Microcom Technologies GpLV, Gp User Manual

User Guide

Part Number: 0451-0024

Issue Number: 2

COMMANDERGGpp

model sizes 1 to 4

0.75kW to 110kW
(1HP to 150HP)

COMMANDERGGpp LVLV

model sizes 1 to 3

0.37kW to 22kW
(0.5HP to 30HP)

General Purpose Variable Speed Drive

for induction motors

General information

The manufacturer accepts no liability for any
consequences resulting from inappropriate ,
negligent or incorrect installation or adjustment of
the optional operating parameters of the equipment
or from mismatching the variable speed drive
(Drive) with the motor.

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

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

Important...

Drive software version

This product is supplied with the latest version of
user-interface and machine-control software. If this
product is to be used with other Control Techniques
variable speed drives in an existing system, there
may be some differences between their software
and the software in this product. These differences
will cause a difference in functions. This may also
apply to variable speed drives returned from a
Control Techniques Service Centre.

If there is any doubt, contact a Control Techniques
Drive Centre.

Copyright © March 2000 Control Techniques Drives Ltd

Author: RFD

Issue Code: gpxu2

Issue Date: March 2000

S/W Version: V03.XX.07 onward

Contents

Chapter

1 Introduction 1-1

1.1 How this User Guide can help you 1-1

1.2 Model sizes 1-1

1.3 Configuration layers 1-2

1.4 Default configurations 1-2

1.5 Operating mode 1-2

1.6 User-interface modes 1-2

1.7 Macro configurations 1-3

1.8 Plug-in option modules 1-4

1.9 Serial communications 1-4

2 Getting Started 2-1

2.1 How to use this chapter 2-1

2.2 Making signal and power connections 2-1

2.3 Introduction to the display and keypad 2-6

Display and keypad 2-6
Resetting the Drive 2-7

2.4 Working with software parameters 2-7

Parameters 2-7
Types of parameter 2-7
Adjusting parameter values 2-7
Making new values effective, and saving

them 2-7
Parameter 0.00 2-8

2.8 Setting up operating limits 2-15

Minimum and maximum frequencies 2-15
Acceleration rate 2-15
Deceleration rate 2-15
Braking resistor 2-15
Torque producing current limit 2-16
Voltage-control modes 2-16
Boost voltage 2-17
Voltage/frequency characteristic 2-17

3 Setting Up the Drive

(Macro Configurations) 3-1

3.1 How to use this chapter 3-1

3.2 Enabling a different macro configuration3-1

3.3 Macro 0

(default configuration)

3.4 Macro 1

3.5 Macro 2

3.6 Macro 3

3.7 Macro 4

3.8 Macro 5

3.9 Macro 6

3.10 Macro 7

General purpose

Easy mode
Motorized potentiometer
Preset frequencies
Torque control
PID (set-point control)
Axis-limit control
Brake control

3-2

3-9
3-15
3-21
3-27
3-33
3-38
3-45

2.5 How macro configurations change the
arrangement of the Menu 0 parameters 2-8

2.6 Initial setting up 2-9

Restoring the Drive to a default
configuration 2-9

Enabling Macro 1 2-10
Configuring the Drive for the motor 2-10
Autotune 2-12
Changing the user interface mode 2-12

2.7 Operating instructions 2-13

Terminal mode 2-13
Keypad mode 2-14
Trip and enable 2-14

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Appendix

A Programming Instructions A-1

A.1 Electrical connections A-1
A.2 Preparation A-1
A.3 Status mode A-2
A.4 Displaying the parameter

number in Status mode A-2

A.5 Entering Parameter mode

and returning to Status mode A-2

A.6 Selecting a parameter to access A-3
A.7 Changing the value of a parameter A-4
A.8 Saving new parameter values A-6
A.9 Flashing and non-flashing digits A-6
A.10 Negative values A-6
A.11 Changing the setting

of a bit parameter A-6

A.12 Selecting a different option A-7
A.13 Restoring the Drive to a default

configuration A-7

A.14 Summary of key operation A-7

B Security B-1

B.1 User-defined Security B-1
B.2 Setting-up User Security B-1
B.3 Unlocking User Security B-1
B.4 Locking User Security B-1
B.5 Summary B-1

C Signal Connections C-1
D Menu 0 Parameters D-1

D.1 Introduction D-1
D.2 Fixed-function parameters common

to all macro configurations D-2

D.3 Parameters specific to the macro

configurations D-8

E Diagnostics E-1

E.1 Status indications E-1
E.2 Alarm indications E-1
E.3 Trip codes E-2

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1 Introduction

1.2 Model sizes

This User Guide refers to the models listed below.

1.1 How this User Guide

can help you

If this is your first encounter with a
Commander Gp Drive, read this User Guide
before referring to the accompanying
Installation Guide.

This User Guide is arranged on a step-by-step basis
to lead you through the following:

• Learning how to operate the Commander

Gp (Drive)

• When to refer to the Installation Guide

• Setting up the Commander Gp for basic

applications

Advanced programming of the
Commander Gp

For advanced programming of the Commander Gp,
refer to the Commander Gp Advanced User Guide. This
contains descriptions of all the advanced
parameters, as well as additional information, and
can be obtained from the Drive Centres and
distributors listed at the end of this User Guide.

The advanced parameters in software version
V03.01.07 onward can be accessed by use of the
UD71 Basic serial communications large option module
(see Serial communications later in this chapter).

Model size Model code Nominal

rating for

standard AC

motors

kW

at 380VHPat 460V

GPD 1401 0.75 1.0
GPD 1402 1.1 1.5
GPD 1403 1.5 2.0
GPD 1404 2.2 3.0
GPD 1405 4.0 5.0

GPD 2401 5.5 7.5
GPD 2402 7.5 10
GPD 2403 11.0 15

GPD 3401 15.0 25
GPD 3402 18.5 30
GPD 3403 22.0 30
GPD 3404 30.0 40
GPD 3405 37.0 50

GPD 4401 45.0 75
GPD 4402 55.0 100
GPD 4403 75.0 125
GPD 4404 90.0 150
GPD 4405 110.0 150

Variable speed drives may be
hazardous if misused. Carefully
follow the instructions in this

Warning

User Guide and the Installation
Guide.

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Model size Model code Nominal rating

for standard

AC motors

KW

at 380VHPat 460V

GPD 1201 0.37 0.5
GPD 1202 0.55 0.75
GPD 1203 0.75 1.0
GPD 1204 1.1 1.5
GPD 1205 2.2 3.0

GPD 2201 3.0 4.0
GPD 2202 4.0 5.0
GPD 2203 5.5 7.5

GPD 3201 7.5 10
GPD 3202 11 15
GPD 3203 15 20
GPD 3204 22 30

Introduction 1-1

1.3 Configuration layers

1.5 Operating mode

The Drive has three layers of configuration, starting
from the base layer (1) as follows:

1. Default configuration

2. User-interface mode

3. Macro configuration

Each of the upper layers (2, 3) is superimposed on its
preceeding layer.

1.4 Default configurations

The Drive has a separate default configuration for the

AC supply conditions in Europe or in the USA. These

two default configurations are distinguished as
follows:

European
USA

The Drive is despatched from the factory in the
appropriate default configuration for the continent
in which it is to be sold. The default configuration
is Macro 0 (described in Macro configurations later in
this chapter).

The default configuration also defines the following
functions:

Europe

• Ability to select positive-logic for the digital

• Ability to adjust the current-loop PI gains

USA

• Ability to select digital control by two or

• Frequency demand indication

(These functions apply to Macro 0 only.)

Key used in this User Guide

AC supply voltage at 50Hz

AC supply voltage at 60Hz

control inputs

three wires

For use with standard AC induction motors.

The Drive applies power to the motor at frequencies
which are controlled by the user. The motor speed
is a result of the output frequency of the Drive and
slip due to the mechanical load.

The Drive can power a number of motors connected
in parallel (each motor must be protected against
overload; this is described in the Installation Guide).

The Drive can improve the performance of the
motor by applying the following:

• Slip compensation

• Fixed boost or Open-loop Vector operation

Fixed boost applies a fixed voltage boost at low

frequencies.
Open-loop Vector operation maintains almost

constant flux by dynamically adjusting the
motor voltage according to the load on the
motor.

1.6 User-interface modes

The motor can be started and stopped, the
direction of rotation reversed and the speed
changed by operation of the Drive in either of the
following user-interface modes:

Terminal mode

Applying signals from electrical contacts, a
system controller or PLC to digital and analog
inputs on the Drive.

For the USA default configuration, the Drive can
be configured for digital control by momentary
contacts.

Keypad mode

Manual operation of the keypad on the front
panel of the Drive. Minimal signal connections
are made to the Drive.

The following key denotes the default
configuration:

EUR> 50Hz AC supply (Europe)
USA> 60Hz

When no key is stated, the information applies to
both default configurations.

AC supply (USA)

1-2 Introduction

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1.7 Macro configurations

The Drive can be used to control the motor speed in
various ways for different types of application. To
reduce the number of adjustments to the Drive for
each type of application, eight macro configurations
(0 to 7) are available.

Macro 3
Preset frequencies

Four preset frequencies that are selected by external
contacts.

The macro configuration can be used in Terminal
mode only.

Each macro configuration requires specific signal
connections to be made to the Drive.

The macro configurations are as follows:

Macro 0
General purpose (default configuration)

Analog frequency control for general-purpose
applications.

The output frequency of the Drive is controlled by a
frequency reference. The motor speed will follow the
frequency reference so long as the maximum
permissible output current of the Drive is not
exceeded. These principles also apply to all other
macro configurations except Macro 4.

The macro configuration can be used in either
Keypad or Terminal mode.

The frequency can be controlled in either of the
following ways...

• Terminal mode: An analog frequency

reference signal applied to the Drive

• Keypad mode: By a user pressing keys on

the front panel of the Drive

Macro 1

Easy mode

Frequency control for basic applications. This is
similar to Macro 0, except, for simplicity, fewer
adjustments are required.

The macro configuration can be used in either
Keypad or Terminal mode.

The principles of controlling motor speed are the
same as for Macro 0.

The principles of controlling motor speed are the
same as for Macro 0.

Macro 4
Torque control

The motor torque is defined by a torque demand.
The motor speed will vary continuously as a result
of the difference between the load torque and the
torque demand up to a maximum speed which is
defined by a speed over-ride level.

The torque demand is supplied by an analog torque
reference signal that is applied to the Drive.

The macro configuration can be used in Terminal
mode only.

Macro 5
PID control

The Drive is operated with a frequency reference
and an analog feedback device in order to
dynamically maintain the speed to a user-defined
set-point under PID control.

The macro configuration can be used in Terminal
mode only.

The principles of controlling motor speed are the
same as for Macro 0.

Macro 6

Axis-limit control

Axis-limit control is used for applications which
require the process to be automatically stopped
when a position limit has been reached. A bipolar or
unipolar frequency reference can be used.

The macro configuration can be used in Terminal
mode only.

Macro 2
Motorized potentiometer

The frequency is controlled incrementally by
operation of up and down contacts.

The macro configuration can be used in Terminal
mode only.

The principles of controlling motor speed are the
same as for Macro 0.

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The principles of controlling motor speed are the
same as for Macro 0.

Macro 7

Brake control

Frequency control with brake control for crane or
hoist applications.

The macro configuration can be used in Terminal
mode or Keypad mode.

The principles of controlling motor speed are the
same as for Macro 0.

Introduction 1-3

1.8 Plug-in option modules

Operation of the Drive can be extended by the use
of plug-in option modules. The following modules
are available from the supplier of the Drive; an
appropriate User Guide is included with each
module:

Small option modules

UD50 Additional I/O
UD55 Cloning (parameter copying)

Large option modules

UD71 RS232/RS485 serial

communications

1.9 Serial communications

The Drive can be configured and fully controlled
from a system controller or PLC operating on a
RS232 or a 4-wire RS485 serial communications link.
A Basic serial communications large option module
must be fitted in the Drive. More information can
be obtained from a Drive Centre or distributor
listed at the end of this User Guide.

Serial communications can be used in conjunction
with Terminal mode or Keypad mode.

1-4 Introduction

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User interface

Display and
keypad

External
control and
monitoring
(analog and
digital)

User
control

Frequency reference
selection

Minimum and maximum
frequency limits

Monitoring

Current limit
Stop mode
Spinning motor sync.

Functions of the software

(controlled by the macro configurations)

Skip frequencies

Acceleration and
deceleration ramps

Voltage control

Motor parameters

S-ramp

PWM switching
frequency

Drive

Control

Monitoring

AC supply

DC bus

Power circuits

Figure 1–1 Block diagram of the Drive showing the main functions of the software,

and power connections (signal connections vary according to the
macro configuration)

Optional braking

resistor

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Introduction 1-5

1-6 Introduction

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2 Getting Started

2.2 Making signal and power
connections

2.1 How to use this chapter

It is recommended that you follow the instructions
in this chapter in the order that they appear. You
will be led through the initial stages of setting up
the Drive (in Macro 1 Easy mode) as well as being able
to familiarize yourself with operating the Drive.

The Drive must be operated
only by personnel having the

Warning

Warning

Warning

Warning

necessary training or
experience.

If this is the first time the
Drive has been operated,
ensure that no damage or
safety hazard could arise from
the motor starting
unexpectedly.

The motor must be fixed down
and the shaft guarded against
inadvertent contact.

Do not change parameter
values without careful
consideration; wrong values
may cause damage or a safety
hazard.

Stored charge

Warning

The Drive contains capacitors
that remain charged to a
potentially lethal voltage after

AC supply has been

the
disconnected. If the Drive has
been energized, the
must be isolated at least
ten minutes before work may
continue.

AC supply

Isolation

Warning

For instructions on removing the terminal covers,
see Mounting the Drive and RFI filter in Chapter 2
Installing the Drive in the Installation Guide.

The control circuits and
terminals are isolated from the
power circuits only by basic
insulation to IEC664–1. The
installer must ensure that all
external control circuits are
separated from human contact
by at least one layer of
insulation rated for use at the

AC supply voltage.

Notes

Keep a note of changes

When changing the values of parameters,
make a note of the new values in case they
need to be entered again.

Saving the changes

For new parameter-values to apply after

AC supply to the Drive is interrupted,

the
new values must be saved. This is described
in Saving new parameter-values in Appendix A
Programming Instructions.

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Figure 2–1 Removing the terminal covers for

access to the connectors

Getting Started 2-1

111

21 31

Figure 2–2 Location of the signal connector

1. Observe the safety warnings and cautions given

in Chapter 1 Safety information of the Installation
Guide and in this chapter.

2. Refer to the following:

• Chapter 2 of the Installation Guide in order

to install the Drive

• Figure 2–2 for the location of the

signal connector

• Figure 2–3 for the locations of the

power connections

• Figure 2–5 or 2–6 in this chapter in order to

make the signal and power connections for
operation in Terminal or Keypad mode.
Note that Macros 2, 3, 4, 5, 6 operate only in
Terminal mode. If one of these macro
configurations is to be enabled after the
initial setting up covered in this chapter, you
may wish to set up the Drive now in
Terminal mode in order to learn how to
operate it in this mode.

Signal connector for all models The two

terminal blocks of the signal connector can be
unplugged from the Drive by pulling them
downward.

Figure 2–3 Locations of the power connectors

Power connector for model sizes 1

and 2 The power connector can be unplugged

from the Drive by pulling it downward.

Power connections to model sizes 3

and 4 The power connections are made to
M10 studs located in the power section of the
Drive.

3. Note that the default user-interface mode is

as follows:

Continent User-interface

mode

EUR Terminal

USA Keypad

(Instructions for changing the user-interface

mode are given later.)

2-2 Getting Started

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4. When connecting a motor to the Drive, observe

the following:

• Preferably the motor should be identical to

the motor that is to be used in the
application, but this is not essential.

• The motor shaft must not be attached to

any equipment, or exposed.

5. No motor thermistor connection is required at

this stage, but a thermistor will be required
later if the Drive is to be operated in any macro
configuration except Macros 1 and 5. When
Macro 1 or Macro 5 is enabled, the thermistor is
ignored by the Drive. (Instructions for
connecting a motor thermistor to the signal
connector are given for each macro
configuration in Chapter 3 Setting Up the Drive.)

After having made control
connections, carefully check

Warning

that terminal 30 is open-circuit
to ensure the Drive is in the
Stop state when the

AC supply

is first connected.

6. After re-fitting the terminal cover, connect the

Drive to the

AC supply.

