schneider Altivar 21 Programming Manual

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2354235 11/2008

Altivar 21

Variable speed drives for asynchronous motors

Programming Manual

Software V1.9

09/2009

AAV75193

www.schneider-electric.com

Important information __________________________________________________________________________________________ 5 Before You Begin _____________________________________________________________________________________________ 6 Documentation structure________________________________________________________________________________________ 8

Installation Manual ______________________________________________________________________________________ 8 Programming Manual ____________________________________________________________________________________ 8 Manuals for Modbus, Lonworks, BACnet, Metasys N2, Apogee FLN _______________________________________________ 8

Software enhancements ________________________________________________________________________________________ 9

Enhancements made to version V1.1 in comparison to V1.0 _____________________________________________________ 9 Enhancements made to version V1.2 in comparison to V1.1 _____________________________________________________ 9 Enhancements made to version V1.3 in comparison to V1.2 _____________________________________________________ 9 Enhancements made to version V1.6 in comparison to V1.3 _____________________________________________________ 9 Enhancements made to version V1.7 in comparison to V1.6 _____________________________________________________ 9 Enhancements made to version V1.8 in comparison to V1.7 _____________________________________________________ 9 Enhancements made to version V1.9 in comparison to V1.8 _____________________________________________________ 9

Steps for setting up the drive ___________________________________________________________________________________ 10 Factory configuration _________________________________________________________________________________________ 11 Setup – Preliminary recommendations____________________________________________________________________________ 12

Power switching via line contactor _________________________________________________________________ ________ 12 User adjustment and extension of functions _________________________________________________________________ 12 Test on a low power motor or without a motor ________________________________________________________________ 13 Using motors in parallel _________________________________________________________________________________ 13 Using in single phase supply _____________________________________________________________________________ 13

Graphic display terminal_______________________________________________________________________________________ 14

Graphic display terminal features _________________________________________________________________________ 14 Graphic display terminal modes ______________________________________________________________________ ____ 15 Monitoring Mode ______________________________________________________________________________________ 15 Run Mode ___________________________________________________________________________________________ 19 Programming Mode ____________________________________________________________________________________ 19

Menu Structure______________________________________________________________________________________________ 20

Menu Navigation__________________________________________________________________ _____________________ 20 Submenus____________________________________________________________________________________________ 22 Accessing and Changing Parameters ______________________________________________________________________ 22

Common control schemes _____________________________________________________________________________________ 24

2-wire control _________________________________________________________________________________________ 24 3-wire control _________________________________________________________________________________________ 25 External speed control potentiometer ______________________________________________________________________ 26 4-20 mA speed control __________________________________________________________________________________ 26 Preset speeds (up to seven) _____________________________________________________________________________ 27 Serial communication __________________________________________________________________________________ 28 Forced local __________________________________________________________________________________________ 28 PID control ____________________ _______________________________________________________________________ 29

Drive Operation______________________________________________________________________________________________ 30

Local and Remote Modes of Operation _____________________________________________________________________ 30 Local Mode __________________________________________________________________________________________ 33 Resetting drive Faults in Local Mode _______________________________________________________________________ 33 Logic Input Functions Active in Local Mode _________________________________________________________________ 34 Remote Mode ________________________________________________________________________________________ 34

Quick Start _________________________________________________________________________________________________ 37

Quick menu AUF ______________________________________________________________________________________ 37 Motor parameters _____________________________________________________________________________________ 40

Programming Parameters______________________________________________________________________________________ 41

Parameter Reset (tYP) _________________________________________________________________________________ 41 Macro Programming (AU4) ______________________________________________________________________________ 42 Parameter Lock (F700) _________________________________________________________________________________ 43 Display of Submenu AUF (F738) __________________________________________________________________________ 43

AAV75193 09/20009 3

Contents

Motor Control Parameters _____________________________________________________________________________________ 44

Motor Control Mode (Pt) ________________________________________________________________________________ 44 Motor Tuning __________________________ _______________________________________________________________ 48 Auto-tuning __________________________________________________________________________________________ 49 Supply Voltage Correction and Motor Voltage Limitation (F307) __________________________________________________ 51 Motor 2 Control Parameters _____________________________________________________________________________ 52

Drive Control Parameters______________________________________________________________________________________ 54 Application Parameters________________________________________________________________________________________ 59

Skip Frequencies ______________________________________________________________________________________ 65 DC Injection Braking Parameters _________________________________________________________________________ 66

I/O Control Parameters_______________________________________________________________________ _________________ 67

Logic Input Function Compatibility _________________________________________________________________________ 71 Relay Output Functions _________________________________________________________________________________ 72 Analog Input Functions__________________________________________________________________________________ 78 Analog Output Functions ________________________________________________________________________________ 79 Logic Inputs Function ___________________________________________________________________________________ 80 Analog Input Adjustments (F201–F204; F160-F163; F210–F213; F470–F473)_______________________________________ 81 Always Active Logic Function ____________________________________________________________________________ 89 Preset Speeds (Sr1 – Sr7) _______________________________________________________________________________ 90 +/- Speed Control Parameters ________________________________________________________________________ ____ 91

Display Parameters __________________________________________________________________________________________ 94 Fault Management Parameters _________________________________________________________________________________ 97

Catch On The Fly (F301) ____________________________________________________________________________ ____ 99 Overtorque Detection __________________________________________________________________________________ 105 Nuisance Overvoltage And Input Phase Fault Avoidance ______________________________________________________ 106 Motor Overload Characteristics (OLN) ____________________________________________________________________ 107

Serial Communication Parameters______________________________________________________________________________ 109 Start/Stop Control By Speed Reference Level_____________________________________________________________________ 114 Droop Control______________________________________________________________________________________________ 115 Permanent Magnet Motor_____________________________________________________________________________________ 116 Options ___________________________________________________________________________________________________ 117 Faults - Causes - Remedies___________________________________________________________________________________ 118

Fault Conditions ______________________________________________________________________________________ 118 Alarm Conditions _____________________________________________________________________________________ 121 Pre-alarm Conditions __________________________________________________________________________________ 122 Resetting the drive after a Fault Condition__________________________________________________________________ 122

Parameters reset tables ______________________________________________________________________________________ 123

Parameter Reset _____________________________________________________________________________________ 123 Parameter values that do not vary by reset type _____________________________________________________________ 123 Parameter values that vary according to reset type___________________________________________________________ 128 Parameter values that vary according to drive model, but not reset type___________________________________________ 128 Parameter values that vary according to drive model and reset type______________________________________________ 130 Parameter values that do not change if reset________________________________________________________________ 131

User settings tables _________________________________________________________________________________________ 132

4 AAV75193 09/20009

Important information

The addition of this symbol to a “Danger” or “Warning” safety label indicates that there is an electrical risk that will result in injury if the instructions are not followed.

This is a safety warning symbol. It warns you of the potential risk of injury. You must comply with all safety messages that

follow this symbol in order to avoid the risk of injury or death.

PLEASE NOTE

Please read these instructions carefully and examine the equipment in order to familiarize yourself with the device before installing, operating or carrying out any maintenance work on it.

The following special messages that you will come across in th is document or on the device are designed to warn you about poten tial risks or draw your attention to information that will clarify or simplify a procedure.

DANGER

DANGER indicates an imminently hazardous situation which, if not avoided, will result in death, serious injury or equipment damage.

WARNING

WARNING indicates a potentially hazardous situation which, if not avoided, can result in death, serious injury or equipment damage.

CAUTION

CAUTION indicates a potentially hazardous situation which, if not avoided, can result in injury or equipment dama ge.

PLEASE NOTE:

Only qualified personnel are authorized to carry out maintenance work on electrical equipment. Schneider Elec tric accepts no responsibility for the consequences of using this device. This document does not constitute an instruction manual for inexperienced personnel. © 2008 Schneider Electric. All rights reserved.

AAV75193 09/20009 5

Before You Begin

Read and understand these instructions before performing any procedure with this drive.

DANGER

HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH

• Read and understand this manual before installing or operating the Altivar 21 drive. Installation, adjustment, repair, and maintenance must be performed by qualified personnel.

• The user is responsible for compliance with all international and national electrical code requirements with respect to grounding of all equipment.

• Many parts of this drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH. Use only electrically insulated tools.

• DO NOT touch unshielded components or terminal strip screw connections with voltage present.

• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.

• Before servicing the drive: — Disconnect all power.

— Place a “DO NOT TURN ON” label on all power disconnects. — Lock all power disconnects in the open position. — Disconnect all power, including external control power that may be present, before servicing the drive. WAIT

15 MINUTES to allow the DC bus capacitors to discharge. Th en follow the “Bus Voltage Measurement Procedure” located in the Installation Manual, to verify that the DC voltage is less than 42 V. The drive LED is not an indicator of the absence of DC bus voltage.

• Install and close all covers before applying power or starting and stopping the drive.

Failure to follow these instructions will result in death or serious injury.

DANGER

UNINTENDED EQUIPMENT OPERATION

Before turning on the drive or upon exiting the configuration menus, ensure that the inputs assigned to the Run command are in a state that will not cause the drive to run. Otherwise, the motor can start immediately.

Failure to follow this instruction wil l result in death, serious injury, or equipment damage.

DANGER

UNINTENDED EQUIPMENT OPERATION

• Prevent accidental grounding of logic inputs configured for sink logic. Accidental grounding can result in unintended activation of drive functions.

• Protect the signal conductors against damage that could result in unintentional conductor grounding.

Failure to follow these instructions will result in death or serious injury.

6 AAV75193 09/20009

Before You Begin

WARNING

LOSS OF CONTROL

• The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop.

• Separate or redundant control paths must be provided for critical control functions.

• System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures.

• Each implementation of an Altivar 21 drive must be individually and thoroughly tested for proper operation before being placed into service.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING

LOSS OF CONTROL

• Set the communication error trip time to stop the drive in case the remote graphic display terminal display is deactivated by an unusual event such as tripping, an operation error, or a power outage.

• Ensure that the communication error trip time is properly set before deactivating the remote graphic display terminal display.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

AAV75193 09/20009 7

Documentation structure

The following Altivar 21 technical documents are available on the Telemecanique website (www.telemecanique.com) as well as on the CD-ROM supplied with the drive.

Installation Manual

This manual contains complete mounting and wiring instructions.

Programming Manual

This describes the functions, parameters and use of the drive terminal (integrated display terminal and graphic display terminal). The communication functions are not described in this manual, but in the manual for the bus or network used.

Manuals for Modbus, Lonworks, BACnet, Metasys N2, Apogee FLN

These manuals describe the assembly, connection to the bus or network, signaling, diagnostics, and configuration of the communication-specific parameters via the integrated displa y terminal or the graphic display terminal. They also describe the communication services of the protocols.

8 AAV75193 09/20009

Software enhancements

Since the Altivar ATV21 was first launched, it has benefited from the addition of several new functions. The software version is now V1.9. The old versions can be replaced by this new one without any modifications. Although this documentation relates t o version V1.9, it can still be used wit h earlier versions, as the updates merely involve the addition of new values and parameters, and none of the parameters of the previous versions have been modified or removed. The software version is indicated on the nameplate attached to the body of the drive.

Enhancements made to version V1.1 in comparison to V1.0

• New factory value for Supply Voltage Correction and Motor Voltage Limitation F307 =

Supply Voltage Corrected - motor voltage unlimited (F307= 3). See page 51

• Modify factory value for Motor No-load Current F416 = According to drive model. See page 48

• New factory value for FL Relay Function F132 = Inversion of fault relay (F132= 11). See page 85

• No detection of Ground Fault EF2 during Line supply undervoltage fault MOFF over 22 kW product.

Enhancements made to version V1.2 in comparison to V1.1

• New factory value for Motor Current Limit F601 = 110 % of the drive’s output current rating. See page 47.

• New factory value for Motor 2 Current Limit F185 = 110 % of the drive’s output current rating. See page 52

• In case of Supply Voltage Correction and Motor Voltage Limitation F307 = Supply voltage uncorrected (F307 = 0 or 2), auto-swap the Motor rated voltage uluas 200 V (200 V range) or 400 V (400 V range). See page 51

Enhancements made to version V1.3 in comparison to V1.2

and page 40.

• New factory value for Time-out F803 = 3 seconds of the drive’s output current rating. See page 110.

Enhancements made to version V1.6 in comparison to V1.3

• New factory value for Auto Fault Reset F303 = Disabled (F303 = 0). See page 97.

• Overvoltage Fault OPx is automatically re-start when Auto Fault Reset F303 = Disabled (F303 = 0). See page 120

• New factory value for Disabling of graphic display terminal Fault Reset Function F735 = Disabled (F735 = 1). See page 58

• Improvement of speed search function.

• Modify external keypad interface (text on "Stop" button becomes "Stop / Reset").

• Stop key from optional graphic display terminal (VW3A21101).

Enhancements made to version V1.7 in comparison to V1.6

• New parameter Power supply adjustment gain F484. See page 106.

• Clear PID integral value (function 65) and PID Control Prohibited (function 14) are valid for all

Remote Mode Start/StopControl CMOdadjustment.

Enhancements made to version V1.8 in comparison to V1.7

• Improvement countermesure of vibration issue (F484). See page 106.

Enhancements made to version V1.9 in comparison to V1.8

New parameters:

• Delay for RY-RC Relay F146. See page 85

• Delay for FL Relay F147. See page 85

• Threshold logic for relay link to VIA F160. See page 81

• Hysteresis threshold for logic relay link to VIA F161. See page 81

• Threshold logic for relay link to VIB F162. See page 81

• Hysteresis threshold for logic relay link to VIB F163. See page 81

• PI regulator reversal direction correction F380. See page 87

• Stop on LL hysteresis F391. See page 87

• PI wake up threshold on PI error F392. See page 87

• PI wake up threshold on PI feedback error F393. See page 87

• Drive behaviour on 4-20 event

• Fallback speed F649. See page 104

• Low frequency when analog output equal 0 V F694. See page 84

• High frequency when analog output equal 0 V F695.See page 84

F644. See page 104.

and page 97.

AAV75193 09/20009 9

Steps for setting up the drive

INSTALLATION

v 1 Consult the Installation Manual

PROGRAMMING

b 2 Configure the parameters

v Quick menu AUF v Motor parameters v Perform an auto-tuning operation

b 3 Start

Tips:

• Before you start programming, complete the user setting tables, page

132.

• Perform an auto-tuning ope ration to optimize performance, page

48.

• If you get lost, return to the f actory settings, page

123.

Note: Check that the wiring of the drive is compatible with its configuration.

