Danfoss shaft synchronization application apfiff11 Application guide

nx frequency converters

shaft synchronization

application apfiff11

user's manual

2 • vacon

ABOUT THE SHAFT SYNCHRONIZATION APPLICATION MANUAL

Congratulations for choosing the Smooth Control provided by Vacon NX Frequency Converters!

This manual is available in both paper and electronic editions. We recommend you to use the elec­tronic version if possible. If you have the electronic version at your disposal you will be able to bene­fit from the following features:

The manual contains several links and cross-references to other locations in the manual which
makes it easier for the reader to move around, to check and find things faster.

The manual also contains hyperlinks to web pages. To visit these web pages through the links you
must have an internet browser installed on your computer.

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shaft synchronization application vacon • 3

Vacon shaft synchronization application manual

INDEX Document code: ud01115B

Date: 26.10.2006

1. Introduction ....................................................................................................................... 5

1.1 Requirements ............................................................................................................................. 6

1.2 Trial Time period......................................................................................................................... 6

2. Control I/O ......................................................................................................................... 7

3. Connection of signals between master and follower drive (OPT-A7) ................................. 8

4. Jumper setting on the OPT-A7 board................................................................................. 9

5. “Terminal To Function” (TTF) programming principle ..................................................... 10

5.1 Defining an input/output for a certain function on keypad ..................................................... 10

5.2 Defining a terminal for a certain function with NCDrive programming tool.......................... 11

5.3 Defining unused inputs/outputs............................................................................................... 12

6. Shaft Synchronization Application – Parameter lists....................................................... 13

6.1 Monitoring values (Control keypad: menu M1)........................................................................ 13

6.2 Basic parameters (Control keypad: Menu M2  G2.1) ........................................................... 14

6.3 Input signals.............................................................................................................................. 15

6.3.1 Basic settings (Control keypad: Menu M2  G2.2.1) ....................................................15

6.3.2 Analogue input 1 (Control keypad: Menu M2  G2.2.2)................................................ 15

6.3.3 Analogue input 2 (Control keypad: Menu M2  G2.2.3)................................................ 16

6.3.4 Free analogue input, signal selection (Keypad: Menu M2  G2.2.4) ...........................16

6.3.5 Digital inputs (Control keypad: Menu M2  G2.2.5)...................................................... 17

6.4 Output signals........................................................................................................................... 18

6.4.1 Delayed digital output 1 (Keypad: Menu M2  G2.3.1) .................................................18

6.4.2 Delayed digital output 2 (Keypad: Menu M2  G2.3.2) .................................................18

6.4.3 Digital output signals (Control keypad: Menu M2  G2.3.3) ........................................19

6.4.4 Limit settings (Control keypad: Menu M2  G2.3.4).....................................................20

6.4.5 Analogue output 1 (Control keypad: Menu M2  G2.3.5) .............................................21

6.4.6 Analogue output 2 (Control keypad: Menu M2  G2.3.6) .............................................21

6.4.7 Analogue output 3 (Control keypad: Menu M2  G2.3.7) .............................................22

6.4.8 Mechanical Brake (Control keypad: Menu M2  G2.3.8)..............................................22

6.5 Drive control parameters (Control keypad: Menu M2  G2.4)............................................... 23

6.6 Motor control parameters (Control keypad: Menu M2  G2.5).............................................. 24

6.6.1 PMSM settings (Control keypad: Menu M2  G2.5.19)................................................. 25

6.7 Protections (Control keypad: Menu M2  G2.6)...................................................................... 26

6.8 Fieldbus parameters (Control Keypad: Menu M2 G2.7) ...................................................... 28

6.9 Torque control parameters (Control Keypad: Menu M2 G2.8) ............................................ 29

6.10 Shaft synchronization parameters (Control keypad: Menu M2  G2.9) ................................ 30

6.11 License key (Control keypad: Menu M2  G2.10) ................................................................... 31

6.12 Keypad control (Control keypad: Menu M3)............................................................................. 31

6.12.1 System menu (Control keypad: Menu M6)................................................................. 31

6.12.2 Expander boards (Control keypad: Menu M7) ........................................................... 31

7. Description of parameters ............................................................................................... 32

7.1 Keypad control parameters...................................................................................................... 85

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4 • vacon shaft synchronization application

7.2 Application specific variables in the monitor menu and fieldbus interface ........................... 86

8. Shaft Synchronization operation ...................................................................................... 87

8.1 Shaft Synchronization fieldbus interface................................................................................. 90

9. Appendices....................................................................................................................... 91

9.1 Closed loop parameters (ID’s 612 to 621)................................................................................ 91

9.1.1 Note on use of permanent magnet motors (“AC brushless” motors)..........................91

9.2 Parameters of motor thermal protection (ID’s 704 to 708):.................................................... 92

9.3 Parameters of stall protection (ID’s 709 to 712):..................................................................... 92

9.4 Fieldbus control parameters (ID’s 850 to 859) ........................................................................ 92

10. Shaft synchronization application specific fault codes..................................................... 93

11. COMMISSIONING of shaft synchronization application .................................................... 93

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introduction vacon • 5

shaft synchronization application

(Software APFIFF11 V1.13 or higher)

Select the Shaft Synchronization Application in menu M6 on page

S6.2.

1. INTRODUCTION

The Shaft Synchronization Application provides Position synchronization control of a follower drive
to a master position signal, with the ability to control the synchronization ratio online via fieldbus,
parameter or by digital trim +/- input. The drive requires feedback from an encoder or resolver. The
master position signal comes from an incremental encoder or a single phase pulse generator and is
read using the OPT-A7 board if the follower drive employs an induction motor or the OPT-BC board
if the motor is of a PM synchronous type.
The application offers general purpose functionality support also for independent speed or torque
control when the shaft synchronization mode is not enabled.

