1.26).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.29 Error

The active or last error to have occurred

8 Bit Power Down Save

Standard

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255

Write on Error

Displays the active error, or if there is no error currently active this is the last error to have occurred.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.30 Error History 1

The previous error to P1.29

8 Bit Power Down Save

Standard

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

255

Write on Error

Displays the second from last error to have occurred.

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.31 Error History 2

The previous error to P1.30

8 Bit Power Down Save

Standard

RO, ND, NC, BU

Displays the third from last error to have occurred.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.32 Error History 3

The previous error to P1.31

8 Bit Power Down Save

Standard

RO, ND, NC, BU

Displays the fourth from last error to have occurred.

Maximum

Units

Update Rate

Decimal Places

Maximum

Units

Update Rate

Decimal Places

255

Write on Error

255

Write on Error

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P1.33 Drive Diagnostic

Provides an indication of why the drive is not running

8 Bit Volatile

Standard

RO, ND, NC, BU

Maximum

Units

Update Rate

Decimal Places

Write on Error

This parameter is a diagnostic parameter that helps identify what needs to happen in order for the drive to run.

Value Name Description

0 Running Drive is running i.e. No Diagnostic information

1 Inhibited Drive is not enabled. See IO Configuration (Menu 6) and Drive Enable (P4.17).

2 Ready Drive is enabled but has not received a Run command. See IO Configuration (Menu 6).

3 Locked Inhibit

4 Ref 1 Setup Ref 1 has been selected but is set to 0 Hz. See Frequency Reference 1 Selector (P2.21)

5 Ref 2 Setup Ref 2 has been selected but is set to 0 Hz. See Frequency Reference 1 Selector (P2.21)

Drive has stopped and is waiting for the run command to be removed before it can be made to run again (such as after an Auto-tune has finished)

6 Ref 3 Setup Ref 3 has been selected but is set to 0 Hz. See Frequency Reference 1 Selector (P2.21)

7 Ref 4 Setup Ref 4 has been selected but is set to 0 Hz. See Frequency Reference 1 Selector (P2.21)

8 Up/Down Ref The Up/Down Reference has been selected, but not configured. See Up/Down Percent Configuration (P2.14)

9 Freq Ref The Frequency Reference has been selected, but has not been configured See T15 Digital Input 5 Type (P6.05)

10 PID Enable

11 PID Ref PID Percent has been selected, but the PID Reference has not been configured See PID Reference Selector (P5.03)

12 PID Fbk PID Percent has been selected, but the PID Feedback has not been configured See PID Feedback Selector (P5.04)

14 PID Freq Ref

15 PID Freq Fbk

PID Up/Down Ref

PID Percent has been selected, but the PID has not been enabled. See PID Controller (Menu 5).

PID Percent has been selected and the PID Reference is set to Up/Down, but the Up/Down Reference has not been configured. See Up/Down Percent Configuration (P2.14)

PID Percent has been selected and the PID Reference is set to Frequency input, but the Frequency input has not been configured. See T15 Digital Input 5 Type (P6.05)

PID Percent has been selected and the PID feedback is set to Frequency input, but the Frequency input has not been configured. See T15 Digital Input 5 Type (P6.05)

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3.10.2 Menu 2 - Reference & Ramps

This menu groups together parameters used to define the reference input to the drive (the speed demand) and the ramp system (how the drive accelerates and decelerates to the chosen reference). Multiple references can be configured so that the drive can be switched from one reference input to another using a digital input or communications.

Associated Parameters

• Ramp Input (P1.13)

• Ramp Output (P1.14)

• T2 Analog Input 1 Percentage (P1.15)

• T4 Analog Input 2 Percentage (P1.16)

• T15 Frequency Input Percentage (P1.17)

• Up/Down Percentage (P1.18)

• PID Percentage (P1.19)

• Enable/Run Configuration (P6.13)

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.01 Minimum Frequency Limit

Defines the minimum frequency the drive can be commanded to run at

0.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

300.0

Background read

This parameter is the minimum limit applied to the selected reference. If the value set is higher than the Maximum Frequency Limit (P2.02) the reference will be limited to the maximum. This is a symmetrical limit for both directions of rotation.

This is used for scaling the range of percentage inputs.

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Safety information Electrical installation Drive Parameters

NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.02 Maximum Frequency Limit

Defines the maximum frequency the drive can be commanded to run at

0.0

See exceptions below

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

300.0

Background read

Region Default Value

50Hz 50.0

60Hz 60.0

This parameter is applied to the selected reference. If the Minimum Frequency Limit (P2.01) is higher than this parameter the reference will be limited to the maximum. This is a symmetrical limit for both directions of rotation.

This is used for scaling the range of percentage inputs.

Output Frequency (P1.01) can be higher than the limit due to motor slip compensation

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.03 Frequency Reference Configuration

Common configurations for speed references used by the drive

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

Value Text Description

0 Custom The reference system can be entirely customised

1 Local/Remote

2 Voltage/Preset Input

3 Current/Preset Input

4Presets

5 Keypad The keypad keys are used to control the frequency Up/Down percentage (P1.18)

6 Terminal Up/Down Digital input 5 and digital input 1 are used to control the Up/Down percentage (P1.18)

7 Frequency Input A frequency input on digital input 5

8 PID Voltage Ref.

9 PID + Feed Forward

A current input on Analog input 1 and a voltage input on Analog input 2. Digital input 5 is used to select between them.

A voltage input on Analog input 1. Digital input 5 and digital input 1 are used as binary selectors to choose between it and three preset frequency references

A current input on Analog input 1. Digital input 5 and digital input 1 are used as binary selectors to choose between it and three preset frequency references

Digital input 5 and digital input 1 are used as the binary selectors to choose between the four preset frequency references

A Voltage input on Analog input 1 as the reference, and a current input on Analog input 2 as the feedback. The PID output is used as the drive reference

A Voltage input on Analog input 1 as the Feed Forward, and a current input on Analog input 2 as the feedback, the reference is fixed. The PID output is used as the drive reference

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The table above shows the options to quickly set up the reference system for a specific application. The assignments are made on exit of the

parameter (Press settings key or Back in Marshal). The table below indicates the parameters that are set up and the values written.

Value P2.14 P2.20 P2.21 P2.22 P2.23 P2.24 P5.03 P5.04 P5.05 P5.11 P6.01 P6.02 P6.04 P6.05 P6.16 P6.20

0 N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A

1 N/A 0 6 7 N/A N/A N/A N/A N/A N/A 2 0 N/A 0 N/A 10

2 N/A 0 6 2 3 4 N/A N/A N/A N/A 0 N/A 0 0 11 10

3 N/A 0 6 2 3 4 N/A N/A N/A N/A 2 N/A 0 0 11 10

4 N/A 0 1 2 3 4 N/A N/A N/A N/A N/A N/A 0 0 11 10

5 3 1 5 N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A

6 015N/AN/AN/AN/AN/AN/AN/AN/AN/A0087

7 N/A 1 8 N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A 1 N/A N/A

8 N/A19N/AN/AN/A120105N/AN/AN/AN/A

9 N/A19N/AN/AN/A521105N/AN/AN/AN/A

N/A - No value written

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.04 Stopping Mode Selector

Defines how the motor is controlled when the run signal is removed from the drive

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

400 ms

Value Text Description

0 Coast Remove power from the motor and allow to spin under control of the load

1Ramp

2 Ramp & Brake

3 DC Brake, 0Hz detect

4 Timed DC Brake

Motor slows down to 0 Hz under control of the drive. The drive waits for 1 second before it can be restarted

Ramp stop and then DC injection at a level defined by DC Braking Current Level (P3.13) for a time defined by DC Braking Time (P3.14). Can prevent motor from moving after the deceleration

Low frequency current injection with detection of low speed and then DC injection at a level defined by DC Braking Current Level (P3.13) for a time defined by DC Braking Time (P3.14)

DC injected at a level defined by DC Braking Current Level (P3.13) for a time defined by DC Braking Time (P3.14)

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Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.05 S-Ramp Percentage

Defines the profile of the S ramp system as a percentage

0.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

51.0

400 ms

As default this parameter is set to 0 which means that the S-Ramp profile is not active. To enable an S-Ramp profile a percentage must be set.

The parameter specifies the percentage of the ramp to maximum frequency that includes the S ramp profile. The maximum frequency is defined by Maximum Frequency Limit (P2.02).

It should be noted that as this parameter is increased, the time to ramp to maximum frequency does not change, instead the maximum acceleration rate in the centre of the profile increases which causes a steeper linear portion at the centre of the profile.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.06 Acceleration Rate 1

Defines the acceleration time from 0 Hz to the maximum frequency limit

0.0

5.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

6000.0

400 ms

Specified in seconds from 0 Hz to Maximum Frequency Limit (P2.02) for a linear ramp. An acceleration rate applies when the frequency is changing away from 0 Hz.

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.07 Deceleration Rate 1

Defines the deceleration time from the maximum frequency limit to 0 Hz

0.0

10.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

6000.0

400 ms

Specified in seconds from Maximum Frequency Limit (P2.02) to 0 Hz for a linear ramp. A deceleration rate applies when the frequency is changing towards 0 Hz.

The drive may increase the ramp time due to the DC bus voltage controller, see Deceleration Ramp Type (P2.11)

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.08 Acceleration Rate 2

Defines the acceleration time from 0 Hz to the maximum frequency limit

0.0

5.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

6000.0

400 ms

Specified in seconds from 0 Hz to Maximum Frequency Limit (P2.02) for a linear ramp. An acceleration rate applies when the frequency is changing away from 0 Hz.

To select between Acceleration Rate 1 (P2.06) and Acceleration Rate 2 (P2.08) use Ramp Rate Selector (P2.10).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.09 Deceleration Rate 2

Defines the deceleration time from the maximum frequency limit to 0 Hz

0.0

10.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

6000.0

400 ms

Specified in seconds from Maximum Frequency Limit (P2.02) to 0 Hz for a linear ramp. A deceleration rate applies when the frequency is changing towards 0 Hz.

The drive may increase the ramp time due to the DC bus voltage controller, see Deceleration Ramp Type (P2.11) .

To select between Deceleration Rate 1 (P2.07) and Deceleration Rate 2 (P2.09) use Ramp Rate Selector (P2.10).

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.10 Ramp Rate Selector

Selects between ramp rate 1 or 2

8 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

Used to define the selection of the required ramp rates.

Value Description

The Digital Input Function Ramp Select (12) is used to select between acceleration / deceleration rates 1 and 2 ( see IO Configuration (06) ).

1 Acceleration Rate 1 (P2.06) and Deceleration Rate 1 (P2.07) are used by the ramp system

2 Acceleration Rate 2 (P2.08) and Deceleration Rate 2 (P2.09) are used by the ramp system

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

This function can be selected for any of the digital inputs. If the Digital Input Function has not been configured, Acceleration Rate 1 (P2.06) and Deceleration Rate 1 (P2.07) are used by the ramp system

P2.11 Deceleration Ramp Type

Defines the type of deceleration required when stopping

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

400 ms

Value Text Description

0 Fast Based on the deceleration rate selected

1 Standard Ramp Deceleration is controlled to prevent a DC Bus over voltage

2 Standard Ramp + Motor Deceleration is controlled to prevent a DC Bus over voltage, with increased losses in the motor

Defines the ramp type used for decelerating, three types are available. Fast ramp decelerates at the selected deceleration rate, and if the energy returned from the motor is too great the drive will generate an Over Voltage error due to the DC Bus voltage rising above its permitted level.