10 AAV75193 09/20009

Factory configuration

Drive factory settings

The Altivar 21 is factory-set for the most common operating conditions:

• Motor Control Mode Pt : Variable torque (Pt = 1). See page 45

• High speed UL = 50.0 Hz. See page 59

• Low speed LL = 0.0 Hz. See page 59

• Switching Frequency Level F300: depending on drive rating (see page 64

• Auto Ramp Adaptation

Parameter which depends on Macro Programming AU4 = Factory setting 0 (see page 42

• Command reference: logic inputs (CNOd = 0). See Remote Mode Start/Stop Control

• Speed reference: analog input VIA = 0–10 V or 0–20 mA (FNOd = 1, F201= 0). See Remote Mode Primary Speed Reference

Source

FMOD page 54 and Analog Input Speed Reference page 81.

• F: run forward (F111= 2).See F Logic Input Function

• R: preset speed 1 (F112= 6). See R Logic Input Function

• RES: fault reset (F113= 10). See RES Logic Input Function

• Drive ready for operation (F110= 1). See Always Active Logic Function 2

If the above values are compatible with the application, the drive can be used without changing the settings.

AU1 = Enabled (AU1 = 1). See page 64.

page 80.

)

page 54.

page 80.

page 89.

AAV75193 09/20009 11

Setup – Preliminary recommendations

CAUTION

INCOMPATIBLE LINE VOLTAGE

Before turning on and configuring the drive, ensure t hat the line volt age is compatib le with the supply vo ltage range s hown on the drive nameplate. The drive may be damaged if the line voltage is not compatible.

Failure to follow these instructions can result in equipment damage.

Power switching via line contactor

CAUTION

UNINTENDED EQUIPMENT OPERATION

• Avoid operating the contactor frequently (premature ageing of the filter capacitors).

• Cycle times < 60 s may result in damage to the pre-charge resistor.

Failure to follow these instructions can result in equipment damage.

User adjustment and extension of functions

• The display unit and buttons can be used to modify the settings and to extend the functions described in the following pages.

• Return to factory settings is made easy by the Parameter Reset tYP (see page 41

DANGER

UNINTENDED EQUIPMENT OPERATION

• Check that changes made to the settings during operation do not present any danger.

• We recommend stopping the drive before making any changes.

Failure to follow these instructions will result in death or serious injury.

12 AAV75193 09/20009

Setup – Preliminary recommendations

Test on a low power motor or without a motor

• In factory settings mode, Output Phase Failure Detection Mode F605 (see page 102) is active (F605 = 3). To check the drive in a test or maintenance environment without having to switch to a motor with the same rating as the drive (particularly useful in the case of high power drives), deactivate F605= 0.

•Set Motor Control Mode Pt = Constant V/Hz 0 (see page 45

UNINTENDED EQUIPMENT OPERATION

Motor thermal protection will not be provided by the drive if the motor current is less than 0.2 times the rated drive current. Provide an alternative means of thermal protection.

Failure to follow these instructions can result in equipment damage.

Using motors in parallel

•Set Motor Control Mode Pt = Constant V/Hz 0 (see page 45).

)

CAUTION

UNINTENDED EQUIPMENT OPERATION

Motor thermal protection is no longer provided by the drive. Provide an alternative means of thermal protection on every motor.

Failure to follow these instructions can result in equipment damage.

Using in single phase supply

•Set Input Phase Failure Detection Mode F608 = Disabled 0 (see page 100).

CAUTION

UNINTENDED EQUIPMENT OPERATION

Using ATV21 in single phase supply is only allowed in training mode with motor and without load.

Failure to follow these instructions can result in equipment damage.

AAV75193 09/20009 13

Graphic display terminal

RUN PRG MON

% Hz

MODE

Loc Rem

ENT

RUN STOP

This section describes the features of the in tegra ted graphic displa y terminal d isplay . An optiona l graphi c displ ay terminal (VW3A21101) i s also available.

Graphic display terminal features

LED/Key Characteristics

1 Display RUN LED

2 Display PRG LED

3 Display MON LED

• Illuminates when a run command is applied to the drive.

• Flashes when there is a speed reference present with a Run command.

• Illuminates when Programming mode is active.

• Flashes in AUF,GrU modes

• Illuminates when Monitoring mode is active.

• Flashes in fault history display mode

4 Display unit 4 digits, 7 segments 5 Display unit LED

• The % LED illuminates when a displayed numeric value is a percentage.

• The Hz LED illuminates when a displayed numeric value is in hertz.

Depending on the mode, you can use the arrows to:

6 UP/DOWN keys

• Navigate between the menus

• Change a value

• Change the speed reference when the UP/DOWN LED (7) is illuminated 7 UP/DOWN LED Illuminates when the navigation arrows are controlling the speed reference 8 Loc/Rem LED Illuminates when Local mode is selected

Press to select the graphic display terminal mode.

• Run mode (default on power-up) 9MODE

• Programming mode

• Monitoring mode

Can also be used to go back to the previous menu. 10 Loc/Rem Switches between Local and Remote modes 11 ENT Press to display a parameter’s value or to save a changed value . 12 RUN LED Illuminates when the Run key is enabled 13 RUN Pressing this key when the RUN LED is illuminated starts the drive.

14 STOP

Stop/reset key.

In Local mode, pressing the STOP key causes the drive to stop based on the setting of parameter

F721.

In Remote mode, pressing the STOP key causes the drive to stop based on the setting of parameter

F603. The display will indicate a flashing “E”.

If F735 is set to 0 (default setting), pressing the stop key twice wi ll reset all resettable faults if the fault

condition has been resolved.

14 AAV75193 09/20009

Graphic display terminal

MODE

PROG

MON

RUN

Run

mode

Programming

mode

Monitoring

mode

0.0

AUF

Fr-F

MODE MODE

ATV21 drive

Power Up

MODE

MODE Key

Fr-F

AUF

0.0

MODE

MON

MODE

C80

t0.10

n---

F60.0

25 other

parameters

PROG

RUN

MODE

Mode key

Up/Down keys

Graphic display terminal modes

The Altivar 21 graphic display terminal has three modes of operation: Monitoring, Run and Programming. The drive powers up in the Run mode. To select a different mode, use the MODE key as illustrated below.

Monitoring Mode

The Monitoring mode displays drive opera tional data in real time. To access the Monitoring mode, press t he MODE key u ntil the MON LED is illuminated. Then use the UP and DOWN keys to view up to 30 different types of data.

AAV75193 09/20009 15

Graphic display terminal

ON: OFF:

RY-RC

Monitoring Mode Displays

Display Name Description

Fr-F

F60.0

C80

Y100

P100

q60

c90

L70

h80

H75

o60.0

..11

0.1

Direction of rotation Fr-F = forward direction

Fr-r = reverse direction

Speed reference

Command frequency to drive, displayed either as Hz or in custom unit set by parameter F702

Motor current The average of the 3 phases of motor current displayed either a s amperes or as a percentage of the

drive's nameplate-rated output current. Select % or A with parameter F701.

Line voltage The average of the 3 phases of line to line input voltage s disp layed ei th er in vol ts or as a percen tag e

of the drive's rated input voltage (200 V for 208/240 V models - 400 V for 480 V models). Select % or volts with parameter F701.

Motor voltage The average of the 3 phases of line to line out put voltages displ ayed either in volts or a s a percentage

of the drive's rated output voltage (200 V for 208/240 V models - 400 V for 480 V models). Select % or volts with parameter F701.

Motor torque

Estimated motor torque as a percentage of the motor's rated torque

Torque current The average of the 3 phases of torque-produc ing motor current displayed either as amperes or as a

percentage of the motor's rated torque-producing current. Select % or A with parameter F701.

drive load factor The motor current as a percentage of the drive's rated output current, which may be reduced from the

drive’s nameplate current rating by adjustments in switching fr equency.

Input power Output power Motor operating

frequency Logic input map

drive input power displayed in kilowatts (kW) drive output power displayed in kilowatts (kW)

Motor operating frequency, displayed either as Hz or in custom unit set by parameter F702

ON:

OFF:

VIA

Relay output map

The bar representing VIA is displayed only if F109 = 1 or 2

RES

u101

uc01

uE01

d50

b70

h85

H75

A16.5

1500

CPU 1 version CPU 2 version Memory version PID feedback PID computed

speed reference Accumulated input

power consumption

Accumulated output power consumption

Drive rated output current

Motor speed

Version of CPU 1 Version of CPU 2 Version of memory Level of PID feedback, displayed either as Hz or in custom unit set by parameter F702

Speed reference command to drive as computed by the PID function, displayed eithe r as Hz or in custom unit set by parameter F702

Accumulated input power consumed by the drive displayed in kWh

Accumulated output power supplied by the drive displayed in kWh

Drive nameplate rated output current in amperes

Motor speed in rpm

16 AAV75193 09/20009

Graphic display terminal

ON: OFF:

Cooling fan Main Control board DC Bus capacitor

Cumulative Operation Time

Monitoring Mode Displays (continued)

Display Name Description

N50

n50

OC3

⇔2

OP3

nErr 4

N...1

Communication counter

Displays the counter numbers of communication through the network

Normal state Displays the counter numbers of communication only at normal state in all communication through the

network

Past fault 1 The most recent fault stored in the fault history. If th e drive is in a faul t state, this is n ot the active fault .

⇔1

A fault is stored in the fault history after it is cleared by fault reset action. Press ENT to review drive state at time of fault. See “Fault Display and History” on page 18

⇔3

⇔

Past fault 2 Past fault 3 Past fault 4

page 118 Second most recent fault.

Third most recent fault.

Fourth most recent fault.

for more detail.

Drive service alarm

and “Faults - Causes - Remedies” on

t0.10

Drive run time Cumulative drive run time. 0.01 = 1 hour.

1.00 = 100 hours

AAV75193 09/20009 17

Graphic display terminal

ON:

OFF:

VIA

RES

ON: OFF:

RY-RC

ON:

OFF:

VIA

RES

ON: OFF:

RY-RC

Fault Display and History

When the drive faults, the graphic terminal displays a fault code. To review data about drive operation at the time of the fault, press the MODE key to enter the Monitoring mode. Then use the Up/Down keys to scroll through the data listed in table page 16

Up to five faults can be displayed on the graphic terminal in Monitori ng mode: the present fault (if the drive is in a fault state) and the previous four faults. To review drive operation data recorded a t the time of fault for a previous fault, press ENT when the code for the f ault is displayed. See table below for the available information.

When a fault is reset or power is cycled to the drive, the present fault becomes Past Fault 1.

Fault History

Display Name Description

n2

o60.0

Fr-F

F60.0

C80

Y100

P100

..11

0.1

Fault counter Number of times in succession that this particular fault has occurred Motor operating

frequency Direction of

rotation

Motor operating frequency, displayed either as Hz or in custo m unit set by parameter F702

Fr-F = forward direction Fr-r = reverse direction

Speed reference Command frequency to drive, displayed either as Hz or in custom unit set by parameter F702

Motor current

The average of the 3 phases of motor current displayed either as A or as a percentage of the drive's nameplate-rated output current. Select % or A with parameter F701.

The average of the 3 phases of line to line input volt ages displayed either i n volts or as a perc entage of

Line voltage

the drive's rated input voltage (200 V for 208/240 V models - 400 V for 480V models). Selec t % or volts with parameter F701.

The average of the 3 phases of line to line output voltages displa yed eith er in volts or as a percent age

Motor voltage

of the drive's rated output voltage (200 V for 208/2 40 V models - 4 00 V for 4 80 V models). Select % or volts with parameter F701.

The bar representing VIA is dis p la y ed on l y if

F109 =1or2

Logic input map

Relay output map

t0.10

Drive run time Cumulative drive run time. 0.01 = 1 hour. 1.00 = 100 hours

I/O Map

In both the monitoring mode and th e fault history, i t is possible to view the state of t he logic inputs and the relay output s. See previous tables on pages 16

Logic Input Map

The ON or OFF status of each logic input is displayed in bits. VIA is included in this display if parameter F109 is set to either 1 or 2.

Relay Output Map

The ON or OFF status of each relay output is displayed in bits.

18 AAV75193 09/20009

and 18.

Graphic display terminal

Run Mode

To access the Run mode, press the MODE key until the drive operating frequency, a fault code, or a pre-alarm code is displayed. See Faults - Causes - Remedies beginning on page 118

Changing the Display in Run Mode

Motor operating frequency is the default value displayed on the graphic terminal in Run mode. This displayed value can be changed by setting parameter Default graphic display terminal Operational Value

The displayed value can be expressed as a percentage of the drive rating, or in amperes or volts, as appropriate for the value displayed. The units can be changed by setting parameter Graphic display terminal (% or A/V Units)

In addition, the resolution of the speed reference and output frequenc y dis pla ys can be adju ste d by sett ing paramet ers Local Mode Speed

Reference Step Changes F707 and Graphic display terminal Frequency Resolution

Programming Mode

Use this mode to program the drive.

To access the Programming mode, use the MODE key until the PRG indicator LED on the display is illuminat ed.

for the fault and pre-alarm codes.

F710. See page 94 for a list of the display choices.

F701 (see page 94).

F708 (see pages 55 and 94).

AAV75193 09/20009 19

Menu Structure

0.0

Mode

Fr - F AUF

MON

PRG

RUN

Sr 1...7

OLN

tHr

uLu

dEC

ACC

tyP

CnoD

FnOP

FnSL

AU4

AU1

F-- -- --

GrU

ENT

Mode

ENT

Mode

AUH

Mode

ENT

Power

Refer to diagram on next page for:

Monitoring

Mode

Mode Key

ENT Key

UP/DOWN Key

To Bottom

of List

Last Five Used Parameters Frequently Used Parameters Changes From Factory Setting Additional Parameters

To Top

of List

Programming

Mode

Menu Navigation

Menu navigation diagrams below and page 21 illustrate how to navigate through the programming menus and submenus.

20 AAV75193 09/20009

Menu Structure

OLN

AUH

ENT

Mode

HEAD

tHr

END

AU1

ACC

dEC

uLu

AUF

ENT

Mode

U -- -- F

U -- -- --

U -- -- r

GrU

ENT

Mode

F911

ENT

Mode

F912

F102

F101

F100

F-- -- --

1. Pressing the UP key searches the parameter list starting with the first one changed.

2. Pressing the DOWN key searches the parameter list starting with the last one changed.

3. The number of parameters displayed within the

GrU menu

depends upon how many have been altered from their factory settings.

4. When all the changed parameters have been displayed, the display returns to

GrU.

History parameters

User parameters

Quick menu

Extended parameters

To Bottom

of List

To Top

of List

Menu Navigation (continued)

AAV75193 09/20009 21

Menu Structure

Save Change

Discard

Changes

Submenus

The ATV21 drive features 4 submenus (see diagram on page 21) that are designed to reduce the time and effort required to program application parameters. Parameters can be modified within these submenus.

AUH: History Parameters

The AUH subme nu displays, in reverse chronological order, the last 5 parameters that have been changed from their f actory settings. Each time the AUH submenu is accessed, it searches for the latest parame ters changed fro m their factory settings. If all parameters are at their factory settings, no display is generated.

