Danfoss vacon nx apfiff10 sia-i Application guide

vacon® nx

ac drives

apfiff10 sia-i System Interface application manual

apfiff10 sia-i VACON® • 3

System Interface Application

INDEX

			Document code: ud01079
			Software Code: APFIFF10V244
			Date: 24.4.2019
1.	INTRODUCTION ..............................................................................................................		5
2.	CONTROL I/O .................................................................................................................		6
3.	SYSTEM INTERFACE APPLICATION PARAMETER LISTS................................................		7
3.1	Monitoring Values ..........................................................................................................................		7
	3.1.1	Monitor Page 1.......................................................................................................................	8
	3.1.2	Monitor Page 2.......................................................................................................................	8
	3.1.3	PI-Controller Monitoring ......................................................................................................	9
3.2	Basic Parameters ........................................................................................................................		10
3.3	Input Signals ................................................................................................................................		11
	3.3.1	Digital Input..........................................................................................................................	11
	3.3.2	Analogue Input.....................................................................................................................	12
3.4	Output Signals..............................................................................................................................		13
	3.4.1	Digital Output.......................................................................................................................	13
	3.4.2	Analogue Output ..................................................................................................................	14
3.5	Reference Handling .....................................................................................................................		14
3.6	Ramp Functions ...........................................................................................................................		16
3.7	Drive Control ................................................................................................................................		17
	3.7.1 Drive Control/Open Loop Ctrl .............................................................................................		18
	3.7.2 Drive Control/UV/OV CTRL stab .........................................................................................		19
3.8	Motor Control ...............................................................................................................................		20
	3.8.1	PMSM Control......................................................................................................................	21
3.9	Limit Settings ...............................................................................................................................		22
3.10	Speed Control...............................................................................................................................		23
3.11	Oscillation Damp..........................................................................................................................		24
3.12	Brake & Fan Control....................................................................................................................		25
3.13	Master Follower...........................................................................................................................		26
3.14	Protections ...................................................................................................................................		27
3.15	Flux Reference Handling.............................................................................................................		29
3.16	Startup Torque .............................................................................................................................		29
3.17	Monitor Settings...........................................................................................................................		29
3.18	Data Mapping ...............................................................................................................................		30
3.19	PI Control Parameters ................................................................................................................		30
	3.19.1	Connect DIN -> ID 1.........................................................................................................	31
	3.19.2	Connect DIN -> ID 2.........................................................................................................	31
	3.19.3	Connect DIN -> ID 3.........................................................................................................	31
	3.19.4	Value Control ...................................................................................................................	32
3.20	Keypad Control.............................................................................................................................		32
3.21	Expander Boards .........................................................................................................................		32

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4 • VACON®	apfiff10 sia-i

4.	DESCRIPTION OF THE SYSTEM INTERFACE APPLICATION PARAMETERS		..................... 33
4.1	Input Signals ................................................................................................................................		35
	4.1.1	Digital Input..........................................................................................................................	35
	4.1.2	Analogue Input.....................................................................................................................	39
	4.1.3	Digital Output.......................................................................................................................	41
	4.1.4	Analogue output...................................................................................................................	41
4.2	Reference Handling .....................................................................................................................		42
4.3	Ramp Functions ...........................................................................................................................		44
4.4	Drive Control ................................................................................................................................		46
	4.4.1	Open Loop Control...............................................................................................................	51
	4.4.2	Undervoltage/Overvoltage Control, Stabilator ..................................................................	53
4.5	Motor Control ...............................................................................................................................		55
4.6	PMSM Control ..............................................................................................................................		59
4.7	Limit Settings ...............................................................................................................................		60
4.8	Speed control ...............................................................................................................................		62
4.9	Oscillation Damp..........................................................................................................................		67
4.10	Brake and fan control ..................................................................................................................		67
4.11	Master Follower...........................................................................................................................		68
4.12	Protections ...................................................................................................................................		71
4.13	Flux Reference Handling.............................................................................................................		79
4.14	Startup Torque .............................................................................................................................		80
4.15	Monitor Settings...........................................................................................................................		81
4.16	Data Mapping ...............................................................................................................................		81
4.17	PI Control......................................................................................................................................		82
4.18	ID Functions .................................................................................................................................		83
	4.18.1	Value Control ...................................................................................................................	84
5.	FIELDBUS PROFILE......................................................................................................		86
5.1	PD Signals from the Overriding system to the Vacon Drive. ....................................................		86
5.2	PD Signals from the Vacon Drive to the Overriding System .....................................................		86
5.3	Main Control Word ID1160 ..........................................................................................................		87
5.4	Main Status Word ID1162 ............................................................................................................		88
5.5	Auxiliary Control Word ID1161....................................................................................................		89
5.6	Auxiliary Status Word ID1163......................................................................................................		90
5.7	Fault Word 1 ID1172 ....................................................................................................................		91
5.8	Fault Word 2 ID1173 ....................................................................................................................		92
5.9	Alarm Word 1 ID1174...................................................................................................................		93
5.10	Digital Input Status 1 and 2: ID15 and ID16................................................................................		94
6.	BLOCK DIAGRAMS........................................................................................................		95
7.	FAULT TRACING .........................................................................................................		100

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apfiff10 sia-i	VACON® • 5

System Interface Application (apfiff10 sia-i)

1.INTRODUCTION

The System Interface Application is typically used in coordinated drives with overriding control system. The recommended interface to control the system is a fieldbus communication through hardwired analogue and digital signals as well as keypad and PC control can be used.

Note! When the drive is controlled through fieldbus, the fieldbus card must be set to Bypass mode.

The System Interface Application utilises most advanced functions in NXP motor control software and is suitable for demanding drive systems like paper machines and drives in metal industry and processing lines. It can also be used for any other standard applications. Following applications are working with this application.

•Pulp and paper machine drives like dryer, press section, wire section, pope reel, winder and unwinder.

•Drives in metal industry like casting machine, melt shop or preparing line

•Standard drives like pump and fan, lifts, cranes, conveyors, etc.

Additional functions:

•Flexible speed and torque reference chains.

•Advanced drive control profile for fieldbus communication

•Flexible fieldbus data connections.

•Adaptive speed controller.

•Inertia compensation and oscillation damping features.

•System Bus support for master follower applications with speed/torque follower.

•Fast and multi drive monitoring tool (NCDrive) support.

•Programmable U/f curve and flux curve.

•Speed /torque-selector options, window control

•Automatic identification run

•Support to permanent magnet motors and multiple winding motors.

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6 • VACON®	apfiff10 sia-i

2.CONTROL I/O

READY

RUN

220 VAC

		Terminal					Signal				Description
		1			+10V		Reference output				Voltage for potentiometer, etc.
		2			AI1+		Analogue input, voltage				Voltage input frequency reference
		3			AI1-		range 0	10V DC
		4			AI2+		Analogue input, current				Current input frequency reference
		5			AI2-		range 0	20mA
		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		Digital input 1
							(Programmable)
		9			DIN2		Digital input 2
							(Programmable)
		10			DIN3		Digital input 3
							(programmable)
		11			CMA		Common for DIN 1				Connect to GND or +24V
							DIN 3
		12			+24V		Control voltage output				Voltage for switches (see #6)
		13			GND		I/O ground				Ground for reference and controls
		14			DIN4		Digital input 4				Contact closed = Run Enable
							Run Enable				Contact open =Run Disable
		15			DIN5		Digital input 5				Contact closed = Switch is closed.
							Main Switch Ack.				Contact open= Switch is open.
		16			DIN6		Digital input 6				Contact open= EmstopActive.
							Emergency Stop				Contact closed = Emstop not active.
		17			CMB		Common for DIN4				Connect to GND or +24V
							DIN6
mA		18			AOA1+		Programmable				Programmable
		19			AOA1-						Range 0 20 mA/RL, max. 500
		20			DOA1		Digital output				Programmable
							READY				Open collector, I 50mA, U 48 VDC
		21			RO1			Relay output 1			Programmable
		22			RO1			RUN
		23			RO1
		24			RO2			Relay output 2			Programmable
		25			RO2		DC bus Charging OK
		26			RO2

Table 1. System Interface Application default I/O configuration.

