Danfoss vacon nxp optcg User guide

vacon nxp

ac drives

optcg

s2 option board

selma application (apfien04)

user manual

2 • vacon index

INDEX

Document code: DPD00894A

Date:17.01.2012

1. GENERAL ........................................................................................................................... 4

2. INSTALLATION ................................................................................................................... 5

3. CONNECTIONS ................................................................................................................... 7

3.1 Jumper settings ....................................................................................................................... 7

3.1.1 Jumper settings of 4CMO board with OPT-CG: ............................................................... 7

3.1.2 Jumper settings of 4CM board with OPT-CG: .................................................................. 8

4. COMMISSIONING ................................................................................................................ 9

4.1 Parameters ............................................................................................................................... 9

4.2 LED indications ......................................................................................................................... 9

5. OPT-CG Config tool .......................................................................................................... 10

6. Selma application (APFIEN04) .......................................................................................... 12

6.1 Introduction ............................................................................................................................ 12

6.2 Control I/O .............................................................................................................................. 13

6.3 “Terminal to function” (TTF) programming principle ............................................................ 14

6.3.1 Defining an input/output for a certain function on keypad ............................................ 14

6.3.2 Defining a terminal for a certain function with NCDrive programming tool ................. 15

6.4 Selma Application – Parameter lists ..................................................................................... 16

6.4.1 M1 > V1.1 Monitor page 1 ............................................................................................... 17

6.4.2 M1>V1.2 Monitor Page 2 ................................................................................................. 17

6.4.3 Basic parameters ........................................................................................................... 19

6.4.4 Input signals (Control keypad: Menu M2 G2.2) ........................................................... 20

6.4.5 Output signals (Control keypad: Menu M2  G2.3) ....................................................... 24

6.4.6 Reference handling (Control keypad: Menu M2  G2.4) ............................................... 26

6.4.7 Ramp functions (Control keypad: Menu M2  G2.5) ..................................................... 27

6.4.8 Drive control (Control keypad: Menu M2  G2.6) .......................................................... 28

6.4.9 Motor control (Control keypad: Menu M2  G2.7) ......................................................... 30

6.4.10 Limit settings (Control keypad: Menu M2  G2.8) ..................................................... 32

6.4.11 Speed control (Control keypad: Menu M2  G2.9) .................................................... 33

6.4.12 Oscillation damp (Control keypad: Menu M2  G2.10) .............................................. 34

6.4.13 Brake & fan control (Control keypad: Menu M2 G2.11) .......................................... 34

6.4.14 Master Follower (Control keypad: Menu M2  G2.12) .............................................. 35

6.4.15 Protections (Control keypad: Menu M2  G2.13) ...................................................... 35

6.4.16 Flux reference handling (Control keypad: Menu M2  G2.14) .................................. 37

6.4.17 Startup torque (Control keypad: Menu M2  G2.15) ................................................. 37

6.4.18 DAC (Control keypad: Menu M2  G2.16) .................................................................. 38

6.4.19 Data mapping (Control keypad: Menu M2  G2.17) .................................................. 38

6.4.20 Keypad control (Control keypad: Menu M3  R3.1) .................................................. 38

6.4.21 Expander boards (Control keypad: Menu M7) ............................................................ 38

6.5 Description of parameters ..................................................................................................... 39

6.5.1 Basic parameters ........................................................................................................... 39

6.5.2 Input signals ................................................................................................................... 42

6.5.3 Output signals................................................................................................................. 49

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vacon • 3

6.5.4

Reference handling ........................................................................................................ 50

6.5.5 Ramp funcions ................................................................................................................ 52

6.5.6 Drive control ................................................................................................................... 53

6.5.7 Motor control .................................................................................................................. 57

6.5.8 PMSM control ................................................................................................................. 60

6.5.9 Limit settings .................................................................................................................. 61

6.5.10 Speed control ............................................................................................................. 62

6.5.11 Oscillation damp ......................................................................................................... 66

6.5.12 Brake and fan control ................................................................................................. 66

6.5.13 Master Follower ......................................................................................................... 67

6.5.14 Protections ................................................................................................................. 69

6.5.15 Flux reference handling ............................................................................................. 74

6.5.16 Startup torque ............................................................................................................ 75

6.5.17 Monitor settings ......................................................................................................... 76

6.5.18 Data mapping ............................................................................................................. 76

6.6 Fieldbus profile....................................................................................................................... 77

6.6.1 Process data signals from overriding system to Vacon drive. ....................................... 77

6.6.2 Process data signals from Vacon drive to overriding system. ....................................... 77

6.6.3 Main control word, par. 2.17.17 (FB Mode) = 1-3 ........................................................... 78

6.6.4 Selma Control Word, par. 2.17.17 (FB Mode) = 4 ........................................................... 78

6.6.5 Main status word ............................................................................................................ 79

6.6.6 Selma Status Word ......................................................................................................... 79

6.6.7 Micro Status Word .......................................................................................................... 80

6.6.8 Auxiliary control word .................................................................................................... 80

6.6.9 Auxiliary status word ...................................................................................................... 81

6.6.10 Fault word 1 ................................................................................................................ 81

6.6.11 Fault word 2 ................................................................................................................ 82

6.6.12 Selma fault word 0 ..................................................................................................... 82

6.6.13 Selma fault word 1 ..................................................................................................... 83

6.6.14 Selma fault word 2 ..................................................................................................... 83

6.6.15 Alarm word 1 .............................................................................................................. 84

6.6.16 Digital input status word 1 ......................................................................................... 85

6.6.17 Digital input status word 2 ......................................................................................... 85

6.7 BLOCK DIAGRAMS.................................................................................................................. 86

6.8 FAULT TRACING ..................................................................................................................... 91

7. Appendix 1 ........................................................................................................................ 95

8. Appendix 2 ........................................................................................................................ 96

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4 • vacon general

WARNING!

1. GENERAL

Vacon NXP frequency converters can be connected to the Selma System (S2) using a fieldbus board.
The converter can then be controlled, monitored and programmed from the host system.

If you purchase your S2 option board separately, please note that it shall be installed in
the control board of the frequency converter.

For retrofit projects where existing software in the Selma System is to be used without changes,
APFIEN04 application can be used.

Note! S2 option board can only be used with Vacon NXP frequency converters

slot E or D on

Internal components and circuit boards are at high potential when the frequency
converter is connected to the power source. This voltage is extremely dangerous
and may cause death or severe injury if you come into contact with it.

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installation vacon • 5

2

!

NOTE

not allowed

A

B

C

D

X 6 X

1

1

2

3

4

5

2. INSTALLATION

It is

quency converter with the power switched on. This may damage the boards.

Vacon NX frequency converter

Remove the cable cover.

Open the cover of the control unit.

Install S2 option board in slot E or D on the control board of the frequency con-
verter. Make sure that the grounding plate (see below) fits tightly in the clamp.

to add or replace option boards or fieldbus boards on a fre-

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6 • vacon installation

2

E

F

Make a sufficiently wide opening for your cable by cutting the grid as wide as
necessary.

Close the cover of the control unit and the cable cover.

NOTE! Ground the OPT-CG cable shield as shown below:

NOTE! Perform this grounding only at Vacon’s end!

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commissioning vacon • 7

4

1

2

3

Vacon
OPT-CG

4

4CM/4CMO

Ch 0 Ch 1 Ch 2 Ch 3

1 5 9 13

2/4 6/8 10/12 14/16

17 21 25 29

18 22 26 30

+

+

+

+

+ + + +

S9

S3

3. CONNECTIONS

Vacon S2 option board is connected to the Selma System through a 4-pin pluggable bus connector.
The communication with the control board of the frequency converter takes place through the stan­dard Vacon Interface Board Connector.

T+

T-

R+

R-

Table 3-1. Connections

3.1 Jumper settings

There are two different I/O terminal boards that OPT-CG can be connected to.

Note! Wrong “jumpering” may damage the boards.

3.1.1

Jumper settings of 4CMO board with OPT-CG:

In this setting, the OPT-CG board is active and the 4CMO board is passive:

S7

S11

c
b
a

S8

S12

S5

a
b
c

S6

S10

d c a b

S1
S2

S4

4CMO board

OPT-CG board

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8 • vacon connections

3

+ + + +

a

b

a

b

a

b

3.1.2

Jumper settings of 4CM board with OPT-CG:

In this setting, the OPT-CG board is

passive and the 4CM board is active:

c

S1

S2

c

4CM board

OPT-CG board

S4

c

c

S3

a b

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4

#

Name

Default

Range

Description

LED is:

Meaning:

Blinking

Option board did not receive any messages during the Time-

LED is:

Meaning:

4. COMMISSIONING

4.1 Parameters

Parameters are visible in keypad in menu M7/Expander boards in the corresponding slot in which S2
option board is installed (D/E).

1 BAUD RATE

2 COMMUNICATION

TIMEOUT

Table 4-1. The Parameters of S2

6

20 1—600 s

5 – 4800 baud
6 – 9600 baud

Communication speed

See below

Communication timeout

In case S2 option board doesn’t receive any messages from Selma System for the time defined by pa-
rameter Communication Timeout, Vacon drive will trip on Fieldbus Communication (FB Comm.) fault.

4.2 LED indications

Status LED of S2 YELLOW

OFF Option board is not active
ON Option board is in configuration mode and waiting a permis-

sion from the frequency converter to move on to the normal
operating mode

Blinking fast

(once/sec)

slow

Option board is in normal operating mode receiving mes-
sages from the field (See Parametres and Time-Out)

Out and is in the fault mode

(once/5 secs)

Status LED of S2 GREEN

OFF Option board is in fault mode
ON Option board is active.

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10 • vacon config tool

5

5. OPT-CG CONFIG TOOL

With the help of OPT-CG Config Tool, signals coming to and from Selma can be connected to any sig­nal or parameter in Vacon drive. This is done by using the address of the signals in Selma System and
ID number of signal or parameter in the Vacon drive.

Output Board: Signals from Vacon Drive to Selma
Interval:

Update time period for the signal. 1 = 10ms.

Address in PLC:
The address in the overriding system where the signal will be written.
Address in Drive:
The address of a signal to be sent from the drive.
Multipler:
The multiplication factor before the signal is sent to the overriding system (if any).
Divider:
The divider for signal before sent to the overriding system (if any).

Note: The signals sent from Vacon drive to Selma addresses can be scaled to any value using
Multiplier and divider factors, if required.

Input Board: Signals from Selma to Vacon Drive
Address in PLC:
The address of a signal sent from the overriding system.
Drive Item
This has two options:

Process Data: The signal coming from Selma can be written to any of the process data. List of
process data is available in the “ Address in the drive” field. The process data can be confi­gured to any of the parameter in the application.
Parameter: With this selection, the signal coming from the Selma can be written directly to
any of the parameter or signal available in th drive using ID numbers. ID numbers are then se­lected from the “Address in Drive” field.

Address in drive:

The received signal will be written to this address in drive. It is same as the ID number of a
signal or parameter in the Vacon drive where the value of a signal coming from Selma to be
written.

Multipler:

The signal value coming from Selma is multiplied by this factor before writing to the ID num-
ber in the drive.

Divider:

The signal value coming from Selma is divided by this factor before writing to the ID number in
the drive.
Note: The signals sent from Selma System to Vacon drive can be scaled to any value using
multiplier and divider factors, if required.

Eeprom Saved

This value can be set TRUE/FALSE. When the signal value received from Selma is written to
drive parameter, then it can also be saved to Eeprom, if set TRUE.

Save:

The tables can be saved as a text file thru File->Save action.

Open:

The saved configurations can be opened thru File->Open action.

Write:

Writes both tables into S2 option board.

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config tool vacon • 11

5

Read:
Reads the tables from S2 option board.
HEX/DEC:
Changes the addresses of PLC into hex/dec format.

ComPort:

Selects the communication port to be used by the OPT-CG Config tool to communicate be-

tween computer and S2 option board. RS232 serial cable received with Vacon drive is con­nected between this port on a computer and Vacon drive (at the palce of keypad).

Figure 1. OPT-CG configuration tool, default values

Note! These parameters are saved on the OPT-CG board only!

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12 • vacon selma application

6

6. SELMA APPLICATION (APFIEN04)

6.1 Introduction

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

The Selma 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 un-

winder.

• 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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selma application vacon • 13

6

Terminal

Signal

Description

4

AI2+

Analogue input, current

Current input frequency reference

10

DIN3

External fault input

Contact open = no fault

13

GND

I/O ground

Ground for reference and controls

16

DIN6

Emergency Stop

Contact open= EmstopActive. Con­25

RO2

VAC

6.2 Control I/O

1 +10V Reference output Voltage for potentiometer, etc.
2 AI1+ Analogue input, voltage

range 0—10V DC

3 AI1- I/O Ground Ground for reference and controls

Voltage input frequency reference

220

READY

RUN

5 AI2­6 +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

11 CMA Common for DIN 1—

12 +24V Control voltage output Voltage for switches (see #6)

14 DIN4 Run Enable Contact closed = Run Enable

15 DIN5 Main Switch Ack. Contact closed = Switch is closed.

17 CMB Common for DIN4—

18 AOA1+ Programmable Programmable

mA

19 AOA1­20 DOA1 Digital output

21 RO1 Relay output 1
22 RO1
23 RO1
24 RO2 Relay output 2

26 RO2

range 0—20mA

(Programmable)

(Programmable)

(programmable)

DIN 3

DIN6

READY

RUN

DC bus Charging OK

Contact closed = start forward

Contact closed = start reverse

Contact closed = fault

Connect to GND or +24V

Contact Open =Run Disable

Contact Open= Switch is open.

tact Close = Emstop not active.

Connect to GND or +24V

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

Programmable

, max. 500Ω

L

Table 2. Selma Application default I/O configuration.

Note: The above I/O configuration is an example. Most of the I/Os are programmable.

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14 • vacon selma application

6

READY

I/Oterm

DigOUT:B.1

AI Ref Faul/Warn

READY

I/Oterm

DigOUT:0.0

READY

I/Oterm

DigOUT:0.0

READY

I/Oterm

DigOUT:B.1

AI Ref Faul/Warn AI Ref Faul/Warn AI Ref Faul/Warn

6.3 “Terminal to function” (TTF) programming principle

The programming principle of the input and output signals in the
as well as in the

Pump and Fan Control Application (and partly in this application as well) is differ-

Multipurpose Control Application

ent compared to the conventional method used in other Vacon NX applications.

In the conventional programming method,

Function to Terminal Programming Method (FTT),

you have

a fixed input or output that you define a certain function for. The applications mentioned above, how­ever, use the

Terminal to Function Programming method (TTF)

in which the programming process is

carried out the other way round: Functions appear as parameters which the operator defines a cer-
tain input/output for. See

Warning

on page 15.

6.3.1

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
the product's user's manual) and the

respective signal number

Board slot

on the Vacon NX control board (see

, see below.

Function name

Slot Terminal number
Terminal type

Example: You want to connect the digital output function

Reference fault/warning

(parameter 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

Menu button right

once to enter the edit

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

Browser button up

and signal number. The program will scroll the board slots starting from

or

down

to find the desired board slot

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

Enter button

once to confirm the change.

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selma application vacon • 15

6

!

WARNING

Be ABSOLUTELY sure not to connect two functions to one and same
output in order to avoid function overruns and to ensure flawless
operation.

Note:

6.3.2

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 ad-

Value

dress code from the drop-down menu in the

column (see the Figure below).

Figure 6-1. Screenshot of NCDrive programming tool; Entering the address code

The

inputs

, unlike the

outputs

, cannot be changed in RUN state.

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16 • vacon selma application

6

6.4 Selma Application – Parameter lists

On the next pages you will find the lists of monitoring signals and parameters. The parameter de-
scriptions are given on pages

Column explanations:

Code = Location indication on the keypad; Shows the operator the present parameter num-

ber
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)

Error! Bookmark not defined. to Error! Bookmark not defined..

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selma application vacon • 17

6

Code

Parameter

Unit

ID

Description

V1.1.6

Power % 5

Power in percentage of motor nominal power.

Nominal current rating of the drive unit. This is same as IL

Code

Parameter

Unit

ID

Description

rpm

V1.2.4

Speed Reference1

rpm

1126

Speed reference selected as per the control place selection.

V1.2.12

Speed Limit Pos

rpm

1135

Positive speed limit on the speed reference

6.4.1

M1 > V1.1 Monitor page 1

V1.1.1 Output frequency Hz

V1.1.2 Speed Rpm

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.

V1.1.7 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 6.5.10
V1.1.11 DIN Status Word2 16 See 6.5.11

V1.1.12 MotorTempCalc % 9

V1.1.13 PT100(1) Temp. °C 50

V1.1.14 PT100(2) Temp. °C 51

V1.1.15 PT100(3) Temp. 52
V1.1.16 Unit nom. voltage V 1117 Nominal voltage rating of the drive unit.

V1.1.17 Unit nom. current A 1118

V1.1.18 DC nom. Voltage V 1120 Nominal DC link voltage of the drive unit.

V1.1.19 ID Run status 49

V1.1.20 Analogue Input 3 %
V1.1.21 Analogue Input 4 %

1

2

Frequency output from the drive to the motor.

Motor speed in rpm. In open loop this is the calculated speed
of the motor and in closed loop this is the filtered value of the
speed measured from the encoder.

Calculated motor temperature .

100.0% = nominal temperature of the motor.
Temperature of the PT100 type temperature sensor1 con­nected to Analogue input.
Temperature of the PT100 type temperature sensor2 con­nected to Analogue input.

current rating of the unit.

Bitwise status of automatic identification after ID run.
B0= Stator resistance and U7f curve
B1= Reserved
B2= Magnetisation current.
B3= Flux linearization curve.

Table 3. Monitoring page 1

6.4.2

M1>V1.2 Monitor Page 2

V1.2.1 Speed Measured

V1.2.2 Torque Unfilt. % 1125

V1.2.3 Current Unfilt. % 1113 Unfiltered Motor current in Amperes.

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

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)

V1.2.13 Speed Lim Neg rpm 1136 Negative speed limit on the speed reference

V1.2.14 TC Speed Lim Pos rpm 1137

V1.2.15 TC Speed Lim Neg rpm 1138

V1.2.16 Master TorqueRef % 1139

1124 Speed measured from the encoder.

Unfiltered torque calculated by the drive.100% equals to motor
nominal torque.

Speed reference after the speed correction is added to the
Speed Ramp Out. 1)

Positive speed limit when Torque Select is 2/3/4/5 and Motor
Ctrl Mode =3.
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 Fol­lower comm.

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18 • vacon selma application

6

Code

Parameter

Unit

ID

Description

V1.2.22

Used Torque Ref

%

1145

Final, limited torque reference for speed/torque controller

V1.2.25

Startup TorqAct

A

1148

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

V1.2.28

Iq Reference

%

1154

Final IqReference, 100.0% = motor nominal current

V1.2.33

Rotor Time Const

ms

1159

Rotor Time Constant in ms

Number of pole pairs in the motor estimated from the motor

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

V1.2.17 FB Torque Ref % 1140

V1.2.18 I/0 Torque Ref % 1141

V1.2.19 Torque Ref1 % 1142

V1.2.20 Torque Ref2 % 1143 Scaled Torque Reference
V1.2.21 Torque Ref3 % 1144 Torque reference after Load Share logic.

Torque Reference from the Fieldbus.

-300.0...300.0%. of motor nominal torque
Torque Reference from the analogue Input

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

Torque reference after Torque Reference selector (Master,
Fieldbus, analogue I/P)

V1.2.23 Acc Comp Out % 1146

V1.2.24 Droop Speed RPM rpm 1147 Speed droop used in rpm.

V1.2.26 Iq Current Lim + % 1152

V1.2.27 Iq Current Lim - % 1153

V1.2.29 Iq Actual % 1155 Measured Iq 100.0% = motor nominal current
V1.2.30 Id Reference % 1156 Final IdReference 100.0% = motor nominal current
V1.2.31 Id Actual % 1157 Measured Id 100.0 %= motor nominal current.
V1.2.32 Flux % 1158 Estimated rotor flux in percentage of the motor nominal flux.