Parameter Lock F700 is not displayed in the AUH menu, even if its value has been changed (see page 43

AUF: Quick Menu

The AUF submenu provides ready access to the ten basic parameters commonly used in programming the drive. In many cases, programming the ATV21 drive is complete when these 10 parameters have been properly set (see chapter Quick Menu page 37

GrU: User Parameters

The GrU submenu displ ays all parameters that have been changed from their fac tory settings. Each time the GrU submenu is acce ssed, its content is refreshed with the latest li st of parameters chan ged from the ir f actory set tings. If al l paramet ers a re at thei r fa ctor y setting , no display is generated.

Parameters Fn and F470 – F473 are not displayed in the GrU menu, even if their values have been changed.

F– – –: Extended Parameters

The extended parameter submenu provides access to parameters used for special settings and applications.

Accessing and Changing Parameters

The diagram below illustrates how to access and change parameter values.

AUF

ENT

AU1

ACC

22 AAV75193 09/20009

ENT

10.0

3.0

Mode

Menu Structure

Parameters that cannot be changed while the drive is running

The table below lists the parameters that cannot be changed unless the drive is stopped (displaying 0.0 or OFF on the graphic display terminal).

Parameter Description Parameter Description

AU1 Auto ramp adaptation F316 Switching frequency control mode AU4 Macro programming F400 Auto tuning enable CNOd Remote mode start/stop control source F415 Motor rated full load current FNOd Remote mode primary speed reference source F416 Motor no-load current tYp Parameter reset F417 Motor rated speed FH Maximum frequency F418 Frequency loop gain uL Motor rated frequency F419 Frequency loop stability uLu Motor rated voltage F480 Magnetizing current coefficient Pt Motor control mode F481 Line noise compensation filter F108 Always active logic function 1 F482 Line noise inhibitor filter F109 VIA input function (analog or logic selection) F483 Line noise inhibitor gain F110 Always active logic function 2 F484 Power supply adjustment gain F111 F logic input function F485 Stall prevention control coefficient 1 F112 R logic input function F492 Stall prevention control coefficient 2 F113 RES logic input function F494 Motor adjustment coefficient F118 VIA logic input function F495 Maximum voltage adjustment coefficient F130 RY-RC relay primary function F496 Waveform switching adjustment coefficient F132 FL relay function F601 Motor current limit F137 RY-RC relay secondary function F603 External fault stop mode F139 RY-RC relay function logic selection F605 Output phase failure detection mode F170 Motor 2 rated frequency F608 Input phase failure detection mode F171 Motor 2 rated voltage F613 Output sh o rt-c i rc uit detection mode F300 Switching frequency level F626 Overvoltage fault operation level F301 Catch on the fly F627 Undervoltage fault operation mode

F303 Auto fault reset F732

F302 Coast to stop on loss of input power F910 F305 Overvoltage fault protection F911 Permanent magnet motor step-out detection time

F307

F311 Motor rotation direction command

Supply voltage correction and motor voltage limitation

F912

Disabling of graphic display terminal local/remote key

Permanent magnet motor step-out detection current level

Permanent magnet motor high-speed torque adjustment coefficient

AAV75193 09/20009 23

Common control schemes

Run forward Run reverse

2-wire control

R/L1 S/L2 T/L3

FLC

FLB

FLA

PLC

SW4

SOURCE

SINK

VIA

VIB

PA/+PO

RUN

PRG

MON

PC/-

Loc Rem

RUN STOP

FM VIA

U/T1 V/T2

MODE

ENT

W/T3

RES

P24

PLC

1. Wire the logic inputs as indicated in the above figure.

2. Set switch SW4 to source.

3. Program common parameters of ATV21 (see Quick Start page 37

4. Program specific parameters for 2-wire control as indicated in the following table:

Parameter Page Setting Factory value

CNOd (remote mode start/stop control) 54 F111 (F logic input function) 80 F112 (R logic input function) 80

0 (control terminal logic inputs) 0 2 (forward run command) 2 3 (reverse run command) 6

Note: F111 and F112 must not be switched simultaneously or the drive will go at 0 speed.

24 AAV75193 09/20009

Common control schemes

Start forward

Start reverse

Stop

Output frequency

Line power

RES - Reverse start

F - Forward start

R - Stop

Reverse run

Forward run

3-wire control

R/L1 S/L2 T/L3

FLC

FLB

FLA

PLC

SW4

SOURCE

SINK

VIA

VIB

PA/+PO

RUN

PRG

MON

PC/-

Loc Rem

RUN STOP

FM VIA

U/T1 V/T2

MODE

ENT

W/T3

RES

P24

PLC

1. Wire the logic inputs as indicated in the above figure.

2. Set switch SW4 to source.

3. Program common parameters of ATV21 (see Quick Start page 37

4. Program specific parameters for 3-wire control as indicated in the following table:

Parameter Page Setting Factory value

CNOd (remote mode start/stop control) 54 F111 (F logic input function) 80 F112 (R logic input function) 80 F113 (RES logic input function) 80

0 (control terminal logic inputs) 0 2 (start forward - 3 wire control) 2 49 (stop input - 3 wire control) 6 3 (start reverse - 3 wire control) 10

3 wire control timing diagram:

ON OF

AAV75193 09/20009 25

Common control schemes

2.2 to 10 kOhm - 1/4 Watt

R/L1 S/L2 T/L3

U/T1 V/T2 W/T3

FLC

FLB

FLA

PLC

RES

PLC

VIA

VIB

PA/+PO

PC/-

SINK

SW4

SOURCE

FM VIA

RUN

PRG

MON

MODE

Loc Rem

ENT

RUN STOP

P24

SW3

4-20 mA Current signal

External speed control potentiometer

PA/+PO

PC/-

RES

P24

PLC

U/T1 V/T2 W/T3

R/L1 S/L2 T/L3

FLC

FLB

FLA

RUN

PRG

MON

Loc Rem

RUN STOP

MODE

ENT

SW4

SOURCE

PLC

FM VIA

SW3

VIA

SINK

VIB

1. Wire the analog input as indicated in the above figure.

2. Set switch SW3 to V (voltage).

3. Program common parameters of ATV21 (see Quick Start page 37

4. Program specific parameters for external speed control potentiometer as indicated in the following table:

Parameter Page Setting Factory value

FNOd (remote mode primary speed reference source) 54 F109 (VIA input function - analog or logic selection) 80 F200 (auto/manual speed reference switching) 83

1 (VIA) 1 0 (Analog input) 0 0 (Enabled) 0

4-20 mA speed control

1. Wire the analog input as indicated in the above figure.

2. Set switch SW3 to I (current).

3. Program common parameters of ATV21 (see Quick Start page 37

4. Program specific parameters for 4-20 mA speed control as indicated in the following table:

FNOd (remote mode primary speed reference source) 54 F109 (VIA input function - analog or logic selection) 80 0 (Analog input) 0 F200 (auto/manual speed reference switching) 83 F201 (VIA speed reference level 1) 81

26 AAV75193 09/20009

Parameter Page Setting Factory value

1 (VIA) 1

0 (Enabled) 0 20 % 0 %

Common control schemes

ON OFF

RES

ON OFF

VIA

Output frequency (Hz)

Time (sec)

Preset speeds (up to seven)

R/L1 S/L2 T/L3

FLC

FLB

FLA

PLC

SW4

SOURCE

SINK

VIA

VIB

PA/+PO

RUN

PRG

MON

PC/-

Loc Rem

RUN STOP

FM VIA

U/T1 V/T2

MODE

ENT

W/T3

RES

P24

PLC

1. Wire the logic and analog inputs as indicated in the above figure.

2. Set switch SW4 to source.

3. Program common parameters of ATV21 (see Quick Start page 37

4. Program specific parameters for preset speed as indicated in the following table:

Parameter Page Setting Factory value

F109 (VIA input function - analog or logic selection) 80 F111 (F logic input function) 80 F112 (R logic input function) 80 F113 (RES logic input function) 80 F118 (VIA logic input function) 80

2 (logic input - source) 0 2 (forward run command) 2 6 (preset speed command input 1) 6 7 (preset speed command input 2) 10 8 (preset speed command input 3) 7

Example of 7-step preset speed operation:

See page 90

for additionnal information.

AAV75193 09/20009 27

Common control schemes

R/L1 S/L2 T/L3

U/T1 V/T2 W/T3

FLC

FLB

FLA

PLC

RES

PLC

VIA

VIB

PA/+PO

PC/-

SINK

SW4

SOURCE

FM VIA

RUN

PRG

MON

MODE

Loc Rem

ENT

RUN STOP

P24

Forced local

Serial communication

1. For Modbus serial communication, plug the network cable into RJ45 connector on the main control board.

2. Program common parameters of ATV21 (see Quick Start page 37

3. Program specific parameters for serial communication as indicated in the following table:

Parameter Page Setting Factory value

CNOd (remote mode start/stop control) 54 FNOd (remote mode primary speed reference source) 54

2 (serial communication) 0 4 (serial communication) 1

Forced local

PA/+PO

PC/-

RES

P24

PLC

U/T1 V/T2 W/T3

R/L1 S/L2 T/L3

FLC

FLB

FLA

SW4

SOURCE

RUN

PRG

MON

Loc Rem

RUN STOP

MODE

ENT

PLC

SINK

VIA

VIB

1. Wire the logic input as indicated in the above figure.

2. Set switch SW4 to source.

3. Program common parameters of ATV21 (see Quick Start page 37

4. Program specific parameter for forced local as indicated in the following table:

F113 (RES logic input function) 80

Parameter Page Setting Factory value

28 AAV75193 09/20009

FM VIA

48 (forced local) 10

Common control schemes

Feedback

transmitter

Feedback mA or voltage signal

Setpoint 0 - 10 V

PID control

R/L1 S/L2 T/L3

FLC

FLB

FLA

PLC

SW4

SOURCE

SINK

VIB

PA/+PO

RUN

PRG

MON

RUN STOP

VIA

PC/-

Loc

MODE

Rem

ENT

FM VIA

SW3

RES

P24

PLC

U/T1 V/T2

W/T3

1. Wire analog inputs as indicated in the above figure.

2. Set switch SW4 to source.

3. If the feedback is a milliamp signal, set switch SW3 t o the I (current ) posit ion. If the fee dback is a volt age sig nal, set switc h SW3 to the V (voltage) position.

4. Program common parameters of ATV21 (see Quick Start page 37

5. Program specific parameters for PID control as indicated in the following table:

Parameter Page Setting Factory value

FNOd (remote mode primary speed reference source) 54 F109 (VIA input function - analog or logic selection) 80 F200 (auto/manual speed reference switching) 83 F360 (PID control enable) 86 F359 (PID control waiting time) 87 F362 (PID proportionnal gain) 86 F363 (PID integral gain) 86 F366 (PID derivative gain) 87 F380 (PI regulator reversal direction correction) 87

2 (VIB) 1 0 (Analog input) 0 0 (Enabled) 0 1 (Enabled - feedback source is VIA) 0

In accordance with the application

0 s

0.30 %

0.20

0.00 0

F391 (Stop on LL hysteresis) 87 0.2 Hz F392 (PI wake up threshold on PI error) 87 F393 (PI wake up threshold on PI feedback error) 87

0.0 Hz

AAV75193 09/20009 29

Drive Operation

Local and Remote Modes of Operation

Overview

The ATV21 drive has two modes of operation, local and remote. In local mode, the ATV21 drive can be operated only from the graphic display terminal:

• Use the RUN and STOP keys for command control

• Use the UP and DOWN keys for speed control

In remote mode, the ATV21 drive is operated from a combination of the command and speed reference sources defined by programming parameters Remote Mode Primary Speed Reference Source

Command Sources

The command source (CNOd) choices are:

FNOd and Remote Mode Start/Stop Control CNOd (see page 54).

• External signals to the control terminal logic inputs F, R, RES and VIA

• Serial communication control (Modbus

• Graphic display terminal RUN and STOP keys

, Metasys® N2, Apogee® FLN, BACnet, or LonWorks®)

Speed Reference Sources

The speed reference source (FNOd) choices are:

• External signals to the control terminal analog inputs VIA or VIB

• (4–20 mA, 0–10 Vdc),

• External signals to the control terminal logic inputs assigned to

• +/- Speed

• Serial communication control (Modbus

• graphic display terminal UP and DOWN keys

Changes to parameters FNOd and CNOd can only be made when the drive is stopped.

, Metasys® N2, Apogee® FLN, BACnet, or LonWorks®)

30 AAV75193 09/20009

Drive Operation

LOC REM

VIA

VIB

VIA

VIB

Serial communication

Run/forward Run/reverse

Logic input

function = 48

Graphic display

terminal

local/remote key

Speed reference

Graphic display terminal

Logic inputs

Commands

CNOd

Serial communication

+/- Speed

References

FNOd

graphic

display

terminal

Logic input function = 38

Parameter F200 = 1

Serial communication

Graphic

display

terminal

Graphic

display

terminal

Graphic

display

terminal

Serial communication

+/- Speed

Serial

communication

F207

Command Mode Selection and Priorities

The diagram below illustrates the control inputs and selection logic which determine the source of the drive's start/stop and speed reference commands.

Command and Reference Switching

Parameters CNOd and FNOd are the first layers of logic used by the drive to determine its command (CNOd) and speed reference (FNOd) source.

Remote Mode Secondary Speed Reference Source F207 is a secondary speed reference source that may override th e source selected

by FNOd (see page 56

The speed reference source identified by F207 takes cont rol if either:

• A logic input assigned to function 38 (frequency reference source switching) is enabled, or

• Parameter Auto/Manual Speed Reference Switching F200 is set to 1 and the drive's outp ut frequency is equal to or less than 1Hz

(see page 83

If a serial communication link is established, it can take control of the ATV21 drive, overriding inputs identified by CNOd, FNOd, and

F207. Control is restored to CNOd, FNOd, and F207 only if:

• The serial communication link relinquishes control, or

• A logic input assigned to function 48 (forced local) is enabled.

The final layer of logic used by the drive to determine its command source is the LOC/REM key on the graphic display terminal.

When the drive is set to local mode (by pressing the LOC/REM key, lighting the local mode LED), the drive responds only to commands from the graphic display terminal.

AAV75193 09/20009 31

Drive Operation

Remote mode

Local mode

ON OFF

LOC

REM

Key

Output Frequency

Local Run Commande

Remote Run Commande

Run Status

ON OFF

The remote run command and frequency command are transferred to the local mode when the LOC/REM key is pressed.

In this example, the run command and frequency command from the remote mode are copied to the local mode, and the motor continues to run.

Remote mode

Local mode

ON OFF

LOC

REM

Key

Output Frequency

Local Run Commande

Remote Run Commande

Run Status

ON OFF

When switching from the local mode to the remote mode, the run command and frequency command are determ ined by the setting in the remote mode.

In this example, when the LOC/REM button is pressed, the motor in started. This is due to the application of a remote run command when the drive exits the local mode and enters the remote mode.