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Getting Started 2-3

Refer to the Installation Guide for
cable sizes and fuse ratings

Status relay

Drive healthy

Analog frequency reference 1
(remote)

Connections for

single-ended input

Connections for

differential input signal

Analog frequency
reference 2
(local)

SPEED

TORQUE

signal

0V common

0V common

0V common

Signal
connector

Power

terminals

Optional
RFI filter

Thermal
protection
device

Stop

Optional braking resistor

Refer to the Installation Guide for sizing
of the optional braking resistor

Start /
Reset

0V common

AT SPEED

RESET
JOG SELECT
RUN FORWARD
RUN REVERSE

LOCAL / REMOTE

External trip

REMOTE
LOCAL

0V common

Figure 2–5 Power connections, and signal connections for Terminal mode (Macro 1 only)

2-4 Getting Started

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Refer to the Installation Guide for
cable sizes and fuse ratings

Status relay

Drive healthy

SPEED

TORQUE

0V common

Signal
connector

Encoder

Power

Optional
RFI filter

Thermal
protection
device

Stop Start /

Optional braking resistor

Refer to the Installation Guide for sizing
of the optional braking resistor

Reset

0V common

AT SPEED

RESET

External trip

0V common

Figure 2–6 Power connections, and signal connections for Keypad mode (Macro 1 only)

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Getting Started 2-5

2.3 Introduction to the
display and keypad

Display and keypad

The display and keypad are used for the following:

• Reading and changing the values of software

parameters that are used to configure,
control and monitor the Drive

• Displaying the operating status of the Drive

• Displaying fault and trip codes

Upper display
Lower display

Programming keys

Control keys

Run Stop

Reset

Figure 2–7 Display and keypad

Forward /
Reverse

Programming keys

These are used for the following:

• Changing the mode of operation of the

display

• Selecting a parameter to edit

• Editing the selected parameter

• Saving new values given to parameters

The functions of the programming keys are as
follows:

Change the display mode

Select a parameter
Increase the value of a digit

Select a parameter
Decrease the value of a digit

Display the parameter number
Select the next left display digit

Display the parameter number
Select the next right display digit

Control keys

The functions of the control keys are as follows:

Display

The display has three display modes as follows...

• Status mode

Used to indicate the status of the Drive

• Parameter mode

Used for selecting a parameter to edit

• Edit mode

Used for editing the selected parameter

... and shows the following:

Display Display mode

Status Parameter Edit

Upper Value of

parameter (

Lower Status of the

Drive

Value of

0)

parameter (0)

Parameter
number (0.10)

rdY

Operating instructions for the display and keypad
are given in Appendix A Programming Instructions.

Value of
parameter (0)
(selected digit
flashes)

Parameter
number (0.10)

(RUN) Start the Drive running.

The RUN key is active only when the Drive is

operating in Keypad mode (parameter 0.05
Reference select set at 4).

(STOP–RESET) The three functions of

this key are as follows:

• Stop the Drive

• Reset the Drive after it has tripped

• Make new parameter-values take effect

The STOP-RESET key is active when the Drive

is operating in Keypad mode. This key acts only
as RESET when the Drive is operating in
Terminal mode (parameter 0.05 Reference select
set at 0, 1, 2, 3 or 5).

(FWD/REV) Change the direction of

rotation of the motor. (This is not enabled by
default, and is described later in this chapter in
Enabling reverse direction in Keypad mode.)

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Resetting the Drive

Types of parameter

Terminal mode

When the Drive is stopped, press:

Alternatively, close the RESET contact (see
Figure 2–5).

Keypad mode

When the Drive is stopped, press:

When the Drive is running, press and hold...

... then press:

Release both keys at the same time.

2.4 Working with
software parameters

Parameters

The software parameters are contained in a menu
named Menu 0. Each parameter has a number as
well as a name. These are represented in this User
Guide as (for example, parameter 03 in Menu 0):

0.03 Acceleration rate

When the value of a parameter is referred to, it is
indicated as [0.03].

Variable and bit parameters

There are two types of parameter, as follows:

• Bit parameters

• Variable parameters

Bit parameters can be set at 0 or 1 to carry out the
following:

• Enable and disable functions

• Select from two options

Variable parameters can be set at any value within
the specified range to carry out the following:

• Enter values

• Select from more than two options

No distinction is made in the parameter numbering
system between variable and bit parameters. When
a bit parameter is selected on the Drive display, the
word bit appears.

Read–write and read-only

Both types of parameter can be as follows:

• Read–write (

• Read-only (

Read–write parameters are programmable by the
user. Read-only parameters are for information
purposes; they cannot be programmed.

The settings of read–write and read-only
parameters can be read on the display or remotely
using serial communications.

RW)

RO)

Adjusting parameter values

Instructions on adjusting parameter values are given
in Appendix A Programming Instructions.

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Making new values effective,
and saving them

The new value of most parameters takes effect as
soon as it is entered. Some parameters (such as the
destination-selection parameters for the analog
inputs) require the Drive to be reset before their
new values take effect.

Unless a save procedure is carried out, the new value
will be lost when the
the Drive (described in Saving new parameter-values
in Appendix A Programming Instructions).

AC supply is disconnected from

Getting Started 2-7

Parameter 0.00

Parameter 0.00 is a special read–write parameter
that is used for the following:

• Saving new values given to parameters

• Controlling security

• Enabling macro configurations

These functions are controlled by the user entering
specific values, as shown below:

Value Function

Saving new parameter-values

The Drive can be running or stopped

(described in Appendix A Operating Instructions)

1000

Controlling security

The Drive can be running or stopped

(described in Appendix B Security and Accessing the
Advanced Parameters)

0 ~ 255 User security code

2000 Lock security

Restoring the Drive to a default configuration

The Drive must be stopped

(described later in this chapter)

1233 Restore default values to all parameters for

1244 Restore default values to all parameters for

Selecting Macros 0 to 7

The Drive must be stopped

(described in Chapter 3 Setting Up the Drive)

2001 Macro 1 Easy mode
2002 Macro 2 Motorized potentiometer
2003 Macro 3 Preset speeds
2004 Macro 4 Torque control
2005 Macro 5 PID (set-point) control
2006 Macro 6

2007 Macro 7

2009 Macro 0 General purpose

2010 Macro 0 General purpose

The Drive must be reset to make a newly selected
function or configuration take effect.

50Hz

AC supply frequency (Europe)

60Hz

AC supply frequency (USA)

Axis-limit control

Brake control

(USA default configuration)

(EUR default configuration)

2.5 How macro configurations
change the arrangement of
the Menu 0 parameters

Note

Do not confuse the term Macro with the
term Menu. Menu 0 contains parameters;
macro configurations re-define some of
these parameters to perform specific
functions. Menu 0 always exists, but is
affected by the macro configuration that is
enabled.

Only one macro configuration can be
enabled at a time.

Menu 0 contains 51 parameters which are arranged
in four groups, as shown in Figure 2–8.

Common to
all macros

Configuration and saving

parameter

Fixed-function parameters

Specific to
each macro

0.11 ~ 0.30

Re-programmable parameters

Common
to all
macros

Fixed-function parameters

Figure 2–8 How the Menu 0 parameters are

grouped and the relationship with
the macro configurations

0.00

0.01 ~ 0.10

Macro 0

1

0.31 ~ 0.50

7

6

5

4

3

2

Instructions for using parameter 0.00 are given at
the appropriate places in this User Guide

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Macro 0

2.6 Initial setting up

When Macro 0 is enabled, the re-programmable
parameters have their default functions.

Macro 1

When Macro 1 Easy Mode is enabled, none of the
re-programmable parameters are available.

Macros 2 to 7

When one of these macro configurations is enabled,
the functions of some re-programmable parameters
are specific to the macro configuration.

Other factors that affect the
re-programmable parameters

In addition to the changes caused by the macro
configurations, the functions of some
re-programmable parameters are changed by the
default configuration of the Drive (EUR or USA)

These are are shown in Appendix D Menu 0

Parameters.

Where to find information on
parameters

The functions of the parameters are listed for each
macro configuration in Chapter 3 Setting Up the Drive.

The functions of the parameters for each macro
configuration are described in detail in Appendix D
Menu 0 Parameters.

Noting the user values

A parameter table for each macro configuration in
Chapter 3 Setting Up the Drive has a column for you
to note the values entered in the parameters.

Restoring the Drive
to a default configuration

Do not attempt to restore the
Drive to a default
configuration when the Drive is

Warning

Restoring the Drive to a default configuration is not
essential for initial setting up, but should be used
for achieving the following:

• When one of the macros 2 to 7 is currently

• Intentionally restoring all parameters to

• Changing (or re-applying) the default

1. Enter either of the following values in

parameter 0.00:

EUR> (Europe, 50Hz
USA> (USA, 60Hz

running.
Restoring the Drive to a

default configuration enables
Macro 0 and returns all
parameters to their default
values including the motor
parameters. (If any one of the
macros 1 to 7 has been enabled,
the Drive still reverts to
Macro 0.)

After restoring the Drive to a
default configuration, it will be
necessary for the required
parameter values to be
re-entered before the Drive is
next run.

enabled, and a different macro
configuration is required

their default values (this includes the motor
parameters)

configuration for the continent in which the
Drive is to be used

AC supply): 1233

AC supply): 1244

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2. Press

3. Set 0.00 at 1000.

4. Press

(RESET key).

(RESET key).

Getting Started 2-9

The following conditions now apply:

• All the default values (including those of the

motor parameters) take effect

• Macro 0 is enabled

If required, any other macro configuration can be
enabled.

Enabling Macro 1

Do not attempt to enable any
macro configuration when the
Drive is running.

Warning

Note

If the Drive is to be operated in Macro 1 or
5 and a braking resistor is to be used, now
set parameter 0.15 at FASt. Then follow
the instructions below.

The setting of parameter 0.15 must be
changed now because the function of this
parameter is changed when one of these
macro configurations is enabled.

1. Set parameter 0.00 at 2001.

2. Reset the Drive.

The configuration layers (see Chapter 1 Introduction)
are now as follows:

1. Appropriate default configuration for the

continent (EUR or USA)

2. Macro 1 Easy mode

Configuring the Drive for the motor

The values of the motor
parameters affect the

Warning

Caution

protection of the motor and
the safety of the system.

When entering values, make
sure they are relevant to the
motor that is to be used. The
default values in the Drive
should not be relied upon.

The motor parameters should
be set to within 10% of the
required values for the motor.
Failure to do this may result in
poor response.

It is essential that the correct
value is entered in parameter

0.46 Motor – rated current. This
affects the thermal protection
of the motor.

Keep a note of the values given
to the motor parameters, since
motor parameters are restored
to their default values when
the Drive is restored to a
default configuration (this
must be done if the Drive has
been used with Macro 2 to 7
enabled and a different macro
configuration is to be enabled)

2-10 Getting Started

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Enter the motor ratings in the motor parameters of

Model

GPD 3201

GPD 3401

GPD 3402

GPD 3202

GPD 3403

GPD 3203

GPD 3404

GPD 3405

GPD 3204

GPD 4401

GPD 4402

GPD 4403

GPD 4404

GPD 4405

the Drive, as follows:

Default value Range Unit

0.41 PWM switching frequency

3 3, 4.5, 6, 9, 12 kHz

0.42 Motor – number of poles

4 2 ~ 32 poles

0.43 Motor – power factor

0.92 0 ~ 1.0

(See Autotune later in this chapter)

0.44 Motor – rated voltage (Standard models)

400 (EUR)460 (USA) 0 ~ 480 V

0.44 Motor – rated voltage (LV models)

220 0 ~ 240 V

Enter the rated value.

0.45 Motor – rated speed

0 0 ~ 6000 RPM

When 0.45 is set at 0, no slip compensation is applied by
the Drive. When a value greater than zero is entered, slip
compensation is applied but instability can occur with
motor loads that have predominant inertia. To avoid this
instability, set 0.45 at 0. The value can be changed at a
later time.

0.46 Motor – rated current

FLC
(see the following Values
of FLC table)

Ensure that the motor current-rating applies to the
winding configuration used.

0.47 Motor – rated frequency

50 (EUR) 60 (USA) 0 ~ 1000.0 Hz

Enter the rated value.

0 ~ FLC A

When the number of motor poles
is not known

Example

Rated motor speed: 1450 RPM

AC

supply frequency: 50Hz

P ==

××==50 120

1450

414.

Therefore, the number of poles = 4

(The inaccuracy of the calculation is caused by slip,
in this case 50

RPM.)

Values of FLC

Model FLC (A)

GPD 1201
GPD 1401

GPD 1202
GPD 1402

GPD 1203
GPD 1403

GPD 1204
GPD 1404

GPD 1205
GPD 1405

GPD 2201
GPD 2401

GPD 2202
GPD 2402

GPD 2203
GPD 2403

2.1

2.8

3.8

5.6

9.5

12

16

25

FLC (A)

34

40

46

60

70

74
96

124

156

180

202

Saving the values

Use the following procedure:

1. Set parameter 0.00 at 1000.

Calculate the number of poles from the following:

f

120

××

P

==

N

Where:

AC supply frequency

f
N Rated full-load speed of the motor

The number of poles will be the whole number
immediately below the value of P. Enter this whole
number in 0.42.

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2. Press

. The display returns to Parameter
mode. Do not press any keys within eight
seconds; the display then enters Status mode.

3. Momentarily press

to reset the Drive.

Getting Started 2-11

Autotune

Autotune is a sequence of tests performed by the
Drive. The results of the tests are subsequently
used by the Drive for controlling the motor.

Autotune should be used after the motor
parameters have been entered, but before the Drive
is used. Normally (and if the motor is not changed),
Autotune needs performing only once.

During the following
procedures, the Drive will

Warning

Note

To stop the test at any time, press .
The motor will then coast to a stand-still
and the test will not be completed.

If the Drive trips

If the Drive trips during the test, note the trip code
that appears on the upper display and refer to
Appendix E Diagnostics. The test will not be
completed.

Direction of rotation

power the motor and cause
the shaft to rotate at up to

2

/3 full speed. Before
starting, make sure it will be
safe for the motor to be run.

1. Ensure the motor is unloaded and at a stand-still.

2. Ensure the EXTERNAL TRIP contact is closed.

3. Follow this step only if the Drive has previously

been set up and both of the following have
occurred...

• The setting of parameter 0.07 Voltage mode

selector has been changed to Ur

• A different motor is now connected to the

Drive

... change the setting of parameter 0.07 to

Ur_I. (See Open-loop voltage control modes later
in this chapter.)

4. Disconnect, then after at least 10 seconds,

re-connect the
to measure the stator resistance of the motor
— it is essential for the Drive to be aware of the
actual value of stator resistance for Autotune
to be performed correctly).

5. Set parameter 0.40 Autotune enable at 1. The

following tests are performed:

• The motor is accelerated up to two-thirds

rated frequency in the forward direction
while the magnetizing current is measured

• The motor is decelerated to a stand-still

6. Parameter 0.43 Motor – power factor is

automatically updated.

7. Parameter 0.40 is automatically returned to zero.

AC supply (this causes the Drive

Saving the values

1. Set parameter 0.00 at 1000.

Stored charge

Warning

The motor shaft should rotate clockwise as viewed
from the free end of the shaft during Autotune. If
the shaft rotates in the reverse direction, stop the
test, remove the
connections. If required, change the motor phase
connections and repeat Autotune.

Procedure

The Drive contains capacitors
that remain charged to a
potentially lethal voltage after

AC supply has been

the
disconnected. If the Drive has
been energized, the
must be isolated at least
ten minutes before work may
continue.

AC supply and check the motor

AC supply

Note

If the settings of parameters 0.41 to 0.47
are changed by a user after Autotune has
been performed, it is essential that
Autotune is repeated.

2-12 Getting Started

2. Press

mode. Do not press any keys within eight
seconds; the display then enters Status mode.

3. Momentarily press

. The display returns to Parameter

to reset the Drive.

Changing the user-interface mode

Change the user-interface mode, as required. If jog
is required, select Terminal mode (jog is available
only in Macros 0, 1, 4).

User-interface mode Set parameter 0.05 at...

Terminal 0

Keypad 4

Note

The main function of parameter 0.05 is a
reference selector which has other settings
that operate the Drive in Terminal mode.
At this stage, do not use any of these other
settings.

Use of parameter 0.05 is described for
Macros 0 and 1 in Chapter 3 Setting Up the
Drive.

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2.7 Operating instructions

Before completing the initial setting up of the Drive,
you will need to learn how to operate it. Refer to
the following instructions for Terminal mode or
Keypad mode, as appropriate.

Terminal mode

Variable frequency

In Terminal mode (with Macro 1), the Drive can
control the motor as follows:

• Run (forward and reverse)

• Jog/Preset frequency (forward and reverse)

1. Ensure the control signal connections shown in

Figure 2–5 are made.

2. Check that the FREQUENCY potentiometer is
set at minimum.

3. Ensure that the EXTERNAL TRIP contact is
open.

4. Connect the Drive to the

5. The display indicates as follows:

6. Close the EXTERNAL TRIP contact.

7. Press

contact.

8. The display indication changes as follows:

or momentarily close the RESET

AC supply.

11. Advance the FREQUENCY potentiometer.

12. The value shown by the upper display increases

accordingly, and the motor speed increases.

13. Open the RUN FORWARD contact. The

following occur:

• The value of the upper display reduces

to zero

• The lower display shows dEC, then rdY

• The motor speed reduces to zero

14. If required, repeat steps 10 to 13 using the
RUN REVERSE contact.

If you do not require the use of jog / preset
frequency, go to Trip and Enable later in this
chapter

Jog/Preset frequency

The jog function can be used alternatively as a
preset frequency. The default value is 1.5Hz.

1. Close the JOG/PRESET SELECT contact. Then
close the RUN FORWARD contact. It is
essential that the contacts are closed in this
order, otherwise the Drive will run forward (or
reverse) normally at variable speed.

The display indicates a fixed low speed that

cannot be changed by the FREQUENCY
potentiometer. The motor runs at this low
speed.

2. Open the RUN FORWARD contact to stop
the Drive.

9. Ensure parameter 0.10 Motor speed is displayed

(default).