Specific application features:

• Synchronization commands: enable sync. mode, engage/release, freeze and reference
speed are all controlled from digital inputs or fieldbus control register

• Ratio range -4 to +4 in steps of 1/65536 can be controlled by parameter or fieldbus in RUN
mode

• Programmable trim inputs +/- and trim ratio change parameter for temporary ratio change
from digital inputs

• Programmable ratio change ramp

• Programmable engage/ release ramp

• Digital or relay outputs for “Ratio change” and “Synchronization engaged”

• Supported fieldbuses: Profibus, CanOpen, Modbus, Modbus TCP

• Synchronization regulator cycle time is 5 ms

• Phasing from standstill or during running (offset of follower position)

• Mechanical brake control

Other general purpose features:

• Induction motor identification

• PM motor rotor angle identification

• All digital and analogue inputs and outputs are freely programmable

• Analogue input signal range selection, with automatic adjustment

• Supervision of two frequency thresholds

• Supervision of torque limit

• Supervision of reference limit

• Second ramp and S-shape ramp programming

• Programmable start/stop and reverse logic

• DC-braking at start and stop

• Programmable U/f curve and switching frequency

• Fully programmable motor thermal and stall protection

• Input and output phase supervision

• Joystick with programmable hysteresis

NOTE: The Shaft Synchronization application creates a rigid electrical coupling between master and

follower(s) axis. The application is not suitable if there is a rigid mechanical coupling
between master and follower(s).

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1

6 • vacon introduction

1.1 Requirements

− NXP frequency converter with control board type VB00561 (“nxp2” type) or newer.

− NXP00002V155 system software package (NXP00002V160 for the support of single phase master

pulse reference).

− Double encoder board OPTA7 for induction motor with HTL incremental encoder for closed loop
control. The second encoder channel is used for master pulse reference.

− Resolver board OPTBC for permanent synchronous motor with resolver feedback for closed loop
control. The second encoder channel is used for master pulse reference.

− Application license key is needed for shaft synchronization functions (based on power unit serial
number)
However there is a 2 week trial time without charge. It is always possible to run the drive in

multi-purpose mode without the license key.

1.2 Trial Time period

Trial time is very useful for test and evaluation. If FC has to be replaced during a weekend there is 2
weeks trial time for free and during that time a new license can be ordered from Vacon.
After loading the application it will be possible to run in Shaft synchronization mode without license
key for 2 weeks (336 h)

STEPS IN TRIAL PERIOD

1. A warning F72 with the text “Trial time” will appear on the display (until <24 hours left) at

every run request

2. When only 24 hours is left of trial time the warning F73 “<24 hours left” is triggered and

remains on all the time when FC is in run in shaft synchronization mode.

3. When trial time has expired and the drive will trip with F72 Error: “TrialTimeOver”

NOTE: Drive will trip in run mode!

4. A monitoring value V1.23 on the keypad shows Trial time left (h). The trial time starts from

336 h and counts down to 0.

NOTE: The trial time counter is counting when the shaft synchronization is enabled by digital input
or from fieldbus.

rising edge

in shaft synchronization mode.

1

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control i/o vacon • 7

J

2. CONTROL I/O

Reference potentiometer,
1…10 kΩ

mA

READY

RUN

220

VAC

OPT-A1
Terminal Signal Description
1 +10V
2 AI1+ Analogue input, voltage range

3 AI1- I/O Ground Ground for reference and controls
4 AI2+
5 AI2-

6 +24V Control voltage output Voltage for switches, etc. max 0.1 A
7 GND I/O ground Ground for reference and controls
8 DIN1 Start forward

9 DIN2 Start reverse

10 DIN3 Shaft Synchronization Enable

11 CMA Common for DIN 1—DIN 3 Connect to GND or +24V

12 +24V Control voltage output Voltage for switches (see #6)
13 GND I/O ground Ground for reference and controls
14 DIN4 Synch. Mode BIT0

15 DIN5 Synch. Mode BIT1

16 DIN6 Free

17 CMB Common for DIN4—DIN6 Connect to GND or +24V
18 AOA1+
19 AOA1­20 DOA1 Digital output

OPT-A2
21 RO1
22 RO1
23 RO1

24 RO2
25 RO2
26 RO2

Reference output Voltage for potentiometer, etc.

ref

0—10V DC

Analogue input, current range
0—20mA

(programmable)

(programmable)

(programmable)

(programmable)

(programmable)

(programmable)

Output frequency
Analogue output

READY

Relay output 1

Relay output 2

FAULT

Voltage input frequency reference

Current input frequency reference

Contact closed = start forward

Contact closed = start reverse

Contact closed = Enabled

Contact closed = Engage Synchronization

Contact closed = Freeze follower speed

Programmable

Programmable
Range 0—20 mA/R
Programmable
Open collector, I≤50mA, U≤48 VDC

Programmable

RUN

Programmable

, max. 500Ω

L

Table 1. Shaft Synchronization application default I/O configuration and
connection example.

Note: See jumper selections below.
More information in the product's
User's Manual.

umper block X3:

CMA and CMB grounding

CMB connected to GND
CMA connected to GND

CMB isolated from GND
CMA isolated from GND

CMB and CMA
internally connected together,
isolated from GND

= Factory default

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2

8 • vacon connection of signals between master and follower

3. CONNECTION OF SIGNALS BETWEEN MASTER AND FOLLOWER DRIVE (OPT-A7)

NOTE: To eliminate the risk of electrical noise, use only double shielded twisted pair cable for
connections.

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3

jumper setting on the opt-a7 board vacon • 9

4. JUMPER SETTING ON THE OPT-A7 BOARD

The X5 jumper selects which channel is sent to the repeater outputs (connections17-20)
On the Master drive OPT-A7 the channel 1 (DIC) has to be sent to repeater outputs.
If there are more than one follower normally channel 2 (DID) is to be sent from follower(s) to
follower(s). Then all drives will follow master drive.
See the Option board manual UD00741 for more information.

Master drive can have any software application. Follower is regulating based on incoming encoder
channel 2 pulses.

COMMISSIONING NOTE:
Always check in option board menu (M7) that master pulses are coming to encoder channel 2
on the follower OPT-A7 board (or OPT-BC if resolver board is used).

Pulses per revolution for follower channel 2 (P7.3.1.4 Enc 2 Pulse/rev for OPT-A7) should
normally be set equals to Master encoder pulses/rev.

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4

10 • vacon "terminal to function" (ttf) programming principle

5. “TERMINAL TO FUNCTION” (TTF) PROGRAMMING PRINCIPLE

The programming principle of the input and output signals in the Multipurpose Control Application
as well as in the Pump and Fan Control Application (and partly in the other applications) is differ­ent compared to the conventional method used in other Vacon NX applications.

In the conventional programming method,
have a fixed input or output that you define a certain function for. This application, however, use the

Terminal to Function Programming method (TTF)

the other way round: Functions appear as parameters which the operator defines a certain
input/output for. See

Warning

on page 11.