Set frequency at remote mode

Selecting Local or Remote Mode

DANGER

UNINTENDED EQUIPMENT OPERATION

• Know the state of the frequency and run commands from the remote source before exitin g the local mode.

• Uponentering the remote mode, the drive will respond to the most recent command from the remote source, even if it was received before entering or while in the local mode.

Failure to follow these instructions will result in death or serious injury

Switching between local and remote mode is achieved with the LOC/REM key in the drive’s graphic display terminal.

The LOC/REM key can be disabled by setting parameter Disabling of graphic display terminal Local/Remote Key F732 to 1 (see page 58

When parameter Bumpless Transfer From Remote To Local Control operation is achieved when switching from remote to local mode (see page 55

For example, if the bumpless transfert feature is active and if the motor is running at f ull speed with the drive in remote mode, the motor will still run at full speed after the drive is transferred to local mode.

Conversely, when switching from local to remote mode, t he run and spe ed command is not tran sfer red to t he remote mode. Upon ent ering the remote mode, the drive will operate on the run and speed command set by the remote source even if it was re ceived before en tering or while in the local mode.

The diagram below is an ex a m p le timing diagram.

F295 is set to 1 (factory setting), a bumpless tranfer of motor

Switching Between Local and Remote Mode

32 AAV75193 09/20009

Drive Operation

Local Mode

When the ATV21 drive is in local mode, the LED above the LOC/REM key is illuminated.

Starting and Stopping the Motor in Local Mode

Start and stop the motor with the RUN and STOP keys on the graphic display terminal.

The setting of parameter Local Mode Motor Stop Type (see page 55

•If F721 is set to 0 (factory setting), the motor will stop on a ramp, based on the time value set in parameter

•If F721 is set to 1, power will be removed from the motor whe n the STOP key is pressed, al lowing the motor to coast to a stop with

Use of the RUN and STOP keys in local mode can be disabled usi ng parameter Disabling of graph ic display termi nal RUN and STOP Keys

in Local Mode F733(see page 58

dEC (deceleration time 1) or parameter F501 (deceleration time 2).

the ramp-down time determined by inertia and friction.

F721 determines how the motor stops when the drive is in local mode

Adjusting Motor Speed in Local Mode

Set the motor speed using the UP and DOWN keys on the graphic display terminal. Motor speed can be adjusted while the drive is operating.

Normally, motor frequency changes by 0.1 Hz each time the UP or DOWN key is pressed. This rate of speed change can be altered by entering a new frequency step change into parameter Local Mode Speed Referen c e Step Changes

If the ENT key is pressed after the motor s peed ha s b een adj usted, tha t spee d setp oin t value wi l l be ent ered in to parame te r FC. The next time the drive is started in the local mode, it will accelerate the motor directly to the speed setpoint memorized by Local Mode Speed

Reference FC (see page 54

F707 (see page 55).

Selecting Motor Rotation Direction in Local Mode

Motor rotation direction is set by parameter Local Mode Motor Rotation Direction Command Fr (see page 54). The four selections are:

• 0: Forward only (factory setting)

• 1: Reverse only

• 2: Forward, with reverse selectable from the graphic display terminal (1)

• 3: Reverse, with forward selectable from the graphic display terminal (1)

(1)If Fr is set to eith er 2 or 3, motor ro tation ca n be set t o forward by pressin g the UP ke y while holdi ng the ENT ke y. Reverse can be set

by pressing the DOWN key while holding the ENT key.

Motor rotation is indicated on the graphic display terminal as Fr-F for forward and as Fr-r for reverse. The ability to run in the Forward or Reve rse direction can be set with p arameter Moto r Rotation Direction Command

F311 (see page 57).

Resetting drive Faults in Local Mode

It is not possible to clear a drive fault if the cause of the fault persists. Be sure to diagnose an d rectify the cause of the f ault before attempting a drive reset.

With the STOP Key

To clear a drive fault in local mode:

1. Press the STOP key. See Automatically Resettable Faults on page 97 possible to reset the drive, the graphic display terminal will display CLr.

2. To clear the fault, press the STOP key a second time.

3. If the cause of the fault is still present, the CLr display will not appear. Dia gnose and solve the proble m before attempting to rese t the drive.

Use of the STOP key as a fault reset can be set with parameter Disabling of graphic display terminal Fault Reset Function (see page 58 In the event of an OL1 or OL2 fault, the following time periods must pass before a fault reset is possible:

• OL1 (drive overload)—about 30 seconds after the occurrence of the fault

• OL2 (motor overload)—about 120 seconds after the occurrence of

the fault

By Cycling Line Power

A drive fault can also be reset by removin g and restoring line p ower. Ensure that the cause of the fault is no longer present and leave power removed long enough for all of the LEDs on the face of the drive to extinguish.

Cycling power to clear a fault can cause the fault history to be lost. Refer t o parameter F602 on page 100

for a list of faults that can be reset with the STOP key. If it is

F735

for Drive Fault Memory options.

AAV75193 09/20009 33

Drive Operation

Logic Input Functions Active in Local Mode

The logic input functions listed in the table below are active, even if CNOd is set to 1 (graphic display terminal control). See table on page 67

for logic input function settings.

Logic Input

Function No.

1 54 10 55 11 45 16 Combination of run permissive and fault reset 38 Frequency reference source switching 41 42 43 44 46 47 51 Clear accumulated power consumption display 52 Fire-mode drive operation 53 Forced-mode drive operation 62 Holding of RY-RC relay output 64 Cancellation of last graphic display terminal command

Description

Run permissive

Fault reset

External Fault

+/- Speed

External overheating fault input

Remote Mode

When the ATV21 drive is in the remote mode, the LOC/REM LED is off.

Starting and Stopping the Motor in Remote Mode

The diagram on page 31 illustrates the start/stop command source when the drive is in remote mode.

With Logic Input Terminals

Use the logic input terminals F, R, RES, or VIA to start the drive if:

• Parameter CNOd is set to 0 (factory setting), and

• Serial communication control has not been established.

With the graphic display terminal

The drive responds to commands from the graphic display terminal, just as in local mode, if:

• Parameter CNOd is set to 1, and

• Serial communication control has not been established.

With Serial Communication

The drive responds to commands sent over the serial c ommunication l ink (Modbus®, Metasys® N2, Apogee® FLN, BACnet or LonWorks®) if parameter CNOd is set to 2.

With the graphic display terminal STOP Key

The graphic display terminal STOP key is active when the drive is in remote mode. Pressing the STOP key causes the drive to stop according to the setting of parameters F603, F604, and F251 (see page 93 graphic display terminal displays E and the fault rela y is activated.

and page 66) . After the drive has come to a stop, the

34 AAV75193 09/20009

Drive Operation

Adjusting the Motor Speed in Remote Mode

The diagram on page 31 illustrates the speed reference source when the drive is in remote mode.

By Analog Input VIA

A 0–10 Vdc or 4–20 mA signal connected to VIA and CC can be used to adjust the motor speed if:

• Parameter FNOd is set to 1 (factory setting).

• Alternate speed reference source parameter Remote Mode Secondary Speed Reference Source F207 has not been enabled (see page 56

• Serial communication control has not been established.

The analog signal type depends on the setting of switch SW3 and parameters F109, F201–F204, and F470–F471.

By Analog Input VIB

A 0–10 Vdc signal connected to VIB and CC can be used to adjust the motor spe ed if:

• Parameter FNOd is set to 2.

• Alternate speed reference source parameter F207 has not been enabled.

• Serial communication control has not been established.

The control that VIB has over motor speed depends on the setting of parameters F210–F213, F472–F473, and F645.

By graphic display terminal Control

graphic display terminal control of the motor speed is enabled, if:

• Parameter FNOd is set to 3.

• Alternate speed reference source parameter F207 has not been enabled.

• Serial communication control has not been established.

By Serial Communication Control

Serial communication control (Modbus, Metasys N2, Apogee FLN, BACnet or LonWorks) of the motor speed is enabled, if:

• Parameter FNOd is set to 4.

• Alternate speed reference source parameter F207 has not been enabled.

By +/- Motor Speed Control

+/- Motor speed control is enabled, if:

• Parameter FNOd is set to 5.

• Alternate speed reference source parameter F207 has not been enabled.

• Serial communication control has not been established.

Selecting Motor Rotation Direction in Remote Mode

The diagram on page 31 illustrates the motor rotation command source when the drive is in remote mode.

With Logic Input Terminals

Use the logic input terminals F, R, RES, or VIA to select motor rotation direction if:

• Parameter CNOd is set to 0 (factory setting).

• Serial communication control has not been established .

With the graphic display terminal

Motor rotation direction can be set by pressing the graphic display terminal UP and ENT keys if:

• Parameter CNOd is set to 1.

• Serial communication control has not been established.

• Parameter Fr is set to either 2 or 3.

With Serial Communication

The drive responds to commands sent over the serial communication link (Modbus, Metasys N2, Apogee FLN, BACnet or LonWorks) if Parameter CNOd is set to 2.

AAV75193 09/20009 35

Drive Operation

Resetting drive Faults in Remote Mode

The diagram on page 31 illustrates the fault reset command source when the drive is in remote mode.

It is not possible to clear a drive fault if the cause of the fault persists. Be sure to diagnose an d rectify the cause of the f ault before attempting to reset the drive. See Automatically Resettable Faults on page 97

With the Logic Input Terminals

Use the logic input terminals F, R, RES, or VIA to reset a drive fault if:

• Parameter CNOd is set to 0 (factory setting), and

• Serial communication control has not been established.

With the graphic display terminal

The STOP key can be used to clear a drive fault if:

• Parameter CNOd is set to 1, and

• Serial communication control has not been established.

To clear a drive fault in graphic display terminal mode, press the STOP key. If it is possible to reset the drive, the graphic display terminal will display CLr. To clear the fault, press the STOP key a second time.

If the cause of the fault is still present, the CLr display will not appear. Diagnose and solve the problem before attempting to reset the drive.

for a list of faults that can be reset in remote mode.

The use of the STOP key as a fault reset can be disabled by setting parameter F735 to 1.

With Serial Communication

A drive fault can be reset over the serial communication link (Modbus, Metasys N2, Apogee FLN, BACnet or LonWorks) if parameter

CNOd is set to 2.

In the event of an OL1 or OL2 fault, the following time periods must pass before a fault reset is possible:

• OL1 (drive overload) - about 30 seconds after the occurrence of the fault.

• OL2 (motor overload) - about 120 seconds after the occurrence of the fault.

By Cycling Line Power

Cycling power to clear a fault can cause the fault history to be lost. Refer to parameter F602 on page 100

for drive fault memory options.

36 AAV75193 09/20009

Quick Start

Output frequency (Hz)

Time (Sec)

Quick menu AUF

Code Name/Description Adjustment range Factory setting

AU1

ACC

M Auto Ramp Adaptation

0 1 2

v Disabled v Enabled - Acceleration Time 1 v Enabled (ACC only)

If parameter AU1 is set to 1 or 2, the drive will monitor its own loading level and optimize the acceleration and deceleration ramps. The acceleration and deceleration (AU1 = 1 only) rates will be automatically adjusted between 1/8 to 8 times the settings of ACC and dEC, depend ing on the drive’s current rating and th e load level on the motor. ACC and dEC should be appropriately set for an average load in the application. If the load on the motor increases rapidly during ramp up or ramp down, the auto ramp adaptation feature may not prevent the drive from experiencing an overcurrent or overvoltage fault.

If the application requires a consistent accelerat ion and deceleration time, set AU1 to 0, and set ACC and dEC manually as needed. The manual acceleration a nd deceleration times can still be overridden by the Motor Current

Limit F601 (see page 47 Operation LevelF626 (see page 101

M Acceleration Time 1

The setting of parameter ACC determines the slope of the acceleration ramp an d the ti me it takes f or the out put frequency of the drive to increase from 0 Hz to the setting of Maximum Frequency FH (see page 59

If parameter Auto Ramp Adaptation AU1 (see page 64 or decreased from the setting of ACC, depending on the amount of load on the motor during ramp up.

- 1

ACC and Deceleration Time 1 dEC (see page 60)

) and Overvoltage Fault Protection F305 (see page 101) and Overvoltage Fault

) functions.

0.0 to3200 seconds According to drive model (see table page 128

) is set to 1 or 2, the acceleration ramp may be incre ased

dEC

If two different acceleration rates are needed, see parameter Acceleration Time 2

M Deceleration Time 1

The setting of parameter dEC determines the slope o f the dece leration ra mp and t he time it takes f or the o utput frequency of the drive to decrease from the setting of Maximum Frequency FH to 0 Hz.

If parameter Auto Ramp Adaptation AU1 is set to 1 or 2, the d ecelerat ion ramp may be in creased or decrea sed from the setting of dEC, depending on the amount of load on the motor during ramp down. See diagram above.

If two different deceleration rates are needed, see parameter Deceleration Time 2

0.0 to3200 seconds According to drive

F500 on page 61.

model (see table page 128

F501 on page 61.

AAV75193 09/20009 37

Quick Start

Code Name/Description Adjustment range Factory setting

tHr

M Low Speed

Parameter LL sets the minimum frequency that can be commanded to the drive by the local or remote speed reference source.

See diagram above.

M High Speed

Parameter UL sets the maximum frequency that can be commanded to the drive by the local or remote speed reference source.

The top end of its range is limited by the setting of Maximum frequency FH. See diagram above.

M Motor Rated Current Overload Setting

Set parameter tHr to the motor’s rated current as indicated on the motor nameplate for the selected operating voltage.

If parameter % or A/V Units F701 is set to 1 (see page 94), parameter tHrwill be adjusted in amperes. If parameter % or A/V Units F701 is set to 0, para meter tHr will be adjusted i n percentage. In this case, d ivide

the motor rated current by the drive rated current (as listed on its nameplate) and set parameter tHr to the resulting percentage.

The setting of parameter Switching Frequency Level sake of this calculation (see page 64

F300 does not change the drive’s rated current for the

0.0 toUL Hz 0.0 Hz

0.5 toFH Hz 50.0 Hz

10 to 100% of the

drive’s output current

rating

100 %

M Analog Output Scaling

Parameter FN is used to match the FN terminal output signal with the input requirements of the attached panel meter by adjusting the slope and bias of the analog output signal. Before adjusting FN, set FNSL to either 15 or 17. As you adjust the value of FN, monitor the display on the attached panel meter. When the meter display reaches 100%, press the ENT key on the drive graphic display te rminal. The drive will fla sh between FN and the adjusted value, indicating that the adjustment has bee n s aved.