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apfiff10 sia-i VACON® • 7

3. SYSTEM INTERFACE APPLICATION PARAMETER LISTS

On the next pages you will find the lists of monitoring signals and parameters. The parameter descriptions are given on pages 33 to 81.

Column explanations:

Code	= Location indication on the keypad; Shows the operator the present parameter
	number
Parameter	= Name of parameter
Min	= Minimum value of parameter
Max	= Maximum value of parameter
Unit	= Unit of parameter value; given if available
Step	= Accuracy of smallest possible change of value
Default	= Value preset by factory
ID	= ID number of the parameter (used with PC tools)

3.1Monitoring Values

The monitoring values are the actual values of parameters and signals as well as statuses and measurements. See Vacon NX User's Manual, Chapter 7 for more information.

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3.1.1Monitor Page 1

Code		Parameter		Unit		ID			Description
V1.1.1		Output frequency		Hz		1			Frequency output from the drive to the motor.
						2			Motor speed in rpm. In open loop this is the calculated speed
V1.1.2		Speed		Rpm					of the motor and in closed loop this is the filtered value of the
									speed measured from the encoder.
V1.1.3		Freq. Reference		Hz		25			Frequency reference to the ramp generator.
V1.1.4		Current		A		3			Filtered motor current.
V1.1.5		Torque	%			4			Filtered motor torque in percentage of motor nominal torque.
V1.1.6		Power	%			5			Power in percentage of motor nominal power.
V1.1.7		Motor voltage		V		6			Motor terminal voltage.
V1.1.8		DC-link voltage		V		7			DC link voltage.
V1.1.9		Unit tempertaure		°C		8			Heat sink temperature.
V1.1.10		DIN Status Word1				15			See the chapter 5.10
V1.1.11		DIN Status Word2				16			See the chapter 5.10
V1.1.12		MotorTempCalc	%			9			Calculated motor temperature .
									100.0% = nominal temperature of the motor.
									Temperature of the PT100 or KTY 84 type temperature sensor
V1.1.13		Temp sensor 1		°C		50			1 connected to Analogue input. If OPT-B8 board is used then
									this value shows temperature of channel 1.
									Temperature of the PT100 or KTY 84 type temperature sensor
V1.1.14		Temp sensor 2		°C		51			2 connected to Analogue input. If OPT-B8 board is used then
									this value shows temperature of channel 2.
V1.1.15		Temp sensor 3		°C		52			If OPT-B8 board is used for temperature measurement then
									this value shows temperature of channel 3.
V1.1.16		Unit nom. voltage		V		1117			Nominal voltage rating of the drive unit.
V1.1.17		Unit nom. current		A		1118			Nominal current rating of the drive unit. This is same as IL
									current rating of the unit.
V1.1.18		DC nom. voltage		V		1120			Nominal DC link voltage of the drive unit.
									Bitwise status of automatic identification after ID run.
									B0= Stator resistance and U/f curve
V1.1.19		ID Run status				49			B1= Reserved
									B2= Magnetisation current.
									B3= Flux linearization curve.
V1.1.20		Analogue Input 1	%			59			Filtered A.1
V1.1.21		Analogue Input 2	%			60			Filtered A.1

Table 2. Monitoring page 1

3.1.2Monitor Page 2

Code		Parameter		Unit		ID			Description
V1.2.1		Speed Measured		rpm		1124			Speed measured from the encoder.
V1.2.2		Torque Unfilt.	%			1125			Unfiltered torque calculated by the drive.100% equals to motor
									nominal torque.
V1.2.3		Current Unfilt.	%			1113			Unfiltered Motor current in Amperes.
V1.2.4		Speed Reference1		rpm		1126			Speed reference selected as per the control place selection.
V1.2.5		Speed Reference2		rpm		1127			Speed reference after speed share logic.
V1.2.6		Speed Reference3		rpm		1128			Speed reference at the input of the ramp generator.
V1.2.7		Speed Ramp Out		rpm		1129			Final speed reference after Ramp generator
V1.2.8		Speed Reference4		rpm		1130			Speed reference after the speed correction is added to the
									Speed Ramp Out. 1)
V1.2.9		Used Speed Ref		rpm		1131			Final speed reference after the speed step logic. 1)
V1.2.10		Speed Error		rpm		1132			Speed error=Speed Act Speed Ref 1)
V1.2.11		SPC OUT	%			1134			Iq Reference from the speed controller output. 1)
V1.2.12		SPC Out P-part	%			1866			Speedcontroller monitoring P-part separately
V1.2.13		SPC Out I-part	%			1865			Speedcontroller monitoring I-part separately
V1.2.14		Speed Limit Pos		rpm		1135			Positive speed limit on the speed reference
V1.2.15		Speed Lim Neg		rpm		1136			Negative speed limit on the speed reference

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apfiff10 sia-i

VACON® • 9

Code

Parameter

Unit

ID

Description

V1.2.16

TC Speed Lim Pos

rpm

1137

Positive speed limit when Torque Select is 2/3/4/5 and Motor

Ctrl Mode =3.

V1.2.17

TC Speed Lim Neg

rpm

1138

Negative speed limit when Torque Select is 2/3/4/5 and Motor

Ctrl Mode =3.

Torque reference from Master Drive in case of master

V1.2.18

Master TorqueRef

%

1139

Follower comm.

-300.0....+300.0% of the motor nominal torque

V1.2.19

FB Torque Ref

%

1140

Torque Reference from the Fieldbus.

-300.0...300.0%. of motor nominal torque

V1.2.20

I/0 Torque Ref

%

1141

Torque Reference from the analogue Input

-300.0...300.0%. of motor nominal torque

V1.2.21

Torque Ref1

%

1142

Torque reference after Torque Reference selector (Master,

Fieldbus, analogue I/P)

V1.2.22

Torque Ref2

%

1143

Scaled Torque Reference

V1.2.23

Torque Ref3

%

1144

Torque reference after Load Share logic.

V1.2.24

Used Torque Ref

%

1145

Final, limited torque reference for speed/torque controller

V1.2.25

Acc Comp Out

%

1146

Acceleration compensation used in terms of

IqReference.100.0% equals to motor nominal current. 1)

V1.2.26

Droop Speed RPM

rpm

1147

Speed droop used in rpm.

V1.2.27

Startup TorqAct

A

1148

startup torque in use, 100.0 %= motor nominal torque.

V1.2.28

Iq Current Lim +

%

1152

Final upper IqCurrentLimit 100.0 %= motor nominal current

(unsigned)

V1.2.29

Iq Current Lim -

%

1153

Final lower IqCurrentLimit 100.0 %= motor nominal current

(unsigned)

V1.2.30

Iq Reference

%

1154

Final IqReference, 100.0% = motor nominal current

V1.2.31

Iq Actual

%

1155

Measured Iq 100.0% = motor nominal current

V1.2.32

Id Reference

%

1156

Final IdReference 100.0% = motor nominal current

V1.2.33

Id Actual

%

1157

Measured Id 100.0 %= motor nominal current.

V1.2.34

Flux

%

1158

Estimated rotor flux in percentage of the motor nominal flux.

V1.2.35

Rotor t Const

ms

1159

Rotor Time Constant in ms

V1.2.36

Main Control Word

1160

V1.2.37

Aux Control Word1

1161

See the chapter 5.5

V1.2.38

Main Status Word

1162

See the chapter 5.4

V1.2.39

Aux Status Word

1163

See the chapter 5.6

V1.2.40

Fault Word 1

1172

See the chapter 5.7

V1.2.41

Fault Word 2

1173

See the chapter 5.8

V1.2.42

Alarm Word 1

1174

See the chapter 5.9

V1.2.43

Shaft Position

1169

Position of the motor

V1.2.44

Shaft Rounds

1170

No. of rounds of the motor shaft.

V1.2.45

Pole Pair Number

58

Number of pole pairs in the motor estimated from the motor

data.