V1.2.34 MainControlWord 1160 See 6.5.3
V1.2.35 AuxControlWord1 1161 See 6.5.8

V1.2.36 MainStatusWord 1162 See 6.5.5
V1.2.37 AuxStatusWord 1163 See 6.5.9
V1.2.38 Fault Word 1 1172 See 6.5.10
V1.2.39 Fault Word 2 1173 See 6.5.11
V1.2.40 Alarm Word 1 1174 See 6.5.15

V1.2.41 Max Brake Ramp 1168 Calculated ramp time in constant power emergency stop.
V1.2.42 Shaft Position 1169 Position of the motor shaft in 0…360 Degrees.
V1.2.43 Shaft Rounds 1170 No. of rounds of the motor shaft.

Acceleration compensation used in terms of IqRefer-
ence.100.0% equals to motor nominal current. 1)

Final upper IqCurrentLimit 100.0 %= motor nominal current

(unsigned)

Final lower IqCurrentLimit 100.0 %= motor nominal current

(unsigned)

V1.2.44 Pole Pair Number 58

V1.2.45 Selma Status Word 69 See 6.5.6

V1.2.46 Selma Fault Word 0 1540
V1.2.47 Selma Fault Word 1 1541 See 6.5.13
V1.2.48 Selma Fault Word 2 1542 See 6.5.14
V1.2.49 Micro Status Word 1555 See 6.5.7
Selma Control Word See 6.5.4
V1.2.50 Drive output power 1508

Table 4. Monitoring page 2

data.

See 6.5.12

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selma application vacon • 19

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Motor-

6.4.3

Basic parameters

Supply Voltage in Volts. If

P2.1.1 Supply Voltage 0 1000 V 1 500 1201

P2.1.2 Motor Nom Volts 180 690 V 1 400 110

P2.1.3 Motor Nom Freq 30.00 320.00 Hz 0.01 50.00 111

Motor_

Cur-

rent_Ma

x

A 0.1 113

P2.1.4

Motor Nom Cur-

rent

Motor_

Cur-

rent_Min

unknown then parameter
should be zero.
Nominal Voltage of the
Motor in volts as per Rat­ing Plate
Nominal Frequency of the
Motor ##. ## Hz as per
Rating Plate

Nominal Current of the

Motor. in ####.# A

P2.1.5 Motor Nom Speed 300

P2.1.6 Motor Cos Phi 0.30 1.00 0.01 0.85 120

P2.1.7 Process Speed 0.0 3200.0 rpm 0.1 14400 1203

P2.1.8 Magn. Current 0.0

P2.1.9 Field Weakng Pnt 8.00 320.00 Hz 0.01 50.00 602

P2.1.10 Voltage at FWP 5.00 200.00 % 0.01 100.00 603

P2.1.11 ID Run 0 2 1 0 631

P2.1.12 Motor Type 0 3 1 0 650

Nom-

Speed-

Max

Motor

Nom

Current

rpm 1 1440 112

A 0.1 0.5 612

Table 5. Basic parameters G2.1

Nominal Speed of the
Motor as per Rating Plate

Rated value of cos phi as
per Rating Plate

Process Speed limit in
RPM scale
Nominal magnetizing

current of the motor in
amps (Current Format)
Frequency at which Field
Weakening should start.
Applicable only in Open

Loop Control

Motor Voltage Limit in
Field weakening. Applica-

ble only in Open Loop
Control

Automatic Identification
run for the motor.
0 = None
1 = Identification without

motor running. Identifies

the stator resistance and
U/f curve.
2 = Identification with

motor running. Identifies

stator resistance/f curve,
magnetising current and
flux linearization curve.

Motor type

0= Induction motor
1= Multiple wind induc-

tion motor

2= Permanent magnet

motor

3= Multiple wind perma­nent magnet motor.

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Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Max. No

6.4.4

Input signals (Control keypad: Menu M2 G2.2)

6.4.4.1 Digital input (Control keypad: Menu M2 G2.2.1)

Max. No

P2.2.1.1 Run Forward 0

P2.2.1.2 Run Reverse 0

P2.2.1.3 IO Ctrl 0

P2.2.1.4 Reset 0

P2.2.1.5

P2.2.1.6 Brake Open Logic 0 1 1 0 1379

P2.2.1.7 Motor Fan Ack. 0

P2.2.1.8 Input Switch Ack 0

P2.2.1.9 Run Enable 0

P2.2.1.10 Run Enable Logic 0 1 1 0 1380

P2.2.1.11 Prevent. Of Start 0 1 1 0 1420

Brake Open

0

of DIN

installed

Max. No

of DIN

installed

Max. No

of DIN

installed

Max. No

of DIN

installed

Max. No

of DIN

installed

Max. No

of DIN

installed

Max. No

of DIN

installed

Max. No

of DIN

installed

1 0 1206

1 0 1207

1 0 1404

1 0 1208

1 0 1210

1 0 1211

1 5 1209

1 4 1212

Digital input selection for
the Run Forward command
when the Control Place=IO

control.

Digital input selection for
Run Reverse command
when the control place=IO

control

Digital input selection to
activate the IO control.

Digital input Selection for
Fault Resetting. The transi­tion from Off to On will Re­set the Fault if the cause of
the fault is removed
Input Selection for Acknowl-

edgement of Motor Me-

chanical Brake. Off=Brake
Closed, On=Brake Opened.
If the brake does not open
after Start Command after
Brake Lift Delay then Fault
57 ``Mech. Brake)
The connection type for
brake open acknowledge-

ment.

0= Normally Open.
1= Normally closed.

Input selection for Motor

Fan Acknowledgement. If no
acknowledgement for 1 Sec
after Fan On command then
Alarm F56 ``Motor Fan``

Input selection for input

switch acknowledgement.
If not acknowledged then
Fault 64 “Input Switch
Open”
Input selection For Run En­able. If input is missing then
warning 26 ”Run Disable”.

Connection type for Run

Enable.
0= Normally Open
1= Normally closed.
The function is to be en­abled when SPU024 or any
external device is used to
cut the DC Voltage to gate
drive and /or ASIC board.
0= Disable, 1= Enable

P2.2.1.12 Emstop 0

of DIN

installed

1 6 1213

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Input For Emergency Stop.
Low=Emergency stop Active

selma application vacon • 21

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Analogue Input selection
Filter time for AI1 in ###.

Max. Value of Signal se-

Max. No

P2.2.1.13 External Fault 0

P2.2.1.14 Ext. Fault Logic 0 0 1 0 1381

P2.2.1.15 Motor 1 Or 2 Sel 0

P2.2.1.16 Fault Reset 0.1 D.10 TTF 1 0.1 414

P2.2.1.17

P2.2.1.18

Micro start com-
mand

Micro stop com­mand

0 D.10 1 0 1550

0 D.10 1 0 1551

of DIN

installed

Max. No

of DIN

installed

1 0 1214

1 0 1215

Table 6. Digital Input parameters, G2.2.1

6.4.4.2 Analogue input (Control keypad: Menu M2 G2.2.2)

Digital input selection for
External Fault signal con-

nection.
Connection type for external

fault input connection.
0= Normally open
1= Normally closed.
Select parameter set for
Motor 1 or Motor 2 with the
selected digital input.
High=Motor2.Low=Motor1

Start command for FB Mode
5 (= Microstar) Rising edge
required after fault or
Emergency stop. Use OPT­CG Config tool for this ID
Stop command for FB Mode
5 (= Microstar) Rising edge
required after fault or
Emergency stop. Use OPT­CG Config tool for this ID

P2.2.2.1 I/O SpeedRef Sel 0 5 1 0 1219

P2.2.2.2 I/O TorqRef Sel 0 3 1 0 1220

P2.2.2.3 PT100(1) AI Sel 0 2 1 0 1221

P2.2.2.4 PT100 (1) Sel 0 2 1 0 1222

P2.2.2.5 PT100(2) AI Sel 0 2 1 0 1223

P2.2.2.6 PT100 (2) Sel 0 2 1 0 1224

P2.2.2.7

P2.2.2.8

P2.2.2.9 AI1 Minimum 0 1 1 0 1227

AI1 Ref Scale

Min

AI1 RefScale

Max

-30000 30000 1 0 1226

-30000 30000 1 1440 1225

for Speed reference when
Control Place=1 (IO ctrl)
Analoguey Input selection
for Torque reference
when Control Place=1
(Local IO Control)
Analogue Input selection

for PT100 type tempera-
ture sensor 1.
No of PT100 elements in
series.
Analogue Input selection
for PT100 type tempera-
ture sensor 2.
No of PT100 elements in

series. 0=1*PT100,
1=2*PT100, 2=3*PT100.
Min. value of signal se­lected for AI1. This corre-

sponds to +0V/0/4mA

Max. value of signal se­lected for AI1. This corre-

sponds to +10V/20mA

Minimum voltage or Cur-
rent at AI1.0=0V/0mA,
1=4mA

P2.2.2.10 AI1 Filter Time 0.01 10.00 s 0.01 1 1228

P2.2.2.11 AI2 RefScale Min -30000 30000 1 0 1230

P2.2.2.12

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AI2 RefScale

Max

-30000 30000 1 1000 1229

## Sec

Min. Value of Signal se­lected for AI2.This corre-

sponds to +0V/0/4mA

lected for AI2.This corre­sponds to +10V/20mA

22 • vacon selma application

6

Minimum Voltage or Cur-

P2.2.2.13 AI2 Minimum 0 1 1 0 1231

P2.2.2.14 AI2 Filter Time 0.01 10.00 s 0.01 1 1232

P2.2.2.15

P2.2.2.16

AI1 signal selec-

tion

AI2 signal selec-

tion

0 D.10 1 10 377

0 D.10 1 11

rent at AI2.0=0V/0mA,
1=4mA
Filter time for AI2 in ###.

## Sec.

TTF programming. See
chapter 6.3
TTF programming. See
chapter 6.3

Table 7. Analogue Input parameters, G2.2.2

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6

Code

Parameter

Min

Max

Unit

Default

Cust

ID

Note

AI3 custom mini-

Custom range always

0
1

Selects the value that

Code

Parameter

Min

Max

Unit

Default

Cust

ID

Note

AI4 custom maximum

Custom range always

0
1

6.4.4.3 Analogue input 3 (Control keypad: Menu M2  G2.2.4)

P2.2.4.1 AI3 signal selection 0.1 E.10 0.1

P2.2.4.2 AI3 filter time 0,000 32,000 s 0,000 142 0=No filtering

P2.2.4.3

P2.2.4.4

P2.2.4.5 AI3 signal inversion 0 1 0

P2.2.4.6

P2.2.4.7

P2.2.4.8 AI3 Controlled ID 0 10000 0

mum setting

AI3 custom maxi-

mum setting

AI3 reference scal-

ing, minimum value

AI3 reference scal-

ing, maximum value

-160,00 160,00 % 0,00

-160,00 160,00 % 100,00

-32000 32000 0

-32000 32000 0

1037

1038

1509

Slot . Board input No.

141

If 0.1 ID61 can be con-
trolled from FB

144

active. See ID326
Custom range always

145

active. See ID327

151

=Not inverted
=Inverted

Selects the value that
corresponds to the min.
reference signal

corresponds to the max.
reference signal
Select parameter that
you want to control by ID

number.

Table 4-8. Analogue input 3 parameters, G2.2.4

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

6.4.4.4 Analogue input 4 (Control keypad: Menu M2  G2.2.5)

P2.2.5.1 AI4 signal selection 0.1 E.10 0.1

P2.2.5.2 AI4 filter time 0,000 32,000 s 0,000 153 0=No filtering

P2.2.5.3

P2.2.5.4

P2.2.5.5 AI4 signal inversion 0 1 0

P2.2.5.6

P2.2.5.7

P2.2.5.8 AI4 Controlled ID 0 10000 0

AI4 custom minimum

setting

setting

AI3 reference scaling,

minimum value

AI3 reference scaling,

maximum value

-160,00 160,00 % 0,00

-160,00 160,00 % 100,00

-32000 -32000 0

-32000 32000 0

152

155

156

162

1039

1040

1510

Slot . Board input No.
If 0.1 ID61 can be con-
trolled from FB

Custom range always
active. See ID326

active. See ID327

=Not inverted
=Inverted

Selects the value that
corresponds to the min.
reference signal
Selects the value that
corresponds to the max.
reference signal
Select parameter that
you want to control by

ID number.

Table 4-9. Analogue input 4 parameters, G2.2.5

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Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Select the signal for con-

Select the signal for con-

6.4.5

Output signals (Control keypad: Menu M2  G2.3)

6.4.5.1

P2.3.1.10 DO10 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1423

P2.3.1.11 DO11 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1427

P2.3.1.12 DO12 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1428

P2.3.1.13 DO13 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1429

P2.3.1.1 DO1 (ID.BitNo.) 0.00 2000.15 0.01 1162.00 1216

P2.3.1.2 DO2 (ID.BitNo.) 0.00 2000.15 0.01 1162.00 1217

P2.3.1.3 DO3 (ID.BitNo.) 0.00 2000.15 0.01 1163.00 1218

P2.3.1.4 DO4 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1385

P2.3.1.5 DO5 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1386

P2.3.1.6 DO6 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1390

P2.3.1.7 DO7 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1391

P2.3.1.8 DO8 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1395

P2.3.1.9 DO9 (ID.BitNo.) 0.00 2000.15 0.01 0000.00 1396

Table 10 Digital Output parameters, G2.3.1

Digital output (Control keypad: Menu M2  G2.3.1)

Select the signal for con­trolling DO1. The parame­ter is set in a format
xxxx.yy where xxxx is the ID
number of a signal (in this
case 1162 is ID number of
Main status word) and yy is
the bit no. (in this case bit

0). Thus the default value is
programmed to ID1162 bit
00 means Drive Ready.

trolling DO2. The parame­ter is set in a format
xxxx.yy where xxxx is the ID
number of a signal (in this
case 1162 is ID number of
Main status word) and yy is
the bit no. (in this case bit

02). Thus the default value
is programmed to ID1162
bit 02 means Drive Run-

ning.

Select the signal for con­trolling DO3. The parame­ter is set in a format
xxxx.yy where xxxx is the ID
number of a signal (in this
case 1163 is ID number of
auxiliary status word) and
yy is the bit no. (in this case
bit 03). Thus the default
value is programmed to
ID1163 bit 03 means DC
Bus charging OK (pulse).
Select the signal for con-

trolling DO4.
Select the signal for con­trolling DO5.
Select the signal for con­trolling DO6.
Select the signal for con­trolling DO7.
Select the signal for con­trolling DO8.
Select the signal for con­trolling DO9.
Select the signal for con­trolling DO10.
Select the signal for con­trolling DO11.
Select the signal for con­trolling DO12.

trolling DO13.

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6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Minimum voltage or cur-

Maximum value of the sig-

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Minimum voltage or cur-

Maximum value of the sig-

6.4.5.2 Analogue output 1 (Control keypad: Menu M2  G2.3.2)

P2.3.2.1 AO1 terminal 0 59 1 10 463

P2.3.2.2 AO1 Signal ID 0 2000 1 0 1233

P2.3.2.3 AO1 Offset 0 1 1 0 1234

P2.3.2.4 AO1 Filter 0.02 10.00 S 0.01 10.00 1235 Filter time for AO1

P2.3.2.5 AO1 Max Value -30000 30000 1 1500 1236

P2.3.2.6 AO1 Min Value -30000 30000 1 0 1237

TTF programming. See
chapter 6.3
Set the ID no. Of a signal

to be connected to AO1.

rent at AO1.
0= OV/0mA.
1= 2v/4mA

nal selected for AO1. This
will correspond to +10V/

20mA.
Minimum value of the sig-

nal selected for AO1. This
will correspond to 0V/0mA

or 2V/4mA depending on
AO1 Offset.

Table 11. Analogue output parameters, G2.3.2

6.4.5.3 Analogue output 2 (Control keypad: Menu M2  G2.3.3)

P2.3.3.1 AO2 terminal 0 59 1 10 471

P2.3.3.2 AO2 Signal ID 0 2000 1 0 1500

TTF programming. See
chapter 6.3
Set the ID no. Of a signal

to be connected to AO2.

P2.3.3.3 AO2 Offset 0 1 1 0 475

P2.3.3.4 AO2 Filter 0.02 10.00 S 0.01 10.00 472 Filter time for AO2

P2.3.3.5 AO2 Max Value -30000 30000 1 1500 1501

P2.3.3.6 AO2 Min Value -30000 30000 1 0 1502

rent at AO2.
0= OV/0mA.
1= 2v/4mA

nal selected for AO2. This
will correspond to +10V/

20mA.

Minimum value of the sig­nal selected for AO2. This
will correspond to 0V/0mA

or 2V/4mA depending on
AO2 Offset.

Table 12 Analogue output parameters, G2.3.3

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Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Minimum voltage or cur-

Maximum value of the sig-

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Constant speed reference 2.

6.4.5.4 Analogue output 3 (Control keypad: Menu M2  G2.3.4)

P2.3.4.1 AO3 terminal 0 59 1 10 478

P2.3.4.2 AO3 Signal ID 0 2000 1 0 1503

P2.3.4.3 AO3 Offset 0 1 1 0 482

P2.3.4.4 AO3 Filter 0.02 10.00 S 0.01 10.00 480 Filter time for AO3

P2.3.4.5 AO3 Max Value -30000 30000 1 1500 1504

P2.3.4.6 AO3 Min Value -30000 30000 1 0 1505

TTF programming. See
chapter 6.3
Set the ID no. Of a signal

to be connected to AO1.

rent at AO3.
0= OV/0mA.
1= 2v/4mA

nal selected for AO3. This
will correspond to +10V/

20mA.

Minimum value of the sig­nal selected for AO3. This
will correspond to 0V/0mA

or 2V/4mA depending on
AO3 Offset.

Table 13 Analogue output parameters, G2.3.4

6.4.6

Reference handling (Control keypad: Menu M2  G2.4)

P2.4.1 Spd Ref Filter 0 5000 ms 1 0 324

P2.4.2 Const Ref 1

Speed_

Min

Speed_

Max

rpm 1 0 1239

Filter time for the speed

reference in ms

Constant speed reference 1.
Normally used for forward
inching

P2.4.3 Const Ref 2

P2.4.4 CriticalSpeedLow 0

P2.4.5 CriticalSpeedHigh 0

P2.4.6 Speed Share -300.00 300.00 % 0.01 100.00 1241

P2.4.7 FBRef Scale 10 30000 1 20000 1242

P2.4.8 Tref Source Sel 0 3 1 0 641

P2.4.9 Tref Filter 0 5000 ms 1 0 1244

P2.4.10 Tref Hysteresis -300.0 300.0 % 0.1 0.0 1245

P2.4.11 Tref Dead Zone -300.0 300.0 % 0.1 0.0 1246

Speed_

Min

Speed_

Max

Max_

Speed

Max_

Speed

rpm 1 0 1240

Rpm 1 0 509

Rpm 1 0 510

Normally used for reverse
inching
Low limit for critical speed
range
High limit for critical speed
range
Speed share as percentage

of speed reference.

This will correspond to par.

G3.1 Process Speed.
Source for the torque refer­ence.

0=None
1=Master
2=Fieldbus
3=Analogue I/P
Filter time for the torque

reference in ms

Hysteresis for the torque

reference in ####.#

%.100.0% ~motor nominal
torque.
Dead zone in % where the
torque reference will be
considered as zero. 100.0%
~motor nominal torque.

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selma application vacon • 27

6

Flux reference in %.100%

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.5.2

Decel Time 1

0.0

3000.0

s

0.1

10.0

104

Deceleration Time in sec

The scale for the torque
reference chain and all sig-
nals related to torque.

P2.4.12 TorqueRef Scale 0 1 1 0 1247

P2.4.13 Load Share 0.0 400.0 % 0.1 100.0 1248

P2.4.14 Tref Ramp Time 0.0 30000 ms 1 0 1249

0= 1000 corresponds to mo­tor nominal torque.
1= 10000 corresponds to
motor nominal torque
Load share for the torque

reference in %. E.g. 50%

means 50% of the given
torque reference is used by
the torque reference chain.
The ramp time in ms for
nominal torque reference
change.