In Standard Ramp modes the drive limits the deceleration rate to maintain the DC Bus voltage at the value set in Standard Ramp Voltage (P2.12).

The Standard Ramp Plus Motor also increases the voltage applied to the motor by 20% above the normal level to increase the losses in the motor and thus reduce the deceleration time that can be achieved. Note that with applications requiring a lot of deceleration cycles this could overheat the motor.

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Safety information Electrical installation Drive Parameters

NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.12 Standard Ramp Voltage

DC bus voltage controller will attempt to hold this voltage during deceleration

See exceptions below

16 Bit User Save

Standard

RW, VM, RA, BU

Maximum

Units

Update Rate

Decimal Places

Maximum D.C. Link Voltage

(110 V, 200 V Drives = 415 V, 400 V Drives = 830 V) V

400 ms

Voltage Region Default Value

400V 50Hz 375

400V All 750

400V 60Hz 775

During deceleration power is fed into the DC bus of the drive which causes the voltage to rise. When the voltage reaches the level defined by this parameter the DC bus voltage controller becomes active and limits the deceleration rate to maintain this voltage until the energy returning no longer causes the DC Bus voltage to rise, see Deceleration Ramp Type (P2.11) . Increasing Current Controller Gain (P3.23) improves the controller action, but this parameter may also need to be reduced to prevent over voltage errors when decelerating high inertia loads.

This parameter should not be set lower than the maximum expected peak mains voltage of the incoming supply.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.13 Jog Frequency

Frequency when jog is enabled

-MAXIMUM FREQUENCY LIMIT (P2.02)

1.5

16 Bit User Save

Standard

RW, VM

Maximum

Units

Update Rate

Decimal Places

MAXIMUM FREQUENCY LIMIT (P2.02)

20 ms

Defines the frequency when jog is active, the currently selected acceleration and deceleration rates are used.

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NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

Value Text Description

0 Reset Up/Down Percentage set to 0 at power up

1 Last Up/Down Percentage saved and restored at power up

2 Preset 1 Up/Down Percentage set to Preset Reference 1 (P2.16) at power up

3 Keypad and Reset Keypad Up/Down control enabled and Up/Down Percentage set to 0 at power up

4 Keypad and Last Keypad Up/Down control enabled and Up/Down Percentage saved and restored at power up

5 Keypad and Preset 1

P2.14 Up/Down Percent Configuration

Defines the behaviour of the Up/Down Percentage at power-up

8 Bit User Save

Standard

RW, TE, BU

Keypad Up/Down control enabled and Up/Down Percentage set to Preset Reference 1 (P2.16) at power up

Maximum

Units

Update Rate

Decimal Places

The first three values are used to define the Up/Down Percentage value at power up only, and the last 3 values define the UP/Down Percentage value at power up and enable Keypad speed control. If Preset Frequency 1 (P2.16) is selected as the power up reference, the value set in Up/Down

Percentage (P1.18) at power up is Preset Frequency 1 (P2.16) / Maximum Frequency Limit (P2.02).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.15 Up/Down Percentage Time to Max

Defines the rate at which the Up/Down reference changes

8 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

250

The rate of change of Up/Down Percentage (P1.18) is defined by Up/Down Percentage Time to Max (P2.15) which gives the number of seconds to change from 0 % to 100%.

If the keypad reference mode is active, then this rate is applied when holding the Up or Down while selecting the reference. Single presses of Up or

Down will change the value by 0.1%.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.16 Preset Frequency 1

Defines the frequency for preset reference 1

-MAXIMUM FREQUENCY LIMIT (P2.02

5.0

16 Bit User Save

Standard

RW, VM

Maximum

Units

Update Rate

Decimal Places

MAXIMUM FREQUENCY LIMIT (P2.02)

20 ms

A frequency that can be used as a fixed reference by the reference select system.

To use a preset speed as a drive frequency reference, it should be selected in a Frequency Reference Selector parameter (P2.21 to P2.24).

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Safety information Electrical installation Drive Parameters

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.17 Preset Frequency 2

Defines the frequency for preset reference 2

-MAXIMUM FREQUENCY LIMIT (P2.02)

10.0

16 Bit User Save

Standard

RW, VM

Maximum

Units

Update Rate

Decimal Places

A frequency that can be used as a fixed reference by the reference select system.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.18 Preset Frequency 3

Defines the frequency for preset reference 3

-MAXIMUM FREQUENCY LIMIT (P2.02)

25.0

16 Bit User Save

Standard

RW, VM

Maximum

Units

Update Rate

Decimal Places

A frequency that can be used as a fixed reference by the reference select system.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.19 Preset Frequency 4

Defines the frequency for preset reference 4

-MAXIMUM FREQUENCY LIMIT (P2.02)

50.0

16 Bit User Save

Standard

RW, VM

Maximum

Units

Update Rate

Decimal Places

MAXIMUM FREQUENCY LIMIT (P2.02)

20 ms

MAXIMUM FREQUENCY LIMIT (P2.02)

20 ms

MAXIMUM FREQUENCY LIMIT (P2.02)

20 ms

A frequency that can be used as a fixed reference by the reference select system.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.20 Frequency Reference 1 to 4 Selector

Defines which reference is used by the reference system

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

20 ms

Value Text Description

0 Binary Digital input functions can be configured to select reference 1, 2, 3 or 4 using Digital inputs

1 Freq. Reference 1 The reference selected by Reference 1 Select (2.21) will be used

2 Freq. Reference 2 The reference selected by Reference 2 Select (2.22) will be used

3 Freq. Reference 3 The reference selected by Reference 3 Select (2.23) will be used

4 Freq. Reference 4 The reference selected by Reference 4 Select (2.24) will be used

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NOTE

One of the 4 frequency references to be used by the reference system is selected by this parameter. If this parameter is set to 0, any digital input can

be configured to select a reference by setting their input function to Reference Selector 0 or Reference Selector 1, as per the following table:

Reference Selector Bit 1 Reference Selector Bit 0

0 0 Reference 1

0 1 Reference 2

1 0 Reference 3

1 1 Reference 4

Reference selected

If no digital inputs are configured as a reference selector bit, the reference selector values are 0 and therefore Reference 1 will be used.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.21 Frequency Reference 1 Selector

Defines which Frequency reference or Percentage reference is selected as reference 1

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

20 ms

Value Text Description

0 None A fixed reference of 0Hz

1 Preset 1 The frequency reference is defined by Preset Frequency 1 (P2.16)

2 Preset 2 The frequency reference is defined by Preset Frequency 2 (P2.17)

3 Preset 3 The frequency reference is defined by Preset Frequency 3 (P2.18)

4 Preset 4 The frequency reference is defined by Preset Frequency 4 (P2.19)

5 Up/Down Percent The frequency reference is derived from the Up/Down Percentage (P1.18)

6 Analog 1 Percent The frequency reference is derived from Analog Percentage 1 (P1.15)

7 Analog 2 Percent The frequency reference is derived from Analog Percentage 2 (P1.16)

8 Frequency Input % The frequency reference is derived from the frequency input Percentage (P1.17)

9 PID Percent The frequency reference is derived from the PID output Percentage (P1.19)

For inputs 0 - 4, the frequency references are transferred directly into the reference system. For inputs 5 - 9, the percentages selected are converted to Hz using parameters Minimum Frequency Limit (P2.01) and Maximum Frequency Limit (P2.02).

If Frequency Reference 1 Selector (P2.21) is set to 0 Hz, the drive will run at the minimum frequency limit. The value of this parameter can be set by Frequency Reference Configuration (P2.03). This parameter cannot have the same setting as another frequency reference selector parameter.

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NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.22 Frequency Reference 2 Selector

Defines which Frequency reference or Percentage reference is selected as reference 2

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

See Frequency Reference 1 Selector (P2.21).

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.23 Frequency Reference 3 Selector

Defines which Frequency reference or Percentage reference is selected as reference 3

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

See Frequency Reference 1 Selector (P2.21).

20 ms

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.24 Frequency Reference 4 Selector

Defines which Frequency reference or Percentage reference is selected as reference 4

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

See Frequency Reference 1 Selector (P2.21).

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

20 ms

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Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P2.25 Skip Frequency

Defines the reference frequency to skip

0.0

16 Bit User Save

Standard

RW, VM, BU

Maximum

Units

Update Rate

Decimal Places

MAXIMUM FREQUENCY LIMIT (P2.02)

20 ms

By default, this parameter is set to 0 which means that the skip frequency function is not active. To enable the skip frequency function a value must be specified in this parameter.

The skip reference function is available to prevent continuous operation within a specified frequency range (i.e. where mechanical resonance may occur). Skip Frequency Band (P2.26) defines the range either side of the value set here over which references are rejected in either direction. The actual rejection band is therefore twice that defined by Skip Frequency Band (P2.26) with this parameter at the centre of the band. When the selected reference is within the rejection band the lower limit of the band is passed through the filter so that reference is always less in magnitude than demanded.

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3.10.3 Menu 3 - Motor Setup

This menu contains parameters relating to motor setup and control.

Associated Parameters

• Output Frequency (P1.01)

• Output Voltage (P1.02)

• Output Power (P1.03)

• Motor RPM (P1.04)

• Output Current (P1.06)

• Torque Producing Current (P1.07)

• Percentage Load (P1.08)

• Motor Thermal Percentage (P1.22)

• Motor Thermal Percentage (P1.23)

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NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.01 Motor Rated Current

Set to the rated current of the motor from the motor nameplate

0.00

6.80

16 Bit User Save

Standard

RW, VM, RA, BU

Maximum

Units

Update Rate

Decimal Places

Drive Rated Current

400 ms

Motor Rated Current must be set to the maximum continuous current of the motor (taken from the motor name plate). It is used as follows:

1. In the motor control algorithms

2. To define the range of the current limits - the current limits can be set higher than default if the motor rated current is less than the drive rating.

See Motor Output Current Limit (P3.17) )

3. In determining Percentage Load (P1.08)

4. To define the rated operating conditions for motor thermal protection. See Motor Thermal Percentage (P1.22)

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.02 Motor Rated Speed

Set to the rated current of the motor from the motor nameplate

See exceptions below

16 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

18000

rpm

400 ms

Region Default Value

50Hz 1500

60Hz 1800

Motor rated Speed is used together with Motor Rated Frequency (P3.15) to calculate the slip of the machine and Number Of Motor Poles (P3.16).

Rated Slip (Hz) = Motor Rated Frequency (P3.15) - ( Pole Pairs x Motor Rated Speed (P3.02) / 60) Pole Pairs = Motor Poles / 2 either calculated automatically, or read from Number Of Motor Poles (P3.16)

Slip compensation adjusts the output frequency to compensate for the change in slip with the load in the motor.