V1.2.46

Output power

1508

Drive output power

V1.2.47

Last active fault

37

Code of the last active fault

Table 3. Monitoring page 2

3.1.3PI-Controller Monitoring

Code		Parameter	Unit	ID			Description
V1.3.1		PI Reference value		20			PI controller reference value
V1.3.2		PI Actual value		21			PI Controller actual value
V1.3.3		PI Controller output		23			PI Controller output before output scaling
V1.3.4		PI Controller output		1807			PI Controller output after output scaling. This is the value that
		scaled					is written to values selected by P2.18.6

Table 4. PI-Controller monitoring page

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10 • VACON®	apfiff10 sia-i

3.2Basic Parameters

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Supply Voltage in Volts. If

P2.1.1

Supply Voltage

0

1000

V

1

500

1201

unknown then parameter

should be zero.

Motor Nominal

Nominal Voltage of the

P2.1.2

180

690

V

1

400

110

Motor in volts as per

Voltage

Rating Plate

Motor Nominal

Nominal Frequency of the

P2.1.3

30.00

320.00

Hz

0.01

50.00

111

Motor ##. ## Hz as per

Frequency

Rating Plate

P2.1.4

Motor Nominal

0,01 * IH

2 * IH

A

0.1

IH

113

Nominal Current of the

Current

Motor. in ####.# A

P2.1.5

Motor Nominal

300

ns

rpm

1

1440

112

Nominal Speed of the

Speed

Motor as per Rating Plate

P2.1.6

Motor Cos Phi

0.30

1.00

0.01

0.85

120

Rated value of cos phi as

per Rating Plate

P2.1.7

Process Speed

0.0

3200.0

rpm

0.1

14400

1203

Process Speed limit in

RPM scale

Motor

Nominal magnetizing

P2.1.8

Magn. Current

0.0

Nom

A

0.1

0.5

612

current of the motor in

Current

amps (Current Format)

Frequency at which Field

P2.1.9

Field Weakng Pnt

8.00

320.00

Hz

0.01

50.00

602

Weakening should start.

Applicable only in Open

Loop Control

Motor Voltage Limit in

P2.1.10

Voltage at FWP

5.00

200.00

%

0.01

100.00

603

Field weakening.

Applicable only in Open

Loop Control

Automatic Identification

run for the motor.

0 = None

1 = Identification without

P2.1.11

ID Run

0

4

1

0

631

motor running.

2 = Identification with

motor running.

3 = Encoder ID

4 = Magnetisation current

calculation

Motor type

0= Induction motor

P2.1.12

Motor Type

0

3

1

0

650

1= Not Used

2= Permanent magnet

motor

3= Not Used

Table 5. Basic parameters G2.1

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apfiff10 sia-i	VACON® • 11

3.3Input Signals

3.3.1Digital Input

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

				Max. No				Digital input selection for the
	P2.2.1.1	Run Forward	0	of DIN	1	0	1206	Run Forward command when
				installed				the Control Place=IO control.
				Max. No				Digital input selection for Run
	P2.2.1.2	Run Reverse	0	of DIN	1	0	1207	Reverse command when the
				installed				control place=IO control
				Max. No				Digital input selection to
	P2.2.1.3	IO Ctrl	0	of DIN	1	0	1404	activate the IO control.
				installed
				Max. No				Digital input Selection for
	P2.2.1.4	Reset	0	of DIN	1	0	1208
								Fault Resetting.
				installed
				Max. No				Input Selection for Acknowl-
		Brake Open						edgement of Motor Me-
	P2.2.1.5		0	of DIN	1	0	1210
								chanical Brake. Off=Brake
				installed
								Closed, On=Brake Opened.
								The connection type for brake
	P2.2.1.6	Brake Open Logic	0	1	1	0	1379	open acknowledgement.
								0= Normally Open.
								1= Normally closed.
								Input selection for Motor Fan
				Max. No				Acknowledgement. If no
	P2.2.1.7	Motor Fan Ack.	0	of DIN	1	0	1211	acknowledgement for 1 Sec
				installed				after Fan On command then
								Alarm F56 ``Motor Fan``
				Max. No				Input selection for input
								switch acknowledgement.
	P2.2.1.8	Input Switch Ack	0	of DIN	1	5	1209
								If not acknowledged then
				installed
				Max. No				Input selection For Run En-
	P2.2.1.9	Run Enable	0	of DIN	1	4	1212	able. If input is missing then
				installed
								Connection type for Run
	P2.2.1.10	Run Enable Logic	0	1	1	0	1380	Enable.
								0= Normally Open
								1= Normally closed.
				Max. No				Input For Emergency Stop.
	P2.2.1.11	Emstop	0	of DIN	1	6	1213
								Low=Emergency stop Active
				installed
				Max. No				Digital input selection for
	P2.2.1.12	External Fault	0	of DIN	1	0	1214	External Fault signal
				installed				connection.
								Connection type for external
	P2.2.1.13	Ext. Fault Logic	0	1	1	0	1381	fault input connection.
								0= Normally open
								1= Normally closed.
				Max. No				Select parameter set for
								Motor 1 or Motor 2 with the
	P2.2.1.14 Motor 1 Or 2 Sel		0	of DIN	1	0	1215
								selected digital input.
				installed
								High=Motor2.Low=Motor1
				Max. No				When HIGH PI Controller is
	P2.2.1.15	PI Activation	-1	of DIN	1	0	1804	activated.
				installed				-1 = Forced ON

Table 6. Digital Input parameters, G2.2.1

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12 • VACON®	apfiff10 sia-i

3.3.2Analogue Input

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										Analogue Input selection
		P2.2.2.1			I/O SpeedRef Sel		0			5						1			0			1219				for Speed reference when
																										Control Place=1 (IO ctrl)
																										Analogue Input selection
		P2.2.2.2			I/O TorqRef Sel		0			3						1			0			1220				for Torque reference
																										when Control Place=1
																										(Local IO Control)
																										Analogue Input selection
		P2.2.2.3			TS 1 AI Sel		0			2						1			0			1221				for PT100 or KTY 84 type
																										temperature sensor 1.
																										Number of PT100 or KTY
																										84 elements in series.
																										0=1*PT100,
		P2.2.2.4			TS 1 Sel		0			2						1			0			1222				1=2*PT100,
																										2=3*PT100.
																										3=1*KTY84-130
																										4=2*KTY84-130
																										5=3*KTY84-130
																										Analogue Input selection
		P2.2.2.5			TS 2 AI Sel		0			2						1			0			1223				for PT100 or KTY 84 type
																										temperature sensor 2.
																										Number of PT100
																										elements in series.
																										0=1*PT100,
		P2.2.2.6			TS 2 Sel		0			2						1			0			1224				1=2*PT100,
																										2=3*PT100.
																										3=1*KTY84-130
																										4=2*KTY84-130
																										5=3*KTY84-130
																										Min. value of signal se-
		P2.2.2.7			AI1 Ref Scale		-30000			30000						1			0			1226				lected for AI1. This corre-
					Min																					sponds to
																										+0V/0mA/2V/4mA
					AI1 RefScale																					Max. value of signal se-
		P2.2.2.8					-30000			30000						1			1440			1225				lected for AI1. This corre-
					Max
																										sponds to +10V/20mA
																										Minimum voltage or
		P2.2.2.9			AI1 Minimum		0			1						1			0			1227				Current at AI1.
																										0=0V/0mA, 1=4mA
		P2.2.2.10			AI1 Filter Time		0.01			10.00				s		0.01			1			1228				Filter time for AI1 in ###.
																										## Sec
																										Min. Value of Signal se-
		P2.2.2.11			AI2 RefScale Min		-30000			30000						1			0			1230				lected for AI2.This corre-
																										sponds to
																										+0V/0mA/2V/4mA
					AI2 RefScale																					Max. Value of Signal se-
		P2.2.2.12					-30000			30000						1			1000			1229				lected for AI2.This corre-
					Max
																										sponds to +10V/20mA
																										Minimum Voltage or Cur-
		P2.2.2.13			AI2 Minimum		0			1						1			0			1231				rent at AI2.0=0V/0mA,
																										1=4mA
		P2.2.2.14			AI2 Filter Time		0.01			10.00				s		0.01			1			1232				Filter time for AI2 in ###.
																										## Sec.