10. Close the RUN FORWARD contact. The display

indicates as follows:

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3. If required, repeat steps 1 and 2 using the
RUN REVERSE contact.

4. If the JOG/PRESET SELECT contact is opened

before the RUN FORWARD or RUN REVERSE
contact, the motor speed will become
controlled by the FREQUENCY potentiometer.

Go to Trip and Enable later in this chapter

Getting Started 2-13

Keypad mode

Motor direction in Keypad mode

In Keypad mode (with Macro 1), (FWD/REV) is
disabled by default; the Drive can control the motor
in the forward direction only. For reverse
operation, see the Commander Gp Advanced User Guide.

9. Press

10. The upper display should indicate zero; the

lower display will indicate as follows:

to start the Drive running.

Variable frequency

1. Ensure the control signal connections shown in

Figure 2–6 are made.

2. Ensure that the EXTERNAL TRIP contact is open.

3. Connect the Drive to the

4. The display indicates as follows:

5. Close the EXTERNAL TRIP contact.

6. Press

7. The display indication changes as follows:

AC supply.

11. Press to increase the speed. The value
of the upper display increases and the motor
speed increases.

12. Press
of the upper display decreases and the motor
speed decreases.

When the Drive is configured to accept a

bipolar speed reference, continuing to press
this key after the motor has stopped will cause
the speed to increase in the reverse direction.
(For operation with a bipolar speed reference,
see the Commander Gp Advanced User Guide.)

13. If
speed at a convenient value and then press this
key. The speed reduces to zero then increases
to the set value in the opposite direction.

14. Press
occur:

• The value of the upper display reduces

to zero

• The lower display shows dEC, then rdY

• The motor speed reduces to zero

to decrease the speed. The value

(FWD/REV) has been enabled, set the

to stop the Drive. The following

Ensure parameter 0.10 Motor speed is displayed
(default).

If the Drive has been used
previously in keypad mode,

Warning

check that the value of
parameter 0.35 is zero
before proceeding with the
next step. If it is not zero,
use the speed control keys as
appropriate to set
parameter 0.35 at zero.

If parameter 0.35 is not
zero, when the Drive is
started it will immediately
accelerate to the speed set
in this parameter.

2-14 Getting Started

Trip and enable

1. If the Drive trips, and a motor is connected, the

motor will coast. See Appendix E Diagnostics.

To clear a trip, momentarily press

Terminal mode only, momentarily close the

RESET contact.

2. If the EXTERNAL TRIP contact is opened while

the Drive is stopped or running, the Drive trips
(and the motor will coast). The display will
indicate as follows:

Commander GP User Guide

or, for

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2.8 Setting up operating limits

Unit

s/100Hz

Deceleration rate

Minimum and maximum frequencies

Do not set the maximum
frequency at a value that is
excessive for the motor.

Warning

If the intended maximum
frequency affects the safety of
the machinery, additional
independent over-speed
protection must be used.

Set parameter 0.02 Maximum frequency at the
required value. When initially setting up the Drive,
leave 0.01 Minimum frequency at the default value of
zero so that the motor shaft does not rotate as
soon as a

RUN command is received. When it is

known to be safe to do so, set 0.01 at the required
value.

Note the following:

• Slip compensation can cause the output

frequency of the Drive to exceed [0.02].

For operation at motor speeds
greater than twice base speed,
contact the supplier of the

Caution

motor.

Default values and range

0.01 Default value Range Unit

0 0 ~ [0.02] Hz

0.02 Default value Range Unit

50 Hz (EUR)
60 Hz (USA)

0 ~ 1000 Hz

Acceleration rate

To adjust the acceleration rate, adjust parameter

0.03 Acceleration rate. Increase the value to
increase the time taken for acceleration (ie. reduce
the acceleration rate).

Range Default Unit

0 ~ 3200 5 s/100Hz

To adjust the deceleration rate, adjust parameter

0.04 Deceleration rate. Increase the value to

increase the time taken for deceleration (ie. reduce
the deceleration rate).

Range Default

0 ~ 3200 10

If the Drive trips when decelerating the motor and
the display indicates OU, this indicates that the
maximum permissible

DC-bus voltage has been

exceeded during braking. Increase the value of

0.04 Deceleration rate or, if a braking resistor is not

currently connected, return to Planning the
installation in Chapter 2 Installing the Drive in the
Installation Guide for instructions on connecting a
braking resistor.

Braking resistor

The Drive does not contain a
braking resistor; when

Warning

If a braking resistor is being used, set the following
parameter at FASt in order to prevent instability:

Macro Parameter

0 2 3 4

1 5 6 7 See the Commander Gp Advanced User Guide

For Macros 1 and 5, the Note at the beginning of
Enabling Macro 1 earlier in this chapter gave
instructions for changing the setting of this
parameter. When Macro 6 or 7 is enabled, the
setting is made automatically. See 0.15 Ramp mode
selector in Appendix D Menu 0 Parameters.

required, an external
braking resistor must be
used (see the Installation
Guide).

Depending on the setting of
parameter 0.15, failure to
connect a braking resistor
when one is required may
result in deceleration times
being extended or the Drive
tripping during braking
which would leave the
motor free to coast.

0.15 Ramp mode selector

If the required acceleration cannnot be achieved, it
may be necessary to increase the value of

0.06 Current limit.

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Getting Started 2-15

Torque-producing current limit

Model

GPD 3201

GPD 3401

GPD 3402

GPD 3202

GPD 3403

GPD 3203

GPD 3404

GPD 3405

GPD 3204

GPD 4401

GPD 4402

GPD 4403

GPD 4404

GPD 4405

The value of FLC is given in the following table.

Set parameter 0.06 Current limit at the required
percentage of rated motor torque (or rated active
torque-producing current).

The current limit is used to protect the motor and
Drive from excessive current and applies under
motoring and regenerating conditions. When the
Drive is operating in torque control, the current
limit limits the value of torque demand.

The total motor current comprises a magnetizing
current and an active (torque-producing) current.
Since the maximum torque produced by the motor
is proportional to the value of parameter 0.06

Current limit, this current limit is a torque-producing
current limit.

When 0.06 is set at its maximum value, the
maximum total motor current is as follows:

150% x FLC

Where FLC is the rated (full-load) current of the
Drive.

The maximum value of 0.06 is given by the
following (but cannot exceed 400 (%)):

Values of FLC

Model FLC (A)

GPD 1201
GPD 1401

GPD 1202
GPD 1402

GPD 1203
GPD 1403

GPD 1204
GPD 1404

GPD 1205
GPD 1405

GPD 2201
GPD 2401

GPD 2202
GPD 2402

GPD 2203
GPD 2403

25

12

16

2.1

2.8

3.8

5.6

9.5

FLC (A)

34

40

46

60

70

74
96

124

156

180

202

22

( . ) ( cos )

15 1

[. ]

MAX

==

−−−−

cos [ . ]

φφ

φφ

FLC

××××

046

100

(%)006

Where:

[0.46] = Value of Motor – rated current
cosφ is the power factor of the motor.

Note

The results from these equations may not
correspond exactly with the maximum
output current from the Drive, since the
Drive may round up the calculated figure.

Voltage-control modes

The default setting is as follows:

Macro 1: Fd
Macros 0, 2, 3, 4, 5, 6, 7: Ur_I

To change the voltage control mode, select the
required setting in parameter 0.07 Voltage mode
selector, as follows:

Setting Function

Vector modes

Ur_S

Ur_I

Ur

Fd

0 Motor stator resistance is measured each

time the Drive is started.

1 Motor stator resistance is measured at

power-up if the
closed and no other trip condition exists.

2 Motor stator resistance is not measured

(use this mode only after having used
Ur_S or Ur_I to measure the stator
resistance).

Fixed boost mode

3 Fixed voltage boost that can be manually

adjusted by parameter 0.08 Boost voltage.

EXTERNAL TRIPEXTERNAL TRIP contact is

2-16 Getting Started

The Vector modes give better performance at low
speed than the fixed-boost mode, but require the
stator resistance to be accurately measured by the
Drive.

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Note

If parameter 0.39 Synchronize to a spinning
motor is to be set at 1, for reliable

operation of the Drive, set parameter 0.07
at Fd.

When Ur_I is selected, the

AC

Warning

motor might kick when the
supply is connected to the
Drive (with the
contact already closed).

EXTERNAL TRIP

Boost voltage

Use this procedure only when 0.07 Voltage mode
selector has been set at Fd.

Where actions apply to a particular control mode,
the following key is used:

K> Keypad mode
T> Terminal mode

1. Connect the load to the motor.

2. Close the EXTERNAL TRIP contact.

3. Ensure the frequency reference is zero.

4. K> Press
T> Close the RUN FORWARD or RUN
REVERSE contact.

Increase the frequency reference to a value

slightly above zero. If the motor shaft does
not rotate, increase the value of parameter

0.08 Boost voltage sufficiently to cause the
shaft to rotate.

Default value: 3%
Range: 0 ~ 25%

5. If the motor is noisy and becomes unnecessarily
heated, reduce the value of 0.08.

6. Stop the Drive.

Save the new parameter-value.

Voltage/frequency characteristic

If the motor is to drive a pump or fan where the load
can vary, set parameter 0.09 Dynamic V/f select at 1.
This selects an automatic voltage/frequency
characteristic which reduces power consumption
and acoustic noise in the motor when lightly loaded.

For an explanation of the effects of the
voltage/frequency characteristic, see parameter 0.09
Dynamic V/f select in Appendix D Menu 0 Parameters.

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Getting Started 2-17

2-18 Getting Started

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3 Setting Up the Drive

(Macro Configurations)

Do not change parameter
values without careful

Warning

consideration; wrong values
may cause damage or a safety
hazard.

3.2 Enabling a different
macro configuration

Do not attempt to enable any
macro configuration when the
Drive is running.

Warning

Note

Notes

Keep a note of changes

When changing the values of parameters,
make a note of the new values in case they
need to be entered again.

Saving the changes

For new parameter-values to apply after

AC supply to the Drive is interrupted,

the
new values must be saved. Refer to

Saving new parameter-values in Appendix A
Programming Instructions.

3.1 How to use this chapter

When setting up the Drive for the first time, you
must first have followed Chapter 2 Getting Started;
Macro 1 Easy mode will then be enabled. Whether
you keep Macro 1 or enable a different macro
configuration, the settings you made in Chapter 2
will remain unchanged. During the course of setting
up the Drive, you may need to change some of these
settings. If so, refer again to Chapter 2.

It is recommended that you follow the instructions
in this chapter in the order that they appear. You
will be led through the following:

• • Enabling the required macro

configuration (if a macro other than
Macro 1 is required)

• • Changing the signal connections

accordingly

• • Adjusting parameters that are

specific to the macro configuration

• • A list of subsidiary functions that

can be set up

Only one macro configuration can be
enabled at a time.

Enabling a different macro
configuration after getting started
with Macro 1

If Macro 1 is to remain enabled, ignore this section
and go to Macro 1 later in this chapter.

1. To enable a different macro configuration, set

parameter 0.00 as follows:

Macro Function Setting

2 Motorized potentiometer

(frequency control by up and
down contacts)

3 Four preset frequencies

(selected by digital control

signals)
4 Torque control 2004
5 PID (set-point) control 2005
6 Axis-limit control 2006
7 Brake control 2007

0 General purpose

(USA default configuration)

General purpose

(EUR default configuration)

Note

The values of the fixed parameters are not
changed when any one of these macro
configurations is enabled.

When Macro 0 is enabled, the
functions of parameters

Caution

0.27 to 0.29 differ between
the EUR and USA default
configurations.

2002

2003

2009

2010

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2. Reset the Drive.

3. Go to the relevant section in this chapter for

the macro configuration that has been enabled.

Setting Up the Drive 3-1

Enabling a different macro
configuration after using Macros 2 to 7

If any one of the macros from 2 to 7 has been
enabled (after the instructions in this chapter have
previously been followed), proceed as follows...

1. Go to Initial setting up in Chapter 2 Getting

Started. Start proceeding through that section

by referring to Restoring the Drive to a default
configuration.

2. Follow the remainder of Initial setting up.

3. Return to this chapter and follow Enabling a

different macro configurationafter getting started
with Macro 1 earlier in this chapter.

3.3 Macro 0

General purpose

(

default configuration

Features

Specific features

Macro 0 places the Drive in a default configuration
for general-purpose use.

When a UD50 small option module is fitted in the
Drive, the following additional functions become
automatically available for Macro 0 only:

• Volt-free relay contact which closes when
the Drive is AT OR BELOW MINIMUM SPEED

• Volt-free relay contact which closes when
the Drive is AT SPEED

• DRIVE RUNNING digital output

• MOTOR CURRENT OVERLOAD ALARM

digital output

• (EXCESSIVE) HEATSINK TEMPERATURE
ALARM digital output

• MOTOR CURRENT MAGNITUDE

analog output

• Frequency offset can be selected and
applied

• Operation in torque mode can be selected

• A bipolar or unipolar frequency reference

can be applied

To change the functions of the UD50 or to enable
the UD50 to be used with other macro
configurations, see the Commander Gp Advanced User
Guide. With Drive software versions V03.01.05, a
UD50 cannot be used with any of the other macro
configurations.

)

Standard features

• Macro 0 operates in Terminal or Keypad

mode

• In Terminal mode, digital control by

RUN FORWARD, RUN REVERSE and
JOG SELECT contacts

• Local and remote analog frequency inputs,

or setting of frequency by use of the keypad

• Keypad control of speed can be

uni-directional or bi-directional

• Selection of analog input modes

• Adjustable Jog/Preset frequency

• Adjustment of minimum and maximum

frequencies

• Adjustment of acceleration and deceleration

ramps

• S-ramp

• Skip frequencies

• Selection of stopping modes

• Selection of braking mode

• Motor thermistor input

• Negative logic for the digital inputs

(EUR> positive logic can be selected)

• EUR> Adjustment of current-loop PI gains

• USA> Indication of frequency demand

• USA> Digital control by three-wire

momentary contacts can be selected

• SPEED and TORQUE analog outputs

• AT SPEED digital output

• External trip digital input

• Drive RESET digital input

3-2 Setting Up the Drive

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Signal connections for Macro 0

Status relay

Drive healthy

Analog frequency reference 1
(remote)

Connections for

single-ended input

Connections for

differential input signal

Analog frequency
reference 2
(local)

SPEED

TORQUE

signal

0V common

0V common

0V common

Signal

connector

AT OR BELOW
MINIMUM SPEED

AT SPEED
(Relay common)

FREQ. OFFSET
SELECT

TORQUE MODE
SELECT

BIPOLAR REFERENCE
SELECT

DRIVE RUNNING
MOTOR CURRENT

OVERLOAD ALARM
HEATSINK

TEMPERATURE ALARM
Frequency offset

0 ~ ±10V
Torque reference

0 ~ ±10V

Motor current magnitude
0 ~ ±10V

0V common

0V common

0V common

UD50

connector

Motor thermistor

0V common

AT SPEED

RESET
JOG SELECT
RUN FORWARD
RUN REVERSE

LOCAL / REMOTE

External trip

0V common

REMOTE
LOCAL

0V common

Figure 3–1 Control signal and thermistor connections for Macro 0 (showing optional connections

to a UD50 small option module)

For electrical specifications, refer to Appendix C
Signal Connections.

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Setting Up the Drive 3-3

RESET

EXTERNAL TRIP

LOCAL /
REMOTE

29

BIPOLAR

SELECT

46

JOG

SELECT

26 27 2825 30

RUN

FORWARD

RUN
REVERSE

Reference selection

Frequency reference 1
(remote)

5
6

Analog input 2
mode

selector

7

Frequency reference 2
(local)

FREQUENCY OFFSET SELECT

0.25

Preset references
(use Macro 3)

Analog input 1
mode

selector

0.24

0.35

Keypad
reference

Reference

selector

0.05

44

51

FREQUENCY OFFSET

The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

0.14

Jog
reference

Figure 3–2 Programmable software for Macro 0

3-4 Setting Up the Drive

0.38

Initial
parameter
displayed

Commander GP User Guide

Issue code: gpxu2

REFERENCE

Maximum
frequency

0.02

Minimum
frequency

0.01

0.20

Skip frequency
1

0.21

Skip band 1

0.22

Skip frequency
2

0.23

Skip band 2

Read-write (RW)

0.XX

parameter

Read-only (RO)

0.XX

parameter

Signal connector

X X

X X

UD50

X X

X X

Input terminals

Output terminals

Input terminals

Output terminals

TORQUE

Key

TORQUE MODE

52

Skip

frequencies

SELECT

45

Torque mode
select

0.11 0.12

0.03

Acceleration
rate

0.04

Deceleration
rate

0.15

Ramp mode

selector

Other parameters

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive software build number

0.49 Security status

0.50 Software version number

DRIVE RUNNING

THERMISTOR

0.17

indicator

Pre-ramp
reference

Ramps

48

8

SPEED TORQUE

9 10 24

Post-ramp

reference

S-ramp

S-ramp

enable

0.18

0.19

S-ramp
da/dt limit

49

MOTOR CURRENT

OVERLOAD ALARM

MOTOR CURRENT

MAGNITUDE

54

Motor-voltage control

0.10

Estimated
motor
speed

Motor
active-current

0.13

49

HEATSINK

TEMPERATURE ALARM

AT SPEED

Motor control

0.06

Current
limit

0.16

Stop mode

selector

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage
Rated speed

Rated current

Rated frequency

0.07

Voltage mode

selector

0.08

Boost voltage

0.09

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-5

List of parameters specific to Macro 0

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency

0.02 Maximum frequency

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

Pr Function User

value

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Initial parameter displayed

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated speed

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive software build number [M]

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters,
see Appendix D Menu 0 Parameters.