5.1 Defining an input/output for a certain function on keypad

Connecting a certain input or output with a certain function (parameter) is done by giving the para­meter an appropriate value. The value is formed of the
(see the product's User's Manual) and the

Function name

AI Ref Faul/Warn
DigOUT:B.1

Slot Terminal number
Terminal type

Example: You want to connect the digital output function

2.3.3.7) to the digital output DO1 on the basic board OPT-A1 (see the product's User's Manual).

First find the parameter 2.3.3.7 on the keypad. Press the
mode. On the

value line

, you will see the terminal type on the left (DigIN, DigOUT, An.IN, An.OUT)
and on the right, the present input/output the function is connected to (B.3, A.2 etc.), or if not con­nected, a value (0.#).
When the value is blinking, hold down the
and signal number. The program will scroll the board slots starting from 0 and proceeding from A
to E and the I/O selection from 1 to 10.
Once you have set the desired value, press the

READY

I/Oterm

AI Ref Faul/Warn AI Ref Faul/Warn A I Ref Faul/Warn

DigOUT :0.0

DigOUT :0.0

Function to Terminal Programming Method (FTT),

in which the programming process is carried out

Board slot

respective signal number

READY

I/Oterm

Reference fault/warning

Menu button right

Browser button up

Enter button

READY

I/Oterm

on the Vacon NX control board

, see below.

(parameter

once to enter the edit

or

down

to find the desired board slot

once to confirm the change.

READ Y

I/Oterm

DigOUT :B.1

you

enter

5

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"terminal to function" (ttf) programming principle vacon • 11

s

s

5.2 Defining a terminal for a certain function with NCDrive programming tool

If you use the NCDrive Programming Tool for parametrizing you will have to establish the connec­tion between the function and input/output in the same way as with the control panel. Just pick the
address code from the drop-down menu in the

Value

column (see the Figure below).

Figure 1. Screenshot of NCDrive programming tool; Entering the address code

Be ABSOLUTELY sure not to connect two functions to one and same

!

WARNING

Note: The

input

output
operation.

, unlike the

in order to avoid function overruns and to ensure flawless

output

, cannot be changed in RUN state.

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5

12 • vacon "terminal to function" (ttf) programming principle

5.3 Defining unused inputs/outputs

All unused inputs and outputs must be given the board slot value 0 and the value 1 also for the ter­minal number. The value 0.1 is also the default value for most of the functions. However, if you want
to use the values of a digital input signal for e.g. testing purposes only, you can set the board slot
value to 0 and the terminal number to any number between 2…10 to place the input to a TRUE state.
In other words, the value 1 corresponds to 'open contact' and values 2 to 10 to 'closed contact'.

In case of analogue inputs, giving the value 1 for the terminal number corresponds to 0% signal
level, value 2 corresponds to 20%, value 3 to 30% and so on. Giving value 10 for the terminal number
corresponds to 100% signal level.

5

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shaft synchronization application – parameter lists vacon • 13

6. SHAFT SYNCHRONIZATION APPLICATION – PARAMETER LISTS

On the next pages you will find the lists of parameters within the respective parameter groups. The
parameter descriptions are given on pages 32 to 85.

Column explanations:

Code = Location indication on the keypad; Shows the operator the present param. number
Parameter = Name of parameter
Min = Minimum value of parameter
Max = Maximum value of parameter
Unit = Unit of parameter value; Given if available
Default = Value preset by factory
Cust = Customer’s own setting
ID = ID number of the parameter
= On parameter code: Parameter value can only be changed after the FC has been

stopped.

= Apply the Terminal to Function method (TTF) to these parameters (see chapter 3)

6.1 Monitoring values (Control keypad: menu M1)

The monitoring values are the actual values of parameters and signals as well as statuses and
measurements. Monitoring values cannot be edited.
See the product's User's Manual for more information.

Code Parameter Unit ID Description

V1.1 Output frequency Hz 1 Output frequency to motor

V1.2 Frequency reference Hz 25

V1.3 Motor speed rpm 2 Motor speed in rpm
V1.4 Motor current A 3
V1.5 Motor torque % 4 In % of Motor nominal torque
V1.6 Motor power % 5 Motor shaft power
V1.7 Motor voltage V 6
V1.8 DC link voltage V 7

V1.9
V1.10 Motor temperature
V1.11
V1.12
V1.13 DIN1, DIN2, DIN3 15 Digital input statuses

V1.14 DIN4, DIN5, DIN6 16 Digital input statuses
V1.15 Analog Iout MA 26 AOA1
V1.16 Torque reference
V1.17 Actual ratio*2^16 1700 Actual synch. ratio
V1.18 Position error

V1.19 Encoder 1 Freq
V1.20 Encoder 2 Freq

V1.21 Pole pair number

V1.22 ID Run Status
V1.23 Trial time left

V1.24 Accum Space Error

G1.25 Multimonitoring items

Unit temperature

Analogue input 1
Analogue input 2

°C

%
V/mA
V/mA

%

u
Hz
Hz

h

u

1701 Psotion error in user unit
1124

1803

Frequency reference to motor
control

8 Heatsink temperature

9 Calculated motor temperature
13 AI1
14 AI2

18

Shaft Frequency filtered
Master encoder frequency

53

Calculated pole pair number

58

based on given motor data
Status of ID run made

49

Hours left of trial time

67

Displays accumulated position
error when follower not
running in synch. mode.
Displays three selectable
monitoring values

Table 2. Monitoring values

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6

14 • vacon shaft synchronization application – parameter lists

6.2 Basic parameters (Control keypad: Menu M2  G2.1)

Code Parameter Min Max Unit Default Cust ID Note

NOTE: If f

P2.1.1 Max frequency Par. 2.1.1 320,00 Hz 50,00 102

P2.1.2 Acceleration time 1 0,1 3000,0 s 1,0 103
P2.1.3 Deceleration time 1 0,1 3000,0 s 1,0 104
P2.1.4 Current limit 0,4 x IH 2 x IH A IL 107

P2.1.5

P2.1.6

P2.1.7

P2.1.8

P2.1.9

P2.1.10 I/O Reference 0 14 0 117

P2.1.11

P2.1.12

P2.1.13

P2.1.14 Preset speed 1 0,00 Par. 2.1.2 Hz 10,00 105 Multi-step speed 1
P2.1.15 Preset speed 2 0,00 Par. 2.1.2 Hz 15,00 106 Multi-step speed 2
P2.1.16 Preset speed 3 0,00 Par. 2.1.2 Hz 20,00 126 Multi-step speed 3
P2.1.17 Preset speed 4 0,00 Par. 2.1.2 Hz 25,00 127 Multi-step speed 4
P2.1.18 Preset speed 5 0,00 Par. 2.1.2 Hz 30,00 128 Multi-step speed 5
P2.1.19 Preset speed 6 0,00 Par. 2.1.2 Hz 40,00 129 Multi-step speed 6
P2.1.20 Preset speed 7 0,00 Par. 2.1.2 Hz 50,00 130 Multi-step speed 7