Slip Compensation (Hz) = Rated Slip x Torque Producing Current (P1.07) / I

Trated

= Torque Rated Current. See Motor Output Current Limit (P3.17)

Slip compensation is disabled by setting Motor Rated Speed (P3.02)

Trated

≥ 0

If spinning start is required (i.e. Catch An Already Spinning Motor (P3.11) 1) then Motor Rated Speed should be set correctly for the motor.

If motor rated Speed is set to 0, Number Of Motor Poles (P3.16) must be set up Manually for Motor RPM (P1.04) to indicate the correct speed.

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Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.03 Motor Rated Voltage

Set to the rated current of the motor

See exceptions below

16 Bit User Save

Standard

RW, VM, RA, BU

Maximum

Units

Update Rate

Decimal Places

Drive Rated Voltage

400 ms

Voltage Region Default Value

400 V 50 Hz 230

400 V All 400

400 V 60 Hz 460

Motor Rated Voltage must be set to the voltage rating of the motor (taken from the motor name plate).

Motor Rated Voltage and Motor Rated Frequency (P3.15) define the frequency to voltage characteristic applied to the motor. See Motor Control Mode

(P3.05) for more details.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.04 Motor Rated Power Factor

Set to the rated power factor of the motor (cosΦ)

0.00

0.80

8 Bit User Save

Standard

RW, RA, BU

Maximum

Units

Update Rate

Decimal Places

1.00

400 ms

Motor Rated Power Factor is the rated power factor of the machine, cos φ (taken from the motor name plate). Motor Rated Power Factor is used

to calculate the rated torque producing current, I

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.05 Motor Control Mode

Defines the mode used to set the output voltage

8 Bit User Save

Standard

RW, TE, BU

. See Motor Output Current Limit (P3.17).

Trated

Maximum

Units

Update Rate

Decimal Places

400 ms

Value Text Description

0 Resistance Comp A linear frequency to voltage characteristic with vector based stator resistance compensation

1 Linear V to F A fixed linear frequency to voltage characteristic

2 Square V to F A fixed square frequency to voltage characteristic

This parameter defines the voltage characteristic applied to the motor. Three control modes are available, Resistance Compensation (0), linear V to F with boost (1), and Square V to F with boost (2). The default mode of linear V to F is suitable for most applications. For fan and pump applications the Square V to F mode can be selected which matches the characteristic of the load. For applications that require good torque performance the Resistance Compensation mode should be used. For this mode of operation an auto-tune should be carried out to measure the stator resistance of the motor, or the resistance should be set up Manually. An auto-tune can be carried out with Perform Auto-tune (P3.09).

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For Linear V to F, the V-F characteristic can be adjusted at two points, 0Hz where the starting boost voltage is set in Motor Starting Boost (P3.06), and Motor Starting Boost End Frequency (P3.08), Motor Starting Boost End Voltage (P3.07) which is the frequency and voltage point at which the boost level is tapered too.

From the second adjustable point the voltage rises linearly towards the Motor Rated Voltage (P3.03) at Motor Rated Frequency (P3.15). Above Motor Rated Frequency (P3.15) the voltage on the motor is constant and the field strength in the motor reduces as the frequency is increased.

For Square V to F, only the starting boost is adjustable and the voltage output follows a square law from this point until the voltage reaches Motor Rated Voltage (P3.03) at Motor Rated Frequency (P3.15). At frequencies above this the motor voltage is constant.

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NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.06 Motor Starting Boost

Defines the level of voltage boost at 0 Hz when using Linear V to F

0.0

5.0

8 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

25.0

400 ms

Defines the level of voltage boost at 0Hz as a percentage of the Motor Rated Voltage (P3.03) when Motor Control Mode (P3.05) is set to Linear V to F (1) or Square V to F (2). It can be used to increase low frequency torque performance, but if set too high will cause excessive motor current which would result in a Motor Overload error.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.07 Motor Starting Boost End Voltage

Defines the boost end voltage as a percentage of the motor rated voltage

0.0

50.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

100.0

400 ms

Defines the level of voltage as a percentage of the Motor Rated Voltage (P3.03) at the Motor Starting Boost End Frequency (P3.08) when Motor

Control Mode (P3.05) is in Linear mode (1). See Motor Control Mode (P3.05).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.08 Motor Starting Boost End Frequency

Defines the boost end frequency as a percentage of the motor rated frequency

0.0

50.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

100.0

400 ms

Defines the frequency as a percentage of the Motor Rated Frequency (P3.15) at which Motor Starting Boost (P3.06) has been faded out when Motor

Control Mode (P3.05) is in Linear (1) mode. See Motor Control Mode (P3.05).

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.09 Perform Auto-tune

Auto-tune test to obtain some of the motor characteristics

1 Bit Volatile

Standard

Maximum

Units

Update Rate

Decimal Places

400 ms

A stationary test to measure Stator Resistance (P3.18). This is only used if P3.05 = Resistance Compensation (0). Or if Catch an Already Spinning Motor (P3.11)

≥ 1.

To perform an auto-tune: Set this parameter to 1 and run the drive

When the auto-tune sequence is completed successfully the drive is stopped. This parameter is set to 0.

The drive can be restarted by removing the run commands and activating them again.

An auto-tune test cannot be initiated if the drive is in error or the drive inverter is active, i.e. Drive Healthy = 0 or Drive Active = 1 in Drive State (P1.05).

The auto-tune test relies on the motor being stationary when it is initiated to give accurate results. The motor should also remain stationary during the test.

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Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.10 Energy Optimiser

Enables low energy mode

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

Energy efficient motor control (sometimes referred to as Dynamic V to F) is intended for applications where power loss should be kept to a minimum under low load conditions, but dynamic (rapid acceleration) performance is not important. The reduction in power loss under low load conditions is achieved by increasing the rated frequency (internal to the drive) used to derive the frequency to voltage characteristic. When the function is enabled, the rated frequency used to derive the output voltage is given by:

Motor Rated Frequency (P3.15) x (2 - |Percentage Load (P1.08)| / 70.0%) ,see diagram below.

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Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.11 Catch an Already Spinning Motor

Defines the behaviour of the drive when the drive is enabled whilst the motor is rotating

8 Bit User Save

Standard

RW, TE, BU

Maximum

Units

Update Rate

Decimal Places

400 ms

Value Text Description

0 Disabled No attempt to detect the motor speed

1 Enabled Detects the motor speed before starting

2 Forwards Only Detects forward motor speed only, starts at 0Hz if motor rotating backwards

3 Reverse Only Detects reverse motor speed only, starts at 0Hz if motor rotating forwards

If it is possible that the motor is spinning when the run command is given then this parameter should be set for the required action. If this parameter is > 0, a test is carried out to measure the frequency that the motor is running at when the drive enters the run state. The measured frequency is used to preset Ramp Output (P1.14) and give a smooth start at the motor speed detected. For the test to be successful it is important that the motor

parameters, especially Stator Resistance (P3.18) and Motor Rated Speed (P3.02), are set up correctly.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.12 PWM Switching Frequency

Increases the maximum frequency the drive is allowed to switch the inverter at to 12 kHz

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

400 ms

This parameter defines the required switching frequency.

Value Name Description

0 Off The switching frequency used by the inverter will be 4 kHz (default)

1 On The maximum switching frequency used by the inverter will be 12 kHz

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.13 DC Braking Current Level

Defines the level of current used for injection braking

0.0

100.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

150.0

400 ms

Defines the level of current used for injection braking as a percentage of Motor Rated Current (P3.01). Excessive current can cause the motor to overheat.

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Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.14 DC Braking Time

Defines the time during which DC current is injected into the motor during timed injection stopping modes

0.0

1.0

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

100.0

400 ms

Defines the time during which DC current is injected into the motor during timed injection stopping modes. See Stopping Mode Selector (P2.04).

Excessive time when the motor speed is low can cause the motor to overheat due to reduced motor self-ventilation.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.15 Motor Rated Frequency

Set to the rated frequency of the motor

0.0

See exception below

16 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

300.0

400 ms

Region Default Value

50Hz 50.0

60Hz 60.0

Motor Rated Frequency must be set to the rated frequency of the motor (taken from the motor name plate). The Motor rated frequency is used with Motor Rated Voltage (P3.03) to define the end point of the voltage characteristic. See Motor Control Mode (P3.05). It is also used together with Motor Rated Speed (P3.02) to calculate the No. of motor poles if Number Of Motor Poles (P3.16) is set to 0 = Automatic which is the default

setting.

Parameter

Short description

Minimum

Default

Typ e

Display Format

Coding

P3.16 Number of Motor Poles

Defaulted to calculate automatically, but if required set from motor manufactures datasheet

8 Bit User Save

Standard

RW, BU

Maximum

Units

Update Rate

Decimal Places

If Number of Motor Poles = 0 (default), the number of motor poles are calculated automatically as shown below:

Number of Poles = 2 x 60 x Motor Rated Frequency (P3.15) / Motor Rated Speed (P3.02) rounded down to the nearest integer. If Number of Motor Poles > 0, the value is taken as the number of poles. If an odd number is entered, then the even number one less than the odd

value entered is used as the number of Poles.

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, VM, RA, BU  

Defines the maximum torque producing current that can be supplied to the motor. It is a symmetrical limit which means that it is applied when the motor is motoring or regenerating.

The maximum setting for this parameter is defined by the setting of Motor Rated Current (P3.01) and Motor Rated Power Factor (P3.04). The maximum setting can be calculated from the diagram as below:

P3.17 Motor Output Current Limit

Defines the maximum torque producing current the drive will deliver to the motor

0.0

171.0

16 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

Motor Current Variable

400 ms

The default value (165%) is the maximum setting when the Motor Rated Current (P3.01) is equal to the Drive Rated Current, and the Motor Rated Power Factor (P3.04) is 0.85.

If the Motor Rated Current (P3.01) is lower than the Drive Rated Current, or if Motor Rated Power Factor (P3.04) is lower than

0.85; then Motor Output Current Limit (P3.17) could be increased to provide more torque producing current. This increase is an overload, and as

such the drive will only allow increased current for a short duration to prevent the motor overheating.

If the maximum motor torque should be limited in an application, this parameter should be reduced accordingly. This value is populated when Perform Auto-tune (P3.09) has been performed and can also be adjusted manually.

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NOTE

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW  

P3.18 Stator Resistance

Defines the resistance of the motor stator

0.00

2.00

16 Bit User Save

Standard

Maximum Units Ω

Update Rate

Decimal Places

199.99

400 ms

This parameter stores the stator resistance of the motor and is used when Motor Control Mode (P3.05) is set to resistance compensation, and also when Catch An Already Spinning Motor (P3.11) is enabled. This value is populated when Perform Auto-tune (P3.09) has been performed and can also be adjusted Manually.

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW  

P3.19 Motor Stability Optimiser

This can reduce vibration/oscillation under some load conditions.

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

400 ms

When this parameter is enabled it alters the motor control algorithm to help reduce stability problems. The disadvantages of setting this parameter are increased acoustic noise from the motor and a reduction in the thermal capability of the drive at low output frequencies.