Pr Function User

value

0.11 Pre-ramp reference [M]

0.12 Post-ramp reference [M]

0.13 Motor active-current [M]

0.14 Jog reference

0.15 Ramp mode selector

0.16 Stop mode selector

0.17 Torque mode selector

0.18 S-ramp enable

0.19 S-ramp da/dt limit

0.20 Skip frequency 1

0.21 Skip band 1

0.22 Skip frequency 2

0.23 Skip band 2

0.24 Analog input 1 mode selector

0.25 Analog input 2 mode selector

0.26 Analog input 2 destination selector

0.27 EUR> Positive logic select
USA> Sequencing mode selector

0.28 EUR> Current-loop proportional gain
USA> Frequency demand

0.29 EUR> Current-loop integral gain
USA> Terminal-29
destination parameter

0.30 FWD/REV key enable

3-6 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Setting up and using Macro 0

Range

0 ~ 400.0

Jog/Preset frequency

The following may require attention in addition to
the settings made in Chapter 2.

UD50 small option module

When any of the additional functions listed above in

Specific features are required, refer to the UD50 User
Guide for installing a UD50 module, as well as for the

specifications of the terminals.

Reference selection

Use 0.05 Reference selector to select the required
frequency source, as follows:

0.05 Source Terminal(s)

0 Analog input 1 or 2 which can be

selected using the LOCAL/REMOTE
contact

1 Analog input 1 5, 6

2 Analog input 2 7

3 Preset frequencies (Do not use this

setting, use Macro 3 instead)
4 Keypad control
5 (Do not use)

5 and 6, or 7

Analog input modes

The analog inputs can be configured for the
following input signals:

0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V

Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:

Analog

input

1 5, 6

27

Terminal(s) Parameter

0.24

Analog input 1 mode selector

0.25

Analog input 2 mode selector

Forward and reverse direction
in Keypad mode

The jog function can be used for low-speed jogging
or as a preset frequency at any value up to the
maximum.

If jog or a preset frequency is required, ensure the
Drive is in Terminal mode and set 0.14 Jog reference
at the required value, as follows:

Default

value

1.5

Unit

Hz

To use jog or preset frequency, close the JOG

SELECT contact (terminal 26) before closing the
RUN FORWARD contact (terminal 27) or RUN
REVERSE contact (terminal 28).

EUR> Selecting positive logic

Ensure the logic sense is
correct for the control circuit
to be used. Incorrect logic

Caution

sense could cause the motor to
be started unexpectedly.

By default, the digital inputs operate in negative
logic. For operation in positive logic, set

0.27 Positive logic select at 1.

USA> Digital control by three-wire
momentary contacts

1. Set 0.05 Reference selector at 0, 1 or 2.

2. Set 0.27 Sequencing mode selector at 0.

3. Set 0.29 Terminal-29 destination selector at 6.34

to change the function of terminal 29 to

RUN PERMIT / STOP.

Signal connector

JOG
RUN
REVERSE SELECT

STOP

The Drive is supplied with the (FWD/REV) key
disabled to ensure the Drive is run only in the
forward direction. To enable this key, set 0.30

FWD/REV enable at 1.

Commander GP User Guide
Issue code: gpxu2

0V common

Figure 3–3 Connections for control by 3-wire

momentary contacts
(see Figure 3–1 for
other connections)

Setting Up the Drive 3-7

Stopping and braking modes

Refer to the following parameters in Appendix D
Menu 0 Parameters:

Parameter Setting Function

0.150.15

Ramp mode selector

0.160.16

Stop mode selector

Stnd.Ct

rP

(Standard controlled)
Deceleration time is
extended if the
voltage reaches its
maximum permissible
value during braking.

Ramp to stop then the
Drive is disabled

DC-bus

3-8 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

3.4 Macro 1

Easy mode

Features

Specific features

Signal connections for Macro 1

connector

Status relay

Drive healthy

Signal

Easy mode gives the simplest operation of the Drive
for basic applications.

Standard features

• Macro 1 operates in Terminal or Keypad

mode

• In Terminal mode, digital control by

RUN FORWARD, RUN REVERSE and
JOG SELECT contacts

• Local and remote analog frequency inputs,

or setting of frequency by use of the keypad

• Keypad control of frequency is

uni-directional only

• Fixed analog input modes

• Fixed jog frequency

• Adjustment of minimum and maximum

frequencies

• Adjustment of acceleration and deceleration

ramps

• Negative logic for the digital inputs

• SPEED and TORQUE analog outputs

• AT SPEED digital output

• External trip digital input

• Drive RESET digital input

Analog frequency
reference 1
(remote) 0 ~ 10V

Analog frequency
reference 2
(local) 4 ~ 20mA

SPEED

TORQUE

AT SPEED

RESET
JOG SELECT
RUN FORWARD
RUN REVERSE

LOCAL / REMOTE

External trip

0V common

0V common

0V common

REMOTE

LOCAL

0V common

Figure 3–4 Control signal connections

for Macro 1

Commander GP User Guide
Issue code: gpxu2

For electrical specifications, refer to Appendix C
Signal Connections.

Setting Up the Drive 3-9

Reference selection

Frequency reference 1
(remote)

5
6

7

Frequency reference 2
(local)

Preset references
(use Macro 3)

0.35

Keypad
reference

LOCAL /
REMOTE

29

Reference

selector

0.05

0.38

Initial
parameter
displayed

JOG

SELECT

26 27 28

FORWARD

RUN

RUN
REVERSE

Minimum
frequency

0.01

RESET

25 30

0.02

EXTERNAL TRIP

Maximum
frequency

The parameters are shown at their default settings.
The logic diagram is valid when
at their default settings but may not be valid when
certain parameters are adjusted.

all

parameters are

Figure 3–5 Programmable software for Macro 1

3-10 Setting Up the Drive

0.XX

0.XX

X X

X X

Key

Read-write (RW)
parameter

Read-only (RO)
parameter

Input terminals

Output terminals

Commander GP User Guide

Issue code: gpxu2

Ramps

0.03

Acceleration
rate

0.04

Deceleration
rate

SPEED TORQUE

9 10 24

AT SPEED

Motor control

0.06

Current
limit

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage

Rated speed

Rated current
Rated frequency

Other parameters

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive software build number

0.49 Security status

0.50 Software version number

Motor-voltage control

Voltage mode

selector

0.10

Estimated
motor
speed

Boost voltage

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

0.07

0.08

0.09

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-11

List of parameters specific to Macro 1

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency

0.02 Maximum frequency

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Initial parameter displayed

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated speed

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive software build number [M]

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters, see Appendix D Menu
0 Parameters.

3-12 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Setting up and using Macro 1

The following may require attention in addition to
the settings made in Chapter 2.

Reference selection

Use 0.05 Reference selector to select the required
frequency source, as follows:

0.05 Source Terminal(s)

0 Analog input 1 or 2 which can be

selected using the LOCAL/REMOTE

contact

1 Analog input 1 5, 6

2 Analog input 2 7

3 (Do not use)
4 Keypad control
5 (Do not use)

Frequency references

Keypad mode

The value of the keypad reference can be read by
displaying the value of 0.35 Keypad reference.

5 and 6, or 7

Terminal mode

Frequency reference 1 (terminals 5, 6) is configured
for 0 to 10V signal.

Frequency reference 2 (terminal 7) is configured for
4 to 20mA signal. Loss of the current signal will be
treated as zero reference.

Jog

To use jog, close the JOG SELECT contact
(terminal 26) before closing the RUN FORWARD
contact (terminal 27) or RUN REVERSE contact
(terminal 28).

Jog will occur at 1.5Hz. This value cannot be altered.

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-13

Use this free space for notes

3-14 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

3.5 Macro 2

Motorized potentiometer

Features

Special features

The digital inputs are configured to accept
momentary UP and DOWN contacts.

Selection can be made between motorized
potentiometer operation and normal frequency
control. In both cases, analog input 1 remains
configured for an analog frequency reference signal
(0 to 10V).

Motorized potentiometer is used by first closing the
RUN FORWARD or RUN REVERSE contact as
required, then closing the UP or DOWN contact to
increase or decrease the speed. When the UP and
DOWN contacts are both open, the Drive maintains
constant speed until the closed RUN contact is
opened.

The output of the motorized potentiometer can be
monitored by reading the value of 0.26 Motorized
pot. output indicator, and the frequency by reading
the value of 0.11 Pre-ramp reference.

The motorized potentiometer is reset when the
RESET contact connected to terminal 25 is closed
momentarily. (This also resets the Drive.)

Selection can be made for the motorized
potentiometer to return to the previous set speed,
or start at zero, after each power-up.

Standard features

• Macro 2 operates in Terminal mode only

• Digital control by RUN FORWARD and

RUN REVERSE contacts

• Analog frequency input

• Adjustment of minimum and maximum

frequencies

• Adjustment of acceleration and deceleration

ramps

• S-ramp

• Skip frequencies

• Selection of stopping modes

• Selection of braking mode

• Motor thermistor input

• Negative logic for the digital inputs

• SPEED and TORQUE analog outputs

• External trip digital input

• Drive RESET digital input

Signal connections for Macro 2

Signal

connector

Status relay

Drive healthy

Analog frequency
reference 1
(remote) 0 ~ 10V

Motor thermistor

SPEED

TORQUE
UP

RESET and
MOT. POT. RESET

DOWN
RUN FORWARD
RUN REVERSE

MOT. POT. ENABLE

External trip

Figure 3–6 Control signal and thermistor

connections for Macro 2

For electrical specifications, refer to Appendix C
Signal Connections.

0V common

0V common

ANALOG I/P

MOT. POT.

0V common

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-15

Reference selection

Frequency reference 1
(remote)

5
6

MOTORIZED

POT. ENABLE

Analog input 1
mode

selector

0.24

29

Reference

selector

RESET and

MOT. POT. RESET

25

0.05

RUN

FORWARD

27 28

RUN
REVERSE

Minimum
frequency

0.01

0.02

EXTERNAL TRIP

30

Maximum
frequency

Skip

frequencies

DOWN

Motorized pot.

0.25

reset

indicator

Motorized pot.

0.26

24UP

26

0.27

0.28

0.29

0.30

indicator

output

Motorized pot.
zero-start

Motorized pot.
bipolar

Motorized pot. rate

Motorized pot.
output scale factor

select

select

0.38

Initial
parameter
displayed

0.20

Skip
frequency 1

0.21

Skip band 1

0.22

Skip
frequency 2

0.23

Skip band 2

Key

The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Figure 3–7 Programmable software for Macro 2

3-16 Setting Up the Drive

0.XX

0.XX

X X

X X

Read-write (RW)
parameter

Read-only (RO)
parameter

Input terminals

Output terminals

Commander GP User Guide

Issue code: gpxu2

Pre-ramp
reference

0.11 0.12

S-ramp

S-ramp

enable

0.18

0.19

S-ramp
da/dt limit

0.03

Acceleration
rate

0.04

Deceleration
rate

0.15

Ramp mode

selector

Ramps

Post-ramp
reference

THERMISTOR

8

SPEED TORQUE

9 10

Motor control

0.06

Current
limit

0.16

Stop mode

selector

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage
Rated speed

Rated current

Rated frequency

Other parameters

0.17 Status relay

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive software build number

0.49 Security status

0.50 Software version number

invert

0.10

Estimated
motor
speed

Motor
active-current

0.13

Motor-voltage control

0.07

Voltage mode

selector

0.08

Boost voltage

0.09

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-17

List of parameters specific to Macro 2

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency

0.02 Maximum frequency

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector (do not adjust)

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

Pr Function User

value

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Initial parameter displayed

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated speed

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive software build number [M]

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters, see
Appendix D Menu 0 Parameters.

Pr Function User

value

0.11 Pre-ramp reference [M]

0.12 Post-ramp reference [M]

0.13 Motor active-current [M]

0.14 Jog reference (not used)

0.15 Ramp mode selector

0.16 Stop mode selector

0.17 Status relay invert

0.18 S-ramp enable

0.19 S-ramp da/dt

0.20 Skip frequency 1

0.21 Skip band 1

0.22 Skip frequency 2

0.23 Skip band 2

0.24 Analog input 1 mode selector

0.25 Motorized pot. reset indicator [M]

0.26 Motorized pot. output indicator

0.27 Motorized pot. zero-start select

0.28 Motorized pot. bipolar select

0.29 Motorized pot. rate

0.30 Motorized pot. output scale factor

3-18 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Setting up and using Macro 2

Setting

Stnd.Ct

rP

Reference selection

The following may require attention in addition to
the settings made in Chapter 2.

Motorized potentiometer settings

1. By default, the Drive operates in frequency

control. To disable this and enable the
motorized potentiometer, close the MOT. POT.

ENABLE contact (terminal 29).

2. If required, change the value of 0.29 Motorized

pot. rate to change the rate of increase and
decrease. Increasing the value reduces the rate
of change of frequency.

Default value: 20 s

Range: 0 ~ 250 s

3. If bipolar operation is required, set 0.28

Motorized pot. bipolar select at 1.

4. By default, every time the Drive is powered-up

and enabled, the frequency will return under
ramp control to the last setting of the
motorized potentiometer. If the Drive is
required to start at zero, set 0.27 Motorized
pot. zero-start select at 1.

5. To reset the motorized potentiometer,
momentarily close the RESET contact. (This
also resets the Drive.)

6. If required, change the scaling of the
motorized potentiometer output by adjusting

0.30 Motorized pot. output scale factor.

7. If required, monitor the output value of the
potentiometer by reading 0.26 Motorized pot.
output indicator.

For correct operation of this macro configuration,
the setting of parameter of 0.05 Reference selection
should be at 0.

Analog input modes

The analog input can be configured for the
following input signals:

0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V

Refer to the following parameter in Appendix D
Menu 0 Parameters for selecting the required mode:

Analog

input

1 5, 6

Terminal(s) Parameter

0.24

Analog input 1 mode selector

Jog frequency

There is no need to adjust 0.14 Jog reference since
the jog function cannot be used.

Stopping and braking modes

Refer to the following parameters in Appendix D
Menu 0 Parameters:

Parameter

0.150.15

Ramp mode selector

0.160.16

Stop mode selector

Function

(Standard controlled)
Deceleration time is
extended if the
voltage reaches its
maximum permissible
value during braking.

Ramp to stop then the
Drive is disabled

DC-bus

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-19

Use this page for notes

3-20 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

3.6 Macro 3

Preset frequencies

Features

Special features

Signal connections for Macro 3

Status relay

Drive healthy

Signal

connector

Selection can be made between preset frequencies
and analog frequency control. In both cases, analog
input 1 remains configured for an analog frequency
reference signal (0 to 10V).

Up to four preset frequencies can be used; their
values must be programmed into individual
parameters. Selection is made by external contacts
operating in binary logic.

Standard features

• Macro 3 operates in Terminal mode only

• Digital control by RUN FORWARD and

RUN REVERSE contacts

• Analog frequency input

• Adjustment of minimum and maximum

frequencies

• Adjustment of acceleration and deceleration

ramps

• Operation of the status relay can

be inverted

• S-ramp

• Skip frequencies

• Selection of stopping modes

• Selection of braking mode

• Motor thermistor input

• Negative logic for the digital inputs

• SPEED and TORQUE analog outputs

• External trip digital input

• Drive RESET digital input

Analog frequency
reference 1
(remote) 0 ~ 10V

Motor thermistor

SPEED

TORQUE
PRESET SELECT

RESET
PRESET SELECT
RUN FORWARD
RUN REVERSE

PRESET ENABLE

External trip

A

B

0V common

0V common

ANALOG I/P

PRESET REFS.

0V common

Figure 3–8 Control signal and thermistor

connections for Macro 3

For electrical specifications, refer to Appendix C
Signal Connections.

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-21

Reference selection

Frequency reference 1
(remote)

5
6

PRESET

SELECT

PRESET

SELECT

24

A

26

B

Analog input 1
mode

selector

0.24

Preset

0.25

reference 1

Preset

0.26

reference 2

Preset

0.27

reference 3

Preset

0.28

reference 4

PRESET
ENABLE

29

Reference

selector

0.05

RUN

FORWARD

27 28

RUN
REVERSE

Minimum
frequency

0.01

0.20

Skip
frequency 1

0.21

Skip band 1

0.22

Skip
frequency 2

RESET

25

0.02

EXTERNAL TRIP

30

Maximum
frequency

Skip

frequencies

A

B

Preset

frequency

0

0

0

1

1

0

1

1

The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

1
2
3
4

Figure 3–9 Programmable software for Macro 3

0.38

Initial
parameter
displayed

Skip band 2

0.XX

0.XX

X X

X X

0.23

Key

Read-write (RW)
parameter

Read-only (RO)
parameter

Input terminals

Output terminals

3-22 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Pre-ramp
reference

0.11 0.12

S-ramp

S-ramp

enable

0.18

0.19

S-ramp
da/dt limit

0.03

Acceleration
rate

0.04

Deceleration
rate

0.15

Ramp mode

selector

Ramps

Post-ramp
reference

THERMISTOR

8

SPEED TORQUE

9 10

Motor control

0.06

Current
limit

0.16

Stop mode

selector

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage
Rated speed

Rated current

Rated frequency

Other parameters

0.17 Status relay

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive software build number

0.49 Security status

0.50 Software version number

invert

0.10

Estimated
motor
speed

Motor
active-current

0.13

Motor-voltage control

0.07

Voltage mode

selector

0.08

Boost voltage

0.09

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-23

List of parameters specific to Macro 3

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency

0.02 Maximum frequency

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector (do not adjust)

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

Pr Function User

value

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Initial parameter displayed

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated speed

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive software build number [M]

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters, see
Appendix D Menu 0 Parameters.