Nominal voltage of

the motor

Nominal frequency

of the motor

Nominal speed of

the motor

Nominal current of

the motor

Motor cosϕ

Keypad control

reference

Fieldbus control

reference

Jogging speed

reference

180 690 V

30,00 320,00 Hz 50,00 111

300 20 000 rpm 1440 112

0,4 x IH 2 x IH A IH

0,30 1,00 0,85 120

0 9 8 121

0 9 9 122 See par. 2.1.12

0,00 Par. 2.1.2 Hz 5,00 124

NX2: 230V
NX5: 400V
NX6: 690V

110

motor synchronous speed,
check suitability for motor
and drive system

Check the rating plate of
the motor
The default applies for a 4­pole motor and a nominal
size frequency converter.
Check the rating plate of

113

the motor.
Check the rating plate of
the motor
0=AI1
1=AI2
2=AI1+AI2
3=AI1-AI2
4=AI2-AI1
5=AI1xAI2
6=AI1 Joystick
7=AI2 Joystick
8=Keypad
9=Fieldbus
10=Motor potentiometer
11=AI1, AI2 minimum
12=AI1, AI2 maximum
13=Max frequency
14=AI1/AI2 selection
0=AI1
1=AI2
2=AI1+AI2
3=AI1-AI2
4=AI2-AI1
5=AI1xAI2
6=AI1 Joystick
7=AI2 Joystick
8=Keypad
9=Fieldbus

> than the

max

Table 3. Basic parameters G2.1

6

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shaft synchronization application – parameter lists vacon • 15

6.3 Input signals

6.3.1 Basic settings (Control keypad: Menu M2  G2.2.1)

Code Parameter Min Max Unit Default Cust ID Note

P2.2.1.1

P2.2.1.2

P2.2.1.3

Start/Stop logic

selection

Motor potentiometer

ramp time

Motor potentiometer

frequency reference

memory reset

0 7 0 300

0,1 2000,0 Hz/s 10,0 331

0 2 1 367

Table 4. Input signals: basic settings, G2.2.1

Start
signal 1
(Default:
DIN1)

0

Start forw.

1

Start/Stop

2

Start/Stop

3

Start pulse

4

Start

5

Fwd pulse

6

Start pulse
Start pulse

7

0=No reset
1=Reset if stopped or

powered down

2=Reset if powered down

Start
signal 2
(Default:
DIN2)

Start rev.
Reverse
Run enable
Stop pulse
Mot.pot.UP
Rev pulse
Rev pulse
Enabl pulse

6.3.2 Analogue input 1 (Control keypad: Menu M2  G2.2.2)

Code Parameter Min Max Unit Default Cust ID Note
P2.2.2.1 AI1 signal selection 0 A.1 377
P2.2.2.2 AI1 filter time 0,00 10,00 s 0,10 324 0=No filtering

P2.2.2.3 AI1 signal range 0 3 0

P2.2.2.4

P2.2.2.5

P2.2.2.6

P2.2.2.7

P2.2.2.8

P2.2.2.9 AI1 joystick offset -50,00 50,00 % 0,00 165

Table 5. Analogue input 1 parameters, G2.2.2

AI1 custom

minimum setting

AI1 custom

maximum setting

AI1 reference

scaling, minimum

value

AI1 reference

scaling, maximum

value

AI1 joystick

hysteresis

-100,00 100,00 % 0,00

-100,00 100,00 % 100,00

0,00 320,00 Hz 0,00

0,00 320,00 Hz 0,00

0,00 20,00 % 0,00

*Remember to place jumpers of block X2 accordingly.
See NX User's Manual, chapter 6.2.2.2

0=0…100%*
1=20…100%*

320

2= -10V…+10V*
3= Custom range*

321

322

Selects the frequency that

303

corresponds to the min.
reference signal
Selects the frequency that

304

corresponds to the max.
reference signal

384

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6

16 • vacon shaft synchronization application – parameter lists

6.3.3 Analogue input 2 (Control keypad: Menu M2  G2.2.3)

Code Parameter Min Max Unit Default Cust ID Note
P2.2.3.1 AI2 signal selection 0 A.2 388
P2.2.3.2 AI2 filter time 0,00 10,00 s 0,10 329 0=No filtering

P2.2.3.3 AI2 signal range 0 3 1

P2.2.3.4

P2.2.3.5

P2.2.3.6

P2.2.3.7

P2.2.3.8

P2.2.3.9 AI2 joystick offset -50,00 50,00 % 0,00

AI2 custom

minimum setting

AI2 custom

maximum setting

AI2 reference

scaling, minimum

value

AI2 reference

scaling, maximum

value

AI2 joystick

hysteresis

-100,00 100,00 % 0,00

-100,00 100,00 % 100,00

0,00 320,00 Hz 0,00

0,00 320,00 Hz 0,00

0,00 20,00 % 0,00 395

Table 6. Analogue input 2 parameters, G2.2.3

0=0…100%*
1=20…100%*

325

2= -10V…+10V*
3= Custom range*

326

327

Selects the frequency that

393

corresponds to the min.
reference signal
Selects the frequency that

394

corresponds to the max.
reference signal

166

6.3.4 Free analogue input, signal selection (Keypad: Menu M2  G2.2.4)

Code Parameter Min Max Unit Default Cust ID Note

P2.2.4.1

P2.2.4.2 Torque limit 0 3 0 485 See par. 2.2.4.1

Scaling of current

limit

0 3 0

Table 7. Free analogue input signal selection, G2.2.6

399

0=Not used
1=AI1
2=AI2
3=Fieldbus

6

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shaft synchronization application – parameter lists vacon • 17

6.3.5 Digital inputs (Control keypad: Menu M2  G2.2.5)

Code Parameter Min Default Cust ID Note
P2.2.5.1 Start signal 1 0 A.1 403
P2.2.5.2 Start signal 2 0 A.2 404
P2.2.5.3 Run enable 0 0.2 407 Motor start enabled (cc)

P2.2.5.4 Reverse 0 0.1 412

P2.2.5.5 Preset speed 1 0 0.1 419
P2.2.5.6 Preset speed 2 0 0.1 420
P2.2.5.7 Preset speed 3 0 0.1 421