This is typically required when lightly loaded motors exhibit stability issues below half rated speed, or when fully loaded motors exhibit instability at

maximum output voltage.

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW  

P3.20 Reverse Motor Direction

Makes the motor run in the opposite direction

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

400 ms

If the motor direction does not match the required forward and reverse control commands, this parameter will change the motor direction without the need to swap output cables. Changes to this parameter will only take effect when the drive is not running.

This reverses the output phase sequence for the selected forward and reverse directions which is non-standard.

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, TE, BU  

P3.21 Thermal Protection Action

Set to the required thermal protection operation

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

400 ms

Value Text Description

0 Disabled No motor thermal protection but drive thermal protection is still active

1 Error with Save Drive generates an Error when Limit reached. Motor and Drive thermal protection percentages are stored at power down

2 Error Drive generates an Error when Limit reached. Motor and Drive thermal protection percentages start at 0% at power up

3Limit with Save

4Limit

Current is limited if drive or motor thermal percentage approaches 100%. Motor and Drive percentages are stored at power down (default)

Current is limited if drive or motor thermal percentage approaches 100%. Motor and Drive percentages start at 0% at power up

If the drive or motor is getting too hot the default setting will limit the output current. Change this parameter to configure a different action as detailed above.

If any of the current limiting modes are selected, the larger of Motor Thermal Percentage (P1.22) and Drive Thermal Percentage (P1.23) is used to reduce the current limit. If the larger percentage is > 90% the current limit set in Motor Output Current Limit (P3.17) is progressively reduced to 0 as

the percentage increases from 90% to 100%. If thermal limiting is active, bit 2 is set in Drive State (P1.05).

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, BU  

P3.22 Low Frequency Thermal Protection

Should be set if naturally cooled motor is required to run at high load currents at low frequency

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

400 ms

If a naturally cooled motor is required to run at high loads at low frequencies then this parameter should be set to On to protect the motor thermally. Motor Rated Current (P3.01) is multiplied by a factor K

condition. When this parameter is set to Off (0), K

= 1, and when this parameter is set to On (1), K1is as the diagram below.

to determine the level above which the motor is considered to be in an overload

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, BU  

P3.23 Current Controller Gain

Defines the current loop controller gain

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

250

400 ms

Used to adjust the gain of the current limit controller. This does not normally need to be adjusted, but can be reduced if there is evidence of motor noise during current limiting. Increasing the value may be required if Standard Ramp (1) or Standard Ramp Plus Motor (2) are being used in Deceleration Ramp Type (P2.11) with a high inertia load, or if Supply Loss Action (P4.08) > 0, as the increased gain will help the control of the DC link voltage during these operations.

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3.10.4 Menu 4 – General

This menu contains parameters related to the general drive settings, communication setup parameters and miscellaneous functions such as defining parameter values to store when an error occurs.

Associated Parameters

• Parameter 1 Saved Value on Error (P1.26)

• Parameter 2 Saved Value on Error (P1.27)

• Parameter 3 Saved Value on Error (P1.28)

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, TE, BU  

Value Text Description

0 None No action

1 50Hz Restore Factory Defaults for 50 Hz region

2 60Hz Restore Factory Defaults for 60 Hz region

If this parameter is set to something other than 0 then the drive will load the appropriate defaults and save parameters. This parameter will be reset to 0 after the action is completed. If editing on the keypad the action will be performed when the edit is finished.

After this has been set, it cannot be undone.

P4.01 Restore Factory Defaults

Restore the drive's default parameter settings

8 Bit Volatile

Standard

Maximum

Units

Update Rate

Decimal Places

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, BU  

P4.02 Security Pin

Defines the user security pin of the drive

16 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

9999

Defines the 4-digit security pin of the drive. This parameter should be set to a value other than 0 to prevent unauthorised write access to the drive. When a value greater than 0 has been set, it will not be displayed on the keypad or Marshal app to maintain security. If a value has been set, the security pin must be entered before any parameter can be adjusted via the keypad.

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, BU  

P4.03 Serial Node Address

Defines the serial address of the drive

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

247

Defines the node address for the serial communications interface in the range of 1 to 247.

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, TE, BU  

P4.04 Serial Mode

Defines the serial mode of the drive

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

Value Text Description

0 8.2NP 8 data bits, 2 stop bits, no parity bit

1 8.1NP 8 data bits, 1 stop bit, no parity bit

2 8.1EP 8 data bits, 1 stop bit, even parity bit

3 8.1OP 8 data bits, 1 stop bit, odd parity bit

The drive always uses the Modbus RTU protocol and is always a slave.

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, TE, BU  

Value Text

0 Disabled

1600

2 1200

3 2400

4 4800

5 9600

6 19200

P4.05 Serial Baud Rate

Defines the serial baud rate of the drive

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

7 38400

8 57600

9 76800

10 115200

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, BU  

Defines the delay in the drive responding to a message from the host. This may need to be extended if the host is not ready to receive data within 1 ms of the drive receiving a message. This delay is added to the base delay of 1 ms.

P4.06 Minimum Serial Comms Transmit Delay

Defines the minimum delay between the host message being received and the drive response

8 Bit User Save

Standard

Maximum

Units ms

Update Rate

Decimal Places

250

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, BU  

P4.07 Keypad Run and Stop Function Select

Selects the digital function of the Reset and Up/Down keys on the keypad

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

Selects the function of the Reset and Up/Down keys for starting and stopping the drive.

Value Description

0 The keypad cannot be used to run and stop the drive

1 Pressing the Up and Down keys together will run the drive and pressing the Stop/Reset key will stop the drive.

2 Continuously pressing the Up and Down keys together will cause the drive to run in the forward direction at the programmed Jog speed.

The value of this parameter can be set by Run/Stop Configuration (P6.13).

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, TE, BU  

P4.08 Supply Loss Action

Defines the behaviour of the drive when the supply voltage is removed

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

Value Text Description

0 Disable Operate normally unless the under-voltage condition is detected

1 Ramp Stop

2 Ride Through

Stops with selected deceleration while attempting to control the DC link voltage to take energy from the motor

Attempts to control the DC link voltage to take energy from the motor and continues normally if the supply returns

If the supply voltage returns during a Ramp stop or before the drives supply rails have collapsed, the run command needs to be removed and reapplied before the drive will run again.

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, TE, BU  

Value Text

0 None

1 Output Frequency

2 Output Voltage

3 Output Power

4Motor RPM

5Drive State

6 Output Current

P4.09 Parameter 1 Save on Error Selector

Defines which monitoring parameter is saved on an error

8 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

7 Torque Producing Current

8 Percentage Load

9 Alarm Indicators

10 Drive Status Indicators

11 Sequencer Indicators

12 Run and Direction

13 Ramp Input

14 Ramp Output

15 T2 Analog 1 Percentage

16 T4 Analog 2 Percentage

17 T15 Freq. Input %

18 Up/Down Percentage

19 PID Percentage

20 PID Status Indicators

21 PID Error

22 Motor Thermal Percentage

23 Drive Thermal Percentage

24 DC Bus Voltage

25 Digital IO Indicators

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If the drive enters an Error state, it is possible to save several parameter values at the instant of the error. This can be useful to locate the source of the error. This defines the first of three parameters that can be saved.

The value is saved in Parameter 1 Saved Value on Error (P1.26). The saved values and error code are maintained after the error has been reset.

Parameter

Short description

Minimum

Default

Typ e

Display Format

P4.10 Parameter 2 Save on Error Selector

Defines which monitoring parameter is saved on an error

8 Bit User Save

Standard

Coding RW, TE, BU  

See Parameter 1 Save on Error Selector (P4.09).

Parameter

Short description

Minimum

Default

Typ e

Display Format

P4.11 Parameter 3 Save on Error Selector

Defines which monitoring parameter is saved on an error

8 Bit User Save

Standard

Coding RW, TE, BU  

See Parameter 1 Save on Error Selector (P4.09).

Parameter

Short description

Minimum

Default

Typ e

Display Format

P4.12 Number of Auto Reset Attempts

Set to the number of required auto-reset attempts

8 Bit User Save

Standard

Coding RW, TE, BU  

Maximum

Units

Update Rate

Decimal Places

Maximum

Units

Update Rate

Decimal Places

Maximum

Units

Update Rate

Decimal Places

Value Text

0 None

1One

2Two

3 Three

4 Four

5Five

6 Continuous

If the drive enters an Error state, it can automatically attempt to reset.

If this parameter is set to 0 then no auto-reset attempts are made. Any other value will cause the drive to automatically reset following an error for the number of times programmed after a delay of one second. Some errors have extended delays such as motor over current which will reset after ten seconds. The auto-reset count is only incremented when the error is the same as the previous error otherwise it is reset to zero. When the auto-reset count reaches the programmed value, any further error of the same value will require a manual reset from the keypad or via serial comms.

If there has been no error for five minutes, then the auto-reset count is cleared. Some errors cannot be automatically reset such as stored HF errors. When a manual reset is performed the auto-reset counter is reset to zero. If Number of Auto Reset Attempts (P4.12) = 6 the auto-reset counter is held at zero and so there is no limit on the number of auto-reset attempts.

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Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW  

P4.13 Hold Drive Healthy on Auto Reset Attempts

Set to hold drive healthy if further auto-reset attempts are possible

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

If this parameter is set to Off (0) then Bit 5 (Healthy) in Drive Status Indicators (P1.10) is cleared every time the drive generates an error regardless of any auto-reset that may occur. If it is set to On (1) then Bit 5 (Healthy) is not cleared on an error if any further auto-reset attempts are possible.

If the under-voltage state becomes active Bit 5 (Healthy) in Drive Status Indicators (P1.10) is always set to Off (0).

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW, BU  

P4.14 Drive Reset When Enable or Run Applied

Reset an error with application of enable or run

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

Errors are automatically reset on the application of an enable or run signal. This feature can be disabled by setting this parameter to Off (0).

Parameter

Short description

Minimum

Default

Typ e

Display Format Coding RW  

P4.15 Motor Phase Loss Detection

Enable motor phase loss detection

1 Bit User Save

Standard

Maximum

Units

Update Rate

Decimal Places

Output phase loss detection can be used to detect a disconnected motor phase or a break in the wire between the drive and the motor. If the motor is running significantly faster than its Motor Rated Speed (P3.02) the phase loss may not be detected. If the motor is very heavily loaded it is likely to stall before the phase loss is detected. This feature can be enabled by setting this parameter to On (1).

Parameter

Short description

Minimum

Default

P4.16 User Error

Defines which user error is to occur

Maximum

Units

255

Typ e 8 Bit Volatile Update Rate

Display Format

Standard

Coding RW, BU  

Decimal Places

This parameter is intended for use over communications only and not via the keypad. An error number can be written to this parameter to generate that error in the drive, or a different (user defined) error if the number written is unused by the drive. This parameter can also be used to reset errors and clear the error log: Set to 255 to clear the error history. Set to 100 to reset the drive. Setting to 0 will not result in an error.

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Parameter

Short description

Minimum

Default

P4.17 Drive Enable

Set to On to enable the drive

Maximum

Units

Typ e 1 Bit User Save Update Rate

Display Format

Standard

Decimal Places

Coding RW, BU  

This must be set to On (1) to enable the drive unless Binary Control Word (P4.18) is enabled.