Pr Function User

value

0.11 Pre-ramp reference [M]

0.12 Post-ramp reference [M]

0.13 Motor active-current [M]

0.14 Jog reference (not used)

0.15 Ramp mode selector

0.16 Stop mode selector

0.17 Status relay invert

0.18 S-ramp enable

0.19 S-ramp da/dt

0.20 Skip frequency 1

0.21 Skip band 1

0.22 Skip frequency 2

0.23 Skip band 2

0.24 Analog input 1 mode selector

0.25 Preset reference 1

0.26 Preset reference 2

0.27 Preset reference 3

0.28 Preset reference 4

0.29 (Not used)

0.30 (Not used)

3-24 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Setting up and using Macro 3

Setting

Stnd.Ct

rP

Reference selection

The following may require attention in addition to
the settings made in Chapter 2.

Preset references

1. By default, the Drive operates in frequency
control. To disable this and enable the preset
references, close the PRESET ENABLE contact
(terminal 29).

2. Enter the required values in the following
parameters:

0.25 Preset frequency 1

0.26 Preset frequency 2

0.27 Preset frequency 3

0.28 Preset frequency 4

Default value: 0

Range: ±1000 Hz

3. Select the required preset reference as follows:

Preset

reference

1 Open Open
2 Open Closed
3 Closed Open
4 Closed Closed

PRESET SELECT A

(terminal 24)

PRESET SELECT B

(terminal 26)

For correct operation of this macro configuration,
the setting of parameter of 0.05 Reference selection
should be at 0.

Analog input modes

The analog input can be configured for the
following input signals:

0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V

Refer to the following parameter in Appendix D
Menu 0 Parameters for selecting the required mode:

Analog

input

1 5, 6

Terminal(s) Parameter

0.24

Analog input 1 mode selector

Jog frequency

There is no need to adjust 0.14 Jog reference since
the jog function cannot be used.

Stopping and braking modes

Refer to the following parameters in Appendix D
Menu 0 Parameters:

Parameter

0.150.15

Ramp mode selector

0.160.16

Stop mode selector

Function

(Standard controlled)
Deceleration time is
extended if the
voltage reaches its
maximum permissible
value during braking.

Ramp to stop then the
Drive is disabled

DC-bus

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-25

Use this free space for notes

3-26 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

3.7 Macro 4

Torque control

Features

Specific features

Signal connections for Macro 4

Status relay

Drive healthy

Signal

connector

Selection can be made between torque control and
frequency control.

When frequency control is selected, the Drive will
run at the frequency demand irrespective of load so
long as the maximum permissible output current of
the Drive is not reached. The frequency reference
must be applied to analog input 2.

When torque control is selected, analog input 1 is
configured for an analog torque reference. The
maximum frequency is limited to the value of

0.02 Maximum frequency. Analog input 2 is not used.

Both inputs accept 0 to 10V.

Torque slaving

Macro 4 can be used in applications where two or
more motors are mechanically linked and must share
the torque load in a controlled way.

Standard features

• Macro 4 operates in Terminal mode only

• Digital control by RUN FORWARD and

RUN REVERSE contacts

• Analog torque and frequency inputs

• Adjustment of maximum frequencies

• Adjustment of acceleration and deceleration

ramps

• Operation of the status relay can

be inverted

• Selection of braking mode

• Motor thermistor input

• Negative logic for the digital inputs

• SPEED and TORQUE analog outputs

• AT MINIMUM SPEED digital output

• AT SPEED digital output

• External trip digital input

• Drive RESET digital input

Analog torque
reference 1 (0 ~ 10V)

0V common

Analog frequency
reference 1 (0 ~ 10V)

0V common

SPEED

TORQUE

Motor thermistor

AT SPEED

AT MIN. SPEED

RESET
RUN FORWARD
RUN REVERSE

TORQUE ENABLE

External trip

0V common

FREQUENCY CONTROL

TORQUE CONTROL

0V common

Figure 3–10 Control signal and thermistor

connections for Macro 4

For electrical specifications, refer to Appendix C
Signal Connections.

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-27

Reference selection

Analog torque
reference

5
6

7

Frequency control:

Frequency reference

Torque control:

(Not used)

RUN

FORWARD

Reference

Analog
input 1
mode

selector

0.24

Analog

0.25

input 1

0.26

0.27

Analog
input 2
mode

selector

Analog
input 2

Analog
input 1
scaling

0.29

0.30

Analog
input 2
scaling

selector

0.05

RUN
REVERSE

27 28

Minimum
frequency

0.01

0.20

Skip
frequency 1

0.21

Skip band 1

0.22

Skip
frequency 2

RESET

EXTERNAL TRIP

25 30

Frequency over-ride

0.02

frequencies

Skip

The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Figure 3–11 Programmable software for Macro 4

0.38

Initial
parameter
displayed

Skip band 2

0.XX

0.XX

X X

X X

0.23

Key

Read-write (RW)
parameter

Read-only (RO)
parameter

Input terminals

Output terminals

3-28 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Pre-ramp
reference

S-ramp

S-ramp

enable

0.18

0.19

S-ramp
da/dt limit

Post-ramp

reference

0.11 0.12

Ramps

0.03

Acceleration
rate

0.04

Deceleration
rate

0.15

Ramp mode

selector

TORQUE

ENABLE

29

THERMISTOR

8

SPEED TORQUE

9 10 24

AT SPEED

AT MIN.
SPEED

26

Motor control

0.06

Current
limit

0.16

Stop mode

selector

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage
Rated speed

Rated current

Rated frequency

Other parameters

0.17 Status relay

0.28 Over-speed threshold

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive software build number

0.49 Security status

0.50 Software version number

invert

0.10

Estimated
motor
speed

Motor
active-current

0.13

Motor-voltage control

0.07

Voltage mode

selector

0.08

Boost voltage

0.09

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-29

List of parameters specific to Macro 4

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency

0.02 Maximum frequency

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector (do not adjust)

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

Pr Function User

value

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Initial parameter displayed

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated speed

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive software build number [M]

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters, see
Appendix D Menu 0 Parameters.

Pr Function User

value

0.11 Pre-ramp reference [M]

0.12 Post-ramp reference [M]

0.13 Motor active-current [M]

0.14 Jog reference (not used)

0.15 Braking mode selector

0.16 Stop mode selector

0.17 Status relay invert

0.18 S-ramp enable

0.19 S-ramp da/dt

0.20 Skip frequency 1

0.21 Skip band 1

0.22 Skip frequency 2

0.23 Skip band 2

0.24 Analog input 1 mode selector

0.25 Analog input 1 (torque reference)

0.26 Analog input 2 mode selector

0.27 Analog input 2 (frequency reference)

0.28 Over-speed threshold

0.29 Analog input 1 scaling

0.30 Analog input 2 scaling

3-30 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Setting up and using Macro 4

Setting

Stnd.Ct

rP

Torque control

1. By default, the Drive operates in frequency

control. To disable this and enable torque
control, close the TORQUE ENABLE contact
(terminal 29).

2. Set 0.02 Frequency over-ride at the required

value to limit the maximum speed of the motor.

Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:

Analog

input

1 5, 6

27

Terminal(s) Parameter

0.24

Analog input 1 mode selector

0.26

Analog input 2 mode selector

Torque slaving

3. Set the analog torque reference at the

required level.

4. If required, adjust 0.29 Analog input 1 scaling to

change the scaling of the torque reference
input (see Torque slaving below).

5. If required, adjust 0.30 Analog input 2 scaling to

change the scaling of the frequency reference
input.

6. Set 0.28 Over-speed threshold at the frequency

that the Drive is to trip for protecting the

system.
Default value: ([0.02] x 1.2) Hz
Range: 0 ~ ([1.06] x 1.2) Hz

7. Monitor the torque reference by displaying

parameter 0.25 Analog input 1.

Reference selection

For correct operation of this macro configuration,
the setting of parameter 0.05 Reference selection
should be at 0.

Jog frequency

There is no need to adjust 0.14 Jog reference since
the jog function cannot be used.

1. Set up a master Drive in Macro 0 with

frequency control.

2. Set up slave Drive(s) in Macro 4.

3. Make connections between the Drives as shown

in Figure 3–12.

Master Drive Slave Drive

Signal

connector

(part)

Signal

connector

(part)

Figure 3–12 Torque slaving connections

4. If the slave Drive(s) is to deliver a different

torque from that of the master Drive, for
(each) slave Drive, adjust 0.29 Analog input 1
scaling accordingly.

Stopping and braking modes

Refer to the following parameters in Appendix D
Menu 0 Parameters:

Analog input modes

The analog inputs can be configured for the
following input signals:

0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V

Commander GP User Guide
Issue code: gpxu2

Parameter

0.150.15

Ramp mode selector

0.160.16

Stop mode selector

Setting Up the Drive 3-31

Function

(Standard controlled)
Deceleration time is
extended if the
voltage reaches its
maximum permissible
value during braking.

Ramp to stop then the
Drive is disabled

DC-bus

Use this free space for notes

3-32 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

3.8 Macro 5

PID (set-point control)

Features

Specific features

Signal connections for Macro 5

Status relay

Drive healthy

Signal

connector

PID control is used for applications where a process
is required to be maintained at a set-point. Typical
applications are as follows:

• Closed-loop tension-control processes

where a dancer-arm is used

• Closed-loop pressure-control systems

Selection can be made between PID and analog
frequency control. When PID control is selected,
the three analog inputs are configured as follows:

• Frequency reference to define the frequency

demand

• PID feedback from the feedback device

• PID reference to define the set-point

The dynamic performance, scaling and range of the
PID control can be adjusted.

Two preset references and an optional software
PID-enable can be used.

Standard features

• Macro 5 operates in Terminal mode only

• Digital control by RUN FORWARD and

RUN REVERSE contacts

• Analog frequency inputs

• Adjustment of acceleration and deceleration

ramps

• Negative logic for the digital inputs

• SPEED and TORQUE analog outputs

• AT SPEED digital output

• External trip digital input

• Drive RESET digital input

Frequency
reference 1 (0 ~ 10V)

0V common

PID reference
(0 ~ 10V)

PID feedback

0V common

SPEED

TORQUE

AT SPEED

RESET
RUN FORWARD
RUN REVERSE

PID ENABLE

External trip

0V common

FREQUENCY CONTROL

PID CONTROL

0V common

Figure 3–13 Control signal connections

for Macro 5

For electrical specifications, refer to Appendix C
Signal Connections.

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-33

Reference selection

Frequency reference

5
6

Analog
input 2

0.18

PID
reference

7

Analog
input 2
scaling

0.26

Post-scaling
PID reference

0.17

Analog
input 1

Analog input 2
mode

selector

0.15

0.28

Analog
input 1
mode

selector

0.14

PID output high
limit

PID

0.20

PID proportional
gain

0.21

PID integral
gain

0.22

PID derivative
gain

0.23

PID

ENABLE

29

RESET

25 30

Reference

selector

0.05

RUN

FORWARD

27 28

0.38

Initial
parameter
displayed

RUN
REVERSE

Minimum
frequency

0.01

EXTERNAL TRIP

Maximum

0.02

frequency

0.24

Post-scaling
PID feedback

0.27

Analog
input 3
scaling

8

PID
feedback

0.19

Analog
input 3

The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

0.29

0.16

Analog input 3

selector

mode

PID output
low limit

0.25

PID output
scale factor

Figure 3–14 Programmable software for Macro 5

0.XX

0.XX

X X

X X

Key

Read-write (RW)
parameter

Read-only (RO)
parameter

Input terminals

Output terminals

3-34 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Pre-ramp
reference

0.11 0.12

Ramps

0.03

Acceleration
rate

0.04

Deceleration
rate

Post-ramp
reference

SPEED

9 10 24

TORQUE

Motor control

0.06

Current
limit

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage
Rated speed

Rated current

Rated frequency

AT SPEED

Other parameters

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive software build number

0.49 Security status

0.50 Software version number

0.10

Estimated
motor
speed

Motor
active-current

0.13

Motor-voltage control

0.07

Voltage mode

selector

0.08

Boost voltage

0.09

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-35

List of parameters specific to Macro 5

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency

0.02 Maximum frequency

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector (do not adjust)

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

Pr Function User

value

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Initial parameter displayed

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated speed

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive software build number [M]

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters, see
Appendix D Menu 0 Parameters.

Pr Function User

value

0.11 Pre-ramp reference [M]

0.12 Post-ramp reference [M]

0.13 Motor active-current [M]

0.14 Analog input 1 (frequency reference)
mode selector

0.15 Analog input 2 (PID reference) mode

selector

0.16 Analog input 3 (PID feedback) mode

selector

0.17 Analog input 1
(frequency reference)

0.18 Analog input 2
(PID reference)

0.19 Analog input 3
(PID feedback)

0.20 PID proportional gain

0.21 PID integral gain

0.22 PID derivative gain

0.23 PID output high limit

0.24 PID output low limit

0.25 PID output scale factor

0.26 Post-scaling PID reference

0.27 Post-scaling PID feedback

0.28 Analog input 2 scaling

0.29 Analog input 3 scaling

0.30 (Not used)

3-36 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Setting up and using Macro 5

Setting up PID control

1. By default, the Drive operates in frequency

control. To disable this and enable PID control,
close the PID ENABLE contact (terminal 29).

2. Set the PID REFERENCE potentiometer

(terminal 7) at the required set-point.

3. Set the FREQUENCY REFERENCE (terminals

5, 6) for the required nominal motor (process)
speed.

4. Connect the feedback device to terminal 8
(PID FEEDBACK).

5. The values of the analog signals can be
monitored by displaying the following
parameters:

0.17 Frequency reference

0.18 PID reference

0.19 PID feedback

0.26 Post-scaling PID reference

0.27 Post-scaling PID feedback

Adjusting the PID control range

In PID control, the PID reference and PID feedback
are each passed through a scaling stage, and the
error resulting from differences between these
references is passed through a limiter and then
through a final scaling stage.

The limiter is used for applying minimum and
maximum limits to the PID error. The minimum
error can be a negative value.

The final scaling stage is used for adjusting the
degree of change to the frequency reference.

After these two stages, the error is added to the
frequency reference.

1. The default scaling for analog inputs 2 and 3
is 1. If required, adjust the following
parameters to alter the scaling:

0.28 Analog input 2 scaling (PID reference)

0.29 Analog input 3 scaling (PID feedback)

3. To define the minimum value of PID error, set

0.24 PID low limit at the required value.

Default value: –100 %

Range: ±100 %

4. To define the degree of control on the

frequency reference, set 0.25 PID output scale
factor at the required value.

Default value: 1

Range: 0 ~ 4.000

Adjusting the PID gain settings

The following parameters are used:

0.20 PID proportional gain
Default value: 1

Range: 0 ~ 4.000

0.21 PID integral gain
Default value: 0.5

Range: 0 ~ 4.000

0.22 PID derivative gain
Default value: 0

Range: 0 ~ 4.000

Reference selection

For correct operation of this macro configuration,
the setting of parameter of 0.05 Reference selection
should be at 0.

Analog input modes

The analog inputs can be configured for the
following input signals:

0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V

Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:

Analog

input

1 5, 6

27

38

Terminal(s) Parameter

0.14

Analog input 1 mode selector

0.15

Analog input 2 mode selector

0.16

Analog input 3 mode selector

2. To limit the maximum value of PID error, set

0.23 PID high limit at the required value.

Default value: 100 %

Range: 0 ~ 100 %

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-37

3.9 Macro 6

Axis-limit control

Features

Specific features

Axis-limit control is used for applications which
require the process to be automatically stopped
when a position limit has been reached.

Speed can be controlled in both directions in either
of two ways, as follows:

• Bipolar frequency reference signal and use

of a RUN FORWARD contact (bipolar
control)

• Unipolar frequency reference signal and use

of RUN FORWARD and RUN REVERSE
contacts (unipolar control)

Selection can be made between the following
frequency reference inputs:

Local unipolar input (0 ~ 10V)
Remote differential input which can be used

as follows:

• Single-ended unipolar input (0 ~ 10V)

• Single-ended bipolar input (±10V)

• Bipolar or unipolar differential input (±10V

on each line)

Travel in each direction is halted by use of a LIMIT
digital input. By default, these inputs require
normally-open contacts but can be configured for
normally-closed contacts.