Table 7. Analogue Input parameters, G2.2.2

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 13

3.4Output Signals

3.4.1Digital Output

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.3.1.1			DO1 (ID.BitNo.)		0.00			2000.15						0.01			1162.00			1216				Select the signal for
																										controlling DO1.
		P2.3.1.2			DO2 (ID.BitNo.)		0.00			2000.15						0.01			1162.00			1217				Select the signal for
																										controlling DO2
		P2.3.1.3			DO3 (ID.BitNo.)		0.00			2000.15						0.01			1163.00			1218				Select the signal for
																										controlling DO3.
		P2.3.1.4			DO4 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1385				Select the signal for
																										controlling DO4.
		P2.3.1.5			DO5 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1386				Select the signal for
																										controlling DO5.
		P2.3.1.6			DO6 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1390				Select the signal for
																										controlling DO6.
		P2.3.1.7			DO7 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1391				Select the signal for
																										controlling DO7.
		P2.3.1.8			DO8 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1395				Select the signal for
																										controlling DO8.
		P2.3.1.9			DO9 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1396				Select the signal for
																										controlling DO9.
		P2.3.1.10			DO10 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1423				Select the signal for
																										controlling DO10.
		P2.3.1.11			DO11 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1427				Select the signal for
																										controlling DO11.
		P2.3.1.12			DO12 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1428				Select the signal for
																										controlling DO12.
		P2.3.1.13			DO13 (ID.BitNo.)		0.00			2000.15						0.01			0000.00			1429				Select the signal for
																										controlling DO13.

Table 8 Digital Output parameters, G2.3.1

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

14 • VACON®	apfiff10 sia-i

3.4.2Analogue Output

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.3.2.1			AO1 Signal ID		0			2000						1			0			1233				Set the ID no. Of a signal
																										to be connected to AO1.
																										Minimum voltage or cur-
		P2.3.2.2			AO1 Offset		0			1						1			0			1234				rent at AO1.
																										0= OV/0mA.
																										1= 2V/4mA
		P2.3.2.3			AO1 Filter		0.02			10.00				S		0.01			10.00			1235				Filter time for AO1
																										Maximum value of the sig-
		P2.3.2.4			AO1 Max Value		-30000			30000						1			1500			1236				nal selected for AO1. This
																										will correspond to +10V/
																										20mA.
																										Minimum value of the sig-
																										nal selected for AO1. This
		P2.3.2.5			AO1 Min Value		-30000			30000						1			0			1237				will correspond to 0V/0mA
																										or 2V/4mA depending on
																										AO1 Offset.
		P2.3.2.6			AO1 Adjust		-200,00			200,00						0,01			0,00			375

Table 9 Analogue output parameters, G2.3.2

3.5Reference Handling

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.4.1

Spd Ref Filter

0

5000

ms

1

0

324

Filter time for the speed

reference in ms

Constant speed reference 1.

P2.4.2

Const Ref 1

P2.8.4

P2.8.3

rpm

1

0

1239

Normally used for forward

inching

Constant speed reference 2.

P2.4.3

Const Ref 2

P2.8.4

P2.8.3

rpm

1

0

1240

Normally used for reverse

inching

P2.4.4

CriticalSpeedLow

0

Max_

Rpm

1

0

509

Low limit for critical speed

Speed

range

P2.4.5

CriticalSpeedHigh

0

Max_

Rpm

1

0

510

High limit for critical speed

Speed

range

P2.4.6

Speed Share

-300.00

300.00

%

0.01

100.00

1241

Speed share as percentage

of speed reference.

P2.4.7

FBRef Scale

10

30000

1

20000

1242

This will correspond to

P2.1.7 (Process Speed).

Source for the torque

reference.

0=None

P2.4.8

Tref Source Sel

0

4

1

0

641

1=Master

2=Fieldbus

3=Analogue I/P

4=Master SPC

P2.4.9

Tref Filter

0

5000

ms

1

0

1244

Filter time for the torque

reference in ms

Hysteresis for the torque

P2.4.10

Tref Hysteresis

-300.0

300.0

%

0.1

0.0

1245

reference in ####.#

%.100.0% ~motor nominal

torque.

Dead zone in % where the

P2.4.11

Tref Dead Zone

-300.0

300.0

%

0.1

0.0

1246

torque reference will be

considered as zero. 100.0%

~motor nominal torque.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

	apfiff10 sia-i																									VACON® • 15
		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										The scale for the torque
																										reference chain and all
																										signals related to torque.
		P2.4.12			TorqueRef Scale		0			1						1			0			1247				0 = 1000 corresponds to
																										motor nominal torque.
																										1 = 10000 corresponds to
																										motor nominal torque
		P2.4.13			Load Share		0.0			400.0			%			0.1			100.0			1248				Load share for the torque
																										reference in %.
																										The ramp time in ms for
		P2.4.14			Tref Ramp Time		0.0			30000				ms		1			0			1249				nominal torque reference
																										change.
																										Flux reference in %.100%
		P2.4.15			Flux Reference		10.0			150.0			%			0.1			100.0			1250				equals rated flux of the
																										drive.
																										The speed limit above which
		P2.4.16			Above Spd Limit		0				P2.8.3			rpm		1			0			1251				bit10 of the status word will
																										be TRUE
																										Step speed ref. relative to
		P2.4.17			Speed Step		-2000			2000						1			0			1252				process speed. 20000 =
																										P2.1.7 Process speed
		P2.4.18			Torque Step		-300.0			300.0			%			0.1			0.0			1253				Torque step in % of nom.
																										torque of the motor
		P2.4.19			Speed Ref		0			32000				ms		1			10			1184
					Interpolator TC

Table 10 Ref Handling parameters, G2.4

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16 • VACON®	apfiff10 sia-i

3.6Ramp Functions

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.5.1			Accel Time 1		0.0			3000.0				s		0.1			10.0			103				Acceleration Time in sec
		P2.5.2			Decel Time 1		0.0			3000.0				s		0.1			10.0			104				Deceleration Time in sec
																										Smooth ratio for S curves
																										for Acceleration and
		P2.5.3			S Ramp AccDec		0			100			%			1			0			500				Deceleration ramp.
																										0=Linear Ramps
																										100=Full Acc/Dec inc/dec
																										times.
		P2.5.4			Emstop Ramp		0.0			3000.0				s		0.1			10.0			1256				Deceleration time in
																										Emergency Stop
																										Delay in activation of
		P2.5.5			Emstop Delay		0.00			320.00				s		0.01			0			1254				emergency stop ramp
																										after emergency stop is
																										active
		P2.5.6			ConstSpd		0.0			3000.0				s		0.1			5.0			1257				Acceleration time for
					AccTime																					Constant Speed 1 and 2
		P2.5.7			ConstSpd		0.0			3000.0				s		0.1			5.0			1258				Deceleration time for
					DecTime																					Constant Speed 1 and 2
																										Smooth ratio for S-curves
																										of Const Speed ramp
																										0=Linear ramps
		P2.5.8			S Ramp Const Spd		0			100			%			1			0			1259				100=Full Acc/Dec inc/dec
																										0=linear ramps
																										100=full acc/dec inc/dec
																										times
		P2.5.9			Ramp Time		0			1						1			0			1132
					Reference
					Open loop
		P2.5.10			emergency stop		0			3000,0				s		0,1			1,0			1610
					limit ramp time