38 AAV75193 09/20009

Quick Start

Motor Rated Voltage

Motor Voltage Boost

Motor Rated Frequency

Output Frequency (Hz)

Output Voltage (%)

Motor Rated Voltage

Motor Voltage Boost

Motor Rated Frequency

Output Frequency (Hz)

Output Voltage (%)

Code Name/Description Factory setting

M Motor Control Mode

v Constant V/Hz

Use constant V/Hz mode for loads that require the same torque at low speeds as at rated speeds. Low speed torque can be adjusted manually by setting parameter Motor Voltage Boost ub (see page 47

v Variable torque

Use variable torque mode for loads such as centrifugal fans and pumps whose torque requirements increase as a square of the increase in motor speed. Low speed t orque can be adj usted manual ly by setti ng parameter Motor

Voltage Boost ub (see page 47

5 6

(1) See page 44 fo r more details.

v Constant V/Hz with automatic torque boost (1)

See the diagram on page 44

This mode is similar to the constant V/Hz mode (for loads that require the same torque at l ow speeds as at rated speeds), except it automatically increases motor voltage and torque to compensate for increases in load.

v Sensorless vector control (1)

Use sensorless vector control mode to increase torque at motor speeds below 3 Hz or to improv e speed regulation (0.5 to 1%).

v Energy saving

In energy savings mode, the ATV21 drive monitors motor loading and aut omatically modulates the voltage appl ied to the motor to optimize energy consumption.

If the ATV21 drive and the connected motor have the same po wer rating, and if the motor has a nominal 1800 rpm rating, no motor auto-tuning is required to use this motor control mode. Otherwise, follow the steps outlined in “Motor Tuning” on page 48

v Reserved (DO NOT USE) v Reserved (DO NOT USE)

AAV75193 09/20009 39

Quick Start

Code Name/Description Adjustment range Factory setting

uLu

M Motor Rated Frequency

Set parameter uL to the motor’s rated frequency as indicated on the motor nameplate.

It is possible to set the drive’s various motor control frequencies to 50 Hz by setting Parameter Reset tYP to 1, the 50 Hz reset. For more information, see page 41

M Motor Rated Voltage

Set parameter uLu to the motor’s rated voltage as ind icated on the motor nameplate.

pppM3X: 50 to 330 V.

ATV21

pppN4: 50 to 660 V

ATV21

Drive output voltage cannot be set to exceed the input line voltage level.

25.0 to 200.0 Hz 50.0 Hz

According to drive rating

Motor parameters

Configure the motor parameters and perform an auto-tuning (Auto Tuning Enable F400 = 2, see page 49 for auto-tuning).

Code Name/Description Adjustment range Factory setting

F415

M Motor Rated Full Load Current

Set parameter F415 to the motor rated full load current in amperes as indicated on the motor’s nameplate.

0.1 to 200.0 A According to drive model (1)

F417

Code Name/Description Adjustment range Factory setting

F400

(1) See table page 128 (2)Parameter Auto Tuning Enable F400 is reset to “0” after the auto tuning is performed.

M Motor Rated Speed

Set parameter F417 to the motor rated speed in rpm as indicated on the motor’s nameplate.

M Auto Tuning Enable

0 1 2

v Disabled v Enabled (2): parameter Auto Torque Boost v Enabled (2): complete auto tuning

F402 may need adjustment

100 to 15,000 rpm According to drive

model (1)

- 0

40 AAV75193 09/20009

Programming Parameters

Parameter Reset (tYP)

Parameter Reset Options

The ATV21 drive offers three options to return parameters to their factory default settings:

• Factory reset: set parameter tYP to 3

• 50 Hz reset: set parameter tYP to 1

• 60 Hz reset: set parameter tYP to 2

Code Name/Description Factory setting

tYP

M Parameter Reset

v 50 Hz Parameter Reset

Setting parameter tYP to a value of 1 will set specific parameters to values suit able for many 50 Hz (motor base frequency) applications.

See Parameters whose values after a reset vary by reset type table on page 128 of parameters that are affected by this reset action and their resultant values.

v 60 Hz Parameter Reset

Setting parameter tYP to 2 sets specific parameters to values suitable for many 60 Hz (motor base frequency) applications. See table "Parameters whose values after a reset vary by reset type" on page 128 "Parameters whose values after a reset are drive model depend ant but DO NOT vary by reset type" on page 129 for a list of parameters that are affected by this reset acti on and their resultant values.

v Factory Reset

Setting parameter tYP to 3 resets most parameters to their factory sett ings. See tables o n pages 123 a listing of the values that will be copied into the drive by this factory reset action:

- Parameters whose values after a reset DO NOT vary by reset type (on page 123

- Parameters whose values after a reset vary by reset type (on page 128

- Parameters whose values after a reset are drive model dependant but DO NOT vary reset type (on page 129

- Parameters whose values after a reset are drive model and reset type dependant (on page 130

- Parameters whose values do not change if a reset is performed (on page 131

A factory reset will also clear the fault history.

v Fault History Reset

Setting parameter tYP to 4 resets the fault history. As soon as the fault history is reset, parameter tYP resumes its default value of 0.

v Elapsed Motor Run Time Reset

Setting parameter tYP to 5 resets the elapsed motor run time clock. As soon as the ela psed motor run time clock is reset, parameter tYP resumes its default value of 0.

v Reset of EtYP Fault

Setting parameter tYP to 6 resets a EtYP fault. As soon as the EtYP fault is reset, parameter tYP resumes its default value of 0.

v Save User-defined Settings

The drive parameter settings can be stored into memory into the drive as a custom parameter set. Set parameter tYP to 7 to save the current drive parameter settings to memory

v Recall User-defined Settings

The drive parameter settings can be reloaded into the drive as a custom parameter set. Set parameter tYP to 8 to reload into the drive the parameter settings last saved by setting tYP to 7

v Elapsed Drive Run Time Reset

Setting parameter tYP to 9 resets the elapsed drive run time clock. As soon as the elapsed motor run time clo ck is reset, parameter tYP resumes its default value of 0.

and table on page 130 for a list

and table

to 131 for

AAV75193 09/20009 41

Programming Parameters

Macro Programming (AU4)

The ATV21 drive can be configured for four common control schemes by setting parameter AU4:

Code Name/Description Factory setting

AU4

M Macro Programming (1)

v Factory setting

- Command reference: logic inputs (CNOd = 0). See Remote Mode Start/Stop Control

- Speed reference: analog input VIA = 0–10 V or 0–20 mA (FNOd = 1, F201= 0). See Remote Mode

Primary Speed Reference Source

- F: run forward (F111= 2).See F Logic Input Function

- R: preset speed 1 (F112= 6). See R Logic Input Function

- RES: fault reset (F113= 10). See RES Logic Input Function

- Drive ready for operation (F110= 1). See Always Active Logic Function 2

v Run permissive

- Command reference: logic inputs (CNOd = 0). See Remote Mode Start/Stop Control

- Speed reference: analog input VIA = 0–10 V or 0–20 mA (FNOd = 1). See Remote Mode Primary Speed

Reference Source

- F: run forward (F111= 2).See F Logic Input Function

- R: run permissive (F112= 1). See R Logic Input Function

- RES: fault reset (F113= 10). See RES Logic Input Function

v 3-wire control:

- Command reference: logic inputs (CNOd = 0). See Remote Mode Start/Stop Control

- Speed reference: analog input VIA = 0–10 V or 0–20 mA (FNOd = 1). See Remote Mode Primary Speed

Reference Source

- F: run forward (F111= 2).See F Logic Input Function

- R: stop ramp (F112= 49). See R Logic Input Function

- RES: fault reset (F113= 10). See RES Logic Input Function

page 54.

FMOd page 54 and Analog Input Speed Reference page 81.

page 80.

page 89.

page 54.

page 80.

page 54.

page 80. page 80.

page 80.

(1) W hen programming parameter AU4, the graphic display terminal will display two numbers. The left number is the value last entered

into AU4. The right number will always be 0. Use the UP/DOWN keys to change the right number to the desired value and press ENT. Entering 0 into AU4 has no effect on the drive. Programming 0 into AU4 will not return the seven parameters to their factory default values.

v +/- Speed:

- Command reference: logic inputs (CNOd = 0). See Remote Mode Start/Stop Control

- Speed reference: +/- Speed (FNOd = 5). See Remote Mode Primary Speed Reference Source

- F: run forward (F111= 2).See F Logic Input Function

- R: + Speed (F112= 41). See R Logic Input Function

- RES: - Speed (F113= 42). See RES Logic Input Function

v 4-20 mA speed reference:

- Command reference: logic inputs (CNOd = 0). See Remote Mode Start/Stop Control

- Speed reference: analog input VIA = 4–20 mA (FNOd = 1, F201= 20). See Remote Mode Primary Speed

Reference Source

- F: run forward (F111= 2).See F Logic Input Function

- R: preset speed 1 (F112= 6). See R Logic Input Function

- RES: fault reset (F113= 10). See RES Logic Input Function

page 54 and Analog Input Speed Reference page 81.

page 80.

page 54.

42 AAV75193 09/20009

Programming Parameters

Parameter Lock (F700)

Code Name/Description Factory setting

F700

M Parameter Lock

All parameters are unlocked and can be changed. See table on page 23

Only parameter F700 can be changed.

for the parameters that cannot be changed while the drive is running.

Display of Submenu AUF (F738)

Code Name/Description Factory setting

F738

M Display of Submenu AUF

The setting of this parameter det erm i n es whether the AUF submenu, Quick Menu, will be displayed on the graphic terminal (see page 22

AUF displayed.

AUF not displayed.

AAV75193 09/20009 43

Motor Control Parameters

Motor Rated Voltage

Motor Rated Frequency

: Automatically

adjusts the

amount of

torque boost.

Output Voltage (%)

Output Frequency (Hz)

Motor Control Mode (Pt)

Constant V/Hz Mode with AutomaticTorque Boost (Pt= 2)

Use parameter Auto Torque Boost F402 to adjust the amount of automatic torque boost (see page 53).

If the ATV21 drive and the connected motor have the same power rating, and if the motor has a nominal 1800 rpm rating, no motor auto-tuning is required to use this motor control mode. Otherwise, follow the steps outlined in “Motor Tuning” on page 48

Due to the feedback circuit used in this mode, it is possible for motor speed to oscillate. If this occurs, select the Constant V/Hz mode (Pt = 0) and adjust torque boost manually with parameter ub.

Sensorless Vector Control Mode (Pt= 3)

If the ATV21 drive and the connected motor have the same power rating, and if the motor has a nominal 1800 rpm rating, no motor auto-tuning is required to use this motor control mode. Otherwise, follow the steps outlined in “Motor Tuning” on page 48

Sensorless vector control mode is only for use in applications where:

- Each motor is powered by its own ATV21 drive (not for multi-motor applications).

- The motor has a power rating equal to that of the ATV21 drive, or no lower than one hp rating less.

- The motor has between two and eight poles (900 to 3600 rpm).

Sensorless vector control will not improve motor control above the motor’s rated speed.

Sensorless vector control is most effective if the motor leads are less than 30 m (100 ft) in length. If motor leads longer than 30 m (100 ft) are required, perform an auto-tuning with the long motor leads included in the circuit. Motor torque may not be maximized at the motor’s rated frequency due to voltage drop in the motor leads.

Connecting a load reactor or a motor protecting filter on the output of the ATV21 drive may reduce the torque generated by the motor in sensorless vector control mode. Auto-tuning will most likely not be possible with a reactor or filter attached to the drive. Manual tuning will be required.

44 AAV75193 09/20009

Motor Control Parameters

Motor Rated Voltage

Motor Voltage Boost

Motor Rated Frequency

Output Frequency (Hz)

Output Voltage (%)

Motor Rated Voltage

Motor Voltage Boost

Motor Rated Frequency

Output Frequency (Hz)

Output Voltage (%)

Code Name/Description Factory setting

M Motor Control Mode

v Constant V/Hz

Use constant V/Hz mode for loads that require the same torque at low speeds as at rated speeds. Low speed torque can be adjusted manually by setting parameter Motor Voltage Boost ub (see page 47

v Variable torque

Voltage Boost ub (see page 47

v Constant V/Hz with automatic torque boost

See the diagram on page 44

v Sensorless vector control

Use sensorless vector control mode to increase torque at motor speeds below 3 Hz or to improv e speed regulation (0.5 to 1%).

v Energy saving

In energy savings mode, the ATV21 drive monitors motor loading and aut omatically modulates the voltage appl ied to the motor to optimize energy consumption.

5 6

v Reserved (DO NOT USE) v Reserved (DO NOT USE)

AAV75193 09/20009 45

Motor Control Parameters

Other Motor Control Mode Parameters

The table below lists other parameters that may need to be adjusted, depending on the setting of parameter Motor Control Mode Pt.

Relationship Between Pt setting and Other Motor Parameters

Parameter Pt setting

0 1 2 3 4

Constant

Parameter Function

uL Motor rated frequency

uLu Motor rated voltage

ub Motor voltage boost F170 Motor 2 rated frequency O X X X X F171 Motor 2 rated voltage O X X X X F172 Motor 2 voltage boost O X X X X F400 Auto-tuning X X O O O F401 Slip compensation X X X O X F402 Auto torque boost X X F415 Motor rated full load current O O F416 Motor no-load current X X O O O F417 Motor rated speed O O F418 Frequency loop gain X X O O O F419 Frequency loop stability X X O O O F480 Magnetizing current coefficient X X O O X F485 Stall prevention control coefficient 1 O O O O O F492 Stall prevention control coefficient 2 O O O O O F494 Motor adjustment coefficient O O O O O F495 Maximum voltage adjustment coefficient O O O O O

F496

Waveform switching adjustment coefficient

Constant

V/Hz

Control

⊗⊗⊗⊗⊗

⊗⊗

OOOOO

Variable

Torque

Control

V/Hz with

Automatic

Torque

Boost

Control

XXX

⊗⊗⊗

Sensorless

Vector

Control

Energy Saving Control

X: Not applicable for the Motor Control Mode Pt setting

⊗ : Be sure to set and adjust this parameter.

O: Adjust this parameter if necessary.

46 AAV75193 09/20009

Motor Control Parameters

Code Name/Description Adjustment range Factory setting

F601

M Motor Voltage Boost

Low speed motor torque can be adjusted with pa rameter Motor Voltage Boost ub (see page 47) when parameter

Motor Control Mode Pt (see page 45

for more information. If nuisance overcurrent faults occur during starting, reducing the setting of parameter ub may help.

) is set to 0 (Constant V/Hz) or 1 (Variable Torque). See curves on pag e 44

M Motor Current Limit

Parameter F601 can be adjusted to limit current during mot oring or braking.

Display in Current Limit Mode:

When the drive goes into current limit mode, it will:

- Adjust the output frequency to limit the flow of motor current (down when motoring, up when braking).

- Display the letter C and the output frequency flashing, ex : .

If parameter % or A/V Units parameter F701 is set to 0, parameter F601 will be adjusted as a percentage of the drive’s output rated current as listed on its nameplate.

The setting of parameter Switching Frequency Level current for the sake of this calculation.

F701 is set to 1 (see page 94), parameter F601 will be adjusted in amperes. If

F300 (see page 64) does not change the drive’s rated

0.0 to 30.0 % -

10 to 110% of the

drive’s output current

rating

110 %

Do not set parameter F601 below the no-load current rating of the motor. Otherwise, the drive will determine that motor braking is taking place and will increase the frequency applied to the motor.