Standard features

• Macro 6 operates in Terminal mode only

• Adjustment of minimum and maximum

frequencies

• Adjustment of acceleration and

deceleration ramps

• Selection of stopping modes

• Motor thermistor input

• SPEED and TORQUE analog outputs

• AT SPEED digital output

• External tripdigital input

• Drive RESET digital input

To run the Drive, the appropriate RUN contact must
be closed. When the related LIMIT contact changes
state to mark the axis limit, the Drive decelerates to
zero speed at a rate set by the user. In order to
change direction, it is necessary to perform either of
the following, as appropriate:

• Bipolar control: Reverse the polarity of the

frequency reference

• Unipolar control: Open the RUN switch, and

then close the RUN switch for the opposite
direction

The Drive is operated under frequency control.

Selection can be made to apply torque to the motor
at zero speed, or to allow the motor to rotate
freely.

3-38 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

Signal connections for Macro 6

Signal

connector

Status relay

Drive healthy

Analog
frequency/speed
reference 1
(remote) 0 ~ 10V

Analog
frequency/speed
reference 2
(local) 0 ~ 10V

SPEED

TORQUE

Motor thermistor

AT SPEED

RESET
LIMIT FORWARD
RUN FORWARD
RUN REVERSE

LIMIT REVERSE

External trip

0V common

0V common

0V common

Figure 3–14 Control signal and thermistor

connections for Macro 6 when
used in unipolar control

Signal

connector

Status relay

Drive healthy

Analog
frequency/speed
reference
±10V

SPEED

TORQUE

Motor thermistor

AT SPEED

RESET
LIMIT FORWARD
RUN

LIMIT REVERSE

External trip

0V

−10V

+10V

0V common

0V common

0V common

Figure 3–15 Control signal and thermistor

connections for Macro 6 when
used in bipolar control (typical
frequency reference
connections)

For electrical specifications, refer to Appendix C
Signal Connections.

Commander GP User Guide
Issue code: gpxu2

Setting Up the Drive 3-39

RUN

(FORWARD)

0.15

RUN
REVERSE

0.16 0.22

FORWARD

0.14

LIMIT

2627 28

Limit
forward

invert

0.21

Limit
reverse

invert

LIMIT
REVERSE

29

0.17

Run
forward

indicator

Reference selection

Frequency reference 1
(remote)

5
6

7

Frequency reference 2
(local)

Run
reverse

indicator

Reference

selector

0.05

Limit
forward

indicator

Forward
frequency
reference

Frequency
reference

Direction control

Reverse
frequency
reference

RUN enabled

0 =

RUN disabled (at limit)

1 =

Bi-directional
frequency
reference

Limit
reverse

indicator

Minimum

frequency

clamp

Maximum

frequency

clamp

0.01

0.02

0.38

Power up
parameter
display
setting

The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Figure 3–16 Programmable software for Macro 6

3-40 Setting Up the Drive

0.XX

0.XX

X X

X X

Key

Read-write (RW)
parameter

Read-only (RO)
parameter

Input terminals

Output terminals

Commander GP User Guide

Issue code: gpxu2

RESET FREQUENCY TORQUE

25 9 10 24

Pre-ramp
reference

0.11 0.12

Ramps

0.03

Acceleration
rate

0.20

OL>
Deceleration
rate

0.04

CL>
Deceleration
rate

EXTERNAL TRIP

Post-ramp
reference

AT SPEEDTHERMISTOR

830

Motor control

0.06

Current
limit

0.18

Stop mode

selector

0.19

Hold zero
speed

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage
Rated speed

Rated current

Rated frequency

Other parameters

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive operating mode

0.49 Security status

0.50 Software version number

selector

0.10

Estimated
motor
speed

Motor
active-current

0.13

Motor-voltage control

0.07

Voltage mode

selector

0.08

Boost voltage

0.09

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

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Setting Up the Drive 3-41

List of parameters specific to Macro 6

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency clamp

0.02 Maximum frequency clamp

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector (limited settings)

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

Pr Function User

value

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Power up parameter display select

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated full load RPM

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive operating mode selector

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters, see
Appendix D Menu 0 Parameters.

Pr Function User

value

0.11 Pre-ramp reference [M]

0.12 Post-ramp reference [M]

0.13 Motor active-current [M]

0.14 Limit forward indicator [M]

0.15 Run forward indicator [M]

0.16 Run reverse indicator [M]

0.17 Limit reverse indicator [M]

0.18 Stop mode selector

0.19 Hold zero speed enable

0.20 Limit deceleration rate

0.21 Limit forward invert

0.22 Limit reverse invert

0.23 (Not used)

0.24 (Not used)

0.25 (Not used)

0.26 (Not used)

0.27 (Not used)

0.28 (Not used)

0.29 (Not used)

0.30 (Not used)

3-42 Setting Up the Drive

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Setting up and using Macro 6

Deceleration rates

The following may require attention in addition to
the settings made in Chapter 2.

Frequency control

When Macro 6 is selected, the Drive always operates
in axis-limit control; unlike Macros 2 to 5, no digital
input exists to allow switching to and from normal
frequency control.

Operation in bipolar or unipolar frequency control is
dependent only on the signal connections made.
When bipolar control is required, to prevent
confusion do not connect a RUN REVERSE contact.
No jog function exists.

Reference selection

Use 0.05 Reference selector to select the required
frequency reference source, as follows:

0.05 Source Terminal(s)

0 Analog input 1 (bipolar or unipolar) 5, 6

1 Analog input 1 (bipolar or unipolar) 5, 6

2 Analog input 2 (unipolar only) 7

3 (Do not use)
4 (Do not use)
5 (Do not use)

Analog input mode

The analog inputs are configured for 0 ~ 10V.

See the Commander Gp Advanced User Guide for
selecting other modes.

Limit switch types

By default, the Drive requires normally-open limit
switches. When either or both limit switches are to
be normally-closed, set the following parameters
at 1, as appropriate:

LIMIT FORWARD 0.21
LIMIT REVERSE 0.22

Position the limit switches
to allow for the distance

Caution

The rate of deceleration to be applied when the
motor is being stopped at the limit of travel can be
adjusted separately from the normal deceleration
rate, as follows:

Use 0.04 Deceleration rate for adjusting the
maximum deceleration rate that is to apply when
any of the following occurs:

• The motor is stopped by removal of a RUN

command

• The motor is stopped or slowed by

reduction of the frequency reference

For setting the deceleration rate at the limit of
travel, use parameter 0.20 Limit deceleration rate.

that will be travelled during
deceleration. This distance
will be increased if the
deceleration time is
extended (see Braking mode).

Braking mode

The FASt ramp mode is applied. This gives
continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
A braking resistor is normally required in order to
prevent the
level.

DC-bus voltage from reaching the trip

Stopping modes

Refer to parameter 0.18 Stop mode selector in
Appendix D Menu 0 Parameters.

Hold zero speed

Refer to parameter 0.19 Hold zero speed enable in
Appendix D Menu 0 Parameters.

The default setting is 0 (Free to
rotate).

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Setting Up the Drive 3-43

Use this free space for notes

3-44 Setting Up the Drive

Commander GP User Guide

Issue code: gpxu2

3.10 Macro 7

BRAKE RELEASE

logic state

1

0

Brake control

Features

Specific features

Signal connections for Macro 7

BRAKE RELEASE

Signal

connector

Brake control is used for controlling the application
and release of a mechanical brake in hoist or crane
applications. The Drive issues a brake release signal
when all of the following conditions are met:

• The Drive has not tripped (ie. healthy)

• The output frequency of the Drive is

above 1Hz

• Current above a user-defined threshold is

being supplied to the motor in order to hold
or move the load

The brake release signal can be delayed by an amount
that is adjusted by the user. This delay is used to
ensure that only genuine conditions will cause the
brake to be released.

The Drive applies the brake, by removing the brake
release signal, as the motor is stopping and motor
current falls below the threshold level.

The Drive is operated under frequency control;
selection can be made between local and remote
sources, as well as keypad control.

Standard features

• Macro 7 can be operated in Terminal mode

(default) or Keypad mode

• Digital control by RUN FORWARD, and

RUN REVERSE contacts

• Analog frequency inputs

• Adjustment of minimum and maximum

frequencies

• Adjustment of acceleration and

deceleration ramps

• Motor thermistor input

• SPEED and TORQUE analog outputs

• External trip digital input

• Drive RESET digital input

Analog frequency
reference 1
(remote) 0 ~ 10V

0V common

Analog frequency
reference 2
(local) 0 ~ 10V

0V common

SPEED

TORQUE

Motor thermistor

RESET

RUN FORWARD
RUN REVERSE

LOCAL / REMOTE

External trip

REMOTE

LOCAL

0V common

Figure 3–17 Control signal and thermistor

connections for Macro 7

The BRAKE RELEASE output must be connected as
shown in Figure 3–17. Note that the actual BRAKE
RELEASE output appears on terminal 24 which
operates as shown in the following table.

Terminal 24

Effect

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Low

High

Release brake

Apply brake

For electrical specifications, refer to Appendix C
Signal Connections.

Setting Up the Drive 3-45

Reference selection

Frequency reference 1

(remote)

5
6

7

Frequency reference 2

(local)

Preset references
(see the

Commander Gp

Advanced User Guide

)

0.35

Keypad
reference

LOCAL /

REMOTE

29

Reference

selector

0.05

Current

threshold

FORWARD

0.38

Power up
parameter
display
setting

0.19

RUN

27 28

RUN
REVERSE

Minimum
frequency
clamp

0.01

RESET

25 24

Maximum

0.02

frequency
clamp

Current detected

indicator

0.15

RELEASE

BRAKE

Motor current

magnitude

Drive healthy

indicator

At zero speed

indicator

0.16

0.17

Figure 3–18 Programmable software for Macro 7

0.14

0.20

Brake
release
delay

0.18

Brake release

indicator

3-46 Setting Up the Drive

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EXTERNAL TRIP

Pre-ramp
reference

0.11 0.12

Ramps

0.03

Acceleration
rate

0.04

Deceleration
rate

Other parameters

0.31 Macro number

0.32 Serial comms. mode

0.33 Drive rated current

0.34 User security code

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.40 Autotune

0.48 Drive operating mode

0.49 Security status

0.50 Software version number

Read-write (RW)

0.XX

parameter

Read-only (RO)

0.XX

parameter

X X

X X

Input terminals

Output terminals

selector

Key

Post-ramp
reference

THERMISTOR

830

FREQUENCY TORQUE

9 10

Motor control

0.06

Current
limit

0.39

Synchronize
to a spinning
motor

Motor parameters

0.42 ~ 0.47

No. of poles
Power factor
Rated voltage
Rated speed

Rated current

Rated frequency

Motor-voltage control

0.07

Voltage mode

selector

0.10

Estimated
motor
speed

Motor
active-current

0.13

0.08

Boost voltage

0.09

Dynamic V/f

select

Power stage

0.41

PWM switching
frequency

The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

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Setting Up the Drive 3-47

List of parameters specific to Macro 7

Pr Function User

value

0.00 Configuration and saving

0.01 Minimum frequency clamp

0.02 Maximum frequency clamp

0.03 Acceleration rate

0.04 Deceleration rate

0.05 Reference selector (limited settings)

0.06 Current limit

0.07 Voltage mode selector

0.08 Boost voltage

0.09 Dynamic V/f select

0.10 Estimated motor speed [M]

Pr Function User

value

0.31 Macro number [M]

0.32 Serial comms. mode

0.33 Drive rated current (FLC) [M]

0.34 User security code [M]

0.35 Keypad reference [M]

0.36 Serial comms. baud rate

0.37 Serial comms. address

0.38 Power up parameter display select

0.39 Synchronize to a spinning motor

0.40 Autotune

0.41 PWM switching frequency selector

0.42 Motor – number of poles

0.43 Motor – power factor

0.44 Motor – rated voltage

0.45 Motor – rated full load RPM

0.46 Motor – rated current

0.47 Motor – rated frequency

0.48 Drive operating mode selector

0.49 Security status [M]

0.50 Drive software version [M]

[M] indicates the parameter is for monitoring only

For descriptions of these parameters, see
Appendix D Menu 0 Parameters.

Pr Function User

value

0.11 Pre-ramp reference [M]

0.12 Post-ramp reference [M]

0.13 Motor active-current [M]

0.14 Motor current magnitude [M]

0.15 Current detected indicator [M]

0.16 Drive healthy indicator [M]

0.17 At zero speed indicator [M]

0.18 Brake release indicator [M]

0.19 Current threshold

0.20 Brake release delay

0.21 (Not used)

0.22 (Not used)

0.23 (Not used)

0.24 (Not used)

0.25 (Not used)

0.26 (Not used)

0.27 (Not used)

0.28 (Not used)

0.29 (Not used)

0.30 (Not used)

3-48 Setting Up the Drive

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Setting up and using Macro 7

Braking mode

The following may require attention in addition to
the settings made in Chapter 2.

Frequency control

When Macro 7 is selected, the Drive always operates
in brake control; unlike Macros 2 to 5, no digital
input exists to allow switching to and from normal
frequency control.

The frequency of the motor is controlled in the
same way as in normal frequency control.

Reference selection

Use 0.05 Reference selector to select the required
frequency reference source, as follows:

0.05 Source Terminal(s)

0 Analog input 1 or 2 which can be

selected using the LOCAL/REMOTE
contact

1 Analog input 1 5, 6

2 Analog input 2 7

3 Preset frequencies
4 Keypad control
5 ( Do not use)

5 and 6, or 7

The FASt ramp mode is applied. This gives
continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
A braking resistor is normally required in order to
prevent the

DC-bus voltage from reaching the trip

level.

Stopping mode

The stopping mode is Ramp to a stop.

Analog input mode

The analog inputs are configured for 0 ~ 10V.

See the Commander Gp Advanced User Guide for
selecting other modes.

Brake-control settings

1. The default setting of 10% for parameter 0.19

Current threshold is suitable for the majority of
applications. If required, change the value to
the required percentage of I
This value must ensure that adequate current
will flow through the motor to control the load
when the brake is released.

I

= FLC x 150%

MAX

2. If required, change the setting of 0.20 Brake

release delay to a suitable value (between 0 and

25 seconds) that will ensure a brake release
signal is not issued if the following occur
simultaneously under transient conditions:

• 0.16 Drive healthy indicator changes state

to 1

• 0.17 At zero speed changes state to 0

(see below).

max

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Setting Up the Drive 3-49

Use this free space for notes

3-50 Setting Up the Drive

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Issue code: gpxu2

A Programming

Instructions

The instructions in this appendix take you step-by­step through learning how to use the display and
keypad, and alert you to avoid actions that could
cause confusion. It is in your interests to follow
these instructions carefully.

The instructions can be used when the Drive is
operating in Keypad or Terminal mode. They cover
the basic procedure for accessing a numerical
variable parameter. Instructions for accessing other
types of parameter, as well as for more advanced
operations, are given later in this appendix.

A.1 Electrical connections

A.2 Preparation

1. Ensure that terminal 30 is connected to

terminal 31 or that a contact connected to
these terminals is closed.

2. If these instructions are being followed when a

macro other than Macro 1 is enabled, ensure
terminal 8 is connected to terminal 11 or a
motor thermistor is connected to these
terminals. These connections will allow the
Drive to be operated.

3. Ensure that terminals 27 and 28 are

open-circuit, or that contacts connected to
these terminals are open. This will prevent a
motor (if connected) from being driven.

4. Ensure that if a FREQUENCY potentiometer is

connected, it is set at minimum (wiper at
0V common).

Before following the instructions in this chapter
ensure the Drive has been connected in accordance
with the instructions in Chapter 2 Installing the Drive,
in the Installation Guide or Chapter 2 Getting Started
in this User Guide.

When following the instructions in this appendix, It
is your responsibility to connect and disconnect the

AC supply as required.

The terminal cover must be
fitted to the Drive before the

AC supply is connected. If the

Warning

Warning

Warning

cover needs to be removed, the

AC supply must first be

disconnected for ten minutes.

The

AC supply must be

connected to the Drive with
appropriate fuses or
protection, as described in the
Installation Guide.

Adjustment of parameter
values must be performed only
by suitably trained or
experienced personnel.
Incorrect values could be
hazardous.

5. Connect the

6. The display is in Status mode and should indicate

as follows:

If the lower display shows triP and the upper

display shows one of the following, check the
cause and attend to the remedy:

Display Cause and remedy

Motor thermistor not connected, or terminal 8

th

not connected to terminal 11. Make the
necessary connections.

External trip signal received, or terminal 30 not

Et

connected to terminal 31. Make the necessary
connections.

Motor is not connected, one phase is not

rS

connected or the motor is open-circuit.

Press to reset the Drive. The display

should now show rdY

If the lower display still shows triP and another

code is shown on the upper display, see
Appendix E Diagnostics.

AC supply to the Drive.

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Programming Instructions A-1

A.3 Status mode

A.5 Entering Parameter mode

and returning to
Status mode

The lower display shows rdY to indicate that the
Drive is ready to drive a motor, as follows:

The upper display indicates the output frequency of
the Drive or the motor speed. This is the value of
parameter 0.10. (The value of a different parameter
could be shown if the Drive has been used
previously.)

A.4 Displaying the parameter

number in Status mode

When the display is in Status mode, the upper
display shows the value of parameter 0.10 (or of the
last parameter to be selected). The number of this
parameter can be shown on the lower display
instead of the Drive status.

1. To show the parameter number, press:

2. To show the status, press: . The status is

or

shown immediately.

1. Momentarily press . The display enters

Parameter mode.