P2.2.5.8

P2.2.5.9

P2.2.5.10 Fault reset 0 0.1 414 All faults reset (cc)
P2.2.5.11 External fault (close) 0 0.1 405 Ext. fault displayed (cc)
P2.2.5.12 External fault (open) 0 0.2 406 Ext. fault displayed (oc)

P2.2.5.13 Acc/Dec time selection 0 0.1 408

P2.2.5.14 Acc/Dec prohibit 0 0.1 415 Acc/Dec prohibited (cc)
P2.2.5.15 DC braking 0 0.1 416 DC braking active (cc)

P2.2.5.16 Jogging speed 0 0.1 413

P2.2.5.17 AI1/AI2 selection 0 0.1 422

P2.2.5.18 Motor control mode 1/2 0 0.1 164

SHAFT SYNCHRONIZATION SPECIFIC PARAMETERS

P2.2.5.19 Synch. enable 0 A.3 1710

P2.2.5.20 Synch. ModeBit0 0 A.4 1711 Engage synchronization input
P2.2.5.21 Synch. ModeBit1 0 A.5 1712

P2.2.5.22 Synch. trim + 0 0.1 1713

P2.2.5.23 Synch. trim - 0 0.1 1714

P2.2.5.24 Brake Opened Ack 0 0.1 1602

Motor potentiometer

reference DOWN

Motor potentiometer

reference UP

0 0.1 417

0 0.1 418

Table 8. Digital input signals, G2.2.4

Direction forward (oc)
Direction reverse (cc)

Mot.pot. reference decreases
(cc)
Mot.pot. reference increases
(cc)

Acc/Dec time 1 (oc)
Acc/Dec time 2 (cc)

Jogging speed selected for
frequency reference (cc)

Closed cont.=Mode 2 is used
Open cont.=Mode 1 is used
See par 2.6.1, 2.6.12

Enable shaft synchronization
control mode (software
license required)
Disabled = multi-purpose
control mode

Reference speed/Freeze
follower speed request input
Trim input for increasing of
ratio in run mode
Trim input fordecreasing of
ratio in run mode
Hardware feedback from
mechanical brake.

cc = closing contact
oc = opening contact

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18 • vacon shaft synchronization application – parameter lists

6.4 Output signals

6.4.1 Delayed digital output 1 (Keypad: Menu M2  G2.3.1)

Code Parameter Min Max Unit Default Cust ID Note

P2.3.1.1

P2.3.1.2

P2.3.1.3

P2.3.1.4

Table 9. Delayed digital output 1 parameters, G2.3.1

Digital output 1

signal selection

Digital output 1

function

Digital output 1 on

delay

Digital output 1 off

delay

0 0.1 486

0=Not used
1=Ready
2=Run
3=Fault
4=Fault inverted
5=FC overheat warning
6=Ext. fault or warning
7=Ref. fault or warning
8=Warning
9=Reverse
10=Jogging spd selected
11=At speed
12=Mot. regulator active

0 26 1 312

0,00 320,00 s 0,00 487 0,00 = delay not in use

0,00 320,00 s 0.00 488 0,00 = delay not in use

13=Freq. limit 1 superv.
14=Freq. limit 2 superv.
15=Torque limit superv.
16=Ref. limit supervision
17=External brake control
18=I/O control place act.
19=FC temp. limit superv.
20=Reference inverted
21=Ext. brake control

inverted
22=Therm. fault or warn.
23=On/Off control
24=Fieldbus input data 1
25=Fieldbus input data 2
26=Fieldbus input data 3

6.4.2 Delayed digital output 2 (Keypad: Menu M2  G2.3.2)

Code Parameter Min Max Unit Default Cust ID Note

P2.3.2.1

P2.3.2.2

P2.3.2.3

P2.3.2.4

Digital output 2

signal selection

Digital output 2

function

Digital output 2 on

delay

Digital output 2 off

delay

0 0.1 489

0 26 0 490 See par. 2.3.1.2

0,00 320,00 s 0,00 491 0,00 = delay not in use

0,00 320,00 s 0,00 492 0,00 = delay not in use

Table 10. Delayed digital output 2 parameters, G2.3.2

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shaft synchronization application – parameter lists vacon • 19

6.4.3 Digital output signals (Control keypad: Menu M2  G2.3.3)

Code Parameter Min Default Cust ID Note
P2.3.3.1 Ready 0 A.1 432
P2.3.3.2 Run 0 B.1 433
P2.3.3.3 Fault 0 B.2 434
P2.3.3.4 Inverted fault 0 0.1 435
P2.3.3.5 Warning 0 0.1 436
P2.3.3.6 External fault 0 0.1 437

P2.3.3.7

P2.3.3.8

P2.3.3.9 Reverse 0 0.1 440

P2.3.3.10 Unrequested direction 0 0.1 441
P2.3.3.11 At speed 0 0.1 442
P2.3.3.12 Jogging speed 0 0.1 443
P2.3.3.13 External control place 0 0.1 444
P2.3.3.14 External brake control 0 0.1 445

P2.3.3.15

P2.3.3.16

P2.3.3.17

P2.3.3.18

P2.3.3.19

P2.3.3.20

P2.3.3.21

P2.3.3.22

P2.3.3.23 Fieldbus input data 1 0 0.1 455
P2.3.3.24 Fieldbus input data 2 0 0.1 456
P2.3.3.25 Fieldbus input data 3 0 0.1 457
P2.3.3.26 Fieldbus input data 4 0 0.1 169
P2.3.3.27 Fieldbus input data 5 0 0.1 170
P2.3.3.28 SynchronEngaged 0 0.1 1720
P2.3.3.29 Ratio changing 0 0.1 1721

P2.3.3.30 External Brake Opened 0 0.1 1722

Table 11. Digital output signals, G2.3.3

Reference

fault/warning

Overtemperature

warning

External brake control,

inverted

Output frequency limit

1 supervision

Output frequency limit

2 supervision

Reference limit

supervision

Temperature limit

supervision

Torque limit

supervision

Motor thermal

protection

Motor regulator

activation

0 0.1 438

0 0.1 439

0 0.1 446

0 0.1 447

0 0.1 448

0 0.1 449

0 0.1 450

0 0.1 451

0 0.1 452

0 0.1 454

See explanations on page

53.

Indication for mechanical
brake fully open

Be ABSOLUTELY sure not to connect two functions to one and

!

WARNING

same output
flawless operation.