Parameter

Short description

Minimum

P4.18 Binary Control Word

Controls the sequencer inputs if the control word is enabled

0 (Display: 0000000000000000

Maximum

65535 (Display: 1111111111111111)

Default

0 (Display: 0000000000000000)

Units

Typ e 16 Bit Volatile Update Rate

Display Format

Binary

Coding RW, BU  

Decimal Places

If Bit 15 in this parameter is set to zero then the parameter has no effect, but if it is set to one it overrides all of the corresponding inputs to the sequencer and other digital input functions shown in the table below. Once the control word has been enabled, it must continue to be written to at least once a second to prevent a Watchdog error (Error 30) from being generated. Disabling the control word returns the drive to terminal control and the parameter no longer needs to be refreshed to prevent the watchdog error.

Should only be used by serial communications.

Bit Function Description

Bit 0 Software Enable Set to 1 to enable the drive

Bit 1 Run Forward Set to 1 to run forwards

Bit 2 Jog Forward Set to 1 to jog forwards

Bit 3 Run Reverse Set to 1 to run in the reverse direction

Bit 4 Reverse Set to 1 to reverse the direction

Bit 5 Run Set to 1 to run

Bit 6 Run Permit (Not Stop) Set to 1 to enable latching which will be cleared when set to 0

Bit 7 Reference Selector 0 Used to select which reference is used by the reference system

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Bit 8 Reference Selector 1 Used to select which reference is used by the reference system

Bit 9 Jog Reverse Set to 1 to jog in the reverse direction

Bit 10 Ramp Rate Selector Used to select which ramp rates are used by the ramp system

Bit 11 Reserved Not used by the drive

Bit 12 Initiate Error Set to 1 to repeatedly initiate the control word error

Bit 13 Reset Drive Set to 1 to reset the drive, clearing errors. This is automatically cleared

Bit 14 Reserved Not used by the drive

Bit 15 Enable Control Word Set to 1 to enable the binary control word

Parameter

Short description

Minimum

Default

Typ e 1 Bit Volatile Update Rate

Display Format Coding RW  

If this parameter is set to On (1) then a full save will be initiated. When the save is complete the parameter will be automatically reset to Off (0).

Should only be used by serial communications because a any parameter changes made by the keypad are automatically saved upon exiting the

parameter

Parameter

Short description

Minimum

Default

Typ e 8 Bit User Save Update Rate

Display Format Coding RW, TE, BU  

Value Text Description

P4.19 Save Parameters

Set to 1 to save parameters

Standard

P4.20 Near Field Communication (NFC)

NFC Control

Standard

Maximum

Units

Decimal Places

Maximum

Units

Decimal Places

0 Disabled NFC communications are blocked

1 Read Only

2 Read & Write The drive's NFC features are fully enabled

The drive's NFC can be read offline by the app, and while on drive configuration files and parameters can be read

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3.10.5 Menu 5 – PID Controller

The PID controller is suitable for use in applications requiring basic closed-loop control of a system or process.

Associated Parameters

• PID Percentage (P1.19)

• PID Status Indicators (P1.20)

• PID Error (P1.21)

• Reference Select 1 (P2.21)

• T2 Analog Input 1 Type (P6.01)

• T11 Digital Input 1 Function Select (P6.16)

Parameter

Short description

Minimum

Default

Typ e 16 Bit User Save Update Rate

Display Format Coding RW  

Used where a set point for the controller is fixed and does not change or could be updated via serial communications.

P5.01 PID Fixed Reference Set-Point 1

Defines the value of fixed reference set point 1 for the PID controller

-100.00

0.00

Standard

Maximum

Units %

Decimal Places

100.00

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Parameter

Short description

Minimum

Default

P5.02 PID Fixed Reference Set-Point 2

Defines the value of fixed reference set point 2 for the PID controller

-100.00

0.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

Used where a set point for the controller is fixed and does not change or could be updated via serial communications.

Parameter

Short description

Minimum

Default

P5.03 PID Reference Selector

Defines the input source for the reference of the PID controller

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 None Fixed value of 0%

1 Analog 1 Percent Scaled value of analog input 1

2 Analog 2 Percent Scaled value of analog input 2

3 Frequency Input % Scaled value of the frequency input

4 Up/Down Percent Reference set by the Up/Down control

5 Fixed Reference 1 Fixed reference Set-Point 1 (P5.01)

6 Fixed Reference 2 Fixed reference Set-Point 2 (P5.02)

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

Parameter

Short description

Minimum

Default

P5.04 PID Feedback Selector

Defines the input source for the feedback of the PID controller

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 None Fixed value of 0%

1 Analog 1 Percent Scaled value of analog input 1

2 Analog 2 Percent Scaled value of analog input 2

3 Frequency Input % Scaled value of the frequency input

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Parameter

Short description

Minimum

Default

P5.05 PID Feed Forward Selector

Defines the input source for the feed-forward reference of the PID controller

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 None Fixed value of 0%

1 Analog 1 Percent Scaled value of analog input 1

2 Analog 2 Percent Scaled value of analog input 2

3 Frequency Input % Scaled value of the frequency input

4 Up/Down Percent Reference set by the Up/Down control

5 Fixed Reference 1 Fixed reference Set-Point 1 (P5.01)

6 Fixed Reference 2 Fixed reference Set-Point 2 (P5.02)

The PID can be used to provide a speed reference for the drive directly, or to provide a trim which is used to adjust a reference provided for the drive. This parameter selects the source of the input to be trimmed.

If this parameter is set to zero, PID Percent is given by: PID Percentage (P1.19) = PID Error (P1.21) * [ PID Proportional Gain (P5.07) + PID Integral Gain (P5.08) / s ]

If an input has been selected as a feed Forward term, PID Percent is given by: PID Percentage (P1.19) = PID Error (P1.21) * [ PID Proportional Gain (P5.07) + PID Integral Gain (P5.08) / s ] + Feed Forward Source

The PID integrator is held when the PID output reaches 100 %.

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

Parameter

Short description

Minimum

Default

P5.06 PID Reference Slew Rate Limit

Defines the maximum rate of change of the reference to the PID controller

0.0

Maximum

Units s

3200.0

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW, BU  

Decimal Places

The time entered is the time for the reference to change from 0 to 100%. If using high PID gains, this parameter can be used to reduce over-shoot of a large step change in the PID reference.

Parameter

Short description

Minimum

Default

P5.07 PID Proportional Gain

Defines the Kp gain used for the PID controller

0.000

1.000

Maximum

Units

4.000

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW, BU  

Decimal Places

This value is multiplied with the PID Error (P1.21).

If PID Error (P1.21) = 10%, the proportional term is a value of 10% if this parameter is set to 1.000.

A higher value will reduce response time. However, if the value is set too high it may introduce oscillation in the system.

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Parameter

Short description

Minimum

Default

Typ e 16 Bit User Save Update Rate

Display Format Coding RW, BU  

The PID integral gain increases the PID Percentage (P1.19) at an increasing rate. This value is multiplied by the PID Error (P1.21) and the result added to the PID Output Percentage.

Setting a value of 0 disables the integral gain. Setting an integral value will remove any steady state error. For a PID error = 100% and this parameter set to 0.5, then the integral term increases linearly by 50% per second.

Parameter

Short description

Minimum

Default

Typ e 16 Bit User Save Update Rate

Display Format Coding RW  

The output of the PID controller is limited to this level. If the limit is reached Bit 1 in PID Status Indicators (P1.20) is set and the Integrator is prevented from decreasing further.

P5.08 PID Integral Gain

Defines the Ki gain used for the PID controller

0.000

0.500

Standard

P5.09 PID Output Lower Limit

Defines the minimum value of the output for the PID controller

-100.00

0.00

Standard

Maximum

Units

Decimal Places

Maximum

Units %

Decimal Places

4.000

100.00

Parameter

Short description

Minimum

Default

Typ e 16 Bit User Save Update Rate

Display Format Coding RW, BU  

The output of the PID controller is limited to this level. If the limit is reached Bit 1 in PID Status Indicators (P1.20) is set and the integrator is prevented from increasing further.

P5.10 PID Output Upper Limit

Defines the maximum value of the output for the PID controller

0.00

100.00

Standard

Maximum

Units %

Decimal Places

100.00

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Parameter

Short description

Minimum

Default

P5.11 PID Enable Selector

Selects an internal condition that can be used to enable the PID controller

Maximum

Units %

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 None Off (No function selected)

1 Drive Running On if the drive is running

2 At Speed On if the output speed is within 1Hz of the reference

3 At Zero On if the output is at 0Hz +/- 2Hz

4 Under Voltage On if the drive is in the under-voltage state

5 External Error On if the external error input has been set

6 Drive Ready On if the drive is ready

7 Drive Healthy On if the drive is healthy

8 Current Limit Active On if the drive is limiting the output current

9 Reverse Selected On if the reverse direction has been selected

10 An In Current Loss On if an analog input current loss has been detected

11 Threshold Detector On if the threshold detector is active

If it is required that an internal condition should be used to enable the PID, this parameter should be set to the required condition. For example, if it is required that the Threshold Detector should enable the PID, this parameter should be set to 11.

Enabling the PID is dependent on two conditions, the value set in this parameter and the digital input function PID Hardware Enable (13) as per the truth table below.

PIDEnableSelector

Function

PIDHardwareEnable(13) PIDEnabled

None Not Configured Yes

None 0 No

None 1 Yes

0 Not Configured No

00 No

01 No

1 Not Configured Yes

10 No

11 Yes

Bit 0 in PID Status Indicators (P1.20) indicates whether the PID is enabled or not.

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

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Parameter

Short description

Minimum

Default

Typ e 8 Bit User Save Update Rate

Display Format Coding RW, TE, BU  

Value Text Description

0 None 0%

1 Ramp Input The drive frequency reference before the ramps

2 Ramp Output The drive frequency reference after the ramp has been applied

3 Output Frequency The output frequency of the drive

4 Output Current The magnitude of the output current

5 Torque Prod Current The torque producing output current

6 Output Voltage The output voltage

7 DC Bus Voltage The DC bus voltage

8 Analog 1 Percentage The value of analog 1 percentage

9 Analog 2 Percentage The value of analog 2 percentage

P5.12 Threshold Detector Selector

Defines the analog source for the threshold detector

Standard

Maximum

Units

Decimal Places

10 Freq. input Percent The value of the frequency input percentage

11 Output Power The output power

12 Motor RPM The motor RPM

13 Percentage Load The percentage load

14 PID Percentage The percentage output of the PID controller

15 PID Error The error of the PID controller

An automatic scaling takes place when parameters are selected as a threshold source. The maximum value of the parameter is used as the full scale value such that the threshold input will be at 100% when the parameter value is at its maximum.