The lower display shows parameter number

0.10. (A different parameter number could be
shown if the Drive has been used previously.)
The display appears as follows:

8 seconds

2. Do not press any keys. After eight seconds, the

display returns to Status mode. This shows
that the display always returns from Parameter
mode to Status mode when no keys are pressed
within eight seconds.

You may repeat these two steps as many times

as required to obtain an understanding of the
operation.

A-2 Programming Instructions

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A.6 Selecting

a parameter to access

Scrolling

1. Within eight seconds, press and hold down:

If the display returns to Status mode during the
course of selecting parameters (because no keys
have been pressed for eight seconds), to re-enter
Parameter mode, press:

1. Momentarily press . The display enters

Parameter mode.

Parameter number 0.10, or the number of the

last selected parameter, appears on the lower
display. The value shown on the upper display
remains the same.

The parameter number continuously increases

(scrolls upward) until the highest numbered
parameter in the menu is reached.

2. To start scrolling upward again from parameter
number 0.00, release then re-press:

3. Repeat steps 1 and 2 using

The parameter numbers will now decrease. In

step 2, when parameter 0.00 is reached,
releasing and re-pressing the key will re-start
downward scrolling from the highest numbered
parameter in the menu.

Quick selection of parameter 0.00

1. While the display is in Parameter mode, press at
the same time:

Parameter 0.00 is displayed.

and

2. Within eight seconds, press
The parameter number decreases by one.

Repeat this step until 0.06 is displayed.

Notice that the upper display changes to show

the value of the parameter that is selected.

2. Now select parameter number 0.06.

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Programming Instructions A-3

A.7 Changing the value of a

parameter

1. Within eight seconds of selecting parameter

0.06, press:

The display enters Edit mode.
(If more than eight seconds have elapsed, the

display will have returned to Status mode. In
this case, twice press:

On the first press, the display will re-enter

Parameter mode where parameter 0.06 will
again be displayed; on the second press, the
display will enter Edit mode.)

The upper display still shows the value of the

parameter, but the least-significant digit
flashes. (The value shown is the default value
for 0.06; the value displayed may be different if
the Drive has been used previously.)

3. Press and hold down

The value scrolls downward. Release the key

when the required value is reached.

To increase the value, press

4. When the required value is displayed, press:

5. The display returns to Parameter mode. If no

keys are pressed within eight seconds, the
display enters Status mode.

Note that when the display is in Edit mode, it

will not return to Status mode after eight
seconds. You can spend as much time as
required changing the value of a parameter.

2. To decrease the value, momentarily press:

The value of the flashing digit decreases by one.

You can repeat this step as many times as
required. The new value takes effect
immediately.

Making large changes in value quickly

So far, you have changed the value by incrementing
or decrementing the least significant digit. The
speed of change can be increased by selecting, then
scrolling either of the more significant digits, as
follows:

1. When the display is in Edit mode, momentarily
press:

When the key is released, the digit at the left of

the least significant digit flashes. This
operation can be repeated to select the most
significant digit of the display. If this digit is
not currently displayed, it can still be selected.
When selected, a bar appears in its place.

A-4 Programming Instructions

You can then change the value of the newly

selected digit.

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Quick selection from least to most
significant digit

To select the most significant digit when the

least significant digit is flashing, momentarily
press:

Quick selection of the
least significant digit

Irrespective of the digit that is selected, to select
the least significant digit, press at the same time:

and

Quick selection from most to
least significant digit

If the most significant digit of the display (not

just the displayed value) is flashing, to select
the least significant digit, momentarily press:

Reaching the maximum or minimum value

A special condition arises when both the following
occur:

• A digit other than the least significant digit

(LSD) is being increased, and the maximum
value is approached.

• The displayed LSD is not the same value as

the LSD of the maximum value. For
example: if the displayed value is 126.4, and
the maximum value is 217.9, the displayed
LSD of 4 differs from 9.

The special condition allows the value to be set at
either of the following:

• The highest permissible value that contains

the displayed LSD (eg. 4)

• The maximum value for the parameter

Use the following procedure to see how the
operation works:

1. Ensure the selected digit is not the LSD.

2. Press and hold down

maximum value is reached, the entire display
flashes the maximum value (eg. 217.9). Release
the key within three flashes of the display. The
display now shows the highest permissible value
(eg. 216.4) that contains the displayed LSD.

. When the

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3. Again press and hold down
maximum value is reached, the entire display
again flashes the maximum value (eg. 217.9).
Release the key after four flashes of the display.
The display now shows the maximum value.

When setting the value at maximum in normal
operation, it is not necessary to follow step 2.

The same principles apply when reaching the
minimum value.

. When the

Programming Instructions A-5

Setting the value at zero

1. Momentarily press at the same time:

A.9 Flashing and non-flashing

digits

and

Bench-testing? Return to default value

If you have followed this procedure while

bench-testing the Drive, return the value to 150
before returning the display to
Parameter mode.

A.8 Saving new

parameter-values

When the display is in Edit mode, the flashing of a
digit indicates that the value of the digit can be
changed. If no digits flash, the parameter cannot be
edited because it is read-only (or protected).

A.10 Negative values

When the value of a bipolar variable parameter is
negative, a minus sign appears at the left of the
displayed value.

A.11 Changing the setting of a

bit parameter

When a bit parameter is selected and Edit mode
entered, the display appears as shown below. bit
appears at the left of the upper display. 0 or 1 is
displayed at the right.

When 0 is displayed, press
When 1 is displayed, press

to select 1.
to select 0.

Use the following procedure to save new
parameter-values. The new values will then apply
each time the
the Drive. If new parameter-values are not saved,
the previously saved (or default) values will apply
each time the

1. Set parameter 0.00 at 1000.

2. Press

mode. Do not press any keys within eight
seconds; the display then enters Status mode.

3. To reset the Drive when it is stopped, press:

To reset the Drive when it is running, press and

hold...

...then press:

Release both keys at the same time.
The new parameter-value(s) are now saved.

AC supply is subsequently applied to

AC supply is applied to the Drive.

. The display returns to Parameter

A-6 Programming Instructions

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A.12 Selecting a different option

Some variable parameters are used for selecting
among a number of options. These options can be
shown as numbers (as 1 to 5 in parameter 0.05
Reference selector) or as character strings (as Ur_S,
etc, in parameter 0.07 Voltage mode selector).

Use the following procedure:

1. Enter either of the following values in
parameter 0.00:

1233 (Europe, 50Hz
1244 (USA, 60Hz

AC supply frequency)

AC supply frequency)

1. To select a different option, press:

to ascend through the range of options

to descend through the range of options

When the first option is displayed, it is

necessary to ascend through the range in order
to select another option. When the last option
is displayed, it is necessary to descend through
the range.

A.13 Restoring the Drive

to a default configuration

Do not attempt to restore the
Drive to a default
configuration when the Drive is

Warning

When the Drive is despatched from the factory, the
parameters have default values, some of which
depend on the
or USA 60Hz). Consequently, the Drive has a
default configuration for each of these supply
frequencies.

running.
Restoring the Drive to a

default configuration enables
Macro 0 and returns all
parameters to their default
values including the motor
parameters. (If any one of the
macros 1 to 7 has been enabled,
the Drive still reverts to
Macro 0.)

After restoring the Drive to a
default configuration, it will be
necessary for the required
parameter values to be
re-entered before the Drive is
next run.

AC supply frequency (European 50Hz

2. Press

The default values now take effect.

(The Drive is automatically restored to a default
state when the operating mode is changed.)

Saving the default values

If new parameter-values had previously been saved,
these (not the default) values will apply when the

AC supply is next connected to the Drive. If the

default values are required instead, they must be
saved in the same way as new values. Refer to
Saving new parameter-values earlier in this chapter to
save the default values.

A.14 Summary of key operation

Change the display mode

Parameter mode

or

and

and

Edit mode

or

and

or

and

Select a parameter

Select parameter 0.00

Select Menu 0

Change the value of a digit
Change the setting of a bit
parameter
Select a different option

Select the value at 0

Select a different digit

Select the least significant
digit

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Programming Instructions A-7

A-8 Programming Instructions

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B Security

Note

Software versions V03.01.07 onward allow
the advanced parameters to be read and
edited via. serial communications
irrespective of the security state.

B.3 Unlocking User Security

When User Security has been set-up and AC power is
applied to the Drive, User Security is automatically
locked. No parameters can be edited except for
parameter .00 in any menu.

Unlock User Security as follows:

1. Select parameter 0.00.

2. Set the value at the User Security code number.

B.1 User-defined Security

The Drive is supplied without User Security having
been set-up. All parameters can be read and all
read–write parameters can be edited.

User-defined Security operates only when it has
been set-up by the user. When locked, it prevents
editing of all parameters except for parameter

0.00.

The code number used to unlock User-defined
Security is defined by the user. This gives
protection against unauthorized editing of
parameters. The code number can be read and
edited only when User Security has been unlocked.

B.2 Setting-up User Security

Set-up User Security as follows:

1. Select parameter 0.34 User security code. The
default value 149 is displayed.

2. Change the value to the required User Security
number which must be within the range 0 to

255. Do not use the default value 149.

3. When the display is returned to Parameter

mode, the displayed value reverts to 149. This
hides the new User Security number.

4. Follow the procedure in Saving new
parameter-values in Appendix A Programming
Instructions.

User Security is now set-up.

All read–write parameters can now be edited.

B.4 Locking User Security

When User security has been set up, and the

AC supply is removed and subsequently re-applied,

User security becomes locked.

To lock User security without removing the

AC supply, set parameter 0.00 at 2000.

B.5 Summary

Condition User Security

Locked

Drive as
despatched
from the
factory

Setting up
security

Saving the code
number

Locking Occurs automatically at power-down or

Unlocking

Changing the
code

Disabling
security

Restoring a
default
configuration

Only parameter 0.00 can be edited; all
other parameters can be read

None

Set 0.34 at 0 ~ 255 (but not 149); the
display reverts to 149 hiding the true
value

Occurs automatically at power-down

when parameter 0.00 is set at 2000
Set parameter 0.00 at the user security

code; the display reverts to 0, hiding the
true value

Set 0.34 at the required value

Set 0.34 at 149 (this value is always
displayed; just enter Edit mode and
return to Parameter mode)

No change

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Security B-1

B-2 Security

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C Signal Connections

Descriptions of the control
signal connections

The control circuits are
isolated from the power
circuits in the Drive by basic

Warning

insulation only. The installer
must ensure that the external
control circuits are insulated
from human contact by at least
one layer of insulation rated
for use at the

AC supply

voltage.

If the control circuits are to be
connected to other circuits
classified as Safety Extra Low

Warning

Voltage (SELV) (eg. to a
personal computer), an
additional isolating barrier
must be included in order to
maintain the SELV
classification.

Logic levels of the digital inputs

Logic sense Logic

state

Negative 0 ≥ 15V Open-circuit

Positive 0 ≤ 5V Open-circuit

For positive logic, the supply can be obtained from
terminal 22 +24V output.

Voltage Action

1 ≤ 5V Connected to 0V

1 ≥ 15V Connected to +24V

Signal modes of the analog inputs

The function and possibly the specification of some
terminals change according to the macro
configuration that is enabled. In these cases, the
number of the associated macro configuration(s) is
stated in italics before the function of the terminal.
Where no indication is given, the function and
specification apply to all the macro configurations.

Status relay contact

1
2

Function
Contact voltage rating 240VAC

Contact current rating 5A resistive
Contact minimum current

rating
Contact condition Normally open
Isolation 1.5kV
Update period 8ms

Drive healthy

Installation category 1

10mA

3 0V common (analog)

Common connection for external analog devices.

4 +10V reference voltage

Function Supply for external analog

Voltage tolerance ±1%
Maximum output current 10mA
Protection Current limit

signal devices

Signal Condition Parameter

0 ~ 10V VOLt
0 ~ 20 mA 0–20
20 ~ 0 mA 20–0
4 ~ 20 mA Trip on loss of signal

current

20 ~ 4 mA Trip on loss of signal

current

4 ~ 20 mA Minimum or low speed

on loss of signal current

20 ~ 4 mA Minimum or low speed

on loss of signal current

4 ~ 20 mA Previous speed on loss

of signal current

20 ~ 4 mA Previous speed on loss

of signal current

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setting

4–20.Lo

20–4.Lo

4–20.tr

20–4.tr

4–20.Pr

20–4.Pr

Signal Connections C-1

Analog input 1

Non-inverting input

5

Inverting input

6

Macro Function

0 1 2 3 5 6 7

4

Type of input Bipolar differential analog

Operating in voltage mode

Voltage range –10V ~ +10V
Absolute maximum

voltage range
Input resistance 100kΩ

Operating in current mode

Current ranges 0 ~ 20mA

Absolute maximum current 50mA
Equivalent input resistance ≤200Ω at 20mA
Resolution 12-bit plus sign
Sampling period ≤2ms

Frequency reference 1 (remote)
Analog torque reference

(For single-ended use,
connect terminal 6 to
terminal 3)

–24V ~ +24V relative to 0V
±24V differential

20mA ~ 0
4 ~ 20mA
20 ~ 4mA

7 Analog input 2

Macro Function

0 1 6 7

5

Type of input Bipolar single-ended analog

Operating in voltage mode

Voltage range –10V ~ +10V
Absolute maximum

voltage range
Input resistance 100kΩ

Operating in current mode

Current ranges 0 ~ 20mA

Absolute maximum current 50mA
Equivalent input resistance ≤200Ω at 20mA

Frequency reference 2 (local)
PID reference

±24V relative to 0V

20mA ~ 0
4 ~ 20mA
20 ~ 4mA

When the Drive is used in torque control (Macro 4),
terminal 7 is used for the analog torque reference.

8 Analog input 3

Macro Function

0 2 3 4 6 7

1 No function

Internal pull-up voltage <5V
Trip threshold resistance 3 kΩ ±15%
Reset resistance 1.9 kΩ ±15%
Short-circuit detection R 51 Ω ±12%

Motor thermistor input*

Macro Function

5

Type of input Bipolar single-ended analog

Operating in voltage mode

Voltage range –10V ~ +10V
Absolute maximum

voltage range
Input resistance 100kΩ

Operating in current mode

Current ranges 0 ~ 20mA

Absolute maximum current 50mA
Equivalent input resistance ≤200Ω at 20mA

PID feedback

±24V relative to 0V

20mA ~ 0
4 ~ 20mA
20 ~ 4mA

* When the Drive is used with Macro 0, 2, 3, 4, 6 or
7 and a motor thermistor is not connected to
terminal 8 (or terminal 15 on the 15-way D type
connector), terminal 8 must be connected to 0V
(terminal 3 or 11).

9 FREQUENCY output signal

10 TORQUE output signal

Type of output Single-ended analog voltage

Bipolar
Maximum output voltage –10V ~ +10V
Maximum output current 10mA peak
Load resistance 1kΩ minimum
Protection Short-circuit proof
Resolution 10-bit plus sign
Update period 8ms

11 0V common (analog)

Common connection for external analog devices.

21 0V common

C-2 Signal Connections

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22 +24V digital supply

Voltage tolerance ±10%
Nominal output current 200mA (total including

Overload output current 240mA (total including

Protection Current foldback

terminal 24)

terminal 24)

above 240mA

Supply for external digital signal devices.

23 0V common (digital)

Common connection for external digital devices.

Macro Function

24

0 1 4 5 6

AT-SPEED output

2

UP input

3

PRESET SELECT A input
BRAKE RELEASE output

7

25 RESET input

Macro Function

26

0 1

JOG SELECT input

2

DOWN input

3

PRESET SELECT B input

4

AT MIN. SPEED output

6

LIMIT FORWARD input

27 RUN FORWARD input
28 RUN REVERSE input

Macro Function

29

0 1 7

LOCAL/REMOTE input

2

MOT. POT. ENABLE input

3

PRESET ENABLE input

4

TORQUE ENABLE input

5

PID ENABLE input

6

LIMIT REVERSE input

30 EXTERNAL TRIP input

Inputs

Input Negative-logic digital
Voltage range 0V ~ +24V
Absolute maximum

voltage range
Input current when

0V applied
Negative-logic levels Inactive state

Positive-logic levels Inactive state

Type of output Negative-logic digital

Voltage range 0V ~ +24V
Maximum output current 200mA (total including

Overload output current 240mA (total including

–3V ~ +30V

≥3.2mA

(input open-circuit): > +15V
Active state: < +5V

(input open-circuit): < +5V
Active state: > +15V

Outputs

(push-pull)

terminal 22)

terminal 22)

31 0V common (digital)

Common connection for external digital devices.

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Signal Connections C-3

C-4 Signal Connections

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D Menu 0 Parameters

D.1 Introduction

Key

Categories of the
fixed-function parameters

The parameters are arranged in the following
categories:

0.00 Configuration and saving

0.01 ~ 0.02 Frequency limits

Type of parameter

RO Read-only
RW Read–write
...selector Select from a number of settings
...select Select from two settings
...enable Make or allow a function to operate
...disable Stop or disallow a function from

operating

...indicator The value can only be read

Limitations of use

R The Drive must be reset for a new value to

take effect.

S The new parameter-value is saved when the

AC supply is disconnected from the Drive.

P Protected parameter; the parameter cannot

be used as the destination parameter for a
programmable input.

Range

Bi Variable parameter having bipolar value

range.

Uni Variable parameter having unipolar value

range.