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20 • vacon shaft synchronization application – parameter lists

6.4.4 Limit settings (Control keypad: Menu M2  G2.3.4)

Code Parameter Min Max Unit Default Cust ID Note

0=No limit

P2.3.4.1

P2.3.4.2

P2.3.4.3

P2.3.4.4

P2.3.4.5

P2.3.4.6

P2.3.4.7

P2.3.4.8

P2.3.4.9

P2.3.4.10

Output frequency

limit 1 supervision

Output frequency

limit 1;

Supervised value

Output frequency

limit 2 supervision

Output frequency

limit 2;

Supervised value

Torque limit

supervision

Torque limit

supervision value

Reference limit

supervision

Reference limit

supervision value

FC temperature

supervision

FC temperature

supervised value

Table 12. Limit settings, G2.3.4

0 3 0 315

0,00 Par. 2.1.2 Hz 0,00 316

0 4 0 346

0,00 Par. 2.1.2 Hz 0,00 347

0 3 0 348

-1000,0 1000,0 % 100,0 349

0 2 0 350

0,00 Par. 2.1.2 Hz 0,00 351

0 2 0 354

–10 75

°C

0 355

1=Low limit supervision
2=High limit supervision
3=Brake-on control

0=No limit
1=Low limit supervision
2=High limit supervision
3=Brake-off control
4=Brake on/off-control

0=Not used
1=Low limit supervision
2=High limit supervision
3=Brake-off control

0=Not used
1=Low limit
2=High limit

0=Not used
1=Low limit
2=High limit

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shaft synchronization application – parameter lists vacon • 21

6.4.5 Analogue output 1 (Control keypad: Menu M2  G2.3.5)

Code Parameter Min Max Unit Default Cust ID Note

P2.3.5.1

P2.3.5.2

P2.3.5.3

P2.3.5.4

P2.3.5.5

P2.3.5.6

P2.3.5.7

Table 13. Analogue output 1 parameters, G2.3.5

Analogue output 1

signal selection

Analogue output 1

function

Analogue output 1

filter time

Analogue output 1

inversion

Analogue output 1

minimum

Analogue output 1

scale

Analogue output 1

offset

0 A.1 464

0=Not used
1=Output freq. (0—f
2=Freq. reference (0—f
3=Motor speed (0—Motor

nominal speed)
4=Motor current (0—I
5=Motor torque (0—T
6=Motor power (0—P

0 14 1 307

7=Motor voltage (0-U
8=DC-link volt (0—1000V)
9=AI1
10=AI2
11=Output freq. (f
12=Motor torque
(–2…+2xT
13=Motor power
(–2…+2xT
14=PT100 temperature

0,00 10,00 s 1,00 308 0=No filtering

0 1 0 309

0 1 0 310

0=Not inverted
1=Inverted
0=0 mA
1=4 mA

10 1000 % 100 311

-100,00 100,00 % 0,00 375

Nmot

Nmot

min

)

)

max

- f

)

max

nMotor

nMotor

nMotor

nMotor

max

)
)
)

)

)

)

6.4.6 Analogue output 2 (Control keypad: Menu M2  G2.3.6)

Code Parameter Min Max Unit Default Cust ID Note

P2.3.6.1

P2.3.6.2

P2.3.6.3

P2.3.6.4

P2.3.6.5

P2.3.6.6

P2.3.6.7

Table 14. Analogue output 2 parameters, G2.3.6

Analogue output 2

signal selection

Analogue output 2

function

Analogue output 2

filter time

Analogue output 2

inversion

Analogue output 2

minimum

Analogue output 2

scale

Analogue output 2

offset

0 0.1 471

0 14 4 472 See par. 2.3.5.2

0,00 10,00 s 1,00 473 0=No filtering

0 1 0 474

0 1 0 475

0=Not inverted
1=Inverted
0=0 mA
1=4 mA

10 1000 % 100 476

-100,00 100,00 % 0,00 477

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22 • vacon shaft synchronization application – parameter lists

6.4.7 Analogue output 3 (Control keypad: Menu M2  G2.3.7)

Code Parameter Min Max Unit Default Cust ID Note

P2.3.7.1

P2.3.7.2

P2.3.7.3

P2.3.7.4

P2.3.7.5

P2.3.7.6

P2.3.7.7

Analogue output 3

signal selection

Analogue output 3

function

Analogue output 3

filter time

Analogue output 3

inversion

Analogue output 3

minimum

Analogue output 3

scale

Analogue output 3

offset

0 0.1 478

0 14 5 479 See par. 2.3.5.2

0,00 10,00 s 1,00 480 0=No filtering

0 1 0 481

0 1 0 482

10 1000 % 100 483

-100,00 100,00 % 0,00 484

0=Not inverted
1=Inverted
0=0 mA
1=4 mA

Table 15. Analogue output 3 parameters, G2.3.7

6.4.8 Mechanical Brake (Control keypad: Menu M2  G2.3.8)

Code Parameter Min Max Unit Default Cust ID Note

P2.3.8.1

P2.3.8.2 Current limit open 0 P2.1.8 A 0,00 1551

P2.3.8.3 Freq Limit open, OL 0 P2.1.6 Hz 1,00 1535

P2.3.8.4 Freq Limit open, CL 0 P2.1.6 Hz 0,00 1553

P2.3.8.5 Brake open delay 0 10,00 s 0,00 1554

P2.3.8.6 Brake reaction time 0 10,00 s 0,10 1544 Physical reaction time

P2.3.8.7

P2.3.8.8 Brake close delay 0 10,00 s 0,00 1541

Mechanical brake

used

Close Frequency

limit

0 1 0 1550

0 P2.1.6 1,00 1539

0 = Not used
1 = Mechanical brake
used
Current limit for brake
open enable
Frequency limit for
brake open in open loop
Frequency limit for
brake open in closed
loop
Delay time for brake
open

Frequency limit for
closing the brake
Closing delay after close
frequency limit is
reached.