Table 11 Ramp Function parameters, G2.5

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 17

3.7Drive Control

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										Place to control the drive
																										operation.
		P2.6.1			Control Place		0			2			1			1			2			125				0=FieldBus
																										1=IO
																										2=Panel/ PC Tool
		P2.6.2			Brake Chopper		0			3						1			0			504				Brake chopper mode
																										selection.
		P2.6.3			BrkChopper Level		0			1500				V		1				1.15*nom		1267				Brake chopper operation
																				DC Volt						level in volts
																										Generator side torque
																										limit to avoid overheating
																										of the brake resistor dur-
																										ing continuous braking.
		P2.6.4			Brk Res Load Lim		0.0			300.0			%			0.1			5.0			1268				This is active when Brake
																										Chopper is selected and
																										there is no emergency
																										stop active and drive is
																										not decelerating.
		G2.6.5			Open Loop Control																					See table on next page
		G2.6.6			UV/OV Control																					See table two pages down
																										After coast stop the re-
		P2.6.7			Restart Delay		0.000			60.000				s		0.001						1424				starting of the drive is
																										disabled for this time.
																										This packed bit word is
		P2.6.8			ControlOptions		0			65535						1			0			1084				made for enabling/
																										disabling different control
																										options.
																										Selects which slot
																										process data is used
																										0 = All
		P2.6.9			ControlSlotSel		0			8						1			0			1440				4 = Slot D
																										5 = Slot E
																										6 = Fast comm. Slot D
																										7 = Fast comm. Slot E
																										0 = Hardware
		P2.6.10			Modulator Type		0			3						1			1			1516				1 = Software 1
																										2 = Software 2 (DS)
																										3 = Software 3
		P2.6.11			Advanced Options 1		0			65535						1			0			1560
		P2.6.12			Advanced Options 2		0			65535						1			0			1561
		P2.6.13			Advanced Options 4		0			65535						1			0			1563
		P2.6.14			Advanced Options 5		0			65535						1			0			1564
		P2.6.15			Advanced Options 6		0			65535						1			0			1565

Table 12 Drive Control parameters, G2.6

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18 • VACON®	apfiff10 sia-i

3.7.1Drive Control/Open Loop Ctrl

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										U/F ratio selection.
																										0=Linear
		P2.6.5.1			U/f Ratio Select		0			3						1			0			108				1=Squared
																										2=Programmable
																										3=Linear + Flux opt
																										Motor voltage (%*Motor
		P2.6.5.2			U/f Zero Point V		0.00			105.00			%			0.01			0.00			606				Nominal Voltage) at pro-
																										grammable U/F curve zero
																										point .
																										Motor voltage (%*Motor
		P2.6.5.3			U/f Mid Point V		0.00			105.00			%			0.01			100.00							Nominal Voltage) at pro-
																						605				grammable U/F curve
																										middle point
		P2.6.5.4			U/f Mid Freq		0.00			320.00				Hz		0.01			50.00							Programmable U/F curve
																						604				middle point
		P2.6.5.5			U/f Opt.		0			1						1			0			109				U/F opt. control
		P2.6.5.6			DC Brake		0				MotorNom			rpm		1			0							Below this speed DC
					Speed						Speed											515				braking will be active.
		P2.6.5.7			DC Brake		0				2 * IH			A												DC Braking current
					Current																	507
		P2.6.5.8			DC Brake Time		0			20000				ms		1			0			508
																										Flux braking control
		P2.6.5.9			Flux Brake		0			1						1			0			520				0 = Disable
																										1 = Enable
		P2.6.5.10			FluxBrakeCurr		0				2 * IH			A					0			519				Flux braking current
					ent
		P2.6.5.11			TorqStab Kp		0			1000						1						1412				Gain for torque stabilator
		P2.6.5.12			TorqStab Damp		0			1000						1						1413				Damping time constant for
					TC																					torque stabilator
		P2.6.5.13			TorqStab Kp		0			1000						1						1414				Gain for torque stabilator
					FWP																					at FWP
		P2.6.5.14			Flux Stab Kp		0			32000						1						1410				Gain for flux stabilator
		P2.6.5.15			Flux Stab Filt		0			32000						1						1411				Filter time constant for
																										flux stabilator
		P2.6.5.16			Make Flux		0.000			60.000				s		0.001			0.200			660				Time to magnetise the
					Time																					motor
					MakeFluxVolta																					Magnetising voltage in
		P2.6.5.17					0.00			120.00			%			0.01			2.01			661				###.## % of motor
					ge
																										nominal voltage.
																										Measured voltage drop at
																										stator resistance between
		P2.6.5.18			MeasRsVolt		0			65535						1			0			662				two phases with nominal
					Drop																					current of the motor. This
																										is estimated during ID
																										Run.
		P2.6.5.19			Ir Add Zero		0			30000												664
					Point Voltage

Table 13 Drive Control/Open Loop Ctrl parameters, G2.6.5

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 19

3.7.2Drive Control/UV/OV CTRL stab

		Code			Parameter			Min			Max			Unit			Step				Default			ID			Note
		P2.6.6.1			Undervolt Ctrl		0			1						1			0				608				Under voltage controller
																											0=Off, 1=On.
																											Selection of under voltage
																											Reference for Under-
		P2.6.6.2			Uvolt Ref Sel		0			1						1			1				1260				voltage Controller.
																											0=UV ref min
																										1=0.8*
																											EstimatedDCNomVoltage
		P2.6.6.3			Undervolt Kp		0			32767						1							1415				Gain for the P term of
																											Under voltage controller
		P2.6.6.4			Undervolt Ti		0			32767						1							1416				Gain for I term of under
																											voltage controller
																											Over voltage controller
		P2.6.6.5			Over volt Ctrl		0			2						1			0				607				0=Off,
																											1=On with no Ramp,
																											2=On with ramp.
																											Overvoltage reference
		P2.6.6.6			Overvolt Ref Sel		0			2						1			1				1262				level depending on the
																											status of the brake
																											chopper
		P2.6.6.7			OverVolt Kp		0			32767						1							1468				Gain for P term of over-
																											voltage controller
																											Addition gain for P term of
		P2.6.6.8			OverVolt Kp Add		0			32767						1							1425				overvoltage controller till
																											FWP.
		P2.6.6.9			OverVolt Ti		0			32767						1							1409				Gain for I term of the over-
																											voltage controller.
		P2.6.6.10			VoltStab Kp		0			1000						1							1417				Gain for the voltage
																											stabilator
		P2.6.6.11			VoltStab TC		0			1000						1							1418				Damping rate for the
																											voltage stabilator.

Table 14. Drive Control/UV/OV Ctrl, Stab Parameters, G2.6.6

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20 • VACON®	apfiff10 sia-i

3.8Motor Control

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.7.1			Start Function		0			1						1			0			505				0=Starts from 0-speed,
																										1=Flying start
		P2.7.2			Stop Function		0			1						1			0			506				0=Coast stop
																										1=Ramp stop
																										Stop function in Emer-
																										gency Stop
		P2.7.3			Emstop Mode		0			3						1			1			1276				0=Coast Stop
																										1=Ramp stop
																										2=Torque limit Stop
																										3=Constant Power Stop
																										0=Open Loop Freq ctrl,
																										1=Open Loop Speed crtl
																										2=Open Loop speed
		P2.7.4			Motor Ctrl Mode		0			3						1			0			600				/torque ctrl as per P2.7.5
																										3=Closed Loop speed/
																										torque Control as per
																										P2.7.5
																										1=Speed Control
																										2=Torque Control
																										3=Min of torque ref and
		P2.7.5			Torque Select		1			5						1			1			1278				SPC Out
																										4=Max of torque ref and
																										SPC Out
																										5=Window Control
		P2.7.6			CurrentControlKp		1			10000						1			4000			617				Current controller p-gain
																									(0 ... 10000)
																										Current controller
		P2.7.7			CurrentControlTi		0.1			100.0				ms		0.1			1.5			1400				integrator time constant
																										(0 ... 1000) = 0...100.0 ms
		P2.7.8			Switching Freq		1.0				Switching			KHz		0.1						601				Switching frequency.
											FreqMax
																										Dynamic damping gain
																										when parameter 2.7.5
		P2.7.9			Dynamic Damp Kp		0.00			100.00			%			0.01			0			1406				Torque Select is greater
																										than 1. 1.00 means nomi-
																										nal torque for nominal
																										speed difference.
																										Bandpass filter time con-
																										stant for dynamic damp-
		P2.7.10			Dynamic Damp TC		0			32000				ms		1			0			1407				ing. 0 means static damp-
																										ing proportional to fre-
																										quency error.
											Motor															Constant DC Magnetiza-
		P2.7.11			DC Magn Current		0.0				Nom			A								627
																										tion Current
											Current
		P2.7.12			DC Magn Time		0			10000				ms		1			0			628				Constant DC magn. time
																										[ms] in ramp start
		P2.7.13			Start 0Speed Time		0			32000				ms		1			100			615				Time of zero speed ref at
																										start in ms, (0 ...32000)
																										Time of zero speed ref at
		P2.7.14			Stop 0SpeedTime		0			32000				ms		1			100			616				ramp stop in ms, (0
																									...32000)
																										The % of rated flux main-
		P2.7.15			Stop State Flux		0			150.0			%			1			100.0			1401				tained after the motor is
																										stopped for the time Flux
																										Off Delay.
																										The time in seconds for
		P2.7.16			Flux Off Delay		-1			32000				s		1			0			1402				which the flux will be
																										maintained in the motor.
											Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 21