P2.4.15 Flux Reference 10.0 150.0 % 0.1 100.0 1250

P2.4.16 Above Spd Limit 0

P2.4.17 Speed Step -2000 2000 1 0 1252

P2.4.18 Torque Step -300.0 300.0 % 0.1 0.0 1253

Speed_

Max

rpm 1 0 1251

equals rated flux of the
drive.
The speed limit above which
bit10 of the status word will
be TRUE
Step speed refer. relative to
process speed. 20000 =

P2.1.7 Process speed

Torque step in % of nom.
torque of the motor

Table 14 Ref Handling parameters, G2.4

6.4.7

Ramp functions (Control keypad: Menu M2  G2.5)

P2.5.1 Accel Time 1 0.0 3000.0 s 0.1 10.0 103 Acceleration Time in sec

Smooth ratio for S curves
for Acc Dec Ramp

P2.5.3 S Ramp AccDec 0 100 % 1 0 500

P2.5.4 Emstop Ramp 0.0 3000.0 s 0.1 10.0 1256

P2.5.5 Emstop Delay 0.00 320.00 s 0.01 0 1254

P2.5.6

P2.5.7

P2.5.8 S Ramp Const Spd 0 100 % 1 0 1259

ConstSpd Acc-

Time

ConstSpd Dec-

Time

0.0 3000.0 s 0.1 5.0 1257

0.0 3000.0 s 0.1 5.0 1258

0=Linear Ramps
100=Full Acc/Dec inc/dec

times.

Deceleration time in

Emergency Stop

Delay in activation of
emergency stop ramp
after emergency stop is
active
Acceleration time for
Constant Speed 1 and 2
Deceleration time for
Constant Speed 1 and 2
Smooth ratio for S-curves
of Const Speed ramp
0=Linear ramps
100=Full Acc/Dec inc/dec
0=linear ramps
100=full acc/dec inc/dec

times

Table 15 Ramp Function parameters, G2.5

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Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

1.15*nom

Brake chopper operation

Enables or disables the

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Motor voltage (%*Motor

6.4.8

Drive control (Control keypad: Menu M2  G2.6)

Place to control the drive
operation.

P2.6.1 Control Place 0 2 1 1 2

P2.6.2 Brake Chopper 0 3 1 0

0=FieldBus

125

1=IO
2=Panel/ PC Tool

504

P2.6.3 BrkChopper Level 0 1500 V 1

P2.6.4 Brk Res Load Lim 0.0 300.0 % 0.1 5.0 1268

P2.6.7 Restart Delay 0.000 60.000 s 0.001 1424

P2.6.8 PWM Synch 0 1 1 0 1399

DC Volt

1267

Table 16 Drive Control parameters, G2.6

6.4.8.1 Drive control/Open Loop Ctrl (Control keypad: Menu M2  G2.6.5)

P2.6.5.1 U/f Ratio Select 0 3 1 0 108

level in volts
Generator side torque
limit to avoid overheating
of the brake resistor dur­ing continuous braking.
This is active when Brake
Chopper is selected and
there is no emergency
stop active and drive is
not decelerating.
After coast stop the re­starting of the drive is
disabled for this time.

PWM synchronisation for
multiple winding master
follower.

U/F ratio selection.
0=Linear
1=Squared
2=Programmable

P2.6.5.2 U/f Zero Point V 0.00 105.00 % 0.01 0.00

P2.6.5.3 U/f Mid Point V 0.00 105.00 % 0.01 100.00

P2.6.5.4 U/f Mid Freq 0.00 320.00 Hz 0.01 50.00

P2.6.5.5

P2.6.5.6

P2.6.5.7

U/f Optimiza-

tion

DC Brake

Speed

DC Brake Cur-

rent

Nominal Voltage) at pro-

606

grammable U/F curve zero
point 10.0 ...105.00 % *
MotorNomVoltage
Motor voltage (%*Motor
Nominal Voltage) at pro­grammable U/F curve

middle point (1000...10500)

605

equals (10.0 ...105.00) % *
MotorNomVoltage
Programmable U/F curve
middle point, f[Hz] = UF­MidPoint/FreqScale
Range

604

[0...FieldWeakeningPoint]
If FreqScale=100 then
5000 equals 50.00 Hz

0 1 1 0 109 U/F optimization control

0

0

MotorNom

Speed

Motor Cur-

rentMax

rpm 1 0

A

Below this speed DC brak-

515

ing will be active.

DC Braking current

507

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6

FluxBrakeCur-

Motor Cur-

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Gain for I term of under

P2.6.5.8 DC Brake Time 0 20000 ms 1 0

P2.6.5.9 Flux Brake 0 1 1 0 520

P2.6.5.10

P2.6.5.11 TorqStab Kp 0 1000 1 1412 Gain for torque stabilator

P2.6.5.12

P2.6.5.13

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

P2.6.5.16

P2.6.5.17

P2.6.5.18

rent

TorqStab Damp

TC

TorqStab Kp

FWP

Make Flux

Time

MakeFluxVolt-

age

MeasRsVolt

Drop

0

0 1000 1 1413

0 1000 1 1414

0.000 60.000 s 0.001 0.200 660

0.00 120.00 % 0.01 2.01 661

0 65535 1 0 662

rentMax

A 0 519 Flux braking current

508

Flux braking control
0 = Disable
1 = Enable

Damping time constant for
torque stabilator
Gain for torque stabilator
at FWP

Filter time constant for
flux stabilator
Time to magnetise the

motor

Magnetising voltage in

###.## % of motor nomi-

nal voltage.
Measured voltage drop at
stator resistance between
two phases with nominal
current of the motor. This
is estimated during ID

Run.

Table 17 Drive Control/Open Loop Ctrl parameters, G2.6.5

6.4.8.2 Drive control/UV/OV ctrl, stab (Control keypad: Menu M2  G2.6.6)

P2.6.6.1 Undervolt Ctrl 0 1 1 0 608

P2.6.6.2 Uvolt Ref Sel 0 1 1 1 1260

P2.6.6.3 Undervolt Kp 0 32767 1 1415

P2.6.6.4 Undervolt Ti 0 32767 1 1416

P2.6.6.5 Over volt Ctrl 0 2 1 0 607

P2.6.6.6 Overvolt Ref Sel 0 2 1 1 1262

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Under voltage controller
0=Off, 1=On. Applicable in
open loop and closed loop

control.

Selection of under voltage
Reference for Under­voltage Controller. 1= Un­derVoltageRef =0.8* Esti­matedDCNomVoltage
Gain for the P term of Un­der voltage controller

voltage controller
Over voltage controller
0=Off, 1=On with no Ramp,
2=On with ramp. Applica-

ble in Open Loop and
closed loop Control.

(BrCh=ON <=> Brake­Chopper is in use
BrCh=OFF <=> Brake­Chopper is not in use)
0 = OverVoltageRef =
OverVoltageRefMax, if
BrCh=ON
= BrakeChopperLevelMax,
if BrCh=OFF
BrakeChopperRef = Bra­keChopperLevelMax
1 = OverVoltageRef =

1.25*EstimatedDCNo

30 • vacon selma application

6

Gain for I term of the over-

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.6.6.7 OverVolt Kp 1468

P2.6.6.8 OverVolt Kp Add 1425

P2.6.6.9 OverVolt Ti 1409

P2.6.6.10 VoltStab Kp 1417

P2.6.6.11 VoltStab TC 1418

Table 18. Drive Control/UV/OV Ctrl, Stab Parameters, G2.6.6

6.4.9

Motor control (Control keypad: Menu M2  G2.7)

P2.7.1 Start Function 0 1 1 0 505

P2.7.2 Stop Function 0 1 1 0 506

P2.7.3 Emstop Mode 0 3 1 1 1276

P2.7.4 Motor Ctrl Mode 0 5 1 0 600

P2.7.5 Torque Select 1 5 1 1 1278

P2.7.6 CurrentControlKp 1 10000 1 4000 617

P2.7.7 CurrentControlTi 0.1 100.0 ms 0.1 1.5 1400

P2.7.8 Switching Freq 1.0

P2.7.9 Dynamic Damp Kp 0.00 100.00 % 0.01 0 1406

P2.7.10 Dynamic Damp TC 0 32000 ms 1 0 1407

P2.7.11 DC Magn Current 0.0

Switching

FreqMax

Motor

Nom

Current

KHz 0.1 601 Switching frequency.

A 627

Gain for P term of over­voltage controller
Addition gain for P term of
overvoltage controller till
FWP.

voltage controller.
Gain for the voltage stabi­lator
Damping rate for the volt­age stabilator.

0=Starts from 0-speed,
1=Flying start
0=Coast stop
1=Ramp stop

Stop function in Emer­gency Stop

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 Torque crtl
3=Closed Loop speed/
torque Control as per

P2.7.5

4=AOL Speed Control
5=AOL Torque Control
1=Speed Control
2=Torque Control
3=Min of torque ref and

SPC Out

4=Max of torque ref and

SPC Out
5=Window Control
Current controller p-gain
(0 ... 10000)
Current controller inte-

grator time constant (0 ...

1000) = 0...100.0 ms

Dynamic damping gain
when parameter 2.7.5
Torque Select is greater
than 1. 1.00 means nomi­nal torque for nominal

speed difference.

Bandpass filter time con­stant for dynamic damp­ing. 0 means static damp­ing proportional to fre­quency error.

Constant DC Magnetiza-

tion Current

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selma application vacon • 31

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.7.12 DC Magn Time 0 10000 ms 1 0 628

P2.7.13 Start 0Speed Time 0 32000 ms 1 100 615

P2.7.14 Stop 0SpeedTime 0 32000 ms 1 100 616

P2.7.15 Stop State Flux 0 150.0 % 1 100.0 1401

P2.7.16 Flux Off Delay -1 32000 s 1 0 1402

Table 19. Motor control parameters, G2.7

6.4.9.1 PMSM Control (Control keypad: Menu M2  G2.7.17)

P2.7.17.1 Flux Control Kp 0.00 320.00 % 0.01 5.00 651

P2.7.17.2 Flux Control Ti 0.0 100.0 ms 0.1 5.0 652

P2.7.17.3 RsIdentification 0 1 1 0 654

P2.7.17.4 Modulation Index 0 200 % 1 100 655

P2.7.17.5 EncAngleOffset 0 65535 1 0 649

Table 20. PMSM control parameters, G2.7.17

Constant DC magn. time
[ms] in ramp start
Time of zero speed ref at
start in ms, (0 ...32000)
Time of zero speed ref at
ramp stop in ms, (0

...32000)

The % of rated flux main­tained after the motor is
stopped for the time Flux
Off Delay.
The time in seconds for
which the flux will be
maintained in the motor.
Setting this value to –1
will keep the Stop State
Flux continuously.

Gain for the flux control-

ler in %.

Integral time constant for
flux current controller in

ms.

Stator resisatnce identifi­cation during every start.
0= Disabled
1=Enabled.
Modulation index in % for
closed loop operation.
Low word of (endat) en­coder angle correspond­ing to shaft 0 position.
This parameter is only for
monitoring and back up

purpose. It is used only
with absolute encoders .

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32 • vacon selma application

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Speed below which Bit 11
Maximum limit of the

Torque limit for the gen-

Max Braking Power Limit

6.4.10 Limit settings (Control keypad: Menu M2  G2.8)

P2.8.1 Zero Speed Level 0

P2.8.2 Zero Speed Mon 0 1 1 1 1284

P2.8.3 Speed Maximum -10000 10000 rpm 1 1440 1285

P2.8.4 Speed Minimum -10000 10000 rpm 1 0 1286

Motor

P2.8.5 Current Limit

P2.8.6 Torque Limit Mot 0.0 300.0 % 0.1 300.0 1287

P2.8.7 Torque Limit Gen 0.0 300.0 % 0.1 300.0 1288

P2.8.8 SPC OUT Limit 0.0 300.0 % 0.1 300.0 1382

P2.8.9 Power Limit Mot 0.0 300.0 % 0.1 300.0 1289

P2.8.10 Power Limit Gen 0.0 300.0 % 0.1 300.0 1290

P2.8.11 PullOutTorque 0.0 1000.0 % 0.1 250.0 1291

P2.8.12 System Inertia 0 30000 kgm2 1 0 1292

Cur-

rentMin

Motor

NomSpeed

Motor

CurrMax

rpm 1 15 1283

A 0.1 107

of Auxiliary Status Word
becomes TRUE
Monitoring of Zero speed
is based on 0=Speed Ref,
1=Speed Actual

Speed reference

Minimum Limit for the

Speed Reference

Maximum Total Current

Limit.

Torque limit for the mo­toring side.

erator side.
Absolute maximum limit
for the speed controller

output in closed loop con­trol in % of motor nomi-

nal torque.
Power limit for motor

side

Power limit for generator

side

Pull Out Torque limit of
the motor
Inertia of the system in
kgm2.

P2.8.13 Max Brake Power 0.000 30.000 kW

P2.8.14 Max Braking Torq 1 30000 Nm 1 1 1294

0.00
1

0.000 1293

Table 21 Limit setting parameters, G2.8

in Constant Power Emer-

gency Stop

Max Braking Torque of
the motor in Constant
Power Emergency Stop

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selma application vacon • 33

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Speed controller P gain (0

Relative gain (%)of SPC Kp

Load drooping time in ms.

Window_

Window OFF limit in RPM

6.4.11 Speed control (Control keypad: Menu M2  G2.9)

P2.9.1 SPC Kp 1 1000 1 30 613

P2.9.2 SPC Ti 0 32000 ms 1 300 614

P2.9.3 Kp Min 0 100 % 1 100 1295

P2.9.4 Min Point 0 100.0 % 0.1 0.0 1296

P2.9.5 Min Filt 0 1000 ms 1 0 1297

P2.9.6 SPC Kp FWP 1 200 % 1 100 1298

P2.9.7 SPC Kp N0 0 100 % 1 100 1299

P2.9.8 N0 Point

P2.9.9 N1Point

P2.9.10

P2.9.11 Accel Comp Filt 0 1000 ms 1 0 1303

P2.9.12 LoadDrooping 0.00 100.00 % 0.01 0.00 620

Mech AccComp

TC

Speed_

Min

Speed_

Min

0.00 300.00 s 0.01 0.00 1302

Speed_

Max

Speed_

Max

rpm 1 0 1300

rpm 1 0 1301

…1000)
Speed controller integra­tor time constant

0...32000ms

if torque is below G2.9
Torque Limit for adaptive
SpeedControl_Kp (1000 =
nominal)
Filtering TC for Speed

Control_Kp in ms

Relative final gain of speed
controller at field weaken­ing in % of SPC Kp.<100
reduces gain, >100 in­creases gain above FWP

Relative gain (%) below
SPC Kp N0 Point Init:=100
Below this speed N0 the
speed controller gain will

be SPC Kp N0

Above this speed N1 speed
controller gain will be SPC

Kp

Mechanical time constant
for acceleration compen­sation in Sec (0...300 s)
Filter time constant for
Acceleration compen­sation in ms
Load Drooping = 0 ...

100.00% of nominal speed
at nominal torque

P2.9.13 Drooping Time 0.00 327.67 s 0.01 0.00 656

P2.9.14 Window Pos RPM 0

P2.9.15 Window Neg RPM 0

P2.9.16 Window Off Pos 0

P2.9.17 Window Off Neg 0

P2.9.18 Slip Adjust 0 500 % 1 100 619 Slip adjust 0...500%

P2.9.19 Warm Motor Slip 0 500 % 1 100 1405

P2.9.20 Speed Error Filt 0 1000 ms 1 0 1311

P2.9.21 Speed Act Filter 0.0 250.0 ms 0.1 0.0 1308

Table 22 Speed control parameters, G2.9

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Motor-

NomSpeed

Motor-

NomSpeed

Window_

Width_

Positive

Width_

Negative

rpm 1 0 1304

rpm 1 0 1305

rpm 1 0 1306

rpm 1 0 1307

Value 0 means static or
continuous drooping.

Window width in RPM for
positive direction
Window width in RPM for
negative direction
Window OFF limit in RPM
for hysteresis in Window
ctrl in positive direction

for hysteresis in Window
ctrl in Negative direction

Relative slip adjust for the
motor at nominal temp.
Filter time for the speed

error

Filter time for the meas­ured speed from the en-

coder.

34 • vacon selma application

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

6.4.12

P2.10.1 Oscill Damp Sel 0 2 1 0 1310

P2.10.2 Oscill Freq 0.0 450.0 Hz 0.1 0.0 1313

P2.10.3 Oscill Damp Gain 0.0 100.0 % 0.1 0.0 1314

P2.10.4 Phase Shift 0 360 Deg 1 0 1315

Oscillation damp (Control keypad: Menu M2  G2.10)

Resonance damper selec­tor

0 = Not in Use
1 = BandPass
2 = BandStop + BandPass
Resonance damper natu­ral frequency 1.0...450.0
Hz
0 = Not in use
Resonance damper damp­ing gain at notch fre­quency 0 ... 100.0%
Resonance Damper Phase
shift at Notch frequency

0...360 deg

Table 23. Oscillation damping parameters, G2.10

6.4.13 Brake & fan control (Control keypad: Menu M2 G2.11)

P2.11.1 Brake Lift Delay 0 1000 ms 1 100 352

P2.11.2 Brake In Emstop 0 1 1 0 1318

P2.11.3 Brake In Fault 0 1 1 0 1319

P2.11.4 Mot Fan OffDelay 0.00 300.00 s 0.01 20.00 1320

Table 24. Brake and fan control parameters, G2.11

Delay for getting the ac­knowledgement of mech.
brake open
Selection of mechanical
brakes closing on emer-

gency stop.

0=Brakes applied at zero
speed (par. 3.8.1)
1=brakes are applied im­mediately on emergency

stop

Selection of mechanical
brakes closing on fault in
drive
0=Brakes applied at zero
speed (par. 3.8.1)
1=brakes are applied im­mediately on Fault
Motor fan off delay

###.## Seconds

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selma application vacon • 35

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

0=None

Source of speed reference

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Max time for stall protec-

6.4.14 Master Follower (Control keypad: Menu M2  G2.12)

1=Master
2=Follower (Speed or

P2.12.1 M/F Mode 0 2 1 0 1324

P2.12.2 Follower SpRef 0 2 1 0 1327

P2.12.3

Follower Start
Delay

0.00 327.67 s 0.10 0.00 1398

Table 25 Master Follower parameters, G2.12

Torque follower mode can
be selected using the pa­rameter P3.7.5 Torque

Select).

for the drive if Par 3.14.1=2
Follower
0=Drive´s own reference
1=Master speed reference
before Ramp
2=Master speed reference
after Ramp.(Follower
Drive ramp is bypassed in
this case)
Delay in starting the multi­ple wind current follower
after the master is started.

6.4.15 Protections (Control keypad: Menu M2  G2.13)

Operation in case of Ana-

P2.13.1 AI <4mA 0 2 1 0 700

P2.13.2 Panel Commn. 1 2 1 1 1329

P2.13.3 External Fault 0 2 1 2 701

P2.13.4 Input Ph. Superv 0 1 1 0 730

P2.13.5 Output Ph. Superv 0 2 1 0 702

P2.13.6 Earth Fault 0 1 1 0 703

P2.13.7 Earth Fault Curr 0.0 100.0 % 0.1 50.0 1333

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

P2.13.10 Stall Current 0.0

P2.13.11 Stall Freq Lim 0.00

Motor

NomCurr

Motor

NomFreq

A 0.1 10.0 710

Hz 0.01 25.00 712

logue Input less than its
Minimum value
Operation in case Control
Place=2 and keypad stops
communicating
Select the action in case of
External fault
Operation in case of Input
Phase loss.
0 = supervision OFF
1 = supervision ON
Operation in case of motor
phase loss
Operation in case of Earth
Fault
Max. level for Earth cur-

rent in % of unit current.