Txt Variable parameter having text displayed. A

number is stated alongside the setting; this is
displayed on the system controller when the

Drive is accessed by serial communications
Bit Bit parameter
FLC Full-load current (maximum continuous

output current) (see Appendix C Data in the

Installation Guide)

0.03 ~ 0.06 Ramps

Frequency reference selection
Current limit

0.07 ~ 0.09 Voltage boost

0.10 Speed indication

0.31 Macro-number indication

0.32 ~ 0.34 Miscellaneous

0.35 Keypad-reference monitoring

0.36 ~ 0.38 Serial communications

Parameter displayed at power-up

0.39 ~ 0.41 Spinning motor

Autotune

PWM switching frequency

0.42 ~ 0.47 Motor parameters

0.48 Drive software build number

0.49 ~ 0.50 Security and software information

Symbols

ð

Default value

ô

Range of values

[...] Indicates the value of the parameter

~ Indicates a range of values (in the case of bit
parameters, ~ indicates or)

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Menu 0 Parameters D-1

D.2 Fixed-function parameters

common to all macro
configurations

Configuration

Frequency limits

0.01 Minimum frequency

RW Uni

ô

0 ~ [0.02]

ð

0Hz

0.00 Macro selection,

Configuration,
Saving

RW Uni R

ô

0 ~ 2010

Value Function

1000 Save new parameter-values

1233 Restore parameters to their default values

1244 Restore parameters to their default values

2001 Macro 1

2002 Macro 2

2003 Macro 3

2004 Macro 4

2005 Macro 5

2006 Macro 6

2007 Macro 7

2009 Macro 0

2010 Macro 0

for 50Hz

for 60Hz

Easy mode

Motorized potentiometer

Preset speeds

Torque control

PID control

Axis-limit control

Brake control

General purpose (USA default configuration)

General purpose (EUR default configuration)

AC supply frequency (Europe)

AC supply frequency (USA)

ð

0

Set 0.01 at the required minimum output frequency
of the Drive for both directions of rotation. The
Drive runs at the minimum frequency when the
frequency reference is zero.

[0.01] is a nominal value; slip compensation may
cause the actual frequency to be higher.

(When the Drive is jogging, [0.01] has no effect.)

0.02 Maximum frequency

Maximum frequency

ô

0 ~ 1000.0

RW Uni

ð

50 (

60 (

ð

EURO)

USA)

Hz

Set 0.02 at the required maximum output
frequency for both directions of rotation. The
frequency reference cannot cause the Drive to run
at a frequency higher than [0.02].

[0.02] is a nominal value; slip compensation may
cause the actual frequency to be higher.

(The Drive has additional over-speed protection.)

For operation at motor speeds
greater than twice base speed,
contact the supplier of the

Caution

motor.

Ramps,
Frequency reference selection,
Current limit

Press after setting parameter 0.00 at the
required value.

D-2 Menu 0 Parameters

0.03 Acceleration rate

RW Uni

ô

0 ~ 3200.0

ð

5 s/100Hz

Set 0.03 at the required rate of acceleration. Note
that larger values produce lower acceleration. The
rate applies in both directions of rotation.

0.03 does not apply to jog speed. See Menu 2 in
the Commander Gp Advanced User Guide for jog
acceleration and deceleration rates.

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Issue code: gpxu2

0.04 Deceleration rate

I

FLC

RATIO

==

[ . ]0 46

0.06 Current limit

RW Uni

ô

0 ~ 3200.0

ð

10 s/100Hz

Set 0.04 at the required rate of deceleration. Note
that larger values produce lower deceleration. The
rate applies in both directions of rotation.

0.04 does not apply to jog speed. See Menu 2 in
the Commander Gp Advanced User Guide for jog
acceleration and deceleration rates.

0.05 Reference selector

RW Uni

ô

0 ~ 5

ð

(See below)

The default setting of 0.05 depends on the default
configuration of the Drive, as follows:

EUR 0 Terminal mode

USA 4 Keypad mode

Note

Macros 2 to 5: Do not change the setting of
parameter 0.05.

Macro 6: Only settings 0, 1, 2 can be used.

Macro 7: Only settings 0, 1, 2, 4 can be used.
For using setting 3, see the Commander Gp
Advanced User Guide.

Use 0.05 to select the required frequency
reference, as follows:

RW Uni

ô

0 ~ ≥150

ð

150 % I

RATIO

0.06 limits the maximum output current of the
Drive (and hence maximum motor torque) to
protect the Drive and motor from overload.

Set 0.06 at the required maximum torque as a
percentage of the rated torque of the motor, as
follows:

T

[. ] (%)0 06 100==××

R

T

RATED

Where:

T

Required maximum torque

R

T

Motor rated torque

RATED

Alternatively, set 0.06 at the required maximum
active (torque-producing) current as a percentage
of the rated active current of the motor, as follows:

I

[. ] (%)0 06 100==××

R

I

RATED

Where:

I

Required maximum active current

R

I

Motor rated active current

RATED

Refer to Setting the torque-producing current limit in
Chapter 3 Setting up the Drive.

Setting User-

interface

mode

0 Terminal Analog frequency reference

selected by
contact

1 Terminal Analog frequency

reference 1 selected

2 Terminal Analog frequency

reference 2 selected

3 Terminal Preset frequency references

selected (used with
Macro 3)

4 Keypad Frequency controlled by the

keypad

5 (Not used)

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Function

LOCAL/REMOTE

Menu 0 Parameters D-3

Voltage boost

0.08 Boost voltage

0.07 Voltage mode selector

Voltage mode selector

ô

Setting Function

Ur_S

Ur_I

Ur

Fd

(See below)

Vector modes

0 Motor stator resistance is measured each

time the Drive is started.

1 Motor stator resistance is measured at

power-up if the
closed and no other trip condition exists.

2 Motor stator resistance is not measured

(use this mode only after having used
Ur_S or Ur_I to measure the stator
resistance).

Fixed boost mode

3 Fixed voltage boost that can be manually

adjusted by parameter 0.08 Boost voltage.

RW Uni

ð

Ur_I

EXTERNAL TRIPEXTERNAL TRIP contact is

Use 0.07 to select fixed voltage boost, or Vector
control of voltage boost. Fixed boost requires a
value to be set in 0.08 Boost voltage by the user.
See Figure D–1. Fixed boost should be used when

0.39 Synchronize to a spinning motor is set at 1.

Motor voltage

Boost voltage

ô

0 ~ 25.0

RW Uni

ð

3.0 % x [0.44]

When 0.07 Voltage mode selector is set at Fd, set

0.08 at the required value for the motor to run
reliably at low speeds. See Figure D–1.

Excessive values of 0.08 can cause the motor to be
overheated.

0.09 Dynamic V/f select

Dynamic V/f select

ô

0 ~ 1

RW Bit

ð

0

Set 0.09 at 0 when the V/f characteristic applied to
the motor is to be fixed. It is then based on the
rated voltage and frequency of the motor.

Set 0.09 at 1 when reduced power dissipation is
required in the motor when it is lightly loaded. The
V/f characteristic is then variable resulting in the
motor voltage being proportionally reduced for
lower motor currents. Figure D–2 shows the change
in V/f slope when the motor current is reduced.

Motor

voltage

AC supply

voltage

IMOTOR

[0.08]

Voltage boost

Frequency

Figure D–1 Effect of fixed voltage boost on

the voltage-to-frequency
characteristic

Vector control causes the voltage boost to be
automatically regulated according to the load on
the motor.

Vector control requires the value of stator winding
resistance to be stored in a parameter in the Drive.
The three Vector modes allow the resistance to be
measured under different circumstances.

D-4 Menu 0 Parameters

Frequency

Figure D–2 Fixed and variable

V/f characteristics

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Speed indication

0.34 User security code

0.10 Estimated motor speed

Estimated motor speed

ô

±6000

RO Bi

ð

RPM

0.10 indicates the value of motor speed that is
estimated from the following:

0.12 Post-ramp frequency reference

0.42 Motor – no. of poles

The value of 0.10 is applied to the analog output on
terminal 9 to indicate estimated speed.

Macro-number indication

0.31 Macro number

RO Uni

ô

0 ~ 7

ð

0.31 indicates the number of the macro
configuration that is currently in operation.

Miscellaneous

0.32 Serial comms. mode

RW Txt R P

ô

ANSI 2
ANSI 4
OUtPUt
INPUt

Use 0.32 to select the required serial
communications mode as follows:

ANSI 2 ANSI protocol, two-wire
ANSI 4 ANSI protocol, four-wire

0.33 Drive rated current (FLC)

ð

ANSI 4

RW Uni S P

ô

0 ~ 255

ð

149

Use 0.34 to set up a User Security code.
Irrespective of the code number entered in 0.34, it
always indicates the default value 149. When 0.34
is actually set at 149, no User Security is applied.

See Setting-up User Security in Appendix B Security.

Keypad-reference monitoring

0.35 Keypad reference

RO Bi S P

ô

± [0.02]

ð

Hz

0.35 indicates the value of the frequency reference
when the Drive is operating in Keypad mode. The
reference is then controlled by the following control
keys (when the display is in Status mode):

The value is automatically saved when the Drive is
powered-down. At the next power-up, the Drive
ramps up to the frequency that applied before the
power-down.

Serial communications,
Parameter displayed after power-up

0.36 Serial comms. baud rate

RW Txt P

ô

4800 (0)
9600 (1)

19200 (2)

2400 (3)

Use 0.36 to select the required baud rate for serial
communications when a Basic serial communications
large option module is fitted in the Drive.

ð

4800

(0)

baud

ô

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2.10 ~ 202

RO Uni P

ð

A

0.37 Serial comms. address

RW Uni P

ô

0.0 ~ 9.9

ð

1.1 Group.Unit

Use 0.37 to select the required address for serial
communications when a Basic serial communications
large option module is fitted in the Drive.

Do not enter an address that contains a zero, since
this is used when addressing a group of Drives.

Menu 0 Parameters D-5

0.38 Initial parameter displayed

RW Uni P

ô

0.00 ~ 0.50

ð

0.10

At the time the AC supply is connected to the Drive,
parameter 0.10 Estimated motor speed is
automatically pre-selected as the initial parameter
to be displayed. This results in the following:

1. After the

AC supply is connected to the Drive,

and before any other parameter is selected, the
value of parameter 0.10 is shown on the upper
display. This allows the motor speed to be
monitored without the need to select the
parameter.

2. If the keypad is subsequently used to select

another parameter, the value of the newly
selected parameter is displayed in place of the
initial parameter.

To select a different parameter to be displayed initially,
enter the required parameter number in 0.38 (eg. to
display 0.12 Post-ramp reference, enter 0.12).

Spinning motor,
Autotune,

PWM switching frequency

0.39 Synchronize to a spinning motor

RW Bit

ô

0 ~ 1

Set 0.39 at 1 for the Drive always to automatically
synchronize itself to the motor if the motor is
already rotating when the Drive is started.

If the Drive is started when the motor is already
spinning and 0.39 is set at 0, the Drive cannot
detect the speed of the motor; the normal
operation of the Drive will cause the motor to be
braked to a stand-still in the same way as

DC injection braking. The Drive will then accelerate

the motor to the value of the frequency reference.

Notes

The Drive can be synchronized to a single
motor only. If more than one motor is
connected to the Drive, this function should
not be used.

For the Drive to operate correctly during
and after synchronization, parameter

0.07 Voltage mode selector must be set at Fd.

The Drive starts a sequence of operations at one
quarter of the rated motor voltage in order to
detect the frequency associated with the speed of

ð

0

the motor. The sequence is stopped when the
motor frequency is detected. The stages in the
sequence are as follows:

1. The frequency of the Drive is set at maximum

(the value of 0.02) in the direction that the
motor was last driven. (If the

AC supply to the

Drive was interrupted before an attempt is
made to synchronize to a spinning motor, the
Drive always starts in the forward direction.)

2. The frequency is reduced to zero. If the motor

frequency is detected during the reduction in
Drive frequency, the test is stopped. The Drive
frequency is set at the detected motor
frequency and the Drive takes control of the
motor.

3. If the motor frequency is not detected, the

Drive is set at maximum frequency in the
opposite direction, and the test is repeated.

4. If the motor frequency is still not detected, the

Drive frequency is set at 0Hz, and the Drive
takes control of the motor.

0.40 Autotune

RW Bit P

ô

0 ~ 1

ð

0

Set 0.40 at 1 to start the Autotune sequence. See
Autotune in Chapter 2 Getting Started.

0.41 PWM switching frequency

RW Txt P

ô

3, 4.5, 6, 9, 12

ð

3 kHz

See PWM switching frequency in Planning the installation in
Chapter 2 Installing the Drive in the Installation Guide.

Thermal protection

Intelligent thermal modelling in the Drive effectively
monitors the junction temperature of the IGBTs in
the power stage. When the junction temperature is
calculated to reach the maximum permissible value,
two levels of protection occur, as follows:

1. When a

or 12kHz is selected, the
frequency is automatically halved. This reduces
switching losses in the IGBTs. (The value of
parameter 0.41
at the value set by the user.)

Then at one-second intervals, the Drive will

attempt to return the
to the original value. This will be successful
when the thermal modelling has calculated that
the temperature has reduced sufficiently.

PWM switching frequency of 6kHz, 9kHz

PWM switching

PWM switching frequency remains

PWM switching frequency

D-6 Menu 0 Parameters

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Issue code: gpxu2

2. If the junction temperature continues to rise

(due to the output current) after the

PWM

switching frequency has been halved, and the
temperature reaches the maximum permissible
value, the Drive will trip. The display will
indicate trip code Oh1.

Motor parameters

0.42 Motor – number of poles

RW Txt P

ô

2 ~ 32

Enter the number of motor poles (not pole pairs).
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)

ð

4 poles

0.46 Motor – rated current

RW Uni

ô

0 ~ FLC

ð

FLC A

FLC is the maximum permissible continuous output
current of the Drive up to 40°C ambient
temperature and 3kHz

PWM switching frequency.

Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)

0.47 Motor – rated frequency

RW Uni

ô

0 ~ 1000.0

ð

50 (

60 (

EUR)

USA)

Hz

0.43 Motor – power factor

RW Uni S P

ô

0 ~ 1.000

ð

0.92

When Autotune is used, the power factor of the
motor is measured by the Drive and stored in 0.43.
The value can be seen when 0.43 is accessed. The
value may be higher than the value stated on the
motor rating plate.

If Autotune is not used, enter the value in 0.43.

0.44 Motor – rated voltage

RW Uni

Commander GP

ô

EUR

0 ~ 400

ô

USA

0 ~ 480

Commander GP LV

ô

EUR

0 ~ 240

ô

USA

0 ~ 240

ð

400 (EUR)

ð

460 (USA)

ð
ð

220
220

V
V

V
V

Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)

Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)

Drive software build number

0.48 Drive software build number

RO Uni

ô

0 ~ 99

ð

Status information

0.49 Security status

RO Uni

ô

0 ~ 1

0.49 normally indicates 1. This shows that access
to the advanced parameters is not possible.

0.50 Software version number

ô

1 .00~ 99.99

ð

1

RO Uni P

ð

0.45 Motor – rated speed

RW Uni

ô

0 ~ 6000

ð

0

RPM

Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 3
Setting up the Drive.)

Commander GP User Guide
Issue code: gpxu2

Menu 0 Parameters D-7

D.3 Parameters specific

4

û

4

û

0.14

0

1

1

0

to the macro configurations

Since parameters 0.11 to 0.30 are specific to
individual macros, most parameter numbers appear
more than once in this section, but with different
names; these are variants on the parameter number.
For guidance, a table headed Applicable to Macros...
appears for each parameter variant. (In places, the
listing is not able to be in strict numerical order.)

A table at the end of this appendix shows the
variants for all the macros (except Macro 1 which
does not use these parameters).

0.11 Pre-ramp reference

0.12 Post-ramp reference

0.14 Jog reference

RW Uni

ô

Applicable to Macros...

0123

0 ~ 400.0

üûûû

ð

1.5 Hz

567

ûûû

Enter the required value of jog frequency. The
frequency limits affect the Drive when jogging as
follows:

Frequency-limit parameter Limit applies

0.01 Minimum frequency

0.02 Maximum frequency

No

Yes

RO Bi

ô

Applicable to Macros...

01234567

±1000.0

ð

HZ

üûüüüüüü

When the frequency is constant, [0.12] = [0.11].
During acceleration and deceleration, the two
values may differ.

[0.12] differs from [0.11] also under either of the
following conditions:

• When the Drive is in current limit

• During braking in a standard ramp (Stnd.Hd

or Std.Ct) mode.

0.13 Motor active-current

RO Bi

ô

Applicable to Macros...

01234567

±FLC

ð

A

üûüüüüüü

Note

So that jog can be selected, the Drive must
be operated in either Macro 0 or Macro 1
and in Terminal mode.

0.14 Limit forward indicator

RO Bit P

ô

Applicable to Macros...

0123

0 ~ 1

ûûûû

0.14 indicates the state of the LIMIT FORWARD
contact, as follows:

0.21 LIMIT FORWARD

0 Open
0 Closed

1 Closed
1 Open

contact

ð

567

ûüû

Condition

Limit not reached
Limit reached

Limit not reached
Limit reached

When the motor is being driven below its rated
speed, the torque is proportional to [0.13].

D-8 Menu 0 Parameters

Commander GP User Guide

Issue code: gpxu2