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Setting this value to 1

will keep the Stop State

Flux continuously.

Motor temperature

compensation.

P2.7.17

MotTempCompen

0

3

1

0

1426

0= Disabled

1= From TS1 temp

2= From TS2 temp.

3= Internal

P2.7.18

Modulation Index

0

200

%

1

100

655

Table 15. Motor control parameters, G2.7

3.8.1PMSM Control

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.7.18.1			Flux Control Kp		0.00			320.00			%			0.01			5.00			651				Gain for the flux
																										controller in %.
																										Integral time constant for
		P2.7.18.2			Flux Control Ti		0.0			100.0				ms		0.1			5.0			652				flux current controller in
																										ms.
																										Stator resistance
																										identification during every
		P2.7.18.3			RsIdentification		0			1						1			0			654				start.
																										0 = Disabled
																										1 = Enabled.
		P2.7.18.4			Modulation		0			200			%			1			100			655				Modulation index in % for
					Index																					closed loop operation.
																										Low word of (endat) en-
																										coder angle correspond-
																										ing to shaft 0 position.
		P2.7.18.5			EncAngleOffset		0			65535						1			0			649				This parameter is only for
																										monitoring and back up
																										purpose. It is used only
																										with absolute encoders .
					Encoder Zero																					0 = Automatic
					position
		P2.7.18.6					0			2									0			1691				1 = Forced
					identification
																										2 = On Power UP
					mode
					Start
		P2.7.18.7			positioning		0,0			200,0			%						50,0			1601
					current
		P2.7.18.8			Polarity pulse		0,0			200,0			%						0,0			1602
					current
		P2.7.18.9			Ls Voltage Drop		0			3000									512			673
		P2.7.18.10			Motor BEM		0,00			320,00			%			0,01			90,00			674
					Voltage
		P2.7.18.11			Estimator Kp		0			3000						1			400			1781

Table 16. PMSM control parameters, G2.7.17

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

22 • VACON®	apfiff10 sia-i

3.9Limit Settings

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
											Motor															Speed below which Bit 11
		P2.8.1			Zero Speed Level		0							rpm		1			15			1283				of Auxiliary Status Word
											NomSpeed
																										becomes TRUE
																										Monitoring of Zero speed
		P2.8.2			Zero Speed Mon		0			1						1			1			1284				is based on
																										0=Speed Ref,
																										1=Speed Actual
		P2.8.3			Speed Maximum		-10000			10000				rpm		1			1440			1285				Maximum limit of the
																										Speed reference
		P2.8.4			Speed Minimum		-10000			10000				rpm		1			0			1286				Minimum Limit for the
																										Speed Reference
		P2.8.5			Current Limit			0,01 * IH			2 * IH			A		0.1						107				Maximum Total Current
																										Limit.
		P2.8.6			Torque Limit Mot		0.0			300.0			%			0.1			300.0			1287				Torque limit for the
																										motoring side.
		P2.8.7			Torque Limit Gen		0.0			300.0			%			0.1			300.0			1288				Torque limit for the
																										generator side.
																										Absolute maximum limit
																										for the speed controller
		P2.8.8			SPC OUT Limit		0.0			300.0			%			0.1			300.0			1382				output in closed loop
																										control in % of motor
																										nominal torque.
		P2.8.9			Power Limit Mot		0.0			300.0			%			0.1			300.0			1289				Power limit for motor
																										side
		P2.8.10			Power Limit Gen		0.0			300.0			%			0.1			300.0			1290				Power limit for generator
																										side
		P2.8.11			PullOutTorque		0.0			1000.0			%			0.1			250.0			1291				Pull Out Torque limit of
																										the motor
		P2.8.12			System Inertia		0			30000				kgm2		1			0			1292				Inertia of the system in
																										kgm2.
																0.00										Max Braking Power Limit
		P2.8.13			Max Brake Power		0.000			30.000				kW					0.000			1293				in Constant Power
																1
																										Emergency Stop
																										Max Braking Torque of
		P2.8.14			Max Braking Torq		1			30000				Nm		1			1			1294				the motor in Constant
																										Power Emergency Stop

Table 17 Limit setting parameters, G2.8

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 23

3.10Speed Control

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.9.1			SPC Kp		1			1000						1			30			613				Speed controller P gain (0
																										Speed controller integra-
		P2.9.2			SPC Ti		0			32000				ms		1			300			614				tor time constant
																										0...32000ms
		P2.9.3			Kp Min		0			100			%			1			100			1295				Relative gain (%)of SPC Kp
																										if torque is below P2.9.4
																										Torque Limit for adaptive
		P2.9.4			Min Point		0			100.0			%			0.1			0.0			1296				SpeedControl_Kp (1000 =
																										nominal)
		P2.9.5			Min Filt		0			1000				ms		1			0			1297				Filtering TC for Speed
																										Control_Kp in ms
																										Relative final gain of speed
																										controller at field weaken-
		P2.9.6			SPC Kp FWP		1			200			%			1			100			1298				ing in % of SPC Kp.
																										<100 reduces gain,
																										>100 increases gain above
																										FWP
		P2.9.7			SPC Kp N0		0			100			%			1			100			1299				Relative gain (%) below
																										SPC Kp N0 Point Init:=100
																										Below this speed N0 the
		P2.9.8			N0 Point			P2.8.4			P2.8.3			rpm		1			0			1300				speed controller gain will
																										be SPC Kp N0
																										Above this speed N1 speed
		P2.9.9			N1Point			P2.8.4			P2.8.3			rpm		1			0			1301				controller gain will be SPC
																										Kp
					Mech AccComp																					Mechanical time constant
		P2.9.10					0.00			300.00				s		0.01			0.00			1302				for acceleration compen-
					TC
																										sation in Sec (0...300 s)
																										Filter time constant for
		P2.9.11			Accel Comp Filt		0			1000				ms		1			0			1303				Acceleration compen-
																										sation in ms
																										Load Drooping = 0 ...
		P2.9.12			LoadDrooping		0.00			100.00			%			0.01			0.00			620				100.00% of nominal speed
																										at nominal torque
																										Load drooping time in ms.
		P2.9.13			Drooping Time		0.00			327.67				s		0.01			0.00			656				Value 0 means static or
																										continuous drooping.
		P2.9.14			Window Pos RPM		0				P2.1.5			rpm		1			0			1304				Window width in RPM for
																										positive direction
		P2.9.15			Window Neg RPM		0				P2.1.5			rpm		1			0			1305				Window width in RPM for
																										negative direction
																										Window OFF limit in RPM
		P2.9.16			Window Off Pos		0				P2.9.14			rpm		1			0			1306				for hysteresis in Window
																										ctrl in positive direction
																										Window OFF limit in RPM
		P2.9.17			Window Off Neg		0				P2.9.15			rpm		1			0			1307				for hysteresis in Window
																										ctrl in Negative direction
		P2.9.18			Slip Adjust		0			500			%			1			100			619				Slip adjust 0...500%
		P2.9.19			Speed Error Filt		0			1000				ms		1			0			1311				Filter time for the speed
																										error
																										Filter time for the meas-
		P2.9.20			Speed Act Filter		0.0			250.0				ms		0.1			0.0			1308				ured speed from the
																										encoder.
		P2.9.21			SpeedErrLowPass		-3200,0			3200,0				Hz		0,1			0,0			1185				Speed error LP filter cutoff
					F																					frequency.
					AntiSwinLowPasT																					Lowpass time constant for
		P2.9.22					-32000			32000				ms		1			0			1186				second order Antiswing
					C
																										lowpass filter.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

24 • VACON®

apfiff10 sia-i

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Gain for Antiswing function

P2.9.23

AntiSwingGain

-32000

32000

%

1

100

1187

in % to optimize step

response

BandStop/swinging time

constant in ms for

P2.9.24

AntiSwingTC

-32000

32000

ms

1

0

1188

AntiSwing control to

reduce swinging and/or

speed overshoot.