Operation in case of Motor
stall.
0=OFF
1=Warning
2=Trip
Current limit of motor stall

protection

Max frequency for stall
protection, f[Hz] = Stall-
Frequency/FreqScale

P2.13.12 Stall Time Lim 1.00 120.00 s 0.01 15.00 711

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tion to operate in seconds

36 • vacon selma application

6

Encoder fault

Actio on thermistor fault

P2.13.13 Thermistor 0 2 1 0 732

0= No Action
1= Warnig
2= Fault

P2.13.14 Encoder Fault 0 1 1 0 1353

P2.13.15 Mech Brake Fault 1 2 1 2 1316

P2.13.16 Follower TimeOut 0.10 5.00 s 0.01 0.10 1352

P2.13.17

P2.13.18 PT100 Num In Use 0 3 1 0 739

P2.13.19 PT100 AlarmLimit -30 200

P2.13.20 PT100 Fault Limit

P2.13.21 MotTempCompen 0 2 1 0 1426

P2.13.22

P2.13.23

P2.13.24 Zero Spd Cooling 0.0 100.0 % 0.1 40.0 706

P2.13.25 Motor Duty Cycle 0 300 % 1 100 708 Motor Duty Cycle in %

P2.13.26 Underload Prot 0 2 1 0 713

P2.13.27 Speed Zero Load 0.0 300.0 % 0.1 0.0 714

FB WatchdogDe-

lay

Motor CalcTemp-

Prot

ThermalTime

Const

0 2.00 s 0.01 0.05 1354

°C

PT100

Alarm

Limit

0 2 1 0 704

1 200 min 1 45 707

200

°C

1 110 1347

1 120 1348

0=Disable
1=Enable
Action on mechanical
brake fault. This fault is
enabled only if digital input
for mechanical brake ac­knowledgement is se-

lected.

1= Warning
2= Fault
Delay time for master fol­lower communication
Fault.
Fieldbus watchdog delay.If
set to 0 watchdog function
is disabled.
Select the number of
PT100 channels used on
OPTB8 board. There are
three channels.
Select the temp. limit for
PT100 sensor above which
PT100 Temp. alarm is gen­erated.
Note that PT100 can be
connected through ana­logue input as explained in
the manual or through
OPTB8 card for PT100. The
limit is common for all.
Select the temp. limit for
PT100 sensor above which
PT100 Temp. fault is gen­erated.
Note that PT100 can be
connected through ana­logue input as explained in
the manual or through
OPTB8 card for PT100. The
limit is common for all.
Motor temperature com­pensation.
0= Disabled
1= From TS1 temp
2= From Ts2 temp.
Operation in case of Motor
thermal protection
Motor Thermal Time Con­stant in minutes, (1... 200)
Motor cooling ability at
zero speed unit in %

Operation in case of Un­derload. 0=OFF, 1=warning,
2=trip
Underload load curve at
zero freq,unit

Tel. [phone] • Fax [phone]

selma application vacon • 37

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.14.12

Flux Curve 120%

0.0

200.0

%

0.1

120.0

1366

Flux linearization point 12

P2.14.15

Flux Curve 150%

0.0

200.0

%

0.1

150.0

1369

Flux linearization point 15

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.13.28 Speed Nom Load 0.0 300.0 % 0.1 0.0 1341

Motor
Nom-

SpeedMax

rpm 1 1440 1342

P2.13.29

UnderLdSpeed

Nom

0

Underload load curve at
nominal freq,unit

Speed limit value for Un-
derload protection

Table 26. Protection parameters, G2.13

6.4.16 Flux reference handling (Control keypad: Menu M2  G2.14)

P2.14.1 Flux Curve 10% 0.0 200.0 % 0.1 10.0 1355 Flux linearisation point 1
P2.14.2 Flux Curve 20% 0.0 200.0 % 0.1 20.0 1356 Flux linearisation point 2
P2.14.3 Flux Curve 30% 0.0 200.0 % 0.1 30.0 1357 Flux linearisation point 3
P2.14.4 Flux Curve 40% 0.0 200.0 % 0.1 40.0 1358 Flux linearisation point 4
P2.14.5 Flux Curve 50% 0.0 200.0 % 0.1 50.0 1359 Flux linearisation point 5
P2.14.6 Flux Curve 60% 0.0 200.0 % 0.1 60.0 1360 Flux linearisation point 6
P2.14.7 Flux Curve 70% 0.0 200.0 % 0.1 70.0 1361 Flux linearization point 7
P2.14.8 Flux Curve 80% 0.0 200.0 % 0.1 80.0 1362 Flux linearization point 8

P2.14.9 Flux Curve 90% 0.0 200.0 % 0.1 90.0 1363 Flux linearization point 9
P2.14.10 Flux Curve 100% 0.0 200.0 % 0.1 100.0 1364 Flux linearization point 10
P2.14.11 Flux Curve 110% 0.0 200.0 % 0.1 110.0 1365 Flux linearization point 11

P2.14.13 Flux Curve 130% 0.0 200.0 % 0.1 130.0 1367 Flux linearization point 13
P2.14.14 Flux Curve 140% 0.0 200.0 % 0.1 140.0 1368 Flux linearization point 14

Table 27. Flux reference handling parameters, G2.14

6.4.17 Startup torque (Control keypad: Menu M2  G2.15)

P2.15.1 Startup TorqueSel 0 3 1 0 621

P2.15.2 Startup Torq Time 0 10000 ms 1 0 1371

P2.15.3 Startup Torq FWD -300.0 300.0 % 0.1 0.0 633

P2.15.4 Startup Torq REV -300.0 300.0 % 0.1 0.0 634

P2.15.5 Torq Memory Srce 0 2 1 1 1374

P2.15.6 Torq Memory Ref -300.0 300.0 % 0.1 0.0 1375

Table 28. Start-up Torque parameters, G2.15

0 = Not in use
1 = Torque Memory,
2 = Torque Reference
3 = Startup Torque
FWD/REV
Maximum time for startup
torque in ms, (0 ...10000)
StartupTorqueReference
to forward direction -300.0
...300.0% of motor nominal
torque
StartupTorqueReference
to reverse direction -300.0

...300.0%.

Source for torque mem­ory. At the next start the
same startup torque ref­erence will be used.
Fixed reference for the
torque memory

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38 • vacon selma application

6

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Filter in ms for monitoring

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

P2.17.10

PD OUT2 ID

0

65535

1 1163

853

Aux Control Word

P2.17.13

PD OUT5 ID

0

65535

1 15

856

DIN Status Word 1

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

6.4.18 DAC (Control keypad: Menu M2  G2.16)

P2.16.1 Speed Mon Filter 20 2000 ms 1 20 1376

P2.16.2 Curr Mon Filter 20 2000 ms 1 20 1377

P2.16.3 Torq Mon Filter 20 2000 ms 1 20 1378

signal V1.1.2 Motor Speed.
Filter in ms for monitoring
signal V1.1.4 Motor Curr
Filter in ms for monitoring
signal V1.1.5 Motor Torque

Table 29 DAC parameters, PG.16

6.4.19 Data mapping (Control keypad: Menu M2  G2.17)

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

P2.17.11 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

P2.17.14 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

1= Profidrive mode
2= Bypass mode

P2.17.17 FB Mode 1 5 4 896

Table 30. Data mapping parameters, G2.17

3= Not used
4= Selma mode
5= MicroStar mode

6.4.20 Keypad control (Control keypad: Menu M3  R3.1)

The reference from the keypad when control place is selected as keypad is listed below. See the Key-

pad control menu in the product's User's Manual.

R2.1 Keypad reference

P2.8.4
Speed

Min

P2.8.3
Speed

Max

rpm 1

Local speed reference in
rpm when control place is
keypad.

Table 31. Keypad control parameters, M3

6.4.21 Expander boards (Control keypad: Menu M7)

The M7 menu shows the expander and option boards attached to the control board and board-related
information. For more information, see the product's User's Manual.

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selma application vacon • 39

6

6.5 Description of parameters

6.5.1

Basic parameters

2.1.1 Supply voltage

Nominal value of the mains incoming voltage in volts.

2.1.2 Motor nominal voltage

Nominal value of motor voltage in volts as per the motor nameplate data.

2.1.3 Motor nominal frequency

Nominal value of motor frequency in Hz as per the motor nameplate data.

2.1.4 Motor nominal current

Nominal value of the motor current in amperes as per the motor nameplate data.

2.1.5 Motor nominal speed

Nominal value of the motor speed in rpm as per the motor nameplate data.

2.1.6 Motor cos phi

Nominal value of the cos phi as per the motor nameplate data.

2.1.7 Process speed

This parameter is used to scale the speed signal in terms of the process speed. This
speed value corresponds to value of the parameter P2.4.5 FBRef Scale for the speed ref-
erence written from the fieldbus. For e.g. If P2.4.5 FB Ref Scale =20000 and P2.1.7 Proc-
ess Speed = 1600 then drive will run with the speed reference of 1600rpm when the speed
reference from fieldbus is written as 20000.

2.1.8 Magnetising current

Defines the nominal magnetising current for the motor corresponding to 100% flux. The
value of the parameter (if not known) can be found out by performing following test on the

motor.

Please note that the motor must be decoupled from the gearbox and the load while doing
the following test.

• Set all the nameplate parameters of the motor P3.1.2 to P3.1.6.

• Set P3.7.4 Motor Ctrl Mode =0(Open Loop Frequency control)

• Run the motor with no load on the shaft with approx. 0.66*Rated Frequency. (33Hz

for 50Hz motor).

• Wait for 10seconds and then note the value of signal V1.1.5Motor Current.

• Set this value to P2.1.8 Magn. Current.

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2.1.9 Field weakening point

The field weakening point is the output frequency at which the motor voltage reaches the
value of P2.1.10 Voltage at FWP in percentage. This parameter is applicable during open
loop control of the motor. Normally this parameter is set equal to motor nominal fre­quency.

2.1.10 Voltage at field weakening point

Percentage value of the motor voltage at the field weakening point defined by P2.1.9.
Above the field weakening point frequency the voltage remains to the value set by this pa­rameter. This parameter is applicable during open loop control of the motor. Normally
this parameter is set to 100.00% of motor nominal voltage.

2.1.11 Identification run

This parameter defines the different modes of the automatic motor identification run. Set
the parameter and give the run command within 20 seconds to activate the identification.
The result of the identification is seen in
zero (None) after the identification is complete. In case of failure Alarm

generated.

0 None
1 Identification without motor running
The identification is performed with motor at standstill. In this mode motor stator re-

sistance and parameters for U/F curve are identified. At the end of the identification the
parameter P2.6.5.1 U/f Ratio Select is set equal to 2 (programmable). This identifica­tion mode is used when it is not possible to decouple the motor from the gearbox and
load. The identification optimises the performance for open loop motor control mode
i.e. P2.7.4 = 0/1/2.

After the successful identification B0 of variable ID Run Status is Set.

V1.1.19 ID Run Status. The parameter is reset to

57 ID Run Fail is

2 Identification with motor running
The identification is performed with motor running. It is recommended to decouple the

motor from the gearbox and the load. In addition to the motor parameters for open
loop motor control, magnetising current (P2.1.8) and flux linearization curve (P2.14.1
to P2.14.15) are identified.

After the successful identification B0, B2 and B3 of variable ID Run Status is Set.
3 Encoder ID

The motor may rotate during the identification. The function is primarily used to iden-

tify the shaft zero position for PMSM motor when absolute encoder is used.

4 Magnetisation current calculation
In this identification, the magnetisation current of the motor for a given motor data

(P2.1.2…P2.1.6) is calculated.
rent. Giving a run command.

Note: The motor is not subjected to any voltage or cur-

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2.1.12 Motor type

This parameter defines the type of the motor connected to the frequency converter. It is
possible to connect the following motor types to VACON NXP frequency converters.

0 Normal Induction motor
1 Multiple winding induction motor
Motors with multiple and galvanically isolated phase windings.
2 Permanent magnet induction motor
3 Multiple winding permanent magnet induction motor.

Note: Please consult with Vacon technical support to use options 1...3.

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6.5.2

Input signals

6.5.2.1 Digital input

2.2.1.1 Run forward

Select the digital input for starting the motor when P3.6.1 Control Place =1 (I/O). Drive
starts running when digital is high and it stops when low.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

2.2.1.2 Run reverse

Select the digital input for reversing the direction of the motor when P3.6.1 Control
Place=1 (I/O). The motor runs with positive speed reference when selected digital input is
low and with negative reference when high.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

2.2.1.3 IO control

Select the condition to be able to control the drive from IO i.e. P2.6.1 Control Place =

1(I/O).
0 Not selected

1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

2.2.1.4 Reset

Select the digital input for resetting the drive fault. The rising edge of the digital input re-
sets the fault if the cause of the fault is disappeared.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

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DIN

Normally Open

+V

Note: Closed when brake is opened or released.

DIN

Normally Closed

+V

Note: Open when brake is opened or released.

2.2.1.5 Brake open

This parameter can be used by the drive to select digital input to acknowledge the status
of the motor mechanical brake (if any). The drive can control the brake through relay out­put (programmable) and external hardware. The status of the brake is wired to digital in­put selected by above parameter. When run request to the motor is released, drive first
opens the brake through the digital output and keeps the reference zero. When the brake
open acknowledgement is received then drive releases the reference. When the run re­quest to the motor is removed, drive closes the brakes at zero speed. In case of emer­gency stop and fault the brakes are closed as per the setting of parameters P2.11.2 and
P2.11.3 resp. If the acknowledgement is not received at the digital input within the time
set by parameter P2.11.1 after the run request then drive trips on F57 Mech. Brake fault.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

2.2.1.6 Brake open logic

This parameter enables to connect the Brake open acknowledgement wiring in normally
open (NO) or normally close type.

0 Normally open
1 Normally close

2.2.1.7 Motor fan acknowledgement

Select the digital input to acknowledge the status of the motor external fan (if any). The
drive can start/stop the motor fan through one of the programmable relay output. The
status of the fan (ON/OFF) is wired to the digital input. With run request the motor fan
starts and if the acknowledgement is not received within 5 seconds after the run request
then drive gives warning

56 Motor Fan. When run request is removed the fan stops after

the delay set by P2.11.4 Mot Fan Off Delay.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

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DIN

Normally Open

+V

Note: Run Enabled when closed.

DIN

Normally Closed

+V

Note: Run Enabled when Open.

2.2.1.8 Input switch acknowledgewment

Select the digital input to acknowledge the status of input switch. The input switch is nor-
mally switch fuse unit or main contactor with which the power is fed to the drive. If the in-
put switch acknowledgement is missing, drive trips on “ F64 Input Switch open” fault.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

2.2.1.9 Run enable

Select the digital input to activate the Run Enable input to the drive. When run Enable is
low, the drive coasts to stop with “OFF” indication on the keypad and “F26 Run Disable”
warning. Normally the motor load switch or prevention of false start relay status is used
as Run Enable.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

2.2.1.10 Run enable logic

This parameter enables to connect the Run Enable wiring in normally open (NO) or nor-
mally close type.

0 Normally open
1 Normally close

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2.2.1.11 Prevention of start

This parameter is enabled when external device like SPU-024 is used for cutting the
power supply to the gate driver and or ASIC board to activate the prevention of false start
circuit. This is a safety function and is used to ensure the safety of personnel working in
the process during the maintenance. Please note that during the maintenance of the drive
the main power has to be switched off.

0 Enable
1 Disable

When this function is enabled and Run Enable is low the alarm F26 Prevention of start is
activated.

Note: The DC bus voltage and Unit temperature measurements are not active during Pre-
vention of start. Also the analogue input measurements are not active.

2.2.1.12 Emergency stop

Select the digital input to activate the emergency stop input to the drive. When digital in-
put is low the drive stops as per the parameter definition of P3.7.3 Emergency stop mode.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

2.2.1.13 External fault

Select the digital input to activate the external fault in the drive. When the selected digital
input is high the drive trips on F51External fault and coasts to stop.

0 Not selected
1 DIN1
2 DIN2
.
.
n = DINn where n is the maximum no. of DINs installed.

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DIN

Normally Open

+V

Note: External fault when closed.

DIN

Normally Closed

+V

Note: External fault when open.

2.2.1.14 External fault logic

This parameter enables to connect the external fault wiring in normally open (NO) or
normally close type.

0 Normally open
1 Normally closed

2.2.1.15 Motor 1 or 2 selection

Select the digital input to load the parameters from Set1 or Set2.
Low = Set1

High = Set2

0 Not selected
1 DIN1
2 DIN2
.
.

n = DINn where n is the maximum no. of DINs installed.

Two sets of parameters can be saved as Set1 and Set2 through system menu S6.3.1 from
the keypad. With this feature one drive can be used to run two different motors alterna­tively.

2.2.1.16 Fault reset

2.2.1.17 Micro start command

2.2.1.18 Micro stop command

See the data for these parameters in Table 7. Digital Input parameters, G2.2.1

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6.5.2.2 Analogue input

2.2.2.1 I/O speed reference selection

Select the analogue input for giving the speed reference to the drive when drive is in I/O
control i.e. control place = 2 I/O control.

0 Not used
1 AI1
2 AI2
3 AI1 joystick. The internal logic simulates the joystick reference.
4 Const Ref 1,2R. Parameter P2.4.2 Const Ref1will be used as speed reference when Run

Forward Input is active and P2.4.3 Const Ref2 will be used as speed reference when
Run Reverse Input is active.

5 Fieldbus. Speed reference coming from fieldbus will is used as the speed reference in

I/O control.

2.2.2.2 I/O torque reference selection

Selects the analogue input for giving the torque reference to the drive when parameter
P3.4.6 Tref Source Sel = 3 (Analogue I/P).

0 Not used
1 AI1
2 AI2
3 Fieldbus. Torque reference from fieldbus V1.2.17 FB Torque Ref is used.

2.2.2.3 PT100 (1) AI selection

Selects the analogue input to be used for temperature measurement using PT100 sensor

1. Two PT100 sensors can be connected to NXP to analogue inputs AI1 and AI2. They are
referred as PT100(1) and PT100(2).

0 Not used
1 AI1
2 AI2

2.2.2.4 PT100 (1) selection

Selects the no.of PT100 elements in series for PT100 (1) sensor.
0 1 PT100

1 2 PT100
2 3 PT100

2.2.2.5 PT100 (2) AI selection

Selects the analogue input to be used for temperature measurement using PT100 (2) sen­sor.

0 Not used
1 AI1
2 AI2

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2.2.2.6 PT100 (2) selection

Selects the number of PT100 elements in series for PT100 (2) sensor.
0 1 PT100

1 2 PT100
2 3 PT100

2.2.2.7, 2.2.2.11 AI1 reference scale min, AI2 reference scale min

Minimum value of the signal selected for AI1 (or AI2). This value corresponds to the mini-
mum voltage/current (0V/0mA or 2V/4mA) depending on the setting of parameter P2.3.9

AI1 minimum (or P2.3.13 AI2 minimum).

This parameter is not valid if AI1(or Ain2) is used for temperature measurement using

PT100 sensor.

2.2.2.8, 2.2.2.12 AI1 reference scale max, AI2 reference scale max

Maximum value of the signal selected for AI1 (or AI2). This value corresponds to the
maximum voltage/current (10V/20mA) depending on the setting of jumpers on the OPT-A1
board.
This parameter is not valid if AI1 (or AI2) is used for temperature measurement using

PT100 sensor.

2.2.2.9, 2.2.2.13 AI1 minimum, AI2 minimum

Minimum voltage/current on the AI1(or AI2) terminal on OPT-A1 board.

0 0V/0mA
1 2V/4mA

2.2.2.10, 2.2.2.14 AI1 filter time, AI2 filter time

Filter time in seconds for the filtering of signal connected to AI1(or AI2). The range of the
time can be selected from 0.01 sec to 10.00 sec.

2.2.3.1

DIN Selection

Select digital input that you want to use to control selected parameter.

2.2.3.2 ID Selection

Select parameter ID number that is controlled with P2.2.3.1 DIN Selection.

2.2.3.3 DIN Low Value

Give value that is written to parameter ID selected by P2.2.3.2 when selected digital input
P2.2.3.1 is low.

2.2.3.4

DIN High Value

Give value that is written to parameter ID selected by P2.2.3.2 when selected digital input
P2.2.3.1 is high.

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6.5.3

Output signals

6.5.3.1

Digital output

2.3.1.1 DO1 (ID BitNo)

Select the signal for controlling the DO1. The parameter is to be set in a format xxxx.yy
where xxxx is ID number of a signal and yy is bit number. For e.g. Default value for DO1
control is 1162.00 where 1162 is the ID number of main status word. So DO1 is ON when
bit number 00 of main status word (id no. 1162) i.e. Drive ready is high.