Parameter

Short description

Minimum

Default

Typ e 16 Bit User Save Update Rate

Display Format Coding RW, BU  

PID Enable Selector (P5.11) Behaviour

Source < Lower Threshold Off

Lower Threshold ≤ Source < Upper Threshold No change of state

Source ≥ Upper Threshold On

P5.13 Threshold Detector Level

Defines the level for the threshold detector

0.00

Standard

Maximum

Units %

Decimal Places

100.00

4 ms

Lower Threshold = Threshold Detector Level (P5.13) - (Threshold Detector Hysteresis (P5.14) / 2) Upper Threshold = Threshold Detector Level (P5.13) + (Threshold Detector Hysteresis (P5.14) / 2) The behaviour can then be delayed with Threshold Detector Delay (P5.15), and inverted with Threshold Detector Output Invert (P5.16). The Threshold Detector output is shown in bit 2 of PID Status Indicators (P1.20).

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Parameter

Short description

Minimum

Default

P5.14 Threshold Detector Hysteresis

Defines the hysteresis for the threshold detector

0.00

Maximum

Units %

25.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW, BU  

Decimal Places

The hysteresis behaviour and levels are described below.

Select source (Threshold Detector Selector (P5.12)) after scaling

Output before delay applied

Source < Lower Threshold Off

Lower Threshold ≤ Source < Upper Threshold

No change of state

Source ≥ Upper Threshold On

Lower Threshold = Threshold Detector Level (P5.13) - (Threshold Detector Hysteresis (P5.14) / 2)

Upper Threshold = Threshold Detector Level (P5.13) + (Threshold Detector Hysteresis (P5.14) / 2)

Parameter

Short description

Minimum

Default

P5.15 Threshold Detector Delay

Set to the required time to delay the rising or falling edge of the detector output

-25.0

0.0

Maximum

Units s

25.0

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

If this parameter is set to a positive value, then the output does not become On (1) until the input has been above the threshold for the programmed time. If it has been set to a negative value, then the output remains On (1) until the input has been below the threshold for the programmed time. See Threshold Detector Level (P5.13) for more information.

See below:

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Parameter

Short description

Minimum

Default

Typ e 1 Bit User Save Update Rate

Display Format Coding RW  

This inverts the logic level from the Threshold Detector.

The Threshold Detector output is shown in bit 2 of PID Status Indicators (P1.20).

Parameter

Short description

Minimum

Default

Typ e 8 Bit User Save Update Rate

Display Format Coding RW, TE, BU  

Value Text Description

0 None No Digital Function

P5.16 Threshold Detector Output Invert

Set to 1 to invert the output of the threshold detector

Standard

P5.17 Threshold Detector Function Select

Selects the function of the threshold detector output

Standard

Maximum

Units

Decimal Places

Maximum

Units

Decimal Places

1 Hardware Enable Allows the drive to come out of the inhibit state

2 Run Forward Commands the drive to run forwards

3 Run Reverse Commands the drive to run reverse

4 Run Permit (/Stop)

5 Forward Limit Switch Prevents a run in the forwards direction

6 Reverse Limit Switch Prevents a run in the reverse direction

7 Up/Down % Increase Increases the Up/Down percentage

8 Up/Down % Decrease Decreases the Up/Down percentage

9 Up/Down % Reset Resets the Up/Down percentage

10 Ref Select Bit 0 Used to select Reference 1, 2, 3 or 4 using I/O

11 Ref Select Bit 1 Used to select Reference 1, 2, 3 or 4 using I/O

12 Ramp Select Used to select Acceleration and Deceleration Rate 1 or 2 using I/O

13 PID Hardware Enable

14 External Error Used to generate an Error from an external condition

15 Drive Reset Used to reset the drive from and Error condition

16 Run Commands the drive to run

Permits a Run command when set, resets any run latch when clear (enables latching when selected as a function)

Enables and disables the PID controller. If no Hardware Enable is required, this configuration should not be selected

17 Reverse Reverses the direction

18 Jog Forward Jogs forwards

19 Jog Reverse Jogs reverse

Selects the function of the threshold detector. If the threshold detector is required to enable the PID then this parameter is not used as PID Enable Selector (P5.11) is used to select the detector output.

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Parameter

Short description

Minimum

Default

P5.17 Threshold Detector Function Select

Selects the function of the threshold detector output

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Setting this parameter to On (1) allows PID Percentage (P1.19) to be negative which will cause the motor to rotate in the reverse direction.

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3.10.6 Menu 6 – IO Configuration

This menu contains parameters related to the setup of the drive’s inputs and outputs. To use an analog input or frequency input as a drive reference, the appropriate value should be set in a Frequency Reference Selector parameter (P2.21 – P2.24).

Associated Parameters

• Sequencer Inputs and Outputs (P1.11)

• Run & Direction Indicators (P1.12)

• T2 Analog Input 1 Percentage (P1.15)

• T4 Analog Input 2 Percentage (P1.16)

• T15 Frequency Input 1 Percentage (P1.17)

• Digital IO Indicators (P1.25)

• Frequency Reference 1 Selector (P2.21)

Parameter

Short description

Minimum

Default

P6.01 T2 Analog Input 1 Type

Defines the type of input, voltage or current

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 0-10V A voltage input where 0 V is 0% and 10 V is 100%

1 0-20mA A current input where 0 mA is 0% and 20 mA is 100%

2 4-20mA A current input where 4 mA is 0% and 20 mA is 100%

3 4-20mA Hold A current input where 4 mA is 0% and 20 mA is 100%. The value is held if current < 3 mA

4 4-20mA Stop A current input where 4 mA is 0% and 20 mA is 100%. The drive will stop if current < 3 mA and not restart

5 4-20mA Error A current input where 4 mA is 0% and 20 mA is 100%. An error is generated if current < 3 mA

The analog inputs can be set up as voltage or a current type as defined above. They can also be used as digital inputs where the switching thresholds are at 70% and 80% for a voltage input and 45% and 55% for a current input. Using an analog input as a digital input does not prevent the analog function from being used, its digital operation is in addition to the normal analog function. When used as a digital input the terminal does not sink or source current and so if the input is not being driven an appropriate pull up or pull down must be fitted externally. The resolution of the conversion is 11 bits. In 4-20mA current input modes a current input less than 3 mA is detected as a current loop loss. It is not recommended that the input is used as a digital input if 4-20 mA Hold (3) is selected because the input will not change if the current loop is lost.

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

To avoid the scenario where a wire break occurs, meaning controller loses control of the reference, the analog input should be configured as a 4-20 mA type.

Parameter

Short description

Minimum

Default

P6.02 T4 Analog Input 2 Type

Defines the type of input, voltage or current

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

See T2 Analog Input 1 Type (P6.01).

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Parameter

Short description

Minimum

Default

P6.03 T6 Analog Output Type

Defines the type of output, voltage or a current type

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 0-10V A voltage output where 0% is 0 V and 100% is 10 V

1 0-20mA A current output where 0% is 0 mA and 100% is 20 mA

2 4-20mA A current output where 0% is 4 mA and 100% is 20 mA

The analog output can be set up as voltage or a current type as defined above. For each type, the minimum output is equivalent to a zero value of the output variable, and the maximum output is equivalent to the maximum value of the output variable. This can be changed

using T6 Analog Output Scaling (P6.07).

Parameter

Short description

Minimum

Default

P6.04 T11 Digital IO 1 Type

Defines the digital I/O type

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 Digital Input The low level input must be < 9 V and the high level input > 10 V

1 Digital Output Positive logic digital output

2 Frequency Output A frequency output between 0 Hz and 10 kHz

3 PWM Output A PWM output running at 1 kHz

4 Digital Out Inverted Positive logic digital output with the selected function inverted

Defines the digital IO type for digital I/O 1. As a Digital Output, the maximum source current is 50 mA (but 100 mA total limit on digital output and 24 V output), and there is a6 - 7 kΩ internal

pull down resistor to 0 V which will sink some current.

As a Frequency Output, 10 kHz is equivalent to the maximum value of the output variable. This can be scaled using T11 Frequency/ PWM Output Scaling (P6.11). The resolution of the frequency output is 12 bit.

As a PWM Output, the output frequency is fixed at 1 kHz and 100% duty is equivalent to the maximum value of the output variable. This can be changed using T11 Frequency/PWM Output Scaling (P6.11). The resolution of the PWM output is 12 bit. In this mode the output can be connected to an analog meter for monitoring purposes only as the PWM amplitude only has the accuracy of the 24 V output voltage. The output may require filtering before connecting to a meter if the meter used is not responsive enough to pick up the 1 kHz output frequency.

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

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Parameter

Short description

Minimum

Default

P6.05 T15 Digital Input 5 Type

Defines the type, digital input or a frequency input

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE  

Decimal Places

Value Text Description

0 Digital Input The low level input must be < 9 V and the high level input > 10 V

1 Frequency Input Frequency input with a maximum frequency of 100 kHz

Defines the input type for digital input 5.

The frequency input can be scaled, limited and inverted using the associated scaling parameters as described by T15 Frequency Input Minimum Input (P6.29).

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

Parameter

Short description

Minimum

Default

P6.06 T6 Analog Output Function Select

Selects the parameter that the analog output should represent

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 None 0%

1 Ramp Input The drive frequency reference before the ramps

2 Ramp Output The drive frequency reference after the ramp has been applied

3 Output Frequency The output frequency of the drive

4 Output Current The magnitude of the output current

5 Torque Prod Current The torque producing output current

6 Output Voltage The output voltage

7 DC Bus Voltage The DC bus voltage

8 Analog 1 Percentage The value of analog 1 percentage

9 Analog 2 Percentage The value of analog 2 percentage

10 Freq. input Percent The value of the frequency input percentage

11 Output Power The output power

12 Motor RPM The motor RPM

13 Percentage Load The percentage load

14 PID Percentage The percentage output of the PID controller

15 PID Error The error of the PID controller

16 Motor Thermal % The thermal percentage to error level of the motor

17 Drive Thermal % The thermal percentage to error level of the drive

Selects the parameter that the analog output should represent. The absolute of the chosen parameter is scaled such that 10 V or 20 mA is equivalent to the parameter's maximum value. It can be further scaled by T6 Analog Output Scaling (P6.07).

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Parameter

Short description

Minimum

Default

P6.07 T6 Analog Output Scaling

Defines the scaling factor for the analog output

0.000

1.000

Maximum

Units

40.000

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW, BU  

Decimal Places

Defines the scaling factor for the analog output.

An automatic scaling takes place when parameters are selected for an analog output. The maximum value of the parameter is used as the full scale value such that the analog output will be at full scale when the parameter value is at its maximum value. Some parameters do not reach their maximum values and so this parameter is provided for the user to apply further scaling and configure a bigger range of the analog output to be used.

If a scale set here causes the output to exceed 100%, the output value is limited to 10 V or 20 mA.

Parameter

Short description

Minimum

Default

P6.08 T41-T43 Relay Function Select

Selects the drive state that controls the relay output

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 None Off (No function selected)

1 Drive Active Running On if the drive is running

2 At Speed On if the output speed is within 1Hz of the reference

3 At Zero On if the output is at 0Hz +/- 2Hz

4 Under Voltage On if the drive is in the under-voltage state

5 External Error On if the external error input has been set

6 Drive Ready On if the drive is ready

7 Drive Healthy On if the drive is healthy

8 Current Limit Active On if the drive is limiting the output current

9 Reverse Selected On if the reverse direction has been selected

10 Analog Input Current Loss On if an analog input current loss has been detected

11 Threshold Detector On if the threshold detector is active

Selects the drive function state that controls the relay.