AAV75193 09/20009 47

Motor Control Parameters

Motor Tuning

Tuning the drive to specific motor values will optimize motor performance if parameter Motor Control Mode Pt (see page 45) is set to:

• 2 (constant V/Hz with automatic boost),

• 3 (sensorless vector control), or

• 4 (energy savings)

At a minimum, manually set parameters uL, uLu, F415, F416, and F417.

Parameters F401, F402, F418, and F419 can be set manually or they can be set automatically using the auto tuning function, parameter F400.

More precise motor control adjustments can be made with parameters F307, F480, F485, F492, and F494 – F496.

Code Name/Description Adjustment range Factory setting

uLu

tHr

M Motor Rated Voltage

Set parameter uLu to the motor’s rated voltage as ind icated on the motor nameplate.

pppM3X: 50 to 330 V.

ATV21

pppN4: 50 to 660 V

ATV21

Drive output voltage cannot be set to exceed the input line voltage level.

M Motor Rated Frequency

Set parameter uL to the motor’s rated frequency as indicated on the motor nameplate.

It is possible to set the drive’s various motor control frequencies to 50 Hz by setting Parameter Reset tYP to 1, the 50 Hz reset. For more information, see page 41

M Motor Rated Current Overload Setting

Set parameter tHr to the motor’s rated current as indicated on the motor nameplate for the selected operating voltage.

If parameter % or A/V Units If parameter % or A/V Units F701 is set to 0, para meter tHr will be adjusted i n percentage. In this case, d ivide

the motor rated current by the drive rated current (as listed on its nameplate) and set parameter tHr to the resulting percentage.

The setting of parameter Switching Frequency Level sake of this calculation (see page 64

F701 is set to 1 (see page 94), parameter tHrwill be adjusted in amperes.

F300 does not change the drive’s rated current for the

According to drive rating (1)

25.0 to 200.0 Hz 50.0 Hz

10 to 100% of the

drive’s output current

rating

According to drive rating (1)

100 %

F607

F415

F416

F417

(1) See table page 128

48 AAV75193 09/20009

M Motor Overload Time

Parameter F607 determines how long the drive will support a 150% motor overload before a fault occurs.

M Motor Rated Full Load Current

Set parameter F415 to the motor rated full load current in amperes as indicated on the motor’s nameplate.

M Motor No-load Current

Set parameter F416 to the ratio of the motor’s no load current to its rated full load current.

M Motor Rated Speed

Set parameter F417 to the motor rated speed in rpm as indicated on the motor’s nameplate.

10 to 2400 seconds 300 seconds

0.1 to 200.0 A According to drive model (1)

10.0 to 100.0 % According to drive model (1)

100 to 15,000 rpm According to drive

model (1)

Motor Control Parameters

Auto-tuning

Before performing an auto-tune, verify that:

• A motor is connected and any load-side disconnect is closed.

• The motor is completely stopped and de-energized.

• The motor should be cool (room temperature).

• There is only one motor connected to the drive.

• All of the motor leads that will be used in the final installation are included in the output circuit during the auto-tuning process.

• Motor leads are no longer than 30 m (100 ft). Motor leads longer than 30 m (100 ft) may result in reduced motor torq ue and less than optimal motor control.

• No load reactors or filters are included in the motor circuit. Output reactors and f i lters ma y cau se an aut o-tuni ng e rro r (Etn1) and reduce effectiveness of sensorless vector control.

• The motor is not more than 1 hp size smaller than the drive.

• The motor has at least 2 and not more than 8 poles (900 to 3600 rpm).

• The motor does not have a high slip rating.

Auto tuning is performed upon the first start command after parameter Auto Tuning Enable normally completed within 3 seconds. During the auto-tuning process, the graphic display terminal displays Atn1.

During the auto-tuning process voltage is applied to the motor, although it barely rotates and produces very little torque.

During the auto-tuning process, the drive checks for an output phase l oss regardless of the setting of parameter F605. An o utp ut pha se loss fault EPH0 will abort the auto-tuning process.

If the auto-tuning process fails, the drive will display fault cod e Etn1. In t his event, no results of the aborted auto-tuning will be saved in the drive, and a manual tuning of parameters F401, F402, F418, and F419 will be required.

Code Name/Description Adjustment range Factory setting

F400

(1)Parameter Auto Tuning Enable

M Auto Tuning Enable

0 1 2

v Disabled v Enabled (1): parameter Auto Torque Boost v Enabled (1): complete auto tuning

F400 is reset to “0” after the auto tuning is perform ed.

F402 may need adjustment

F400 (see page 49) is set to 1 or 2 and is

- 0

AAV75193 09/20009 49

Motor Control Parameters

Expert parameters:

Code Name/Description Adjustment range Factory setting

F480

F485

F492

F494

F495

M Magnetizing Current Coefficient

Use parameter F480 to fine tune motor torque duri ng low-speed operation. To increase motor torque in the low-speed operating range, increase the setting of parame ter F480. However, only adjust parameter F480 if an auto tune does not yield sufficient low-sp eed torque. Increasing the set ting of parameter F480 may increase the motor’s no-load current during low-speed operation. Do not set this parameter so that the motor’s no-load current exceeds its rated operating current.

M Stall Prevention Control Coefficient 1

Use parameter F485 to adjust the drive’s response to large, sudden changes i n load when the motor is operated above its rated frequency. If a sudden change in load causes the motor to stall before t he drive goes into current limit, gradually reduce the setting of F485.

M Stall Prevention Control Coefficient 2

Use parameter F492 to adjust the drive’s response to a drop in the line supply voltage when the motor is operated above its rated frequency. Suc h a drop in v olt age oft en causes f lu ctuati ons i n motor current or vi bratio n in the motor. To eliminate these disturbances, set parameter F492 to a value between 80 and 90.

Note: Reducing the F492 setting increases the motor running current level.

M Motor Adjustment Coefficient

DO NOT ADJUST.

M Maximum Voltage Adjustment Coefficient

IUse parameter F495 to limit the drive’s maximum output vol tage. Increasing this setting increa ses torque when the motor is operated above its rated frequency, but may also cause motor vibration. Do not increase th e value o f

F495 if motor vibrations occur.

100 to 130 % 100 %

10 to 250

50 to 150

90 to 120 % 104 %

100

F496

M Waveform Switching Adjustment Coefficient

IAdjusting the value of parameter F496 may reduce motor noise and vibration during PWM waveform frequency shifts in the mid-speed operating range.

0.1 to 14.0 kHz 14.0 kHz

50 AAV75193 09/20009

Motor Control Parameters

F307 = 1

F307 = 0

F307 = 2

F307 = 3

Supply Voltage uncorrected, Motor Voltage Limited

Rated Voltage

Motor Voltage

Output Frequency

Input Voltage

x Input

High

Low

Supply Voltage corrected, Motor Voltage Limited

Motor Voltage

Output Frequency

Input Voltage

High

Low

Supply Voltage uncorrected, Motor Voltage Unlimited

Rated Voltage

Motor Voltage

Output Frequency

Input Voltage

x Input Voltage

High

Low

Supply Voltage corrected, Motor Voltage Unlimited

Motor Voltage

Output Frequency

Input Voltage

High

Low

Supply Voltage Correction and Motor Voltage Limitation (F307)

The setting of parameter F307 determines:

• If the drive’s voltage output will be corrected for fluctuations in the line supply voltage, or

• If the drive’s voltage output will be limited, despite increases in the line supply voltage.

The drive’s output voltage will not exceed the input supply voltage.

If parameter F307 is set to 0 or 2, no corrections are made in the motor voltage gating process in response to fluctuations in supply voltage. As a result, the V/Hz value of the output waveform to the motor will chang e in proportion to the input voltage. Conver sely, if F307 is set to 1 or 3, the V/Hz value of the output waveform will be held constant, despite changes in the supply voltage level.

If parameter F307 is set to 0 or 1, output motor voltage will be limited to the value set by parameter Motor Rated Voltage (see page 40

), even if the input supply voltage rises. If F307 is set to 2 or 3, output motor voltage can rise above the level set by uLu

if the input supply voltage rises above the motor rated voltage.

If parameter Pt is set to a value of 2, 3, 4, 5, or 6, the supply voltag e is corrected, regardless of the setting of parameter F307.

The diagrams below illustrate the impact of each setting of parameter F307.

uLu

AAV75193 09/20009 51

Code Name/Description Factory setting

F307

M Supply Voltage Correction and Motor Voltage Limitation

0 1 2 3

v Supply voltage uncorrected – motor voltage limited v Supply voltage corrected – motor voltage limited v Supply voltage uncorrected – motor voltage unlimited v Supply voltage corrected – motor voltage unlimited

Motor Control Parameters

Motor 2 Control Parameters

When logic inputs assigned to functions 39 or 40 are active, parameters F170 to F173 and F185 are the active set of motor control parameters.

When motor 2 control parameters are active, only constant V/Hz Motor Control Mode (Pt = 0) is available (see page 45

Code Name/Description Adjustment range Factory setting

F170

F171

F172

F173

M Motor 2 Rated Frequency

Set parameter F170 to the motor’s rated frequency as indicated on the motor nameplate.

It is possible to set the drive’s various motor control frequencies to 50 Hz by setting Parameter Reset tYP to 1, the 50 Hz reset. For more information, see page 41

M Motor 2 Rated Voltage

Set parameter F171 to the motor’s rated voltage as indicated on the motor nameplate.

pppM3X: 50 to 330 V.

ATV21

pppN4: 50 to 660 V

ATV21

Drive output voltage cannot be set to exceed the input line voltage.

M Motor 2 Voltage Boost

M Motor 2 Rated Current Overload Setting

Set parameter F173 to the motor’s rated current as listed on the motor nameplate for the select ed operating voltage.

25.0 to 200.0 Hz 50.0 Hz

According to drive model (1)

0 to 30 % According to drive

10 to 100% of the drive’s output current rating

According to drive model (1)

model (1)

100 %

F185

(1) See table page 128

M Motor 2 Current Limit

10 to 110% of the drive’s output current rating

Adjust parameter F185 to limit current during motoring or braking.

Do not set parameter F185 below the no-load current rating of the motor; otherwise, the drive will determine that motor braking is taking place and will increase the frequency applied to the motor.

110 %

52 AAV75193 09/20009

Motor Control Parameters

Motor Rated Voltage

Motor Rated Frequency

: Automatically

adjusts the

amount of

torque boost.

Output Voltage (%)

Output Frequency (Hz)

Code Name/Description Adjustment range Factory setting

F401

F402

F418

M Slip Compensation

Before adjusting parameter F401, verify that parameter Motor Rated Speed F417 (see page 48) is set to the rated full-load speed of the motor in rpm. Parameter F401 can be used to fine t une the drive’s slip compensati on feature. Increasing the value of parameter F401 increases the drive’s compensation of motor slip.

M Auto Torque Boost

Use parameter F402 to adjust the amount of automatic torque boost that is applied.

M Frequency loop gain

Parameters Frequency loop gain F418 and Frequency loop stability F419 reduce the speed of the drive’s response to a change in speed command. The factory setting of these two parameters assumes tha t the inertia of the load is three times as large as that of the motor shaft . Adjust th ese two para meters if t he facto ry setti ng is not appropriate for the application.

Note: It is possible for the drive’s output frequency to exceed its upper limit (parameter FH) if the acceleration parameter (ACC or F507) is set to its minimum value.

Increasing the setting of parameter F418 reduces the drive’s response ti me to changes i n the speed re ference.

0 to 150 % 50 %

0.0 to 30.0% According to drive model (see table page 128

1 to 150

F419

M Frequency loop stability

Increasing the setting of parameter F419 further reduces the drive’s response to changes in the speed reference.

1 to 100 20

AAV75193 09/20009 53

Drive Control Parameters

Code Name/Description Adjustment range Factory setting

CMOd

FMOd

M Remote Mode Start/Stop Control

The setting of parameter CNOd determines the source of start, stop, forward, and rev erse operation commands when the drive is in remote mode.

The drive must be stopped to make changes to parameter CNOd. See diagram on page 31

0 1 2

v Control terminal logic inputs. v Graphic display terminal. v Serial communication

for more information on the source of the drive’s operation commands.

M Remote Mode Primary Speed Reference Source

The setting of parameter FNOd det ermines the source of the drive’s speed reference when the drive is in remote mode.

The drive must be stopped to make changes to parameter FNOd.

1 2 3 4 5

See diagram on page 31

v VIA v VIB v Graphic display terminal v Serial communication v +/- Speed

for more information on the source of the drive’s speed reference.

M Local Mode Speed Reference

The speed reference set by the UP/DOWN keys in local mod e will be stored in paramete r FC when the ENT ke y is pressed. The next time the drive is started in local mode, it will accelerate the motor di rectly to the speed setpoint memorized by FC.

- 0

- 1

LL (low speed) to UL(high speed) Hz

0.0 Hz

M Local Mode Motor Rotation Direction Command

0 1 2 3

v Run forw ar d on ly. v Run reverse only. v Run forwa rd with reverse selectable. v Run reverse with forward selectable.

If Fr is set to 2 or 3:

- The motor direction can be changed in local mode to forward by pressing the UP key while holding the ENT key and to reverse by pressing the DOWN key while holding the ENT key. The new motor direction will be displayed (forward = Fr-F, reverse = Fr-r) before the motor direction is reversed.

- The motor’s last operating direction in local mode will be stored before a powe r removal or loss. When power is restored to the drive, the local mode motor rotation direction will be the same as before the power loss.

-If Bumpless Transfer From Remote To Local Control F295 (see page 55 transferred from remote to local mode, the local mode operation will assume the same motor rotation direction as in remote mode, regardless of the setting of Fr.

- 0

) is enabled and control is

54 AAV75193 09/20009

Drive Control Parameters

Code Name/Description Adjustment range Factory setting

F707

F721

M Local Mode Speed Reference Step Changes

v Disabled (0.00). v Enabled (0.01 to Maximum Frequency FH in Hz).

If parameter F707 is disabled in local mode, the drive’s speed reference will change in steps of 0.1 Hz each time the UP or DOWN key is pressed.

If parameter F707 is enabled in local mode, the drive’s speed refe rence will change in steps equal t o the setting of F707 each time the UP or DOWN key is pressed.

Enabling parameter F707 only affects drive operation if parameter F702 is set to 0.00. See page 96

If the display flashes “HI” or “LO”, it indicates that repeated usage of the UP or DOWN keys has caused to drive’s speed reference to reach either the Low Speed LL (see page 59 happen if parameter F707 is set to a value larger than 0.00 Hz.

M Local Mode Motor Stop Type

The setting of parameter F721 determines the type of motor stop that will be executed when then graphic display terminal STOP key is pressed.