2.3.1.1… 2.3.1.13 DO2 (ID. BitNo)…. DO13 (ID. BitNo)

Same as P2.3.1.1.

6.5.3.2 Analogue output

2.3.2.1 AO1 Terminal

This parameter is set according to TTF programming method, see Table 12 and chapter

6.3

2.3.2.2 AO1 signal ID

ID number of a signal to be connected to AO1. Any analogue signal from the application

defined with ID no. can be selected.
Please note that if temperature measurement using PT100 sensor is selected with ana­logue inputs then the AO1 is forced internally to generate 10mA and any setting to AO1 re­lated parameters is then not valid.

2.3.2.3 AO1 offset

Minimum voltage/current at AO1 terminal.
0 0V/0mA

1 2V/4mA

2.3.2.4 AO1 filter

Filter time for the signal connected

0.02 to 10.00 seconds.

2.3.2.5 AO1 max value

Maximum value of the signal connected to AO1. This value corresponds to the maximum
voltage/current (10V/4mA).

2.3.2.6 AO1 Min value

Minimum value of the signal connected to AO1. This value corresponds to minimum volt-
age/current on AO1 depending on the setting of parameter P2.3.16. In case of option board

supporting to +/-10V at AO1 this value corresponds to –10V.

to AO1.

The range of the time can be selected from

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6.5.4

Reference handling

2.4.1 Speed reference filter

Filter time for the speed reference in the range of 0 to 5000 ms. This filtered speed refer­ence is V1.2.6 Speed reference 3.

2.4.2 Constant reference 1

Constant speed reference in the range of P3.8.4 Speed minimum to P3.8.3 Speed maxi-
mum for the inching function. This is used for Inch1 function through fieldbus when
V1.2.37 MainControlWord.bit8 is set. The same reference can be used as a fixed speed
reference when the drive is in IO control.

2.4.3 Constant reference 2

Constant speed reference in the range of P3.8.4 Speed minimum to P3.8.3 Speed maxi-
mum for the inching function. This is used for Inch2 function through fieldbus when
V1.2.37 MainControlWord.bit 9 is set. The same reference can be used as a fixed speed
reference when the drive is in IO control.

2.4.4 Critical speed low

Lower limit of critical speed window for speed reference. It is to avoid running the drive in
a critical speed window in case of mechanical resonance.

2.4.5 Critical speed high

Upper limit of critical speed window for speed reference. It is to avoid running the drive in
a critical speed window in case of mechanical resonance.

2.4.6 Speed share

Percentage of V1.2.4 Speed reference1 to be taken as the speed reference in the speed
reference chain. The selected speed reference is seen as V1.2.5 Speed reference 2. With
this the two drives with different gear box ratio can have a common speed reference and
the individual scaling of the speed reference can be done using this parameter.

2.4.7 Fieldbus reference scale

The speed reference from the fieldbus is in counts ranging from –32767 to 32767. It can be
scaled to P3.1.7 Process speed with this parameter. The value of this parameter corre-
sponds to the RPM value in P3.1.7. The default value is 20000. Hence the speed reference

of 20000 counts from fieldbus corresponds to P3.1.7 Process speed rpm reference.

2.4.8 Torque reference source selection

Select the source of torque reference for the drive with this parameter.
0 None

1 Master. The torque reference comes from the speed controller output of the Master

drive through System Bus. This torque reference is seen as V1.2.16 Master TorqueRef
in follower drive.

2 Fieldbus
3 Analogue I/P

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2.4.9 Torque reference filter

Filter time in 0…5000ms for the torque reference.

2.4.10 Torque reference hysteresis

Hysteresis band for the torque reference in percentage of motor nominal current.

2.4.11 Torque reference dead zone

Dead zone band for the torque reference on percentage of motor nominal torque. Torque
reference below this value in both direction (+ve and –ve) is taken as zero torque refer-

ence.

2.4.12 Torque reference scale

With this parameter the default resolution of torque reference 1000=motor nominal
torque can be changed to 10000= motor nominal torque.

0 1000
1 10000

All the torque related signals and parameters are changed and displayed automatically in
same scale.

2.4.13 Load share

Shares the percentage of external torque reference to be taken as torque reference to the
drive. Normally this parameter is used by follower drive in case of master follower con-
figuration to share the load torque. For example:

100.0% = Torque reference is equal to the external torque reference.

50.0% = Torque reference is 50% of the external torque reference.

2.4.14 Torque reference ramp time

Ramp time in ms for the nominal torque reference change.

2.4.15 Flux reference

Flux reference as a percentage of motor nominal flux in closed loop motor control opera-

tion.

2.4.16 Above speed limit

Speed limit so that when motor speed is above this limit then V1.2.39 MainStatus-
Word.Bit10 is set.

2.4.17 Speed step

Step speed reference in counts (0…..P2.4.7 FB ref scale corresponds to 0…..P2.1.7 process
speed). This reference is converted to rpm and added to speed reference after the ramp
generator V1.2.8 Speed reference 4.
This step reference is normally used to give speed steps during the speed controller tun-
ing in closed loop motor control operation and can also used as fast speed correction

from fieldbus.

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2.4.18 Torque step

Step torque reference in percentage of motor nominal torque. This reference is added to
torque reference V1.2.21 Torque reference 3.
This step reference is normally used for the inertia/friction compensation of the drive sys­tem through fieldbus in fieldbus control. E.g. the inertia compensation for winder or un­winder roll can be written from fieldbus to this parameter.

6.5.5

Ramp funcions

2.5.1 Acceleration time

Acceleration ramp time for the speed ramp generator. The drive accelerates in this time
from 0 to maximum speed.

2.5.2 Deceleration time

Deceleration time for the speed ramp generator. The drive decelerates in this time from
maximum speed to zero.

2.5.3 S ramp acceleration/deceleration

The S-curve ratio to smoothen the speed reference during acceleration and deceleration.

2.5.4 Emergency stop ramp

Deceleration ramp time in case of emergency stop. The drive decelerates from maximum
speed to zero speed if P2.7.3 Emergency stop mode =

2.5.5 Emergency stop delay

Delay time in seconds to activate the emergency stop action in the drive after the emer­gency stop is active from DIN6. If the drive is in fieldbus control, it monitors the speed ref­erence from the fieldbus. If the speed reference does not start decelerate within 500ms
after the emergency stop is active then drive stops with its own EmStop sequence defined
by P2.5.4 Emergency stop ramp and P2.7.3 Emergency stop mode. If the drive is not
stopped within Emergency stop delay time then drive stops with its own Emergency stop
sequence.

2.5.6 Constant speed acceleration time

Acceleration ramp time for the speed ramp generator. This acceleration time is used
when inching function is used from fieldbus or constant speed operation is used in I/O
control. The drive accelerates in this time from 0 to maximum speed.

2.5.7 Constant speed deceleration time

1 Ramp stop.

Deceleration time for the speed ramp generator. This deceleration time is used when
inching function is used from the fieldbus or constant speed operation is used in I/O con-
trol. The drive decelerates in this time from maximum speed to zero speed.

2.5.8 S ramp constant speed

S-curve ratio to smoothen the speed reference during acceleration deceleration. This pa-

rameter is used when inching function is used from the fieldbus or constant speed opera-

tion is used in I/O control.

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6.5.6

Drive control

2.6.1 Control place

Select the control place to control the drive.

0 Fieldbus
1 I/O
2 Local (keypad)

The drive can also be controlled from PC tool through NCDrive when PC control box is
checked in the operating window. The drive has to be in Keypad control i.e. control place =
Local to be able to control the drive from the PC tool.

2.6.2 Brake chopper

Selects the mode of brake chopper operation. This parameter is to be set only if internal
brake chopper is used.

0 Not used
1 On. Internal brake chopper is enabled.

2.6.3 Brake chopper level

Brake chopper control activation level in volts.

For 400V Supply: 400*1.35*1.18 = 638V
For 500V Supply: 500*1.35*1.18 = 808V
For 690V Supply: 690*1.35*1.18 = 1100V.

Please note that when brake chopper is used the over voltage controller can be switched
OFF or the over voltage reference level can be set above the brake chopper level.

2.6.4 Brake resistor load limit

It is same as generator side torque limit to avoid the overheating of brake resistor during
continuous braking. This is active only when P2.6.2 Brake chopper is selected and emer­gency stop is not active and drive is not decelerating. Braking during normal deceleration
or emergency stop is done with P2.8.7 Torque limit generator. This parameter is used only
in closed motor control operation.

2.6.7 Restart delay

Delay time within which the drive cannot be restarted after the coast stop. The time can be

set up to 60.000 seconds.

2.6.8 PWM synchronisation

This parameter enables or disables the PWM synchronisation for multiple winding current

follower system. The parameter is visible on keypad only if motor type is multiple winding.

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6.5.6.1 Open loop control

2.6.5.1 U/f ratio selection

Select the U/f ratio in case of open loop control operation.
0 Linear

1 Squared
2 Programmable. Parameters P2.6.5.2 U/f zero point voltage, P2.6.5.3 U/f mid point volt-

age, P2.6.5.4 U/f mid point frequency are required to be adjusted in this selection. If the
ID run is successfully done then it optimises these parameters and set P2.6.5.1 U/f ra­tio selection equal to

2 = Programmable.

2.6.5.2 U/f zero point voltage

Motor voltage as a percentage of motor nominal voltage at zero frequency reference. This
can be set to produce motor current equal to 80...100% of nominal magnetising current at
zero frequency reference.

2.6.5.3 U/f mid point voltage

Motor voltage as a percentage of motor nominal voltage at frequency reference equal to
P2.6.5.4 U/f mid point frequency. This can be set as 1.41* P2.6.5.2 U/f zero point voltage.

2.6.5.4 U/f mid point frequency

Mid point frequency reference in case of programmable U/f curve. This can be set as
(P2.6.5.2 U/f zero point voltage * P2.1.3 Motor nominal frequency) /100.

2.6.5.5 U/f optimisation

Auto torque boost in case of open loop control operation can be enabled with parameter.

0 None
1 Auto torque boost (Auto torque boost is enabled).

It is recommended to enable auto torque boost only if successful ID run is performed dur-
ing the commissioning.

2.6.5.6 DC brake speed

Speed limit below which the DC braking is activated in open loop motor control operation.

2.6.5.7 DC brake current

The amount of current that will be injected in the motor when DC raking is active.

2.6.5.8 DC brake time

Time in ms for which the DC braking will be active when the speed is below P2.6.5.6 DC
brake speed.

2.6.5.9 Flux brake

The flux braking can be activated by this parameter.

0 Disabled
1 Enabled

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2.6.5.10 Flux brake current

Amount of flux braking current when the flux braking is active.

2.6.5.11 Torque stabilator Kp

Gain for the torque stabilator in open loop motor control operation. The range for the gain
value is 0...1000.

2.6.5.12 Torque stabilator damp TC

Damping rate for the torque stabilator in open loop motor control operation. The range is
0…1000.

2.6.5.13 Torque stab Kp field weakening point

Gain of the torque stabilator at field weakening point in open loop motor control operation.
The range is 0…1000.

2.6.5.14 Flux stabilator Kp

Gain of the flux stabilator in open loop motor control operation. The range is 0…32000.

2.6.5.15 Flux stabilator filter time

Filter time in ms for flux stabilator in open loop control operation. The range is 0…32000.

2.6.5.16 Make flux time

Set the time to magnetise the motor so that enough flux is available while starting to run
the motor.

2.6.5.17 Make flux voltage

Magnetising voltage in percentage of motor nominal voltage.

2.6.5.18 Measured resistance voltage drop

Measured voltage at stator resistance between two phases at nominal motor current
value. This is measured by injecting current into the motor at standstill during ID Run.

6.5.6.2 Undervoltage / overvoltage control, stabilator

2.6.6.1 Undervoltage control

Undervoltage controller can be activated with this parameter.
0 Off

1 On

The drive corrects the frequency reference internally when the DC link voltage falls below
the Undervoltage reference level selected by parameter P2.6.6.2 Undervoltage reference
selection. The correction in the frequency reference can be seen in V1.1.1 Output fre-
quency when under voltage controller is active and the DC link voltage is below the under-
voltage reference.

2.6.6.2 Undervoltage reference selection

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2

1.07*brake chopper level

Brake chopper level

Selects the undervoltage reference for the undervoltage controller.
0 Undervoltage reference min. Minimum undervoltage reference calculated internally by

the drive is used as undervoltage reference.

1 0.8 estimated DC nom. 80% of estimated DC nominal voltage is used as undervoltage

reference for the undervoltage controller.

2.6.6.3 Undervoltage Kp

Gain for the P-term of the PI type undervoltage controller.

2.6.6.4 Undervoltage Ti

Gain for the I-term of the PI type undervoltage controller.

2.6.6.5 Overvoltage control

Overvoltage controller can be activated with this parameter.

0 Off
1 On, no ramp. (Overvoltage controller is P type controller)
2 On with ramp. (Overvoltage controller is PI type controller).

The drive corrects the frequency reference internally when the DC link voltage rises above
the overvoltage reference level selected by parameter P2.6.6.6 Overvoltage reference se-
lection. The correction in the frequency reference can be seen in V1.1.1 Output frequency
when over voltage controller is active and the DC link voltage is above the overvoltage ref-

erence.

2.6.6.6 Overvoltage reference selection

Overvoltage reference level depending on the status of the brake chopper.

P2.6.6.6 Overvoltage reference

selection
0 Overvoltage reference

1 1.25*Estimated DC nominal

Table 32. Overvoltage reference handling

Brake chopper in use Brake chopper is not is use

maximum calculated inter-
nally by the drive

voltage

2.6.6.7 Overvoltage Kp

Gain of the P-term of the PI type overvoltage controller. The range is 0…32767.

2.6.6.8 Overvoltage Kp additional gain

Brake chopper level maxi-
mum calculated internally
by the drive

1.18*Estimated DC nominal
voltage

Additional gain of the P-term of the PI type overvoltage controller at field weakening point.

2.6.6.9 Overvoltage Ti

Gain for the I-term of the PI type overvoltage controller.

2.6.6.10 Voltage stabilator Kp

Gain for the voltage stabilator. The range is 0…1000.

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The function of the voltage stabilator is to stabilise the variations in the DC link voltage
caused due to load or incoming supply variations.

2.6.6.11 Voltage stabilator TC

Damping rate for the voltage stabilator. The range is 0…1000.

6.5.7

Motor control

2.7.1 Start function

Selects the mode of starting of the motor.

0 Normal ramp. The drive is started from zero reference with the acceleration ramp

times.

1 Flying start. The drive finds the motor speed either from encoder speed in closed loop

or by performing a fast test and internal calculation in open loop motor control opera-

tion.

During normal running P2.5.1 Acceleration time 1 is used and in constant speed /inching
operation P2.5.6 Constant speed acceleration time is used.
Please note that in closed loop motor control operation the starting of the motor is always
like a flying start independent of the parameter settings.

2.7.2 Stop function

Selects the mode of stopping the motor except in case of emergency stop.
0 Coast stop. The motor is allowed to stop on its own inertia. The drive control is stopped

and the drive current is zero as soon as the runrequest is removed.

1 Ramp stop. The motor is stopped by the deceleration ramp time selected.
During normal running P2.5.2 Deceleration time 1 is used and in constant speed / inching

operation P2.5.7 Constant speed deceleration time is used.

2.7.3 Emergency stop mode

Selects the mode of stopping the drive when emergency stop is active.
0 Coast stop. The motor is allowed to stop on its own inertia.

1 Ramp stop. The motor is stopped by the deceleration ramp time selected by P2.5.4

Emergency stop ramp.

2 Torque limit stop. The speed ramp generator output is forced to zero and the drive is

allowed to stop against its torque limits.

3 Constant power stop. The deceleration ramp time is internally updated so that the drive

stops at constant power if the parameters P2.8.13 System inertia in Kg.m^2, P2.8.14
Max brake power in kW and P2.8.14 Max braking torque in Nm is set correctly for the
system. This stop mode is used to be able to stop the drive as fast as possible in case of
emergency stop when braking is done using limited braking power. It can also be used
for coordinated emergency stop for common DC bus drives.

2.7.4 Motor control mode

Selects the motor control mode.
0 OL frequency. This is normal U/f control mode without encoder.

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1 OL speed. This is normal U/f control mode without encoder with slip compensation

based on the calculated torque of the motor V1.1.5 Torque.

2 OL torque. This is current vector control with U and f references without encoder.
3 CL speed/torque. This is rotor flux vector control mode and it needs digital encoder

connected to the motor shaft.

2.7.5 Torque selection

Selects the different configurations possible for speed and torque control when P2.7.4
Motor control mode =

0 None. This can be used for closed loop speed control.
1 Speed. Closed loop speed control. The inertia/friction compensation can be given to

P2.4.19 Torque step. The P2.4.8 Torque reference source selection is internally set to
zero (None) to avoid any external torque reference.

2 Torque. This is the closed loop torque control. P2.4.8 Torque reference source selec-

tion selects the torque reference source. The torque reference can be V1.2.16 Master
torque reference from the master drive in case of master follower application, V1.2.17
Fieldbus torque reference from fieldbus or V1.2.18 I/O torque reference from analogue

input.

3.

3 Min. In this mode minimum of speed controller output V1.2.11 SPC OUT and external

torque reference is selected as final torque reference V1.2.22 Used torque reference.
This is typically used in winder control applications. External torque reference is cal­culated from the required tension and system parameters like roll diameter, gearbox
ratio, web width and motor data. The overspend reference is added to the normal web

speed reference.

4 Max. In this mode maximum of speed controller output V1.2.11 SPC OUT and external

torque reference is selected as final torque reference V1.2.22 Used torque reference.
This is typically used in unwinder control applications. External torque reference is
calculated from the required tension and system parameters like roll diameter, gear­box ratio, web width and motor data. The under speed reference is added to the normal
web speed reference.

5 Window. The drive is allowed to run in torque control as long as the speed is within the

speed window around the speed reference. The speed window is denied by parameters
P2.9.13 Window positive RPM and P2.9.14 Window negative RPM. When the speed is out
of window the drive is switch to speed control to correct the error between V1.2.9 Used
speed reference and V1.2.1 Speed measured. The drive remains in the speed control
till the speed measured falls in a window around the speed reference. The hysteresis
for the window is defined by P2.9.15 Window off positive and P2.9.16 Window off nega­tive.

2.7.6 Current control Kp

Gain for the current controller in closed loop motor control operation. Range 1…10000.
Please note that in normal cases the default value is sufficient and there is no need to
change this parameter.

2.7.7 Current control Ti

Integral time constant for the current controller in closed loop motor control operations.
Range 0….100.0 ms. Please note that in normal cases the default value is sufficient and
there is no need to change this parameter.

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2.7.8 Switching frequency

Switching frequency in KHz for the IGBTs for the motor control. Please note that the de­fault value is decided by the drive depending on the power size of the drive. For all the
drives with 690V supply voltage the maximum switching frequency is 1.5KHz.
The switching frequency can be reduced in case of long motor cables (100m for <1.5kW
and 300m for >1.5kW) or very small motors.

2.7.9 Dynamic damp Kp

Dynamic damping gain when P2.7.5 Torque select is either Torque/Min/Max/Window. The
value 1.00 means nominal torque for nominal speed difference. Dynamic damping is in-
tended to reduce mechanical resonance by adding damping torque proportional to speed

error.

2.7.10 Dynamic damp TC

Decaying time for damping torque in ms.
0= Static damping.

2.7.11 DC magnetisation current

This parameter can be set to quickly magnetise the motor during starting. DC current of
the amount set by this parameter is injected into the motor windings.

2.7.12 DC magnetisation time

The DC magnetisation current set by P2.7.11 DC magnetisation current is injected in the
motor for this time. The speed reference to the ramp generator is then released.

2.7.13 Start 0 speed time

The time delay to release the speed reference to the ramp generator after the run request
is given to the drive.

2.7.14 Stop 0 speed time

Time for which the zero speed reference is applied to the drive after ramp stop.