P2.9.25

Speed controller

0

32767

3000

637

P gain (CL)

P2.9.26

Speed controller

0

32767

300

638

I gain (OL)

Load Drooping

0=Normal

P2.9.27

0

2

0

1534

1= At zero Freq Lim

Removal

2=Linear zero to Fnom

Table 18 Speed control parameters, G2.9

3.11Oscillation Damp

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										Resonance damper
																										selector
		P2.10.1			Oscill Damp Sel		0			2						1			0			1310			0		= Not in Use
																									1		= BandPass
																									2		= BandStop + BandPass
																										Resonance damper
		P2.10.2			Oscill Freq		0.0			450.0				Hz		0.1			0.0			1313				natural frequency
																										1.0...450.0 Hz
																									0		= Not in use
																										Resonance damper damp-
		P2.10.3			Oscill Damp Gain		0.0			100.0			%			0.1			0.0			1314				ing gain at notch fre-
																										quency 0 ... 100.0%
																										Resonance Damper Phase
		P2.10.4			Phase Shift		0			360				Deg		1			0			1315				shift at Notch frequency
																										0...360 deg

Table 19. Oscillation damping parameters, G2.10

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 25

3.12Brake & Fan Control

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										Selection of mechanical
																										brakes closing on fault in
																										drive
		P2.11.1			Brake In Fault		0			1						1			0			1319				0=Brakes applied at zero
																										speed (par. 3.8.1)
																										1=brakes are applied im-
																										mediately on Fault
																										Selection of mechanical
																										brakes closing on emer-
																										gency stop.
		P2.11.2			Brake In Emstop		0			1						1			0			1318				0=Brakes applied at zero
																										speed (P2.8.1)
																										1=brakes are applied im-
																										mediately on emergency
																										stop
		P2.11.3			Brake Open limit		0.0			3200.0				rpm		0.1			0.0			1535
		P2.11.4			Brake Close Limit		0.0			3200.0				rpm		0.1			0.0			1539
		P2.11.5			Brake Fault Delay		0.0			3200.0				s		0.1			1.0			352
		P2.11.6			Brake mechanical		0.0			3200.0				s		0.1			0.0			1544
					Delay
		P2.11.7			Brake On/Off		0.0				Imax			A		0.1			0.0			1085
					current limit
		P2.11.8			Mot Fan OffDelay		0.00			300.00				s		0.01			20.00			1320				Motor fan off delay
																										###.## Seconds

Table 20. Brake and fan control parameters, G2.11

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

26 • VACON®	apfiff10 sia-i

3.13Master Follower

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

0=None

1=Master

P2.12.1

M/F Mode

0

4

1

0

1324

2=Follower

3= DriveSynch Master

4=DriveSynch Follower

Source of speed reference

for the drive if Par 2.12.1=2

Follower

0=Drive´s own reference

P2.12.2

Follower SpRef

0

2

1

0

1327

1=Master speed reference

before Ramp

2=Master speed reference

after Ramp.(Follower

Drive ramp is bypassed in

this case)

Follower Start

Delay in starting the multi-

P2.12.3

0.00

327.67

s

0.10

0.00

1398

ple wind current follower

Delay

after the master is started.

P2.12.4

Follower phase

0,0

360,0

Dec

0,0

1518

shift

Table 21 Master Follower parameters, G2.12

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 27

3.14Protections

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										If value of Analogue input
		P2.13.1			AI <4mA		0			2						1			0			700
																										value
																										Operation in case Control
		P2.13.2			Panel Commn.		1			2						1			1			1329				Place=2 and a keypad
																										stops communicating
		P2.13.3			External Fault		0			2						1			2			701				Select the action in case of
																										External fault
		P2.13.4			Input Ph. Superv		0			2						1			0			730				Operation in case of Input
																										Phase loss.
		P2.13.5			Output Ph. Superv		0			2						1			0			702				Operation in case of motor
																										phase loss
		P2.13.6			Earth Fault		0			1						1			0			703				Operation in case of Earth
																										Fault
																										Max. level for Earth
		P2.13.7			Earth Fault Curr		0.0			100.0			%			0.1			50.0			1333				current in % of unit
																										current.
		P2.13.8			Earth Fault Delay		0			5000				ms		1			800			1334				Earth fault wait time in ms
		P2.13.9			Motor Stall		0			2						1			1			709				Operation in case of Motor
																										stall.
		P2.13.10			Stall Current		0.0				2 * IH			A		0.1			10.0			710				Current limit of motor stall
																										protection
																										Max frequency for stall
		P2.13.11			Stall Freq Lim		0.00				P2.1.3			Hz		0.01			25.00			712				protection, f[Hz] =
																										StallFrequency/FreqScale
		P2.13.12			Stall Time Lim		1.00			120.00				s		0.01			15.00			711				Max time for stall
																										protection to operate.
		P2.13.13			Thermistor		0			2						1			0			732				Action on thermistor fault
		P2.13.14			Encoder Fault		0			3						1			0			1353				Encoder fault
																										Action on mechanical
																										brake fault. This fault is
																										enabled only if digital input
		P2.13.15			Mech Brake Fault		1			2						1			2			1316				for mechanical brake
																										acknowledgement is
																										selected.
																										1= Warning
																										2= Fault
																										Delay time for master
		P2.13.16			Follower TimeOut		0.00			5.00				s		0.01			0.00			1352				follower communication
																										Fault.
					FB																					Profibus watchdog delay. If
		P2.13.17					0			5.00				s		0.01			1.05			1354				set to 0 watchdog function
					WatchdogDelay
																										is disabled.
																										Select the number of
		P2.13.18		PT100 Num In Use			0			5						1			0			739				PT100 channels used on
																										OPTB8 board.
																										Select the temp. limit for
																										PT100 sensor above which
																										PT100 Temp. alarm is
																										generated.
																										Note that PT100 can be
		P2.13.19			PT100 AlarmLimit		-30			200				C		1			110			1347				connected through
																										analogue input as
																										explained in the manual or
																										through OPTB8 card for
																										PT100. The limit is
																										common for all.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