Table 16. Analogue output 3 parameters, G2.3.7

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shaft synchronization application – parameter lists vacon • 23

6.5 Drive control parameters (Control keypad: Menu M2  G2.4)

Code Parameter Min Max Unit Default Cust ID Note

P2.4.1 Ramp 1 shape 0,0 10,0 s 0,0

P2.4.2 Ramp 2 shape 0,0 10,0 s 0,0

P2.4.3 Acceleration time 2 0,1 3000,0 s 10,0 502
P2.4.4 Deceleration time 2 0,1 3000,0 s 10,0 503

P2.4.5 Brake chopper 0 4 0

P2.4.6 Start function 0 1 0

P2.4.7 Stop function 0 3 0

P2.4.8 DC braking current 0,4 x IH 2 x IH A IH 507

P2.4.9

P2.4.10

P2.4.11

P2.4.12 Flux brake 0 1 0

P2.4.13 Flux braking current 0,4 x IH 2 x IH A IH 519

DC braking time

at stop
Frequency to start
DC braking during

ramp stop

DC braking time

at start

0,00 600,00 s 0,00

0,10 10,00 Hz 1,50

0,00 600,00 s 0,00

0=Linear

500

>0=S-curve ramp time
0=Linear

501

>0=S-curve ramp time

0=Disabled
1=Used when running
2=External brake chopper

504

3=Used when

stopped/running

4=Used when running (no

testing)

0=Ramp

505

1=Flying start
0=Coasting
1=Ramp

506

2=Ramp+Run enable coast
3=Coast+Run enable ramp

508 0=DC brake is off at stop

515

516 0=DC brake is off at start

0=Off

520

1=On

Table 17. Drive control parameters, G2.4

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24 • vacon shaft synchronization application – parameter lists

6.6 Motor control parameters (Control keypad: Menu M2  G2.5)

Code Parameter Min Max Unit Default Cust ID Note

0=Frequency control
1=Speed control
2=Torque control

P2.5.1

P2.5.2 U/f optimisation 0 1 0

P2.5.3 U/f ratio selection 0 3 0

P2.5.4

P2.5.5

P2.5.6

P2.5.7

P2.5.8

P2.5.9

P2.5.10

P2.5.11

P2.5.12

P2.5.13

P2.5.14

P2.5.15 Load drooping 0,00 100,00 % 0,00 620

P2.5.16 Identification 0 5 0 631

P2.5.17 RsVoltageDrop 0 30000 0 662 Measured Rs voltage drop

Closed Loop parameter group 2.5.18

P2.5.18.1

P2.5.18.2

P2.5.18.3

P2.5.18.5

P2.5.18.6 Slip adjust 0 500 % 100 619

P2.5.18.7

Motor control

mode

Field weakening

point

Voltage at field

weakening point

U/f curve midpoint

frequency

U/f curve midpoint

voltage

Output voltage at

zero frequency

Switching
frequency

Overvoltage

controller

Undervoltage

controller

Motor control

mode 2

Speed controller

P gain (open loop)

Speed controller
I gain (open loop)

Magnetizing

current

Speed control P

gain

Speed control I

time

Acceleration

compensation

Magnetizing

current at start

0 6 0 600

109

108

8,00 320,00 Hz 50,00

10,00

0,00

0,00 100,00 % 100,00

0,00 40,00 % 0,00

1,0 Varies kHz Varies

0 2 1 607

0 1 1 608

0 2/6 2

0 32767 3000 637

0 32767 300

0,00 100,00 A 0,00

0 1000 30

0,0 500,0 ms 30,0

0,00 300,00 s 0,00

MotCurr

Min

200,00 % 100,00

par.

P2.6.4

MotCurr

Max

Hz 50,00

A 0,00

602

603 n% x U

604

605

606 n% x U

601

521 See par. 2.6.1

638

612

613

614

626

627

3=Closed loop speed ctrl
4=Closed loop torque ctrl
5=Adv. open loop freq.

control

6=Advanced open loop

speed control

0=Not used
1=Automatic torque boost
0=Linear
1=Squared
2=Programmable
3=Linear with flux optim.

nmot

n% x U

nmot

Parameter max. value =
par. 2.6.5

nmot

See Table 35 for exact
values
0=Not used
1=Used (no ramping)
2=Used (ramping)
0=Not used
1=Used

0=No Action
1=ID No Run
2=ID With Run
3=Enc. ID Run
4=No Action
5=ID Run failed

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shaft synchronization application – parameter lists vacon • 25

P2.5.18.8

P2.5.18.9

P2.5.18.10

P2.5.18.11 Start-up torque 0 3 0

P2.5.18.12

P2.5.18.13

P2.5.18.14 Encoder filter time 0 100,0 ms 0 618

P2.5.18.15

P2.5.18.16 KpF1 spd thresld P2.5.18.17 P2.1.2 Hz 2,00

P2.5.18.17 KpF0 spd thresld 0,00 P2.5.18.16 Hz 1,00

P2.5.18.18 %Kp spd reg @ F0 0 100 % 50

P2.5.18.19 Stop State Flux 0,0 150,0 % 100,0

P2.5.18.20 Flux Off Delay -1 32000 s 0

Magnetizing time

at start

0-speed time at

start

0-speed time at

stop

Start-up torque

FWD

Start-up torque

REV

Current control

P gain

0,000 60,000 s 0,0

0 32000 ms 100

0 32000 ms 100

–300,0 300,0 s 0,0

–300,0 300,0 s 0,0

0,00 100,00 % 40,00

628

615

616

621

633

634

617

1555

1556

1557

1401

1402

Table 18. Motor control parameters, G2.5

0=Not used
1=Torque memory
2=Torque reference
3=Start-up torque fwd/rev

Frequency threshold for
transition to normal speed
regulator gain
Frequency threshold for
transition to low speed
regulator gain
Speed regulator gain at
low speed, as a percent­age of normal gain
(P2.5.18.2)
Stop state magnetization
current in % of nominal
magnetizing current
Maximum time for stop
state magnetization

6.6.1 PMSM settings (Control keypad: Menu M2  G2.5.19)

Code Parameter Min Max Unit Default Cust ID note

P2.5.19.1 Motor type 0 1 0 650

P2.5.19.2 FluxCurrent Kp 0 32000 500

P2.5.19.3 FluxCurrent Ti 0 1000 ms 50

P2.5.19.4

P2.5.19.5 EnableRsIdentific 0 1 1

P2.5.19.6 ModIndexLimit 0 200 100

PMSMShaft

Position

0 65535 0

0=Asynchronous motor
1=PMS Motor
Gain for flux current

651

control
Integral time for flux

652

control
Low word of encoder

649

angle corresponding to
the shaft 0 position
Enable Rs identification

654

during DC brake at start
Modulaton index limit at

655

field weakening point

Table 19. Parameters for permanent magnet synchronous motor, G2.5.19

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26 • vacon shaft synchronization application – parameter lists