2.7.15 Stop state flux

The amount of flux as a percentage of motor nominal flux maintained in the motor after
the drive is stopped. The flux is maintained for the time set by P2.7.16 Flux off delay. This
parameter can be used only in closed loop motor control operation.

2.7.16 Flux off delay

The flux defined by P2.7.15 Stop state flux is maintained in the motor for the set time after
the drive is stopped.

0 No flux after the motor is topped. Normal stop.
>0 The flux off delay in seconds.

<0 The flux is maintained in the motor after stop till the next run request is given to the
drive. After the run request the flux is equal to the P2.4.16 Flux reference.

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6.5.8

PMSM control

The parameters in this group can be adjusted only when permenant magnet motor is used.

2.7.17.1 Flux control Kp

Gain for the flux current controller in %. It can be adjusted if instability near or in the field
weakening area is observed.

2.7.17.2 Flux control Ti

Integral time constant for flux current controller in ms.

2.7.17.3 Resistance identification

Stator resistance identification can be done during every start by enabling this parameter.

2.7.17.4 Modulation index

Modulation index in % for closed loop operation. Higher values of motor terminal voltage
can be achieved by increasing this value.

2.7.17.5 Encoder angle offset

Low word of absolute encoder angle corresponding to shaft zero position is indicated in
this parameter. This parameter is identified during ID Run =3 when absolute encoder is
used with PMSM motor. This parameter is only for monitoring and back up purposes and
should not be changed manually.

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6.5.9

Limit settings

2.8.1 Zero speed level

Absolute speed below which the bit 11 of the auxiliary status word is set.

2.8.2 Zero speed monitoring

Zero speed can be monitored either from V1.2.7 Speed ramp out or from V1.1.2 Speed.

0 Speed ramp out
1 Speed Act. In case of open loop motor control operation it is calculated motor speed

and in case of closed loop motor control operation it is speed measured from the en­coder.

2.8.3 Speed maximum

Maximum speed limit for the drive.

2.8.4 Speed minimum

Minimum speed limit for the drive.

2.8.5 Current limit

The current limit to the drive. The default value of this parameter depends on the power
size of the drive.

2.8.6 Motoring torque limit

Motoring side torque limit for the drive as a percentage of the motor nominal torque.

2.8.7 Generator torque limit

Generator side torque limit of the drive as a percentage of the motor nominal torque.

2.8.8 Speed controller out max

Maximum torque limit for the speed controller output as a percentage of the motor nomi-
nal torque.

2.8.9 Speed controller out min

Minimum torque limit for the speed controller output as a percentage of the motor nomi-
nal torque.

2.8.10 Motoring power limit

Power limit for the motor side operation as a percentage of nominal power of the motor.

2.8.11 Generator power limit

Power limit for the generator side operation as a percentage of nominal power of the mo-

tor.

2.8.12 Pullout torque

Amount of maximum torque (breakaway torque) the motor can produce. It can be set as a
percentage of motor nominal torque.

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W SPC Kp N0

W SPC Kp FWP

Gain -%

Speed

No Point

W
W N1 Point

Motor Nom SpeedW

SPC KpW

2.8.13 System inertia

Inertia of the complete drive system in Kg.m^2 including inertia of motor, gearbox and
fixed load. This parameter is set when P2.7.3 Emergency stop mode = 3 Constant power

stop.

2.8.14 Max brake power

Maximum braking power limit in KW in case of emergency stop when P2.7.3 Emergency
stop mode =

3 Constant power stop

2.8.15 Max braking torque

Maximum braking torque in case of emergency stop when P2.7.3 Emergency stop mode
=3 Constant power stop.

6.5.10 Speed control

Figure 2. Speed controller adaptive gain

The transfer function for the speed controller is as given below.
SPC OUT(k) = SPC OUT(k-1) + SPc Kp*[Speed Error(k) – Speed Error(k-1)] + Ki*Speed error(k).
Where Ki = SPC Kp*Ts/SPC Ti.

2.9.1 Speed controller Kp

2.9.2 Speed controller Ti

Gain for the speed controller in closed loop motor control operation. Gain value 100
means nominal torque reference is produced at the speed controller output for the fre-
quency error of 1Hz.

Integral time constant in ms for the speed controller in closed loop motor control opera-

tion.

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( )

nom

2

nom

nom

nom

22

P

f

J

T

f

JnsationTCAccelCompe

⋅

⋅=

⋅

⋅=

ππ

2.9.3 Kp Min

Relative gain as a percentage of P2.9.1 SPC Kp of the speed controller when torque refer-
ence or speed control output V1.2.11 SPC out is less than P2.9.4 Min point. This parameter
is normally used to stabilise the speed controller for a drive system with gear backlash.

2.9.4 Min point

Level of torque reference or speed controller output V1.2.11 SPC out below which the
speed controller gain is changed to P2.9.3 Kp Min through a filter set by P2.9.5 Min filter
time. This is in percentage of motor nominal torque.

2.9.5 Min filter time

Filter time in ms used when the speed controller gain is changed from P2.9.1 SPC Kp to
P2.9.3 Kp Min.

2.9.6 Speed controller Kp field weakening point

Relative gain of the speed controller in field weakening area as a percentage of P2.9.1

SPC Kp.

2.9.7 Speed controller Kp N0

Relative gain of the speed controller as a percentage of P2.9.1 SPC Kp when the speed is
below the level defined by P2.9.8 N0 Point.

2.9.8 N0 point

The speed level in rpm below which the speed controller gain is P2.9.8 SPC Kp N0.

2.9.9 N1 point

The speed level in rpm above which the speed controller gain is P2.9.1 SPC Kp. From
speed defined by P2.9.8 N0 point to speed defined by P2.9.9 N1 Point the speed controller
gain changes linearly from P2.9.7 SPC Kp N0 to P2.9.1 SPC Kp and vice a versa.

2.9.10 Mech acceleration compensation TC

Time constant for the acceleration compensation of the fixed inertia of the drive system in
closed loop motor control operation. It can be calculated as follows.

where
J = total system inertia in kg*m^2

= motor nominal frequency in Hz

f

nom

= motor nominal torque.

T

nom

= motor nominal power in kW.

P

nom

The final Iq reference is added with additional Iq reference V1.2.23 Acceleration compen-
sation Out proportional to inertia torque during acceleration deceleration.
Please note that fixed inertia like ∑(motor inertia, gear box inertia, basic roll inertia) only
can be compensated with this parameter. Variable load inertia like inertia of winder or
unwinder can be compensated by the overriding system through fieldbus.

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2.9.11 Acceleration compensation filter time

Filter time constant in ms for the mechanical inertia compensation.

2.9.12 Load drooping

Load drooping as a percentage of nominal speed at nominal torque. Load drooping allows
the static speed error as a function of a load torque. For e.g. If Load drooping is set as
10% then for 100% motor torque the drive will allow actual speed less than 10% Nominal
speed of themotor. It can be used to smoothen out the load torque variation or also to
share the load torque between the two drive systems when the coupling between the drive

systems is not rigid.

2.9.13 Drooping time

Load drooping time in ms. When the time is set to zero, the drooping is used as static or
continuous drooping. Any non zero value activates the dynamic drooping and is active for
the time specified.

2.9.14 Window positive RPM

This parameter is required to be set when P2.7.5 Torque select = 5. It defines the window
area above the speed reference in rpm. The drive remains in torque control as long as
speed is within the window area. For the speed out of the window area the drive is
switched to speed control to correct the error between speed reference and speed meas-

ured.

2.9.15 Window negative RPM

This parameter is required to be set when P2.7.5 Torque select = 5. It defines the window
area below the speed reference in rpm. The drive remains in torque control as long as
speed is within the window area. For the speed out of the window area the drive is
switched to speed control to correct the error between speed reference and speed meas-

ured.

2.9.16 Window off positive

This parameter is required to be set when P2.7.5 Torque select = 5. It defines the upper
half hysteresis for the window defined by P2.9.13 Window positive RPM.

2.9.17 Window off negative

This parameter is required to be set when P2.7.5 Torque select = 5. It defines the lower
half hysteresis for the window defined by P2.9.14 Window negative RPM.

2.9.18 Slip adjust

This parameter can be tuned to compensate for inaccuracies in the motor nominal speed
data on the motor nameplate. Also the V1.2.36 Rotor time constant estimated by the mo­tor model can be adjusted with this parameter. The rotor time constant varies with the
motor temperature. The compensation for the rotor time constant as a function of meas­ured motor temperature using either TS1or TS2 (PT100 temperature sensor) can be given
by setting P2.13.29 Motor temperature compensation. The P2.9.17 Slip adjust is then in­ternally modified as a function of measured motor temperature.

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2.9.19 Warm motor slip

Relative slip as a percentage of P2.9.17 Slip adjust for the warm motor. This is set when
internal thermal model for motor temperature calculation is used. The calculated motor
temperature is seen as V1.1.21 Motor temperature calculation as a percentage of motor
nominal temperature.

2.9.20 Speed error filter time

Filter time in ms for the speed error between V1.2.9 Used speed reference and V1.2.1
Speed measured. The filtered error is then fed to the speed controller.

2.9.21 Actual speed filter time

Filter time in ms for speed measured from the encoder. The filtered speed is used to cal-
culate V1.2.10 Speed error, which is fed to speed controller.

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6.5.11 Oscillation damp

2.10.1 Oscillation damp selection

Oscillation damping feature of the drive can be enabled using this parameter. This feature
can be used to dampen the constant frequency torque oscillations in the drive system.

0 Not in use
1 Band pass. Oscillation damping with band pass filter.
2 BandStop+BandPass. Oscillation damping with band stop and band pass filter.

2.10.2 Oscillation frequency

Frequency of torque oscillations to be damped in Hz.

2.10.3 Oscillation damp gain

The gain for the oscillation damping. This changes the amplitude of compensating signal
used for oscillation damping.

2.10.4 Phase shift

The compensating signal used for oscillation damping can be phase shifted 0 to 360 de-
grees using this parameter.

6.5.12 Brake and fan control

2.11.1 Brake lift delay

Delay in receiving the feedback from the mechanical brake after giving a brake open re­quest from the digital/relay output. The speed reference is not released till the brake lift
is acknowledged.
If the brake lift acknowledgement does not come within the Brake lift delay time then the
drive trips on F57 Mechanical brake.

2.11.2 Brake in emergency stop

Defines the action of the mechanical brakes controlled through drive in case of emer-

gency stop.
0 At zero speed. The mechanical brake is closed at zero speed after the emergency stop

is active.

1 Immediate. The brake is closed immediately after the emergency stop is active.

P2.11.3 Brake in fault

Defines the action of the mechanical brakes controlled through drive in case of fault in the
drive.

0 At zero speed. The mechanical brake is closed at zero speed after the fault in the drive.
1 Immediate. The brake is closed immediately after the fault in the drive.

2.11.4 Motor fan off delay

The external fan can be controlled by setting digital/relay output parameters. The fan is
started with the run request and stopped when the motor is stopped and the Motor fan off
delay time is elapsed.

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Parameter

Master

Follower

Remarks

6.5.13 Master Follower

The master follower in VACON NXP drives is implemented by adding an OPT-D1/OPT-D2
board in slot D or slot E. The master and follower drives are then connected using optic fi­bre cable network. The OPT-D2 card with optic fibre link in NXP uses Vacon system bus
for fast drive-to-drive communication.

2.12.1 M/F mode

When drive is required to be configured in master follower application this parameter can

be set.
0 None. Drive runs as individual drive.

1 Master. Drive runs as a master.
2 Follower. Drive runs as follower and share either speed or torque from the follower

drive or both. When the drive is controlled from fieldbus P2.6.1 Control place =

0 then

V1.2.37 Main control word from the fieldbus is used for controlling the drive. When
P2.6.1 Control place is

1 = I/O or 2 = Local (Keypad) or 3 = PC Control, then follower

drive is controlled by the internal control word from the master drive on the system
bus. The follower drive then starts running with the master drive.

2.12.2 Follower speed reference

Sets the source of speed reference for the follower drive. This parameter is to be set only
in the follower drive.

0 Follower. Speed reference is generated in the follower drive itself depending on active

control place as per P2.6.1 Control place.

1 Master reference. Speed reference is taken form master drive V1.2.4 Speed ref. 1.
2 Master ramp. Speed reference is taken from master drive V1.2.9 Used speed refer-

ence. The ramp generator of the follower drive is then bypassed internally.

The parameter settings for master and follower drives are to be done as per the table be-
low.

2.12.3 Follower start delay

The delay time in starting multiple wind follower after the master is started. As the name
suggests, the parameter is valid only if the drive is defined as follower.

P2.12.1 M/F Mode 1 Master 2 Follower Sets the master follower

mode

P2.7.4 Motor Control mode = 0 OL Freq

= 1 OL Speed
= 3 CL Speed/Torq

P2.7.5 Torque Select 0= None

1= Speed
2 = Torque
3 = Min
4 = Max
5 = Window

If set = 0/1 then only speed
follower is possible.

To be set as per the applica­tion requirement.

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P2.4.8 TRef Source Sel 0 = None External torque reference is

not used.

1 = Master Torque reference from the

master drive.

2 = Fieldbus Torque reference from the

fieldbus.

3 = Analogue I/P Torque reference from the

analogue I/P 1 or 2.

P2.12.4 Follower SpRef This parameter is to be set

only in follower drive.

0 = Follower Speed reference is generated

in the follower drive itself de­pending on active control
place as per P2.6.1 Control
Place.

1 = Master Ref Speed reference is taken form

master drive V1.2.4 Speed

Reference 1.

2= Master Ramp Speed reference is taken from

master drive V1.2.9 Used
Speed Ref. The ramp genera­tor of the follower drive is
then bypassed internally.

If System software
<NXP00002V134

P2.12.2 SB Node ID P7.4.1.2.3 System bus Id Node ID no. for the master

P2.12.3 SB Next Node ID P7.4.1.2.4 System bus

P7.4.1.2.1 System bus in

P7.4.1.2.2 System Bus

If system software
>= NXP00002V134

NextId

use =1

speed

For system software less than
NXP00002V134 the speed is al­ways selected as 12Mbps.
For system software greater than
equal to NXP00002V134
0 =
1 =
2 =
3 =
4 =
5 =
6 =

Node ID for the next drive in

For system software less than

System software less than
NXP00002V134 do not show
the parameters for NXOPTD2
card in M7 Expander Boards

menu.

drive. Possible values are

1...63.

the master follower commu­nication. Possible values are

1...63.

NXP00002V134 this signal is
internally set to 1 if P2.12.2
and P2.12.3 are non-zero.

Table 33. Master Follower parameters

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6.5.14 Protections

2.13.1 AI<4mA

Action in case of Analogue input fault. If the voltage or current at the analogue input ter-
minal is less than a minimum value specified by P2.3.9 AI1 Minimum and P2.3 13 AI2
Minimum then analogue input fault is triggered.

0 No action.
1 Warning. Drive operation continues with F50 Anlg Lin<4mA. V1.2.44 Alarm word 1.Bit9

is set.

2 Fault. Drive trips on fault F50 Anlg Lin<4mA and V1.2.42 Fault Word 1 .Bit15 is set.

2.13.2 Panel communication

Action in case of loss off communication between drive control unit and keypad.
1 Warning. Drive operation continues with F52 Keypad communication warning and

V1.2.44 Alarm word 1 .Bit15 is set.

2 Fault. The drive trips if P2.6.1 Control Place = 2 (Local) i.e. if the drive is running from

keypad and V1.2.42 Fault Word 1.Bit11 is set.

2.13.3 External fault

Action when external fault is activated by digital input.
1 Warning. Drive operation continues with F51 External fault warning.

2 Fault. The drive trips on F51 External fault with fault word 2. Bit6 is set.

2.13.4 Input phase supervision

Action in case of loss of one or more input phase supply to the frequency converter. The
parameter is to be set to zero for inverter.

0 No action. Drive operation continues with no warning or fault indication.
1 Fault. Drive trips with F10 Input phase fault and V1.2.42 Fault word 1. Bit8 is set.

2.13.5 Output phase supervision

Action in case of loss of one or more output phases connected between drive output and

motor.
0 No action.

1 Warning. Drive operation continues with warning F11 Output phase and V1.2.44 Alarm

word 1. Bit4 is set.

2 Fault. Drive trips on F11 Output phase and V1.2.43 Fault word 2. Bit0 is set.

Please note that this protection cannot find the loss of motor connection in case of mul-
timotor connection to one drive output.

2.13.6 Earth fault

Action in case of Earth fault in the motor or motor cables.
0 No action

1 Fault. Drive trips on F3 Earth fault and V1.2.42.Bit4 is set.

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2.13.7 Earth fault current

If the sum of the motor phase currents is higher than the level set by this parameter then
earth fault is triggered and the action is taken as per the setting of P2.13.5 Earth fault and
P2.13.7 Earth fault delay. The typical value for earth fault current monitoring is 5% of
drive nominal current V1.1.17 Unit nominal current.

2.13.8 Earth fault delay

Earth fault is triggered if the sum of motor phase currents remains higher than the level
set by P2.13.6 Earth fault current for the time set by this parameter.

2.13.9 Motor stall

Action in case of motor stall condition. Motor is said to be in stall condition if the motor
current is higher than the P2.13.9 Stall current and output frequency is less than P2.13.10
Stall frequency limit and motor remains in this condition for a time higher than P.13.11
Stall time limit in seconds.

0 No action. Drive continues operation with no warning or fault indication.
1 Warning. The drive continues operation with F15 Motor stall warning and V1.2.44 Alarm

word 1.Bit0 is set.

2 Fault. The drive trips on F15 Motor stall and V1.2.42. Bit3 is set.

2.13.10 Stall current

The current level in amperes for monitoring stall condition of the motor.

2.13.11 Stall frequency limit

The output frequency level below which monitoring of motor stall condition is active.

2.13.12 Stall time limit

If the motor remains in stall condition defined by P2.13.9 Stall current and P2.13.10 Stall
frequency limit for a time higher than the time set by this parameter then motor stall fault

is triggered.

2.13.13 Thermistor

If the drive is installed with OPT-A3 board in slot B then one thermistor can be connected
to the drive through it for motor over temperature indication to the drive.
This parameter sets the action by the drive in case of motor over temperature through
thermistor.

0 No action
1 Warning. The drive continues its operation with warning F61 Thermistor and V1.2.44

Alarm word 1. Bit1 is set.

2 Fault. Drive trips on fault F61 Thermistor and V1.2.42 Fault word 1. Bit7 is set.

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2.13.14 Encoder fault

The action in case of loss of encoder signal when drive is running in closed loop control.
The drive generates fault or alarm F43 Encoder and V1.2.43 fault word 2. Bit2 is set if the

encoder connected to OPT-A5 in slot C is faulty or wrongly connected.
0 No action

1 Warning
2 Fault

Following are the sub codes generated with the fault in different fault conditions.
Sub code 1. Channel A is missing

Sub code 2. Channel B is missing
Sub code 3. Both channel are missing
Sub code 4. Encoder reversed
Sub code 5. Card is missing

2.13.15 Mechanical brake fault

Mechanical brake fault monitoring is automatically enabled if P2.2.6 Mechanical brake
acknowledgement is (non zero) set to 1….8. i.e. either if DIN1…4 or inverted DIN1…4 is se­lected to acknowledge the brake status.
The brakes are lifted through the digital/relay output when run request is given and 70%
of motor flux is generated (only in closed loop motor control operation). If the brake lift
acknowledgement does not arrive at selected digital input with time specified by P2.11.1
Brake lift delay then the mechanical brake fault is triggered and drive takes action as per
the setting of this parameter.

1 Warning. Drive continues operation with warning F57 Mech. brake and V1.2.44 Alarm

word 1. Bit14 is set.

2 Fault. Drive trips on F57 Mechanical brake and V1.2.43 Fault word 2. Bit10 is set.

2.13.16 Follower timeout

This parameter is to be set in case of master follower application. The parameter is to be
set only in follower drives. The master drive sends a watchdog (1 second ON/OFF square
wave) to the follower drive. If the follower drive does not receive the watchdog signal for a
time higher than that defined by this parameter then drive trips on fault F55 Follower
communication and V1.2.42 Fault word 1. Bit13 is set. This indicates that the follower
drive has lost the communication with master drive.