		28 • VACON®								apfiff10 sia-i
										Select the temp. limit for
										PT100 sensor above which
										PT100 Temp. fault is
										generated.
				PT100						Note that PT100 can be
		P2.13.20	PT100 Fault Limit	Alarm	200	C	1	120	1348	connected through
				Limit						analogue input as
										explained in the manual or
										through OPTB8 card for
										PT100. The limit is
										common for all.
		P2.13.21	Motor	0	2		1	0	704	Operation in case of Motor
			CalcTempProt							thermal protection
			ThermalTime							Motor Thermal Time
		P2.13.22		1	200	min	1	45	707	Constant in minutes, (1...
			Const
										200)
		P2.13.23	Zero Spd Cooling	0.0	100.0	%	0.1	40.0	706	Motor cooling ability at
										zero speed unit in %
		P2.13.24	Motor Duty Cycle	0	300	%	1	100	708	Motor Duty Cycle in %
		P2.13.25	Underload Prot	0	2		1	0	713	Operation in case of
										Underload.
		P2.13.26	Speed Zero Load	0.0	300.0	%	0.1	0.0	714	Underload load curve at
										zero freq,unit
		P2.13.27	Speed Nom Load	0.0	300.0	%	0.1	0.0	1341	Underload load curve at
										nominal freq,unit
			UnderLdSpeed		Motor					Speed limit value for
		P2.13.28		0	NomSpeed	rpm	1	1440	1342
			Nom							Underload protection
					Max
										Select faults that you want
										to autoreset
		P2.13.29	Auto reset word 1	0	65535		1	0	1171	B0 +1	= Reserved
										B1 +2	= Reserved
										B2 +4	= AutoReset
										Under Voltage Fault
										0 = No Action
			FB							1 = Warning
		P2.13.30	Communication	1	4			2	733	2 = Warning; Prev.Freq.
			fault response							3 = Warning; Preset Freq.
										4 = Fault
		P2.13.31	FB Fault delay	0,00	320,00	s		0	1430
		P2.13.32	FB Fault speed	-30000	30000	Rpm		0	728
		P2.13.33	Encoder Iq fault	0	300	%		100	1800
			limit
		P2.13.34	Encoder fast fault	0,00	320,00	Hz		10,00	1801
			freq limit
		P2.13.35	Parameter Lock	0	1			0	1086	0 = Disabled
										1 = Enabled
										0=No response
		P2.13.36	Speed Error Mode	0	3		0		752	1=Warning
										2=Fault,stop acc. to 2.4.7
										3=Fault,stop by coasting
		P2.13.37	Speed Error Limit	0,0	100,0	%	5,0		753
		P2.13.38	Speed Fault Delay	0,00	100,00	S	0,1		754
		P2.13.39	Follower Fault	0	1				1536

Table 22. Protection parameters, G2.13

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

apfiff10 sia-i	VACON® • 29

3.15Flux Reference Handling

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.14.1			Flux Curve 10%		0.0			250.0			%			0.1			10.0			1355				Flux linearization point 1
		P2.14.2			Flux Curve 20%		0.0			250.0			%			0.1			20.0			1356				Flux linearization point 2
		P2.14.3			Flux Curve 30%		0.0			250.0			%			0.1			30.0			1357				Flux linearization point 3
		P2.14.4			Flux Curve 40%		0.0			250.0			%			0.1			40.0			1358				Flux linearization point 4
		P2.14.5			Flux Curve 50%		0.0			250.0			%			0.1			50.0			1359				Flux linearization point 5
		P2.14.6			Flux Curve 60%		0.0			250.0			%			0.1			60.0			1360				Flux linearization point 6
		P2.14.7			Flux Curve 70%		0.0			250.0			%			0.1			70.0			1361				Flux linearization point 7
		P2.14.8			Flux Curve 80%		0.0			250.0			%			0.1			80.0			1362				Flux linearization point 8
		P2.14.9			Flux Curve 90%		0.0			250.0			%			0.1			90.0			1363				Flux linearization point 9
		P2.14.10			Flux Curve 100%		0.0			250.0			%			0.1			100.0			1364				Flux linearization point 10
		P2.14.11			Flux Curve 110%		0.0			250.0			%			0.1			110.0			1365				Flux linearization point 11
		P2.14.12			Flux Curve 120%		0.0			250.0			%			0.1			120.0			1366				Flux linearization point 12
		P2.14.13			Flux Curve 130%		0.0			250.0			%			0.1			130.0			1367				Flux linearization point 13
		P2.14.14			Flux Curve 140%		0.0			250.0			%			0.1			140.0			1368				Flux linearization point 14
		P2.14.15			Flux Curve 150%		0.0			250.0			%			0.1			150.0			1369				Flux linearization point 15

Table 23. Flux reference handling parameters, G2.14

3.16Startup Torque

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
																										0 = Not in use
																										1 = Torque Memory,
		P2.15.1			Startup TorqueSel		0			3						1			0				621		2 = Torque Reference
																										3 = Startup Torque
																										FWD/REV
		P2.15.2			Startup Torque		0			10000				ms		1			0			1371				Maximum time for startup
					Time																					torque in ms, (0 ...10000)
																										StartupTorqueReference
		P2.15.3			Startup Torque		-300.0			300.0			%			0.1			0.0			633				to forward direction -300.0
					FWD																					...300.0% of motor nominal
																										torque
					Startup Torque																					StartupTorqueReference
		P2.15.4					-300.0			300.0			%			0.1			0.0			634				to reverse direction -300.0
					REV
																									...300.0%.
																										Source for torque
		P2.15.5			Torque Memory		0			2						1			1			1374				memory. At the next start
					Source																					the same startup torque
																										reference will be used.
		P2.15.6			Torque Memory		-300.0			300.0			%			0.1			0.0			1375				Fixed reference for the
					Reference																					torque memory

Table 24. Start-up Torque parameters, G2.15

3.17Monitor Settings

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.16.1

Speed Mon Filter

0

32000

ms

1

20

1376

Filter in ms for monitoring

signal V1.1.2 Motor Speed.

P2.16.2

Curr Mon Filter

20

2000

ms

1

20

1377

Filter in ms for monitoring

signal V1.1.4 Motor Curr

P2.16.3

Torq Mon Filter

20

2000

ms

1

20

1378

Filter in ms for monitoring

signal V1.1.5 Motor Torque

Table 25 DAC parameters, PG.16

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

30 • VACON®	apfiff10 sia-i

3.18Data Mapping

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.17.1			PD IN1 ID		0			65535						1			0			876
		P2.17.2			PD IN2 ID		0			65535						1			0			877
		P2.17.3			PD IN3 ID		0			65535						1			0			878
		P2.17.4			PD IN4 ID		0			65535						1			0			879
		P2.17.5			PD IN5 ID		0			65535						1			0			880
		P2.17.6			PD IN6 ID		0			65535						1			0			881
		P2.17.7			PD IN7 ID		0			65535						1			0			882
		P2.17.8			PD IN8 ID		0			65535						1			0			883
		P2.17.9			PD OUT1 ID		0			65535						1			4			852				Torque
		P2.17.10			PD OUT2 ID		0			65535						1			1163			853				Aux Control Word
		P2.17.11			PD OUT3 ID		0			65535						1			1172			854				Fault Word 1
		P2.17.12			PD OUT4 ID		0			65535						1			1173			855				Fault Word 2
		P2.17.13			PD OUT5 ID		0			65535						1			15			856				DIN Status Word 1
		P2.17.14			PD OUT6 ID		0			65535						1			1174			857				Alarm Word
		P2.17.15			PD OUT7 ID		0			65535						1			1170			858				Motor Shaft Rounds
		P2.17.16			PD OUT8 ID		0			65535						1			1169			859				Motor Shaft Position

Table 26. Data mapping parameters, G2.17

3.19PI Control Parameters

		Code			Parameter			Min			Max			Unit			Step			Default			ID			Note
		P2.18.1			PI controller gain		0,0			1000,0			%						100,0			118
		P2.18.2			PI controller I-		0,00			320,00				s					1,00			119
					time
		P2.18.3			PI Reference		-32000			32000									0			167
					PI controller
		P2.18.4			reference signal		0			10000									167			332				Default P2.18.3
					ID
		P2.18.5			PI Actual value ID		0			10000									0			333
		P2.18.6			PI Controller		0			10000									0			1802
					output ID
					PI Controller																					>= 1 = No inversion
		P2.18.7					-32000			32000									1			340				<=-1 = Inverted
					Scale
																										0 = Illegal value
		P2.18.8			PI Low limit		-32000			32000												359
		P2.18.9			PI High limit		-32000			32000			%						10000			360
		P2.18.10			PI Controller		-3200,0			3200,0			%						100,0			1803
					Output scale
		P2.18.11		PI Stop state value			-32000			32000									0			1806

Table 27. PI Controller parameters, G2.15

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/