The relay has 3 terminals; normally open (T41), common (T42), and normally closed (T43).

If the function selected is at 0, the common is connected to the normally closed terminal. When the function selected is at 1, common is connected to the normally open terminal.

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Parameter

Short description

Minimum

Default

P6.09 T11 Digital Output 1 Function Select

Selects the drive state that controls the output

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Selects the drive state that is indicated by Digital Output 1. The state is inverted if T11 Digital IO 1 Type (P6.04) is set to Digital Output Inverted (4).

See T41-T43 Relay Function Select (P6.08) for output options.

T11 Digital IO 1 Type (P6.04) must be set to Digital Output (1) or Digital Output Inverted (4) for this parameter to have any effect.

Parameter

Short description

Minimum

Default

P6.10 T11 Frequency/PWM Output Function Select

Selects the parameter that is represented by the output frequency or PWM duty cycle when Digital I/O 1 is in one of these modes

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Selects the parameter that Digital Output 1 should represent in Frequency or PWM output modes. The absolute of the chosen parameter is scaled such that Maximum output is equivalent to the parameter's maximum value. It can be further scaled by T11 Frequency/PWM Output Scaling (P6.11). See T11DigitalIO1Type(P6.04) for setting up the output type.

See T6 Analog Output Function Select (P6.06) for output options.

Parameter

Short description

Minimum

Default

P6.11 T11 Frequency/PWM Output Scaling

Defines the scaling factor applied to the frequency or PWM output

0.000

1.000

Maximum

Units

40.000

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW, BU  

Decimal Places

Defines the scaling factor for Digital Output 1 in Frequency (2) and PWM (3) modes.

An automatic scaling takes place when parameters are selected for this output. The maximum value of the parameter is used as the full scale value such that the output will be at full scale when the parameter value is at its maximum value. Some parameters do not reach their maximum values and so this parameter is provided for the user to apply further scaling and configure a bigger range of the Frequency or PWM outputs to be used.

Parameter

Short description

Minimum

Default

P6.12 Negative Logic (NPN Sensor) Select

Set to 1 to enable negative logic (NPN Sensor)

Maximum

Units

Typ e 1 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

As default the digital inputs are Positive Logic inputs (sinking inputs) to suit PNP sensors. This parameter allows the digital inputs to be set to Negative Logic inputs (sourcing inputs) to suit NPN type sensors. When analog inputs are also used as digital inputs, they do not source or sink current, but the logic is inverted when this parameter is set. This parameter has no effect on the digital output or analog inputs.

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Parameter

Short description

Minimum

Default

P6.13 Run/Stop Configuration

Defines how the digital inputs or keypad are used to run and stop the drive

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 Custom Parameters have been changed from a standard configuration

1 Enable + Run Forward +Run Reverse Enable on T12, Run Forward on T13, Run Reverse on T14

2 Run Forward + Run Reverse (3 wire) Run Permit on T12, Run Forward on T13, Run Reverse on T14

3 Enable + Run + Reverse Enable on T12, Run on T13, Reverse on T14

4 Run + Reverse Run Permit on T12, Run on T13, Reverse on T14

5 Run + Jog Run Permit on T12, Run on T13, Jog Forward on T14

6 Run Forward + Run Reverse Run Forward on T13, Run Reverse on T14

7 Run + Reverse Run on T13, Reverse on T14

8 Keypad Press Up and Down keys together to run and Reset/Stop key to stop

9 Keypad with Enable

Enable on T12 then Press Up and Down keys together to run and press the Reset/Stop key to stop.

10 Keypad Jog Hold the Up and Down keys together to jog the motor forwards

This parameter allows quick setup of digital inputs 2 - 4 to control the hardware enable, run, direction and jog commands according to pre-defined configurations; as well as configuring the drive's keypad for run and stop control. The assignments are made and saved after the configuration parameter has been edited. Anything marked as "Not Changed" is left at its current value. If a parameter in the table below is changed after it has been set here, this parameter is automatically set to Custom (0). If the configuration is

set to Custom (0), then no assignments are made so input functions would have to be set manually.

T12 Digital Input 2

Value Configuration

Function Select

(P6.17)

0 Custom Not Changed Not Changed Not Changed Not Changed

1 Enable + Run Forward +Run 1 (Hardware Enable) 2 (Run Forward) 3 (Run Reverse) 0 (Disabled)

2 Run Forward + Run Reverse (3 wire) 4 (Run Permit) 2 (Run Forward) 3 (Run Reverse) 0 (Disabled)

3 Enable + Run + Reverse 1 (Hardware Enable) 16 (Run) 17 (Reverse) 0 (Disabled)

4 Run + Reverse 4 (Run Permit) 16 (Run) 17 (Reverse) 0 (Disabled)

5 Run + Jog 4 (Run Permit) 16 (Run) 18 (Jog Forward) 0 (Disabled)

6 Run Forward + Run Reverse 0 (None) 2 (Run Forward) 3 (Run Reverse) 0 (Disabled)

T13 Digital Input 3 Function Select

(P6.18)

T14 Digital Input 4 Function Selec t (P6.19)

Keypad Run andStop Fu nction Select (P4.07)

7 Run + Reverse 0 (None) 16 (Run) 17 (Reverse) 0 (Disabled)

8 Keypad 0 (None) 0 (None) 0 (None) 1 (Run and Stop Enabled)

9 Keypad with Enable 1 (Hardware Enable) 0 (None) 0 (None) 1 (Run and Stop Enabled)

10 Keypad Jog 0 (None) 0 (None) 0 (None) 2 (Keypad Jog Enabled)

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Parameter

Short description

Minimum

Default

P6.14 T2 Analog Input 1 Digital Function Select

Selects the digital function of analog input 1

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Selects a digital function of Analog Input 1. The terminal does not have to be configured to be used as a dedicated digital input. Using an analog input as a digital input does not prevent the analog function from being used, its digital operation is in addition to the normal analog function. See T2 Analog Input 1 Type (P6.01).

See T11 Digital Input 1 Function Select (P6.16) for a list of functions.

When used as a digital input in voltage mode, the input terminal cannot sink or source current. If driven from a PNP sensor (positive logic), a 6k8 resistor should be fitted between T4 and T3; and if driven by a NPN sensor (negative logic), a 6k8 resistor should be connected between T4 and T9.

Parameter

Short description

Minimum

Default

P6.15 T4 Analog Input 2 Digital Function Select

Selects the digital function of analog input 2

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Selects a digital function of Analog Input 2. The terminal does not have to be configured to be used as a dedicated digital input. Using an analog input as a digital input does not prevent the analog function from being used, its digital operation is in addition to the normal analog function. See T2 Analog Input 1 Type (P6.01).

See T11 Digital Input 1 Function Select (P6.16) for a list of functions.

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Parameter

Short description

Minimum

Default

P6.16 T11 Digital Input 1 Function Select

Selects the function of the digital input if it is in digital input mode

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Value Text Description

0 None No Digital Function

1 Hardware Enable Allows the drive to come out of the inhibit state

2 Run Forward Commands the drive to run forwards

3 Run Reverse Commands the drive to run reverse

4 Run Permit (/Stop) Permits a Run command when set, resets any run latch when clear (enables latching when selected as a function)

5 Forward Limit Switch Prevents a run in the forwards direction

6 Reverse Limit Switch Prevents a run in the reverse direction

7 Up/Down % Increase Increases the Up/Down percentage

8 Up/Down % Decrease Decreases the Up/Down percentage

9 Up/Down % Reset Resets the Up/Down percentage

10 Ref Sel Bit 0 Used to select Reference 1, 2, 3 or 4 using I/O

11 Ref Sel Bit 1 Used to select Reference 1, 2, 3 or 4 using I/O

12 Ramp Select Used to select Acceleration and Deceleration Rate 1 or 2 using I/O

13 PID Hardware Enable Enables and disables the PID controller. If no Hardware Enable is required, this configuration should not be selected

14 External Error Used to generate an Error from an external condition

15 Drive Reset Used to reset the drive from and Error condition

16 Run Commands the drive to run

17 Reverse Reverses the direction

18 Jog Forward Jogs forwards

19 Jog Reverse Jogs reverse

Selects the function of Digital I/O 1 if T11 Digital IO 1 Type (P6.04) = 0.

Notes on function selection:

Selecting the Run Permit (Not Stop) function (4) automatically enables a latch on the Run inputs (Run Forward, Run Reverse, and Run), see Run & Direction Indicators (P1.12). Providing the Run Permit input is active, activation of the Run inputs is latched so that a momentary switch can be used to start the drive. When Run Permit is made inactive (Stop), all latches are cleared and no Run command is accepted.

If Run Forward or Run Reverse is made active, the Reverse function will be ignored i.e. explicate Run Forward and Run Reverse commands override the direction selection.

A Jog command is only accepted when the drive is not running.

A Run command overrides a Jog command.

The value of this parameter can be set by Frequency Reference Configuration (P2.03).

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Parameter

Short description

Minimum

Default

P6.17 T12 Digital Input 2 Function Select

Selects the function of the digital input

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Decimal Places

Coding RW, TE, BU  

Selects the function of Digital Input 2. See T11 Digital Input 1 Function Select (P6.16).

The value of this parameter can be set by Run/Stop Configuration (P6.13).

Parameter

Short description

Minimum

Default

P6.18 T13 Digital Input 3 Function Select

Selects the function of the digital input

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Decimal Places

Coding RW, TE, BU  

Selects the function of Digital Input 3. See T11 Digital Input 1 Function Select (P6.16).

The value of this parameter can be set by Run/Stop Configuration (P6.13).

Parameter

Short description

Minimum

Default

P6.19 T14 Digital Input 4 Function Select

Selects the function of the digital input

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Selects the function of Digital Input 4. See T11 Digital Input 1 Function Select (P6.16).

The value of this parameter can be set by Run/Stop Configuration (P6.13).

Parameter

Short description

Minimum

Default

P6.20 T15 Digital Input 5 Function Select

Selects the function of the digital input if it is in digital input mode

Maximum

Units

Typ e 8 Bit User Save Update Rate

Display Format

Standard

Coding RW, TE, BU  

Decimal Places

Selects the function of Digital Input 5 when T15 Digital Input 5 Type (P6.05) = 0 (Digital Input). See T11 Digital Input 1 Function Select (P6.16).

The value of this parameter can be set by Run/Stop Configuration (P6.13).

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Parameter

Short description

Minimum

Default

Typ e 16 Bit User Save Update Rate

Display Format Coding RW  

This parameter defines the minimum input level for Analog Input 1 and can be used to limit the range of the measured input.

The used range of the measured input (0 % - 100 %) is defined by two parameters, this parameter being the minimum value used, and T2 Analog Input 1 Maximum Input (P6.23) being the maximum value used. Changing the default values of these parameters limits the used range of Analog Input 1. This limited range is then converted to a Percentage input that changes between a level defined for the minimum input with T2 Analog Input 1 Percentage at Minimum Input (P6.22), and a level defined for the maximum input with T2 Analog Input 1 Percentage at Maximum Input (P6.24). See the diagram below.