Please note that this fault is detected only in follower drive.

2.13.17 Fieldbus watchdog delay

Delay time to indicate loss of data on fieldbus from overriding system. The overriding sys­tem sends the watchdog signal (square wave of 1 second time period) at V1.2.37 Main con­trol word. Bit11. If the drive does not receive this signal for a time higher than the time de­fined by this parameter then the drive trips on fault F53 Fieldbus communication and
V1.2.42 Fault word 1. Bit12 is set. The fault occurs only if P2.6.1 Control place = 0 Fieldbus
i.e. the drive is controlled from fieldbus.
The same watchdog signal is sent back to the overriding system at V1.2.39 Main status
word. Bit15.
Setting this parameter to zero will disable this watchdog monitoring function. In addition
to this the fieldbus option card monitors the communication with fieldbus master and is

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always active. In case of loss of communication with the master, the drive trips on F53
Fieldbus communication fault.

2.13.18 PT100 number in use

PT100 sensors can be connected to Vacon drive for temperature measurement using the
OPT-B8 card. Totally three channels are available for connection. With this parameter, se-
lect the number of inputs channels used to connect the PT100 sensors.

2.13.19 PT100 alarm limit

Two PT100 temperature sensors can be connected to the drive using two analogue inputs
AI1 and AI2 and AO1 (10mA). These two sensors are referred as PT100 (1) and PT100 (2).
Or PT100 sensors can be connected using OPT-B8 card.
This parameter sets the temperature level in celsius above which the drive generates the
warning F56 PT100 temperature. The drive continues its operation and V1.2.44 Alarm
word 1. Bit1 is set. Note that the alarm limit is common for all PT100 sensors connected
to the system.

2.13.20 PT100 fault limit

This parameter sets the temperature level in celcius above which the drive trips on fault
F56 PT100 temperature and V1.2.42 Fault word 1. Bit7 is set.

2.13.21 Motor temperature compensation

Two PT100 temperature sensors can be connected using analogue inputs AI1 and AI2 and
AO1 (10mA) and they are referred as PT100 (1) and PT100 (2). One of the sensors is used
normally to measure the motor winding temperature. This measured temperature can be
used to compensate the slip adjust P2.9.17 Slip adjust internally. This is needed to adjust
the motor model for the variation in rotor time constant as a function of temperature to
acquire better torque accuracy.
This parameter selects the temperature sensor to be used for compensation.

0 Compensation to slip adjust is not used.
1 Motor temperature for the slip adjust compensation is read from PT100 (1) sensor.
2 Motor temperature for the slip adjust compensation is read from PT100 (2) sensor.

The function work as follows.
For e.g. If P2.9.17 Slip adjust is set to 100% and P2.13.29 Motor temperature compensa­tion = 1 (Compensation from PT100(1)sensor).

Internal slip adjust = [(PT100 (1) Temp. in celsius * 40)/100+60] * P2.9.17 Slip adjust/100.
For temperature varying from 25 to 100 degrees celsius the slip adjust will vary internally

from 70 to 100 %.

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2.13.22 Motor calculated temperature protection

Drive has internal temperature calculation for the motor based on motor data and setting
of P2.13.17 Thermal time constant, P2.13.18 Zero speed cooling and P2.13.19 Motor duty
cycle. The calculated motor temperature can be seen as V1.1.21 Motor temperature cal-
culation as a percentage of motor nominal temperature. The overheating of the motor is
monitored by this function. This parameter sets the action in case of motor overheating
triggered by calculated motor temperature.

0 No action
1 Warning. The drive continues operation with warning F16 Motor overtemperature and

V1.2.44 Alarm word1. Bit1 is set.

2 Fault. Drive trips on F16 Motor overtemperature and V1.2.42 Fault word 1. Bit7 is set.

2.13.23 Thermal time constant

Thermal time constant of the motor in minutes for the internal motor temperature calcu-
lation.

2.13.24 Zero speed cooling

Motor cooling ability at zero speed as a percentage of that at full speed or its nominal
cooling ability. This parameter is used in internal motor temperature calculation.

2.13.25 Motor duty cycle

Motor duty cycle for internal motor temperature calculation.

2.13.26 Underload protection

Action in case of underload condition. The drive is in underload condition if the load is less
than the minimum load defined by the underload curve by P2.13.13 Speed zero load,
P2.13.14 Speed nominal load and P2.13.15 Underload speed nominal.

0 No action
1 Warning. Drive continues operation with F17 Motor underload warning and V1.2.44

Alarm word1. Bit2 is set.

2 Fault. Drive trips on F17 Motor underload fault and V1.2.42 Fault word 1. Bit5 is set.

2.13.27 Speed zero load

Load level for underload monitoring at zero speed as a percentage of motor nominal
torque.

2.13.28 Speed nominal load

Load level for underload monitoring for speed up to nominal speed defined by P2.13.15
Underload speed nominal.

2.13.29 Underload speed nominal

Speed limit below which the underload function is activated.

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6.5.15 Flux reference handling

This parameter group is used in closed loop motor control operation to set the flux lin­earization curve of the motor. With parameter P2.1.11 ID Run =2 With motor run , the pa­rameters in this group are automatically set. These parameters can also be set when flux
linearization curve for the motor is done manually as explained below.
Note: There should not be any load connected to the drive including gearbox while doing
this test.

P2.7.5 Torque selection = 1 i.e. Speed control.

Set

P2.4.16 Flux reference =100.0%.

Set

Monitor the signals
Run the motor with 50% of the nominal motor speed.
Note the value of the
While keeping the speed reference constant change
note the value of
Reduce the

V1.1.7 Motor voltage as V80,V70, …,V30 respectively. Set the values of P2.14.8 Flux

of

curve 8, P2.14.7 Flux curve 7,…, P2.14.3 Flux curve 3 calculating the same way as in

step f.

Repeat this step by changing
V1.1.7 Motor voltage V110,V120,and V130 respectively. Set P2.14.11 Flux curve 11 ,
P2.14.12 Flux curve 12 , P2.14.13 Flux curve 13 calculating the same way as in step f.
Interpolate values for 140% - 150% to set parameters

P2.4.16 Flux reference in steps of 10% as 80%, 70%,.....,30 and note the value

V1.1.4 Current , V1.1.7 Motor voltage and V1.1.1 Output frequency.

V1.1.7 Motor voltage (V100).

P2.4.16 Flux reference to 90.0% and

V1.1.7 Motor voltage (V90). Set P2.14.9 Flux curve 9 = (V90/V100)*100.

P2.4.16 Flux reference to 110%,120%,130% and note down

P2.14.14, P2.14.15.

2.14.1- 1.14.15 Flux curve 10%, …….., Flux curve 150%

Motor voltage corresponding to 10%….150%c of flux as a percentage of Nominal flux volt-
age.

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6.5.16 Startup torque

The parameters in this group can be used in closed loop motor control operation. It en-
ables the drive to produce programmable startup torque as soon as run request is given
to the drive.

2.15.1 Startup torque selection

Select the source for producing the startup torque.

0 None. Programmable startup torque is not used.
1 Torque Memory. The drive memorises V1.1.5 Torque at the time previous stop and the

same torque is produced with the run request is given.

2 Torque reference. The torque reference for the startup torque is derived from external

torque reference selected by P2.4.8 Torque reference source selection.

3 FWD/REV. The torque reference for the startup torque is derived from P2.15.3 Startup

torque FWD in forward or positive direction of speed reference and P2.15.4 Startup
torque REV in reverse or negative direction of speed reference.

2.15.2 Startup torque time

The startup torque is maintained after the run request for the time defined by this pa­rameter in 0…..10000 ms.

2.15.3 Startup torque FWD

Amount of startup torque to be produced with the run request as a percentage of motor
nominal torque when the drive is run in forward or positive direction of speed reference.
This parameter is applicable only if P2.15.1 Startup torque selection = 3 FWD/REV.

2.15.4 Startup torq REV

Amount of startup torque to be produced with the run request as a percentage of motor
nominal torque when the drive is run in reverse or negative direction of speed reference.
This parameter is applicable only if P2.15.1 Startup torque selection = 3 FWD/REV.

2.15.5 Torque memory source

When P2.15.1 Startup torque selection = 1 (Torque memory), then this parameter selects
the source for memorising the torque to be produced at next run request.

0 Actual torque. V1.1.5 Torque is used as memory source for startup torque reference at

next start.

1 Torque reference. This is reserved for future development and is not used in the pre-

sent application.

2 External torque reference. The value defined by parameter P2.15.6 Torque memory

reference is used as memory source for startup torque reference at next start.

2.15.6 Torque memory reference

When P2.15.5 Torque memory source = 2 then this parameter defines the amount of
torque as a percentage of motor nominal torque used as memory source for startup
torque reference at next start.

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6.5.17 Monitor settings

The parameters in this group are used for testing of the drives. These parameters are for
factory use only and are not required to be changed on site.

2.16.1 Speed monitoring filter

Filter in ms for signal V1.1.2 Speed.

2.16.2 Current monitoring filter

Filter in ms for signal V1.1.4 Current.

2.16.3 Torque monitoring filter

Filter in ms for signal V1.2.5 Torque.

6.5.18 Data mapping

The parameters in this group are use when the drive has a communication with overriding
system. The parameters or signals with ID nos. defined in this application can be con-
nected to the signals to and from the overriding system for reading and writing purpose
respectively.

2.17.1- 2.17.8 PD IN1 ID, ….., PD IN8 ID

ID no. of any signal or parameter defined in the application. The parameter or signal of
this ID number is then connected to process data IN 1….IN10, written from overriding sys-
tem to the drive.

2.17.9-2.17.16 PD OUT1 ID, ….., PD OUT8 ID

ID no. of any signal or parameter defined in the application. The parameter or signal of
this ID number is then connected to process data OUT1….OUT10, read by the overriding
system from the drive.

2.17.17 FB Mode

Defines, which mode is used in fieldbus control

1 ProfiDrive mode. Sets also ProfiBus board mode to ProfiDrive. Powers off the drive after

change

2 Bypass mode. Sets also ProfiBus board mode to ProfiDrive. Powers off the drive after

change.

3 Not used
4 Selma mode
5 MicroStar mode

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Profibus data name

Signal name

Min

Max

Def

FB

scale

Scaling description

Main Control

Torque Select

Profibus data name

Signal name

Min

Max

FB

scale

Scaling description

Digital

6.6 Fieldbus profile

Note: Please note that the process data can be freely configured to any parameter or signal defined
in the application using ID nos. The process data configuration shown below is just for example.

6.6.1

Process data signals from overriding system to Vacon drive.

Main Control Word

Speed Reference

Process Data IN1

Process Data IN2

Process Data IN3

Process Data IN4

Process Data IN5

Process Data IN6

Process Data IN7

Process Data IN8

Word

Speed Refer-

ence -32000 32000 0

Torque Ref-

erence -3000 3000 0 10=1%

Aux. Control

Word 1

Aux. Control

Word 2

Load Share

Torque Step

Master Fol-
lower Mode 0 2 0

-4000 4000 1000 10=1%

-3000 3000 0 10=1%

0 5 0

See bitwise description below

20000 corresponds to speed defined

By param. Process speed
100% equals Motor
Nominal Torque

See bitwise description below

See bitwise description below

This scales the % of Torque
Reference to Follower
100% equals Motor Nominal
Torque
0=none,1=speed,2=torque,
3=min,4=max,5=win
Positioning will be added
In future releases

0=none,1=master,2=slave

Table 34.

6.6.2

Process data signals from Vacon drive to overriding system.

Main Status Word Main Status Word See bitwise description below

20000 correspond to speed de-

Motor Speed Motor Speed

Motor

ProcessDat Out1

ProcessDataOut2

ProcessDataOut3

ProcessDataOut4

Torque 10=1%

Aux.

Status

Word See bit words below
Fault

Word1 See bit words below

Fault

Word2 See bit words below

fined by P2.1.7 Process Speed

100% equals Motor Nominal

Torque

Table 35.

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ProcessDataOut5
ProcessDataOut6 Alarm Word See bit words below

ProcessDataOut7 Motor Shaft Rounds -32768 32767

ProcessDataOut8 Motor Shaft Position 0 360

Input Status Word See bit words below

No of Rounds of the motor Shaft

after Pos reset is done

Position of the motor shaft in

degrees

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0=Emergency stop active
0 = Run Enable Not active

6.6.3

Main control word, par. 2.17.17 (FB Mode) = 1-3

0>1 will reset the Switch On Inhibit state and bring the drive to Rdy Run.

Bit 0 On

Bit 1 Coast Stop

Bit 2 Emergency Stop

Bit 3 Run

Bit 4 Ramp Out Zero

Bit 5 Ramp Hold

Bit 6 Ramp input Zero
Bit 7 Reset 0>1 Reset fault.

Bit 8 Inching 1

Bit 9 Inching 2

Bit 10 Fieldbus Control Enable

Bit 11 Watchdog
Bit 12 Low not used
Bit 13 Low not used
Bit 14 Low not used
Bit 15 Low not used

Should be reset after fault and EmStop .
0=Coast stop Active
1=Coast Stop not Active

1=Emergency stop not active

EmStop Mode is selected by P2.7.3

0= stops the drive as per Stop Mode P2.7.2
1= Run
0=Ramp Output forced to 0.
1=Ramp Output is released
0=Ramp is hold
1=ramp release
0=Ramp input forced to 0.Stop by Ramp
1=Ramp input is released

0=No Action
1=Run forward with Constant Speed set by P2.4.2
0=No Action
1=Run backward with Constant Speed set by P2.4.3
0=No control from Fieldbus possible
1=Drive control from profibus if P2.6.1 =0 Fieldbus
0>1>0>1…1 sec square wave clock. This is used to check data communica­tion between profibus master and the drive. Used to generate FB Commu­nication. Fault. This monitoring can be switched off by setting P2.14.26 PB
Watchdog Delay =0.Drive´s internal communication monitoring is still ac­tive at this time.

Table 36.

6.6.4

Selma Control Word, par. 2.17.17 (FB Mode) = 4

Bit 0 Ramp stop 0 = Stop by Ramp Not active 1 = Stop by Ramp active

0 = Emergency stop Not active
1 = Emergency stop active

Bit 1 Emergency stop

Bit 2 Run Enable
Bit 3 Reserved Not used
Bit 4 Reserved Not used
Bit 5 Reserved Not used
Bit 6 Run 0 = Stops the drive as per Stop mode P2.7.2 1 = Run

Bit 7 Inching 1

Bit 8 Inching 2

Bit 9 Reserved Not used
Bit 10 Reserved Not used
Bit 11 Reserved Not used
Bit 12 Reserved Not used
Bit 13 Reserved Not used
Bit 14 Reserved Not used
Bit 15 Reserved Not used

Note! EmStop Mode is selected by P2.7.3

1 = Run Enable active and Drive stop by Coast

0=No Action
1=Run forward with Constant Speed set by P2.4.2
0=No Action
1=Run backward with Constant Speed set by P2.4.3

Table 37

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0=Drive not ready to run

6.6.5

Main status word

0=Drive not ready to switch on

Bit 0 Rdy On

1=Drive ready to switch on

Bit 1 Rdy Run

Bit 2 Rdy Ref

Bit 3 Fault

Bit 4 Off2 Status

Bit 5 Off3 Status

Bit 6 Drive Not Ready to Switch On

Bit 7 Alarm
Bit 8 At Set point 0= Speed Ref and Speed Actual are not same

Bit 9 Fieldbus Control Active

Bit 10 Above Limit
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Watchdog Same as received on bit 11 of the main control word.

1=Drive ready to run
0=Drive not running
1=Drive running and ready to release the reference
0=No active fault
1=Fault is active
0=Coast Stop Active
1=Coast stop not active
0=Emergency Stop active
1=Emergency stop not active
0=No inhibit
1=drive is out of fault or EmStop state. The ON bit in
the main control word is then has to be reset.
0=No alarm
1=Alarm active

0=Fieldbus control not active
1=Fieldbus control active .P2.6.1 Control Place=0
Fieldbus and bit 10 of the Main control word is set.
0= Speed is below the limit specified by P2.4.14
1=The speed actual of the drive is above the set speed
limit set by P2.4.14 Above Speed Limit.

Table 38.

6.6.6

Selma Status Word

0 = Drive not running

Bit 0 Run

Bit 1 Ready 0 = Drive not ready to run 1 = Drive ready to run

Bit 2 Fault 0 = No active Fault 1 = Fault is Active

Bit 3 Fieldbus Control 0 = Fieldbus control not active 1 = Fieldbus control active

Bit 4 Reserved Not used

Bit 5 Start prevention

Bit 6 Reserved Not used

Bit 7 Reserved Not used

Bit 8 Reserved Not used

Bit 9 Reserved Not used
Bit 10 Reserved Not used
Bit 11 Reserved Not used
Bit 12 Reserved Not used
Bit 13 Reserved Not used
Bit 14 Reserved Not used
Bit 15 Reserved Not used

1 = Drive running and ready to release the reference

0 = External Run Enable not active
1 = External Run Enable active

Table 39.

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Activates the Digital output 1 if parameter DO1 =

6.6.7

Micro Status Word

0 = Drive not running

Bit 0 Run

Bit 1 Reserved Not used

Bit 2 Reserved Not used

Bit 3 Reserved Not used

Bit 4 Reserved Not used

Bit 5 Reserved Not used

Bit 6 Reserved Not used

Bit 7 Reserved Not used

Bit 8 Reserved Not used

Bit 9 Reserved Not used
Bit 10 Reserved Not used
Bit 11 Reserved Not used
Bit 12 Reserved Not used
Bit 13 Reserved Not used
Bit 14 Reserved Not used
Bit 15 Reserved Not used

1 = Drive running and ready to release the reference

Table 40.

6.6.8

Auxiliary control word

Bit 0 Data logger restart
Bit 1 Data logger force trigger
Bit 2 Ramp bypass Ramp generator of the drive is bypassed if set high.

Reference from IO when control place is

Bit 3

Bit 4 DC Braking Active
Bit 5 Free
Bit 6 Free
Bit 7 Mech. Brake Ctrl Mech Brake control thro` Fieldbus.
Bit 8 Free

Bit 9 Reset position
Bit 10 Free
Bit 11 Free

Bit 12 Enable inching

Bit 13 DO1 control
Bit 14 DO2 control Activates the Relay output 1 if parameter DO2 =1161.14
Bit 15 DO3 control Activates the Relay output 2 if parameter DO3 =1161.15

Fieldbus.

When ramp generator output is less than P2.8.1 Zero
Speed Level then DC braking is active if set to high.

Resets the Shaft PositionV1.2.45 & Shaft Rounds V1.2.46
to zero.

When set high constant speed inching/running can be
done with bit 8&9 of the Main Control Word

1161.13

Table 41.

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6.6.9

Auxiliary status word

Bit 0 Datalogger triggered

Window Control active and Speed is out of

Bit 1

Bit 2

Bit 3

Bit 4 Reverse direction

Bit 5 IO Control Active

Bit 6 Motor Fan ON command

Bit 7 Mechanical brake lift command

Bit 8 DC Charging OK (Pulse)

Bit 9 DC Charging OK (continuous)
Bit 10 Drive in Torque control
Bit 11 Speed Zero
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved

Window
Motor/Generator torque/current limit ac­tive
Undervoltage/Overvoltage controller ac­tive

Table 42.

6.6.10 Fault word 1

Bit 0 OverCurrent
Bit 1 Overvoltage
Bit 2 Undervoltage
Bit 3 Motor Stall See parameter P2.14.8, P2.14.9, P2.14.10, P2.14.11
Bit 4 Earth Fault See parameter P2.14.5, P2.14.6, P2.14.7
Bit 5 UnderLoad See parameter P2.14.12, P2.14.13, P2.14.14, P2.14.15
Bit 6 Unit Over Temperature

This can be because of the following reasons.
Thermistor as set by P2.14.24
PT100 Temp. measurement using PT100 type sen­sor.See parameters P2.2.2.3 to P2.2.2.6,

P2.13.18 to P2.13.20
Calculated Overtemp as set by

Bit 7 Motor Temperature
Bit 8 Input Phase Loss See parameter P2.14.3 Input Ph. Supervision

Bit 9 Internal Brake Resistor Protection
Bit 10 Device Fault Device (slot cards)Removed,Added,changed,Unknown
Bit 11 Keypad Communication Fault See parameter P2.14.2
Bit 12 Fieldbus communication Fault

Bit 13 Follower communication
Bit 14 Slot communication. slot comm. fault. One of the slot cards is faulty.
Bit 15 Analogue Input Fault See parameter P2.14.1

Table 43.