6.7 Protections (Control keypad: Menu M2  G2.6)

Code Parameter Min Max Unit Default Cust ID Note

P2.6.1

P2.6.2

P2.6.3

P2.6.4

P2.6.5

P2.6.6

P2.6.7 Earth fault protection 0 3 2 703

P2.6.8

P2.6.9

P2.6.10

P2.6.11

P2.6.12 Motor duty cycle 0 100 % 100 708

P2.6.13 Stall protection 0 3 0

P2.6.14 Stall current 0,1 I
P2.6.15 Stall time limit 1,00 120,00 s 15,00 711
P2.6.16 Stall frequency limit 1,0 Par. 2.1.2 Hz 25,0 712

P2.6.17

P2.6.18

P2.6.19

Response to 4mA

reference fault

4mA reference fault

frequency

Response to external

fault
Input phase
supervision

Response to

undervoltage fault

Output phase

supervision

Thermal protection

of the motor

Motor ambient

temperature factor

Motor cooling factor

at zero speed

Motor thermal time

constant

Response to

thermistor fault

Response to

fieldbus fault

Response to slot

fault

0 5 0

0,00 Par. 2.1.2 Hz 0,00

0 3 2

0 3 0

0 1 0

0 3 2

0 3 2

–100,0 100,0 % 0,0

0,0 150,0 % 40,0

1 200 min 45

x 2 A IL 710

nMotor

0 3 2

0 3 2

0 3 2

0=No response
1=Warning
2=Warning+Prev. Freq.

700

3=Wrng+PresetFreq 2.7.2
4=Fault,stop acc. to 2.4.7
5=Fault,stop by coasting

728

0=No response

701

1=Warning
2=Fault,stop acc. to 2.4.7

730

3=Fault,stop by coasting
0=Fault stored in history

727

1=Fault not stored

702

0=No response
1=Warning
2=Fault,stop acc. to 2.4.7
3=Fault,stop by coasting

704

705

706

707

0=No response
1=Warning

709

2=Fault,stop acc. to 2.4.7
3=Fault,stop by coasting

0=No response
1=Warning

732

2=Fault,stop acc. to 2.4.7
3=Fault,stop by coasting

733 See P2.6.17

734 See P2.6.17

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shaft synchronization application – parameter lists vacon • 27

SHAFT SYNCHRONIZATION SPECIFIC PARAMETERS

P2.6.20

P2.6.21

P2.6.22

P2.6.23

P2.6.24 Lock Response 0 3 2 1734 See P2.6.17

P2.6.25

P2.6.26

P2.6.27 Disable stop lock 0 1 0

Response to

position error

Position error

threshold

Power unit

temperature sensor

supervision

Encoder

supervision

0 3 2 1730 See P2.6.17

0

0 1 0 1732

0 1 0 1733

2147483647

u 3932160

Lock Freq Diff 0,00 Par. 2.1.2 Hz 2,00

Lock fault delay 0,00 10,00 s 0,50

1731

1735

1736

1086

Threshold for position
error during
synchronization

0=Read
1=Ignore

0=Enabled
1=Disabled

Allowed difference
between output
frequency and the
encoder feedback
frequency
If freq. difference is
higher than ID1735 in this
time the lock fault is
triggered
Only for Vacon personnel.
Possibility to change
parameters in run state
when this parameter is
set to 1.

Table 20. Protections, G2.6

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28 • vacon shaft synchronization application – parameter lists

6.8 Fieldbus parameters (Control Keypad: Menu M2 G2.7)

Code Parameter Min Max Unit Default Cust ID Note

P2.7.1

P2.7.2

P2.7.3

P2.7.4

P2.7.5

P2.7.6

P2.7.7

P2.7.8

SHAFT SYNCHRONIZATION SPECIFIC PARAMETERS (See separate description)

P2.7.9

P2.7.10

P2.7.11

P2.7.12

P2.7.13 Free signal selection 0 8 7

Fieldbus data out 1

selection

Fieldbus data out 2

selection

Fieldbus data out 3

selection

Fieldbus data out 4

selection

Fieldbus data out 5

selection

Fieldbus data out 6

selection

Fieldbus data out 7

selection

Fieldbus data out 8

selection

Fieldbus data out

1_2 selection

Synch. ratio register

selection

Synch. control

register selection

Torque reference

selection

0 10000 0

0 10000 0

0 10000 1703

0 10000 4

0 10000 5

0 10000 6

0 10000 7

0 10000 37

0 10000 1702

0 7 0

0 8 1

0 8 6

1740

1741

1742

1680

1681

Choose monitoring data

852

with parameter ID
Choose monitoring data

853

with parameter ID
Choose monitoring data

854

with parameter ID
Choose monitoring data

855

with parameter ID
Choose monitoring data

856

with parameter ID
Choose monitoring data

857

with parameter ID
Choose monitoring data

858

with parameter ID
Choose monitoring data

859

with parameter ID

Choose 32-bit monitoring
data with parameter ID.
See separate description.
Selection of PD in chan­nels for ratio register.
Occupies 2 PD in
channels !
Selection of PD in chan­nel for synchronization
control register. See
table 39.
Select PD in channel for
Torque reference
Select PD in channel for
Free Signal. Can be used
for Torque or Current
limit. See G2.2.4.

Table 21. Fieldbus parameters

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shaft synchronization application – parameter lists vacon • 29

6.9 Torque control parameters (Control Keypad: Menu M2 G2.8)

Code Parameter Min Max Unit Default Cust ID Note

P2.8.1 Torque limit 0,0 400,0 % 400,0 609

P2.8.2

P2.8.3

P2.8.4

P2.8.5

P2.8.6

P2.8.7 Torque speed limit 0 2 1

P2.8.8

P2.8.9

P2.8.10

Torque limit control

P-gain

Torque limit control

I-gain

Torque reference

selection

Torque reference

max.

Torque reference

min.

Minimum frequency

for open loop

torque control

Torque controller

P gain

Torque controller

I gain

0,0 32000 3000

0,0 32000 200

0 8 0

–300,0 300,0 % 100

–300,0 300,0 % 0,0

0,00 par.2.1.1 Hz 3,00

0 32000 150

0 32000 10

610

Used only in Open Loop
control mode

611

0=Not used
1=AI1
2=AI2
3=AI3
4=AI4

641

5=AI1 joystick
6=AI2 joystick
7=Torque reference from

keypad, R3.5

8=Fieldbus

642

643

0=Max. frequency
1=Selected

644

freq.reference
2=Preset speed 7

636

639

640

Table 22. Torque control parameters, G2.8

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