P6.21 T2 Analog Input 1 Minimum Input

Defines the minimum value used for analog input 1

0.00

Standard

Maximum

Units %

Decimal Places

100.00

When T2 Analog Input 1 Percentage (P1.15) is used as a motor frequency reference in References & Ramps, there is a conversion from percent to Hz. See Frequency Reference 1 Selector (P2.21).

This parameter limits the measured input and should be increased if only part of the analog inputs measurable range is to be used. See the example below which assumes the analog input is set as a voltage type, P6.22 - P6.24 and the Minimum and Maximum Reference Limits are at default values.

Example: If 5 V on the input should equal 0 % of T2 Analog Input 1 Percentage (P1.15), this parameter should be set to 50 %. If the Analog Input is selected as a reference, 0 V to 5 V would equal a reference of 0 Hz, 6 V would equal a reference of 10 Hz, and 10 V = 50 Hz.

If T2 Analog Input 1 Minimum Input (P6.21) ≥ T2 Analog Input 1 Maximum Input (P6.23) then T2 Analog Input 1 Percentage (P1.15) = 0.00 % whatever the input level.

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Parameter

Short description

Minimum

Default

P6.22 T2 Analog Input 1 Percentage at Minimum Input

Defines the value of analog input 1 percentage at minimum input

-100.00

0.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

Defines the percentage value at the minimum input level for Analog Input 1 and can be used to scale or invert the measured value.

The used range of the measured input (0 % - 100 %) is defined by two parameters, T2 Analog Input 1 Minimum Input (P6.21) being the minimum value used, and T2 Analog Input 1 Maximum Input (P6.23) being the maximum value used. Changing the default values of these parameters limits the used range of Analog Input 1. This limited range is then converted to a Percentage input that changes between a level defined for the minimum input with this parameter, and a level defined for the maximum input with T2 Analog Input 1 Percentage at Maximum Input (P6.24). See the diagram in T2 Analog Input 1 Minimum Input (P6.21).

When T2 Analog Input 1 Percentage (P1.15) is used as a motor frequency reference in References & Ramps, there is a conversion from percent to Hz. See Frequency Reference 1 Selector (P2.21).

See the examples below which assumes the Analog Input is set as a voltage type. P6.21, P6.23, P6.24 and the Minimum and Maximum Reference Limits are at default values.

Scaling Example: If 0 V on the input should equal 50 % of T2 Analog Input 1 Percentage (P1.15), this parameter should be set to 50 %. If the Analog Input is selected as a reference, 0 V would equal a reference of 25 Hz, 5 V would equal 37.5 Hz, and 10 V = 50 Hz. (Assuming P6.24 = 100 %)

To invert the input, this parameter should be set larger than T2 Analog Input 1 Percentage at Maximum Input (P6.24). Invert example: If the input should be inverted, this parameter should be set to 100 % and T2 Analog Input 1 Percentage at Maximum Input (P6.24) should be set to 0 %. If the Analog Input is selected as a reference, 0 V would equal a reference of 50 Hz, 5 V would equal a reference of 25 Hz, and 10 V = 0 Hz.

Parameter

Short description

Minimum

Default

P6.23 T2 Analog Input 1 Maximum Input

Defines the maximum value used for analog input 1

0.00

100.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

This parameter defines the maximum input level for Analog Input 1 and can be used to scale the input if a limited range of the analog input level is available.

The used range of the measured input (0 % - 100 %) is defined by two parameters, this parameter being the maximum value used, and T2 Analog Input 1 Minimum Input (P6.21) being the minimum value used. Changing the default values of these parameters limits the used range of Analog Input 1. This limited range is then converted to a Percentage input that changes between a level defined for the minimum input with T2 Analog Input 1 Percentage at Minimum Input (P6.22), and a level defined for the maximum input with T2 Analog Input 1 Percentage at Maximum Input (P6.24). See the diagram in T2 Analog Input 1 Minimum Input (P6.21).

When T2 Analog Input 1 Percentage (P1.15) is used as a motor frequency reference in References & Ramps, there is a conversion from percent to Hz. See Frequency Reference 1 Selector (P2.21).

This parameter limits the measured input and should be decreased if only part of the analog inputs measurable range is to be used. See the example below which assumes the analog input is set as a voltage type, P6.21, P6.22, P6.24 and the Minimum and Maximum Reference Limits are at default values.

Example: If 5 V on the input should equal 100 % of T2 Analog Input 1 Percentage (P1.15), this parameter should be set to 50 %. If the Analog Input is selected as a reference, 0 V would equal a reference of 0 Hz, 2 V would equal a reference of 20 Hz, and 5 V to 10 V would be a reference of 50 Hz.

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Parameter

Short description

Minimum

Default

P6.24 T2 Analog Input 1 Percentage at Maximum Input

Defines the value of analog input 1 percentage reference at maximum input

-100.00

100.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

Defines the percentage value at the maximum input level for Analog Input 1 and can be used to scale or invert the measured value.

The used range of the measured input (0 % - 100 %) is defined by two parameters, T2 Analog Input 1 Minimum Input (P6.21) being the minimum value used, and T2 Analog Input 1 Maximum Input (P6.23) being the maximum value used. Changing the default values of these parameters limits the used range of Analog Input 1. This limited range is then converted to a Percentage input that changes between a level defined for the minimum input with T2 Analog Input 1 Percentage at Minimum Input (P6.22), and a level defined for the maximum input with this parameter. See the diagram in T2 Analog Input 1 Minimum Input (P6.21).

When T2 Analog Input 1 Percentage (P1.15) is used as a motor frequency reference in References & Ramps, there is a conversion from percent to Hz. See Frequency Reference 1 Selector (P2.21).

See the examples below which assumes the Analog Input is set as a voltage type. P6.21 - P6.23 and the Minimum and Maximum Reference Limits are at default values.

Scaling Example: If 10 V on the input should equal 50 % of T2 Analog Input 1 Percentage (P1.15), this parameter should be set to 50 %. If the Analog Input is selected as a reference, 0 V would equal a reference of 0 Hz, 2 V would equal 5 Hz, and 10 V = 25 Hz.

To invert the input, this parameter should be set smaller than T2 Analog Input 1 Percentage at Minimum Input (P6.22). Invert example: If the input should be inverted, this parameter should be set to 0 % and T2 Analog Input 1 Percentage at Minimum Input (P6.22) should be set to 100 %. If the Analog Input is selected as a reference, 0 V would equal a reference of 50 Hz, 5 V would equal a reference of 25 Hz, and 10 V = 0 Hz.

Parameter

Short description

Minimum

Default

P6.25 T4 Analog Input 2 Minimum Input

Defines the minimum value used for analog input 2

0.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

This parameter defines the minimum input level for Analog Input 2 and can be used to limit the range of the measured input.

See T2 Analog Input 1 Minimum Input (P6.21).

Parameter

Short description

Minimum

Default

P6.26 T4 Analog Input 2 Percentage at Minimum Input

Defines the value of analog input 2 percentage at minimum input

-100.00

0.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

Defines the percentage value at the minimum input level for Analog Input 2 and can be used to scale or invert the measured value.

See T2 Analog Input 1 Percentage at Minimum Input (P6.22).

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Parameter

Short description

Minimum

Default

P6.27 T4 Analog Input 2 Maximum Input

Defines the maximum value used for analog input 2

0.00

100.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

See T2 Analog Input 1 Maximum Input (P6.23).

Parameter

Short description

Minimum

Default

P6.28 T4 Analog Input 2 Percentage at Maximum Input

Defines the value of analog input 2 percentage at maximum input

-100.00

100.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

Defines the percentage value at the maximum input level for Analog Input 2 and can be used to scale or invert the measured value.

See T2 Analog Input 1 Percentage at Maximum Input (P6.24).

Parameter

Short description

Minimum

Default

P6.29 T15 Frequency Input Minimum Input

Defines the minimum value used for the frequency input

0.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

This parameter defines the minimum input level for the Frequency Input and can be used to limit the range of the measured input.

See T2 Analog Input 1 Minimum Input (P6.21).

Parameter

Short description

Minimum

Default

P6.30 T15 Frequency Input Percentage at Minimum Input

Defines the value the frequency percentage at minimum input

-100.00

0.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

Defines the percentage value at the minimum input level for the Frequency Input and can be used to scale or invert the measured value.

See T2 Analog Input 1 Percentage at Minimum Input (P6.22).

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Parameter

Short description

Minimum

Default

P6.31 T15 Frequency Input Maximum Input

Defines the maximum value used for the frequency input

0.00

100.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

This parameter defines the maximum input level for the Frequency Input and can be used to scale the input if a limited range of the frequency input level is available.

See T2 Analog Input 1 Maximum Input (P6.23).

Parameter

Short description

Minimum

Default

P6.32 T15 Frequency Input Percentage at Maximum Input

Defines the value the frequency percentage at maximum input

-100.00

100.00

Maximum

Units %

100.00

Typ e 16 Bit User Save Update Rate

Display Format

Standard

Coding RW  

Decimal Places

Defines the percentage value at the maximum input level for the Frequency Input and can be used to scale or invert the measured value.

See T2 Analog Input 1 Percentage at Maximum Input (P6.24).

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Control Techniques Commander S100 User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety information

1.1 Important Safety Information

1.1.1 Hazards

1.1.2 Competence of Designers and Installers

1.2 Responsibility

1.3 Compliance with regulations

1.4 Electrical hazards

1.4.1 Isolating the Drive

1.4.2 Stored Charge

1.4.3 Products Connected by Plug and Socket

1.4.4 Grounding / Earthing

1.4.5 Fuses and Circuit Breakers

1.4.6 Over-Current Protection

1.4.7 Isolation of control circuits

1.4.8 Terminal Connections and Torque Settings

1.5 Mechanical hazards

1.9.1 Motor Sizing

1.10 Adjusting parameters

1.11 Electromagnetic compatibility (EMC)

1.12 Repairs

1.6 Access to equipment

1.7 Environmental limits

1.13 Maintenance

1.8 Hazardous environments

1.9 Motor

2 Electrical installation

2.1 Control connections

2.1.1 General Warnings

2.1.2 Control Terminal Connections

2.1.3 Control Terminal Specification

3 Drive Parameters

3.1 Parameter Groups

3.2 Menu 0 - Quick Start

3.3 Full Parameter List

3.4 Menu 1 - Status & Monitoring

3.5 Menu 2 - Reference & Ramps

3.6 Menu 3 – Motor Setup

3.7 Menu 4 - General

3.8 Menu 5 - PID Controller

3.9 Menu 6 - IO Configuration

3.10 Parameter Descriptions

3.10.1 Menu 1 – Status & Monitoring

3.10.2 Menu 2 - Reference & Ramps

3.10.3 Menu 3 - Motor Setup

3.10.4 Menu 4 – General

3.10.5 Menu 5 – PID Controller

3.10.6 Menu 6 – IO Configuration