The RUN and STOP keys must be enabled be setting parameter Disabling of graphic display terminal RUN and

STOP Keys in Local Mode

0 1

STOP key is pressed.

v Ramp stop v Freewheel stop

F733 (see page 58) to 0 for the motor to stop when the graphic display terminal

- 0.00 Hz

) or the High Speed UL (see page 59). This may

- 0

F295

M Bumpless Transfer From Remote To Local Control

If parameter F295 is enabled, the speed ref erence, run and direction commands will be t ransferred from remote to local mode when the LOC/REM key is pressed. Operation of the drive is not affected by a remote to local control mode transition.

If parameter F295 is disabled, a remote to local control mode transiti on will cause the drive to remove power from the motor. A new run command and speed reference will need to be entered in the local mode.

Regardless of the setting of parameter F295, a local to remote transition will cause the drive to immediately respond to the remote commands present at the moment of the transition.

0 1

v Disabled v Enabled

- 1

AAV75193 09/20009 55

Drive Control Parameters

F391

Output frequency (Hz)

Run Command

Time (s)

ON OFF

Code Name/Description Adjustment range Factory setting

F256

M Sleep/Wake Operation

v Disabled (0.0). v Enabled (0.01 to 600 seconds).

If parameter F256 is enabled and if the drive operates continuously at Low Speed LL (see page 59 period equal to the setting of F256, the drive wil l ramp the motor to a s top. While the motor is s topped, “LStP” will flash on the drive graphic display terminal.

When the speed reference to the drive exceeds the Low Speed level LL+F391, the drive will accelerate the motor to the new speed reference.

If parameter F256 is enabled, drive operation at or below the low speed level is also monitored during startup or during reversing of the motor. See diagram below.

0.0 to 600 s 0.0 s

) for a time

F207

M Remote Mode Secondary Speed Reference Source

1 2 3 4 5

v VIA v VIB v Graphic Display terminal v Serial communication v +/- Speed

Parameter F207 defines the remote mode secondary speed reference source. The setting of paramet er Auto/

Manual Speed Reference Switching

reference.

If F200 is set to 0, a logic input terminal set to function 38 (see page 68 speed reference source.

If F200 is set to 1, F207 is the speed reference source when the drive’s output frequency is 1 Hz or below. See diagram on page 31

for more detail.

F200 (see page 83) determines whether this source is used fo r the speed

- 2

) determines if F207 identifies the

56 AAV75193 09/20009

Drive Control Parameters

WARNING

LOSS OF CONTROL

• The designer of any control scheme must consider the pot ential failure modes of control pat hs and, for certain critical control functions, p rovid e a mea ns to achi eve a safe st ate durin g a nd after a path failure. Examples of critical control functions are emergen cy st op and ov ertrav el stop.

• Separate or redundant control paths must be provided for critical control functions.

• System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link.

• Each implementation of an Altivar 21 drive must be individually and thoroughly tested for proper operation before being placed into service.

Failure to follow these instructions can result in death, s erious injury, or eq uipment damage.

Code Name/Description Adjustment range Factory setting

F650

M Forced Speed Enable

0 1

v Disabled. v Enabled.

To enable Forced speed mode, set parameter F650 to 1 and assign a logic input to functio n 52 or 53 (see page 68

If parameter F650 is set to 1 and a logic input assigned to function 52 is activated, the drive will run at the frequency set by parameter Forced Speed Frequency

). When parameter F650 is set to 1, the graphic display terminal will brie fly flash the code FIrE.

- 0

F294 (see below).

F294

F311

- Desactivating the logic input assigned to function 52 will not stop the drive!

- The following drive faults will not stop the drive: OC1, OC2, OC3, OC1P, OC2P, OC3P, OP1,

OP2, OP3, OL1, OL2, OH, and SOUt

- Only removing power from the drive or a stop emergency will stop it when it is in this mode of operation.

When parameter F650 is set to 1 and a logic input set to function 53 is activated, the drive will run at the frequency set by parameter F294 (see below).

- Desactivating the logic input assigned to function 53 will not stop the drive.

- Only a fault, a pressing the STOP key on the graphic display terminal will stop the drive.

M Forced Speed Frequency

Use parameter VIA output frequency level 2 F204 (see page 81) to set the fixed frequency command for the drive when it is in Forced speed mode.

M Motor Rotation Direction Command

Use parameter F311 to prevent forward or reverse operation when an improper operation signal is received.

0 1 2

v Forward and reverse operation permitted v Reverse operation prohibited v Forward operation prohibited

LL - UL 50.0 Hz

- 1

AAV75193 09/20009 57

Drive Control Parameters

WARNING

DISABLED STOP COMMAND

Disabling the stop key (733 or 734) on the drive graphic display terminal display or the remote graphic display terminal display will prevent the driv e from stopping when the stop key is pressed. An external stop command must be installed to stop the motor.

Failure to follow this instruction can result in death, serious injury, or equipment damage.

Code Name/Description Factory setting

F730

F732

F733

M Disabling of graphic display terminal Speed Reference Change Keys

The setting of parameter F730 det ermines whether it is possible to set the drive’s speed by means of the graphic display terminal in local mode.

0 1

v Enabled. v Disabled.

M Disabling of graphic display terminal Local/Remote Key

Use parameter F732 to enable or disable the LOC/REM key on the drive graphi c display terminal. If the LOC/REM key is disabled, switching between local and remote mode can be achieved with parameters

Remote Mode Primary Speed Reference Source FNOd and Remote Mode Start/Stop Control CNOd. See

page 54

0 1 2

v Permitted: still retained with the power off. v Prohibited v Permitted: cancelled with the power off.

M Disabling of graphic display terminal RUN and STOP Keys in Local Mode

Use parameter Motor Rotation Direction Command F311 (see page 57) to prevent fo rward or reverse operation when an improper operation signal is received.

0 1

F734

0 1

F735

0 1

v Enabled v Disabled

The setting of parameter F733 determines whether it is possi ble to start and stop the drive by means of the graphic display terminal in local mode.

M Enable / disable the local stop emergency function

The setting of parameter F733 determines whether it is possible to stop the drive by means of the graphic display terminal in remote mode (see page 33

v Enabled v Disabled

for more detail).

M Disabling of graphic display terminal Fault Reset Function

The setting of parameter F735 determines whether it is possible to reset a drive fault by means of the graphic display terminal STOP key (see page 36

v Enabled v Disabled

for more detail).

58 AAV75193 09/20009

Application Parameters

WARNING

OVERSPEED HAZARD

Do not operate the motor or driven equipment above its rated speed. Consult the equipment manufacturer for details

Failure to follow these instructions can result in death or equipment damage.

100%

Output frequency (Hz) Output frequency (Hz)

Speed Reference Speed Reference

Code Name/Description Adjustment range Factory setting

M Maximum Frequency

The setting of parameter FH determines the maximum output frequency of the drive.

FH limits the setting of parameter High Speed UL (see page 59 operating.

Acceleration and deceleration rates are a lso affected by the setti ng of FH, as the defin ition of Acceleration Time 1

ACC or Deceleration Time 1 dEC (see page 60) is the time it takes for the drive to ramp the moto r up or down

between zero speed and the setting of FH.

FH can only be adjusted while the drive is stopped.

30.0 to 200.0 Hz 50.0 Hz

), which can be adjusted while the drive is

M High Speed

Parameter UL sets the maximum frequency that can be commanded to the drive by the local or remote speed reference source.

The top end of its range is limited by the setting of Maximum frequency FH. See diagram above.

M Low Speed

Parameter LL sets the minimum frequency that can be commanded to the drive by the local or remote speed reference source.

See diagram above.

0.5 toFH Hz 50.0 Hz

0.0 toUL Hz 0.0 Hz

AAV75193 09/20009 59

Application Parameters

Output frequency (Hz)

Time (Sec)

Code Name/Description Adjustment range Factory setting

F240

ACC

M Output Starting Frequency

The setting of parameter F240 determines the drive’s output fr equency at the moment it receives a start command. There is no acceleration time to reach the F240 Output Starting Frequency level.

F240 is typically set for the rated slip frequency of the motor. This allows motor torqu e to be generated as soon

as a start command is given. Adjust F240 when a delay in the mot or’s respon se to a start command adversely affects the application.

To determine the motor’s slip frequency:

1) Subtract the motor’s rated speed at full load from it’s no-load speed (in rpm).

2) Divide the result by the no-load speed.

3) Multiply this result by the motor’s rated frequency in Hz.

Example:

- Motor no-load speed = 1800 rpm

- Motor rated speed at full load = 1750 rpm

- Motor rated frequency = 60 Hz

1800 rpm – 1750 rpm = 50 rpm 50 rpm / 1800 rpm = 2.78% 60 Hz x 0.0278 = 1.7 Hz (motor slip frequency)

M Acceleration Time 1

0.5 to 10.0 Hz 0.5 Hz

0.0 to3200 seconds According to drive model (see table page 128

dEC

If parameter Auto Ramp Adaptation AU1 (see page 64 or decreased from the setting of ACC, depending on the amount of load on the motor during ramp up.

If two different acceleration rates are needed, see parameter Acceleration Time 2

M Deceleration Time 1

If two different deceleration rates are needed, see parameter Deceleration Time 2

) is set to 1 or 2, the acceleration ramp may be incre ased

F500 on page 61.

0.0 to3200 seconds According to drive model (see table page 128

F501 on page 61.

60 AAV75193 09/20009

Application Parameters

(1)

(2) (3)

(4)

Output Frequency (Hz)

Speed Reference

(1) ACC Acceleration Slope (2) F500 Acceleration Slope (3) F501 Deceleration Slope (4) dEC Deceleration Slope

Acceleration/Deceleration Switching Logic Input

Time (S)

Output Frequency (Hz)

Maximum Frequency

Actual Acceleration Time

Time (S)

Set Frequency

Code Name/Description Adjustment range Factory setting

F500

F501

M Acceleration Time 2

0.0 to 3200 seconds 20.0 seconds

Parameter F500 sets the second acceleration time. Switching between acceleration rates 1 and 2 is accomplished by means of:

- Parameter Acc/Dec Pattern Selection (Ramp Switching)

- A particular operating frequency (see parameter Acc/Dec Pattern Switching Frequency

F504 (see page 63),

F505 on page 63),

- A logic input assigned to functions 5, 20, 21, 30, 31 – 35, or 40 (see table beginning on page 69

M Deceleration Time 2

0.0 to 3200 seconds 20.0 seconds

Parameter F501 sets the second deceleration time. Switching between deceleration rates 1 and 2 is accomplished by means of:

- Parameter F504 (see page 66

- A particular operating frequency (see parameter F505 on page 66

), or

- A logic input assigned to functions 5, 20, 21, 30, 31 – 35, or 40 (see table beginning on page 67

)

F502

0 1 2

M Acc/Dec Pattern 1

v Linear v S-pattern 1 (see diagram below) v S-pattern 2 (see diagram bel ow for Acc/Dec Pattern 2

The linear acceleration and deceleration pattern is illust rated in diagram on page 60

F503 parameter).

and is used in most

applications. S-pattern 1 (see diagram below) is for use in applications that need the shortest ramp time possible while

minimizing shock during speed changes. See page 62

Lower Limit

F506 and Acc/Dec S-pattern Upper Limit F507.

for more information about parameters Acc/Dec S-pattern

AAV75193 09/20009 61

Application Parameters

WARNING

OVERSPEED HAZARD

Do not operate the motor or driven equipment above its rated speed. Consult the equipment manufacturer for details

Failure to follow these instructions can result in death or equipment damage.

Output Frequency (Hz)

Maximum Frequency

Actual Acceleration Time

Time (S)

Set Frequency

Motor Rated

Frequency

Constant hp Region

Code Name/Description Factory setting

F503

M Acc/Dec Pattern 2

0 1 2

v Linear v S-pattern 1 (see diagram below) v S-pattern 2 (see previous diagram for parameter Acc/Dec Pattern 1

S-pattern 2 (diagram below) is for use in high-speed spindle applications where acceleration and deceleration rates need to be reduced as the motor operates above its rated operating frequ ency—a constant hp region wh ere motor torque is reduced.

Use parameter F503 to select the second Acc/Dec pattern. Switching between Acc/Dec patterns 1 and 2 is accomplished by means of:

- Parameter Acc/Dec Pattern Selection (Ramp Switching)

- A particular operating frequency (see parameter Acc/Dec Pattern Switching Frequency or

- A logic input assigned to functions 5, 20, 21, 30, 31 – 35, or 40 (see table beginning on page 68

For more information on Acc/Dec patterns, see parameter Acc/Dec Pattern 1 F502 on page 61

F502).

F504 (see page 63),

F505 on page 63),

)

F506

F507

M Acc/Dec S-pattern Lower Limit

Use parameter F506 to adjust the lower portion of S-pattern 1. See diagram on page 62.

M Acc/Dec S-pattern Upper Limit

Use parameter F507 to adjust the upper portio n of the S-pattern 1. See diagram on page 62.

0 to 50% of acceleration time

10 %

62 AAV75193 09/20009

Application Parameters

Output Frequency

(Hz)

Time (S)

(1)

(2)

(3)

(4)

Output Frequency (Hz)

Speed Reference

(1) ACC Acceleration Slope (2) F500 Acceleration Slope (3) F501 Deceleration Slope (4) dEC Deceleration Slope

Time (S)

Code Name/Description Adjustment range Factory setting

F504

F505

M Acc/Dec Pattern Selection (Ramp Switching)

1 2

v Acc/Dec pattern 1 v Acc/Dec pattern 2

Parameter F504 determines the Acc/Dec pattern.

M Acc/Dec Pattern Switching Frequency

If parameter F505 is set to a frequency greater than 0.0, the drive will use Acc/Dec pattern 1 above that frequency and Acc/Dec pattern 2 above.

- 1

0.0 to UL(Hz) 0.0 Hz

AAV75193 09/20009 63

Application Parameters

Code Name/Description Adjustment range Factory setting

AU1

F300

M Auto Ramp Adaptation

0 1 2

v Disabled v Enabled - Acceleration Time 1 v Enabled (ACC only)

Limit F601 (see page 47 Operation LevelF626 (see page 101

M Switching Frequency Level

Increasing the switching frequency may reduce audible motor noise.

Increasing the switching frequency will increase the heat dissipated by the drive. The capacity of the drive may need to be derated accordingly if the switching frequency is increased. See the derating curves in the ATV21 Installation Manual.

- 1

ACC and Deceleration Time 1 dEC (see page 60)

) and Overvoltage Fault Protection F305 (see page 101) and Overvoltage Fault

) functions.

6.0 to 16.0 kHz in 0.1 kHz steps

According to drive model (see table page 128

F312

F316

(1)For 400 V applications with motor leads longer than 30 m (100 ft).

M Switching Frequency Random Mode

Random control of the switching frequency may reduce audible motor noise. Random control of the switching frequency will not be performed if the switching frequency is set above 7.1 kHz,

regardless of the setting of F312.