P2.13.22 to P2.13.24.

Master follower communication.
See parameters P2.13.1, P2.13.2, P2.13.3.

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6.6.11 Fault word 2

Bit 0 Output Phase Fault See parameter P2.14.4
Bit 1 Charging Switch Fault
Bit 2 Encoder Fault See parameter P2.14.27
Bit 3 Drive Hardware fault
Bit 4 Unit Under Temperature
Bit 5 EEPROM Fault +Checksum Fault
Bit 6 External fault See parameter P2.2.10
Bit 7 Brake chopper fault
Bit 8 Internal Communication

Bit 9 IGBT Temperature
Bit 10 Motor Brake Fault See parameter P2.2.6 ,P2.11.1
Bit 11 Reserved.
Bit 12 Application fault
Bit 13 Drive Internal fault
Bit 14 Main Switch Open DIN5 is not high. Ack from Main switch .
Bit 15 Not used

Table 44.

6.6.12 Selma fault word 0

Bit 0 Brake chopper supervision
Bit 1 Not used
Bit 2 Not used
Bit 3 Frequency converter overtemperature
Bit 4 Overcurrent
Bit 5 Overvoltage
Bit 6 Undervoltage
Bit 7 Not used
Bit 8 Not used

Bit 9 Not used
Bit 10 Not used
Bit 11 Not used
Bit 12 Not used
Bit 13 Not used
Bit 14 Not used
Bit 15 Not used

Table 45.

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Motor Over temperature, PT100 Thermis-

6.6.13 Selma fault word 1

Bit 0 Not used

Bit 1 Not used

Bit 2 Not used

Bit 3 Not used

Bit 4 Earth fault

Motor Over temperature, PT100 Thermis-

Bit 5

Bit 6 Not used

Bit 7 Not used

Bit 8 External fault

Bit 9 IGBT fault
Bit 10 Not used
Bit 11 System fault
Bit 12 Fieldbus communication fault
Bit 13 Panel communication fault
Bit 14 Motor stall fault
Bit 15 Encoder fault

Table 46.

tor

6.6.14 Selma fault word 2

Bit 0 Not used

Bit 1 Not used

Bit 2 Not used

Bit 3 Not used

Bit 4 Not used

Bit 5 Undervoltage controller active

Bit 6 Not used

Bit 7 Switch On Inhibit

Bit 8

Bit 9 Not used
Bit 10 Not used
Bit 11 Not used
Bit 12 Not used
Bit 13 Not used
Bit 14 Not used
Bit 15 Not used

Table 47.

tor

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See parameter P2.14.8, P2.14.9, P2.14.10, P2.14.11

F26 Prevention of start. This warning comes when the

See parameter P2.2.8 Run Enable Ctrl .If set =5 or 6 and
See parameter P2.2.7

6.6.15 Alarm word 1

Bit 0 Motor stalled

This can be because of the following reasons.
Thermistor as set by P2.13.13 measurement using
PT100 type sensor.See parameters P2.2.2.3 to P2.2.2.6,
P2.13.18 to P2.13.20 Calculated Overtemp as set by

Bit 1 Motor over temperature
Bit 2 Motor under load
Bit 3 Input phase loss See parameter P2.14.3 Input Phase Supervision
Bit 4 output phase loss See parameter P2.14.4

Bit 5 Start Prevention

P2.13.22 to P2.13.24.

See parameter P2.14.12, P2.14.13, P2.14.14, P2.14.15

Run Enable input is low and P2.2.1.11Prevention of
start is enabled. Normally it is enabled when the exter-
nal device for prevention of false start is used.

Bit 6 Main Switch Open
Bit 7 not used
Bit 8 Vacon over temperature
Bit 9 Analogue input < 4mA

Bit 10 Motor fan warning

Bit 11 Emergency stop
Bit 12 Run disabled
Bit 13 Inching disabled
Bit 14 Motor Brake See parameter P2.2.6 ,P2.11.1
Bit 15 Panel comm. Alarm

DI5 is low then this alarm occurs.

See parameter P2.14.1

See parameter P2.2.9 .If set = 1 DI6 and DI6 is low then
this alarm occurs.

See parameter P2.14.2

Table 48.

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Status of Digital input 16

Status of Digital input 20

Status of Digital input 13

Status of Digital input 13

6.6.16 Digital input status word 1

Bit 0 DIN1
Bit 1 DIN2
Bit 2 DIN3
Bit 3 DIN4
Bit 4 DIN5
Bit 5 DIN6
Bit 6 TIB (A3)
Bit 7 DIN7
Bit 8 DIN8

Bit 9 DIN9
Bit 10 DIN10
Bit 11 DIN11
Bit 12 DIN12
Bit 13 DIN13
Bit 14 DIN14

Bit 15 DIN15 Status of Digital input 15

Table 49.

Status of Digital input 1
Status of Digital input 2

Status of Digital input 3
Status of Digital input 4
Status of Digital input 5
Status of Digital input 6
Thermistor Input Status
Status of Digital input 7
Status of Digital input 8
Status of Digital input 9
Status of Digital input 10
Status of Digital input 11
Status of Digital input 12
Status of Digital input 13
Status of Digital input 14

NOTE! Bit7 ...15 are updated only if option DI card is installed

6.6.17 Digital input status word 2

Bit 0 DIN16

Bit 1 DIN17

Bit 2 DIN18

Bit 3 DIN19

Bit 4 DIN20

Bit 5 DIN21

Bit 6 DIN22

Bit 7 DIN23

Bit 8 DIN24

Bit 9 DIN25
Bit 10 DIN26
Bit 11 DIN27
Bit 12 DIN28
Bit 13 DIN29

Bit 14 DIN30
Bit 15

Table 50.

Status of Digital input 17
Status of Digital input 18
Status of Digital input 19

Status of Digital input 21
Status of Digital input 22
Status of Digital input 23

Status of Digital input 13
Status of Digital input 13
Status of Digital input 13

Status of Digital input 13
Status of Digital input 13

NOTE:Bit 0...15 are updated only if optional DI card is installed
Not used

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PAGE

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TITLE

Speed Reference Chain

Scaling

FBRef in Counts

G2.4FB Ref Scale

SEL

Local Speed Ref

Master Speed Ref

G2.4Const Ref1

G2.4Const Ref2

X

V1.2.4Speed Reference1

Filt

V1.2.5Speed Reference2

V1.2.12Speed Limit Pos

G2.8Speed Maximum

G2.8Speed Minimum

V1.2.13Speed Limit Neg

Speed Share

G2.5Accel Time1

G2.5Decel Time1

G2.5Ramp AccDec

G2.5EmStop Ramp

G2.5ConstSpd Acc Time

G2.5ConstSpd Dec Time

G2.5Ramp Const Spd

G2.5Start Functioh

RAMP

GENERATOR

Ramp Input Zero

Ramp Hold

Ramp Out Zero

Ramp Bypas

Ramp Options in

State Machine

+

V1.2.7Speed Ramp Out

G2.4Speed Step

V1.2.6Speed Reference3

Speed

Reference

Selection

Logic

-

V1.2.10Speed Error

MCW from FB Interface

G2.12Follower Speed Ref

G2.7Emstop Mode

G2.7Stop Function

G2.6Control Place

FB Interface

G2.12M/F Mode

G2.12Follower Sp Ref

V1.2.1Speed Actual

G2.4 SpdRef Filter

6.7 BLOCK DIAGRAMS

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PAGE

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TITLE

Torque Reference Chain

SEL

None

V1.2.16Master TorqueRef

V1.2.17 FB Torque Ref

V1.2.18 Remote Torque Ref

Scaling

G2.4Tref Source Sel

V1.2.19 Torque Ref1

X

V1.2.20 Torque Ref2

G2.4 TRef Filter

G2.4 TRef Hysterisis

G2.4 TRef Dead Zone

V1.2.21 Torque Ref3

+

G2.4Torque Step

V1.2.22 Used Torque Ref

X

G2.1 Magn. Current

G2.4 Flux Reference

Rate Limiter

X

Output

Voltage

Limiter

Rate Limiter

V1.2.33 Id Reference

G2.4 Load Share

+

Load Compensation

From FB

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TITLE

Speed Controller

FILT

V1.2.1 Speed Actual

G2.9 Speed Act Filt

-

DAMPING

G2.10 Oscill Freq

G2.10 Oscill Damp Gain

G2.10 Phase Shift

G2.10 Oscill Damp Sel

G2.9 SPC Kp

G2.9 SPC Ti

G2.9 SPC Kp Min

G2.9 SPC Kp Min Point

G2.9 SPC Kp Min Filt

G2.9 SPC Kp FWP

G2.9 SPC Kp N0

G2.9 SPC Kp N0 Point

G2.9 SPC Kp N1 Point

G2.9 Slip Adjust

G2.9 Warm Motor Slip

SPEED

CONTROLLER

V1.2.10 Speed Error

V1.2.11 SPC OUT

X

G2.9 Mech AccComp TC

FILT

G2.9 Accel Comp Filt

+

V1.2.23 Acc Comp Out

V1.2.31 Iq Reference

V1.2.29 Iq Current Lim+

V1.2.30 Iq Current Lim-

Note:When Torque Select=1 Then P2.4.6Tref Source Sel

is internally set to zero.

V1.2.11 SPC OUT

+

Add

0

Iq Ref (Tref)

V1.2.22 Used Torque Ref

SEL

Min

Max

G2.9 Window Pos RPM

G2.9 Window Neg RPM

G2.9 Window Off Pos

G2.9 Window Off Neg

G2.7 Torque Select

G2.7 Motor Ctrl Mode

d/dt

V1.2.7 Speed Ramp Out

Note:Iq Ref is an internal reference

X

G2.9 Load Drooping

-

V1.2.9 Used Speed Ref

V1.2.24 Droop Speed RPM

V1.2.11 SPC OUT

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TITLE

Fieldbus Interface

Fieldbus Interface

Process Data In1

Process Data In2

Process Data In3

Process Data In4

Process Data In5

Process Data In6

Process Data In7

Process Data In8

Process Data Out1

Process Data Out2

Process Data Out3

Process Data Out4

Process Data Out5

Process Data Out6

Process Data Out7

Process Data Out8

None None

Motor Speed

Speed Reference counts

20000=Speed scaling

Main Control Word

Main Status Word

Motor Torque

Torque Reference Counts

1000=Motor Nominal Torque

Auxilliary Status Word1

Auxilliary Control Word1

Fault Word 1

None

Fault Word 2

Load Share

DI Status Word

Torque Step

Alarm Word 1

Torque Select

None

Master Follower Mode

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Fault

code

Fault

Possible cause

Correcting measures

1
2

3

Earth fault

Current measurement has detected that

Check motor cables and motor.

5

7

Saturation trip

Various causes, e.g. defective component

Cannot be reset from the keypad.

8

9

10

6.8 FAULT TRACING

When a fault is detected by the frequency converter control electronics, the drive is stopped and the

symbol

appear on the display. The fault can be reset with the

F together with the ordinal number of the fault, the fault code and a short fault description

Reset button

on the control keypad or via the I/O

terminal. The faults are stored in the fault history which can be browsed. The different fault codes you
will find in the table below.

The fault codes, their causes and correcting actions are presented in the table below. The shadowed
faults are A faults only. The items written in white on black background present faults for which you
can program different responses in the application. See parameter group Protections.
Note: When contacting distributor or factory because of a fault condition, always write down all texts
and codes on the keypad display.

Overcurrent Frequency converter has detected too

high a current (>4*I

− sudden heavy load increase

− short circuit in motor cables

unsuitable motor

−

Overvoltage The DC-link voltage has exceeded the lim-

its.

− too short a deceleration time

high overvoltage spikes in supply

−

the sum of motor phase current is not
zero.

− insulation failure in cables or motor

Charging
switch

System fault - component failure

Undervoltage DC-link voltage is under the voltage lim-

Input line su-

pervision

The charging switch is open, when the
START command has been given.

− faulty operation

component failure

−

- faulty operation
Note exceptional fault data record.

its.

− most probable cause: too low a supply

voltage

− frequency converter internal fault

Input line phase is missing. Check supply voltage and cable.

) in the motor cable:

n

Check loading.
Check motor.
Check cables.

Make the deceleration time longer. Use
brake chopper or brake resistor (avail-
able as options)

Reset the fault and restart.
Should the fault re-occur, contact the
distributor near to you.

Switch off power.
DO NOT RE-CONNECT POWER!
Contact factory.
If this fault appears simultaneously with
Fault 1, check motor cables and motor
Reset the fault and restart.
Should the fault re-occur, contact the
distributor near to you.

In case of temporary supply voltage
break reset the fault and restart the fre­quency converter. Check the supply
voltage. If it is adequate, an internal fail­ure has occurred.
Contact the distributor near to you.

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11

12

13

14

Frequency con-

°

Check the correct amount and flow of

15

16
17

25

26

30

31

32
34
35

36

37

Note:

38

Note:

39

Note:

40

Output phase
supervision

Brake chopper
supervision

Frequency con­verter under­temperature

verter over­temperature

Motor stalled Motor stall protection has tripped. Check motor.
Motor over
temperature

Motor under­load

Microprocessor

watchdog fault

Prevent of start Start-up of the drive has been prevented.

Safe disable Safe Disable inputs SD1 & SD2 are acti-

IGBT temperature
(hardware)

Fan cooling Cooling fan of the frequency converter

CAN bus com-

munication
Application Application task overload or CPU overload. Reset the power to the control box.
Control unit NXS control unit can not control NXP

Device changed
(same type)

Device added
(same type)

Device removed Option board removed.

Device un- Unknown option board or drive. Contact the distributor near to you.

Current measurement has detected that
there is no current in one motor phase.

− no brake resistor installed

− brake resistor is broken

− brake chopper failure

Heat sink temperature is under –10°C

Heat sink temperature is over 90

Over temperature warning is issued when
the heat sink temperature exceeds 85°C.

Motor overheating has been detected by
frequency converter motor temperature
model. Motor is overloaded.
Motor underload protection has tripped.

− faulty operation

− component failure

This warning occurs when the Run enable
input is low and P2.2.1.11 Prevention of
start is enabled, This is normally enabled
when the external device for the preven-
tion of false is start is used.

vated through the OPT-AF option board.
IGBT Inverter Bridge over temperature
protection has detected too high a short
term overload current

does not start, when ON command is
given
Sent message not acknowledged. Ensure that there is another device on

Power Unit and vice versa
Option board or control unit changed.
Same type of board or same power rating
of drive.
Option board or drive added.
Drive of same power rating or same type
of board added.

Drive removed.

C.

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Check motor cable and motor.

Check brake resistor.
If the resistor is ok, the chopper is
faulty. Contact the distributor near to

you.

cooling air.
Check the heat sink for dust.
Check the ambient temperature.
Make sure that the switching frequency
is not too high in relation to ambient
temperature and motor load.

Decrease the motor load.
If no motor overload exists, check the
temperature model parameters.

Reset the fault and restart.
Should the fault re-occur, contact the
distributor near to you.

Reset the prevention of start switch if
active.

See details from Safe Disable & Atex
manual ud1066
Check loading.
Check motor size.

Contact the distributor near to you.

the bus with the same configuration.

Change control unit

Reset

No fault time data record!

Reset

No fault time data record!

Reset

No fault time data record!

selma application vacon • 93

6

41

42

43

44
Note:
Note:

45
Note:
Note:

50

51

52

53

54

55

optical link between MasterFollower and

56

57

known

IGBT temperature IGBT inverter bridge overtemperature

protection has detected too high a short
term overload current

Brake resistor
over tempera-

ture

Encoder fault Note the exceptional fault data record.

Device changed

(different type)

Device added
(different type)

Analogue input
Iin < 4mA (sel.
signal range 4

to 20 mA)

External fault Digital input fault.
Keypad com­munication
fault
Fieldbus fault The data connection between the fieldbus

Slot fault Defective option board or slot Check board and slot.

Follower com-
munication

PT100 Temp.

overtemperatue

ID run failure ID run could not be completed success-

Brake resistor over temperature protec-
tion has detected too heavy braking

Additional codes:
1 = Encoder 1 channel A is missing
2 = Encoder 1 channel B is missing
3 = Both encoder 1 channels are missing
4 = Encoder reversed
Option board or control unit changed.
Option board of different type or different
power rating of drive.

Option board or drive added.
Option board of different type or drive of
different power rating added.

Current at the analogue input is < 4mA.

− control cable is broken or loose

− signal source has failed

The connection between the control key-
pad and the frequency converter is bro-
ken.

Master and the fieldbus board is broken

This fault can occur only in Follower drive
P2.12.1 M/Fmode =2 (Follower).
Follower drive is not able to receive data
from Master drive on system bus(optical
link).

PT100(1) element/s has sensed overtem-
perature.

fully.

Check loading.
Check motor size.

Set the deceleration time longer.
Use external brake resistor.

Check encoder channel connections.
Check the encoder board.

Reset

No fault time data record!
Application parameter values re-

stored to default.

Reset

No fault time data record!

Application parameter values re-
stored to default.

Check the current loop circuitry.

Check keypad connection and possible
keypad cable.

Check installation.
If installation is correct contact the
nearest Vacon distributor.

Contact the nearest Vacon distributor.

Check the setting of P2.13.25 SBFault
Delay. The default is 0.10sec. Check the

jumper settings on OPT-D2 board in
Vacon option board manual.

OPT-D2 board can be installed only in
slot D or slot E.

Check the temperature of the part
where the PT100 is mounted.
Check parameters P2.2.2.3 to P2.2.2.6,

P2.13.18 to P2.13.20.

Check monitoring signal V1.1.19 ID run
status to find out which part of the ID
run is failed. Redo the ID run.

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58

59

61

62

63

64

Mechanical
brake fault

Motor fan fault Motor fan acknowledgement is not re-

Thermistor Thermistor overtemperature. Thermistor

Run disabled Run Enable digital input is gone low. Check P2.2.1.9,P2.2.1.10.

Emergency
stop

Input SW Open The drive main power is switched off and

Table 51. Fault codes

Mechanical brake lifted signal is not re­ceived within time defined by P2.11.1
Brake life delay after the Run command.
The digital input is selected by P2.2.6 Mo­tor brake acknowledgement OR Brake
open signal is acknowledged when there
is no run command given.

ceived within 5 seconds after run com-
mand.

is connected to OPT-A3 board in slot B.

DIN6 is inactive /low. Check the emergency stop push button

DIN5 is inactive/low.

Check the parameters
P2.13.28 Mechanical brake fault
P2.2.6 Motor brake acknowledgement
P2.11.1 Brake lift delay
Check the Motor brake circuit.

Check P2.2.1.7 .
Check motor fan connection.

Check the temperature of the area
where the thermistor is mounted.
Check the connection of the thermistor

to OPT-A3.

Reset the run enable input.

connected to DIN6.

Check P2.210 Emergency stop control.
Check the main power switch of the
drive.
Check P2.2.8 Run Enable control as per
the description in the manual.

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R2

R13

7. APPENDIX 1

If the communication does not work, check the type of the resistors described below:

Selma 4CMO board

Resistors

R2 and R13

Size Code
100 Ω = 4Y101G (Wrong size)
1 k Ω = 4Y102G (Right size)

Some 4CMO boards may have wrong resistors, the correct size is

1kΩ and type 4Y102G.

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S5

S5

8. APPENDIX 2

4CMO board jumper settings: (see also chapter 3.1.1)

a b c

S9

= ACTIVE

a b c

a b c

S9

= PASSIVE

a b c

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Find your nearest Vacon office

on the Internet at:

www.vacon.com

Manual authoring:
[e-mail]

Vacon Plc.
Runsorintie 7
65380 Vaasa
Finland

Subject to change without prior notice
© 2011 Vacon Plc.

Document ID:

Rev. A