0 1

v Disabled v Enabled

M Switching Frequency Control Mode

0 1 2 3

v ATV21pppM3X an d ATV21pppN4: switching frequency NOT automatically reduced v ATV21 v ATV21 v ATV21

If parameter F316 is set to 1 or 3, the swit ching frequency level will be automat ically controlled to prevent a drive overheating fault. If the drive senses an impending overheating fault, it will reduce the switching frequency, thus reducing heat produced by the controller. As the temperature approaches normal, the switching frequency will return to the level selected by parameter F300.

If F316 is set to 2 or 3, motor control performance is optimized if parameter F300 is set to 6 kHz.

pppM3X and ATV21pppN4: switching frequency automatically reduced pppN4 (1):switching frequency NOT automatically reduced pppN4 (1):switching frequency automatically reduced

- 0

- 1

64 AAV75193 09/20009

Application Parameters

Skip Frequencies

Do not set the skip frequency bands so that they overlap.

While the drive will not operate within these skip frequency bands during steady state operation, skip frequency bands are ignored by the drive during motor acceleration and deceleration.

Code Name/Description Adjustment range Factory setting

F270

F271

F272

F273

F274

F275

M Skip frequency 1midpoint

M Skip frequency 1 bandwidth

M Skip frequency 2 midpoint

M Skip frequency 2 bandwidth

M Skip frequency 3 midpoint

M Skip frequency 3 bandwidth

0.0 – FH (Hz) 0.0 Hz

0.0 – 30.0 (Hz) 0.0 Hz

0.0 – FH (Hz) 0.0 Hz

0.0 – 30.0 (Hz) 0.0 Hz

0.0 – FH (Hz) 0.0 Hz

0.0 – 30.0 (Hz) 0.0 Hz

AAV75193 09/20009 65

Application Parameters

DC Braking Starting

Frequency

ON OFF

Time (s)

Speed Reference

Run Commande

DC Braking

Output Frequency (Hz)

DC Braking Current

DC Braking

Time

Output Current

(A)

DC Injection Braking Parameters

WARNING

NO HOLDING TORQUE

• DC injection braking does not provide holding torque at zero speed.

• DC injection braking does not function during a loss of power or during a drive fault.

• When required, use a separate brake for holding torque.

MOTOR OVERHEATING

• Protect the motor from extended periods of DC injection braking. Applicati on of DC i njection braking for long periods of time can cause motor overheating and damage.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

The drive can inject DC current into the motor to apply braking to rque to the lo ad. Parameters F250, F251 and F252 determine the Output Starting Frequency, current level, and braking time.

During DC injection braking, the drive’s switching frequency is 6 kHz regardless of the setting of parameter F300 (see page 64

Code Name/Description Adjustment range Factory setting

F250

F251

M DC Braking Starting Frequency

When stopping the motor, the drive will apply DC injection braking onc e the output frequency drops be low the level set by parameter F250.

M DC Braking Current Level

Parameter F251 sets the level of current applied to the motor during DC injection braking. The displayed value, percent or amperes, is set by parameter Graphic display terminal : % or A/V Units

0.0 to FH (Hz) 0.0 Hz

0 to 100 % 50 % (1)

F701 (see page 94).

During DC injection braking, the drive’s overload protection sensitivity increases. The drive automatically lowers the applied DC current to avoid an overload fault.

F252

(1) Percent of the drive’s rated current. Ampere range will vary according to drive power rating.

66 AAV75193 09/20009

M DC Braking Time

ParameterF252 determines how long DC injection braking is applied to the motor.

0.0 to 20.0 seconds 1.0 second

I/O Control Parameters

Logic inputs F, R, RES, and VIA (if parameter F109 is set to 1 or 2) can be set to the functions described in the table below. See table on page 71

Function No. Function Description Action

for logic input function compatibility.

0 No function assigned Logic input disabled 1

Run permissive (see also input function 54)

Forward run command

(2-wire control: input function 49 NOT used)

OFF: drive motor output disabled, motor coasts to stop ON: drive ready for operation

Mode Logic Input Action

2-wire control OFF: Motor ramps down to a stop

ON: Motor runs forward

4 DO NOT USE 5

6 Preset speed command input 1

7 Preset speed command input 2

8 Preset speed command input 3

10 Fault reset (see also input function 55) ON to OFF transition resets fault (if cause of fault has cleared)

14 (1)

(1) For software version lower than V1.7IE04, when Clear PID integra l value (function 65) and PID Control Prohibited (functi on 14) are used,

it is necessary to set CMOd to terminal board (Remote Mode Start/Stop Control CMOd=Control terminal logic inputs = 0).

or (3-wire control: input function 49 USED)

Reverse run command

(2-wire control: input function 49 NOT used)

or (3-wire control: input function 49 USED)

Acceleration/deceleration pattern selection

External Fault (see also input function 45)

DC braking command OFF: No DC braking command

PID control prohibited OFF: PID control permitted

Mode Stop Input State Logic Input Action

3-wire control OFF OFF: no function

ON: no function

3-wire control ON OFF to ON transition

starts the drive, motor runs forward

Mode Logic Input Action

2-wire control OFF: Motor ramps down to a stop

ON: Motor runs in reverse

Mode Stop Input State Logic Input Action

3-wire control OFF OFF: no function

ON: no function

3-wire control ON OFF to ON transition

starts the drive, motor runs in reverse

OFF: Acceleration/deceleration pattern 1 ON: Acceleration/deceleration pattern 2

Input 3 Input 2 Input 1 Motor Speed 0 0 0 minimum speed or speed

reference per FNOd 001Sr1: preset speed 1 010Sr2: preset speed 2 011Sr3: preset speed 3 100Sr4: preset speed 4 101Sr5: preset speed 5 110Sr6: preset speed 6 111Sr7: preset speed 7

OFF: No external fault ON: Motor stops according to method set by parameter F603 graphic display terminal displays E fault, fault relay activated

ON: DC braking applied to motor, Level and time set by parameters F251 and F252

ON: PID control prohibited PID control prohibited input terminal function is available to switch PID cont rol and open-loop control. Also Clear PID integral value input terminal funct ion (f unc ti on 65 ) is avail abl e.

AAV75193 09/20009 67

I/O Control Parameters

Function No. Function Description Action

Programming parameter lock

38 Frequency reference source switching

39 Motor V/Hz parameter switching

Functional only when parameter

F700 = 1

Combination of run permissive and fault reset

Combination of forward run command and acceleration/deceleration pattern 2 selection

Combination of reverse run command and acceleration/deceleration pattern 2 selection

Combination of forward run command and preset speed 1 command

Combination of reverse run command and preset speed 1 command

Combination of forward run command and preset speed 2 command

Combination of reverse run command and preset speed 2 command

Combination of forward run command and preset speed 3 command

Combination of reverse run command and preset speed 3 command

Combination of forward run command, preset speed 1 command, and acceleration/deceleration pattern 2 selection

Combination of reverse run command, preset speed 1 command, and acceleration/deceleration pattern 2 selection

Combination of forward run command, preset speed 2 command, and acceleration/deceleration pattern 2 selection

Combination of reverse run command, preset speed 2 command, and acceleration/deceleration pattern 2 selection

Combination of forward run command, preset speed 3 command, and acceleration/deceleration pattern 2 selection

Combination of reverse run command, preset speed 3 command, and acceleration/deceleration pattern 2 selection

OFF: Parameters locked (if parameter F700 = 1) ON: Programming changes permitted

OFF: drive motor output disabled, motor coasts to stop ON: drive ready for operation ON to OFF transition resets fault (if cause of fault has cleared)

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs forward, ramping up per ACC/dEC pattern 2

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs in reverse, ramping up per ACC/dEC pattern 2

OFF: Motor ramps down to a stop ON: Motor runs forward, at speed set by Sr1, preset speed 1

OFF: Motor ramps down to a stop ON: Motor runs in reverse, at speed set by Sr1, preset speed 1

OFF: Motor ramps down to a stop ON: Motor runs forward, at speed set by Sr2, preset speed 2

OFF: Motor ramps down to a stop ON: Motor runs in reverse, at speed set by Sr2, preset speed 2

OFF: Motor ramps down to a stop ON: Motor runs forward, at speed set by Sr3, preset speed 3

OFF: Motor ramps down to a stop ON: Motor runs in reverse, at speed set by Sr3, preset speed 3

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs forward, at speed set by Sr1, preset speed 1, ramping up per ACC/dEC pattern 2

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs in reverse, at speed set by Sr1, preset speed 1, ramping up per ACC/dEC pattern 2

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs forward, at speed set by Sr2, preset speed 2, ramping up per ACC/dEC pattern 2

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs in reverse, at speed set by Sr2, preset speed 2, ramping up per ACC/dEC pattern 2

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs forward, at speed set by Sr3, preset speed 3, ramping up per ACC/dEC pattern 2

OFF: Motor stops, ramping down pe r ACC /d EC pattern 2 ON: Motor runs in reverse, at speed set by Sr3, preset speed 3, ramping up per ACC/dEC pattern 2

OFF: drive follows speed reference set by parameter FNOd ON: drive follows speed reference set by parameter F207 > (if F200 = 1)

OFF: 1 (Pt, uL, uLu, ub, tHr) ON: 2 (Pt = 0, F170, F171, F172, F173)

motor V/Hz parameter set active:

68 AAV75193 09/20009

I/O Control Parameters

DANGER

LOSS OF STOP FUNCTION

When the fire mode input function is used, the drive can not be stopped unless power is removed from the drive.

Failure to follow this instruction will result in death or serious injury.

Function No. Function Description Action

OFF: 1

Motor control parameter switching V/Hz,

41 (+) speed input

42 (-) speed input 43 +/- speed clear OFF to ON transition clears frequency level set by +/- speed inputs 44

48 Forced local

49 3-wire control stop input

current limit, acceleration/deceleration pattern

Combination of +/- speed clear and fault reset

Inversion of external fault signal (see also input function 11)

External overheating fault input (see also input function 47)

Inversion of external overheating fault input (see also input function 46)

Clear accumulated power consumption kWh display

Fire-mode drive operation Available only if F650 = 1 Set F294 to proper level

(Pt, uL, uLu, ub, tHr, ACC, dEC, F502, F601) ON: 2 (Pt = 0, F170, F171, F172, F173, F185, F500, F501,

F503)

OFF: No motor speed increase ON: Motor accelerates

OFF: No motor speed reduction ON: Motor decelerates

OFF to ON transition clears frequency level set by +/- speed inputs ON to OFF transition resets fault (if cause of fault has cleared)

OFF: Motor stops according to method set by parameter F603 graphic display terminal displays E fault ON: No external fault

OFF: No external overheating fault ON: Motor stops, graphic display terminal displays OH2 fault

OFF: Motor stops, graphic display terminal displays OH2 fault ON: No external overheating fault

OFF: No forced local function ON: Control of the drive is forced to mode set by FNOd, CNOd, and

F207

OFF: Motor ramps down to a stop ON: drive ready for operation

OFF: No function ON: Clears kWh memory

motor control parameter set active:

OFF: No function ON: Motor runs at speed set by F294 The following actions/events will NOT stop the drive and motor:

Forced-mode drive operation Available

AAV75193 09/20009 69

only if F650 = 1 Set F294 to proper level

Inversion of run permissive (see also input function 1

Inversion of fault reset (see also input function 10

Combination of run permissive and run forward command (2-wire control only)

Combination of run permissive and run reverse command (2-wire control only)

)

• Setting the fire-mode input to OFF

• Pressing the STOP key

• The following drive faults: OC1, OC2, OC3, OC1P

OC3P, OP1, OP2, OP3, OL1, OL2, OH, SOU

OFF: No function ON: Motor runs at speed set by F294 Setting the forced-mode input to OFF will NOT stop the drive The drive will stop after a press on the STOP key or when an emerge ncy stop is activated by a logic input.

OFF: drive ready for operation ON: drive motor output disabled, motor coasts to stop This mode allows to have a freewheel stop using a terminal command.

OFF to ON transition resets fault (if cause of fault has cleared) OFF: drive motor output disabled, motor coasts to stop

ON: Motor runs forward OFF: drive motor output disabled, motor coasts to stop

ON: Motor runs reverse

, OC2P,

I/O Control Parameters

Function No. Function Description Action

61 Curre n t li m it le v el se le c ti o n

62 Holding of RY-RC relay output

65 (1) Clear PID integral value

72 PID error signal reversed

Cancellation of last graphic display terminal command

Combination of run permissive, run forward command, and preset speed 1 command

Combination of run permissive, run reverse command, and preset speed 1 command

Combination of run permissive, run forward command, and preset speed 2 command

Combination of run permissive, run reverse command, and preset speed 2 command

Combination of run permissive, run forward command, and preset speed 4 command

Combination of run permissive, run reverse command, and preset speed 4 command

OFF: Current limit level 1 F601 selected ON: Current limit level 2 F185 selected

OFF: Normal real-time relay operation ON: RY-RC is held on once activate d

OFF: Last graphic display terminal command cancelled ON: Last graphic display terminal command retained

OFF: No action ON: PID integral value held at zero

OFF: drive motor output disabled, motor coasts to stop ON: Motor runs forward at speed set by Sr1, preset speed 1

OFF: drive motor output disabled, motor coasts to stop ON: Motor runs reverse at speed set by Sr1, preset speed 1

OFF: drive motor output disabled, motor coasts to stop ON: Motor runs forward at speed set by Sr2, preset speed 2

OFF: drive motor output disabled, motor coasts to stop ON: Motor runs reverse at speed set by Sr2, preset speed 2

OFF: drive motor output disabled, motor coasts to stop ON: Motor runs forward at speed set by Sr4, preset speed 4

OFF: drive motor output disabled, motor coasts to stop ON: Motor runs reverse at speed set by Sr4, preset speed 4

OFF: if F111 = 72 and F terminal is OFF, PI error input = reference - feedbac k ON: if F111 = 72 and F terminal is ON, PI error input = feedback - reference

(1) For software version lower than V1.7IE04, when Clear PID integra l value (function 65) and PID Control Prohibited (functi on 14) are used,

it is necessary to set CMOd to terminal board (Remote Mode Start/Stop Control CMOd=Control terminal logic inputs = 0).

70 AAV75193 09/20009

I/O Control Parameters

Logic Input Function Compatibility

O = Compatible X = Incompatible + = Compatible under some conditions @ = Priority

Function No. / Function 1/54 2 3 5 6-9

1/54 Run permissive

2 Forward run command +

3 Reverse run command + +

Acceleration/deceleration

pattern selection Preset-speed commands

6~9

1 to 3

10 /

Fault reset O O O O O

11 /

External fault + @ @ @ @ @

13 DC braking command + @ @ @ @ O X

14 PID control prohibited O O O O O O X X

Programming parameter

lock

46 /

External overheating fault @ @ @ @ @ @ + @ @ O

@@@@OO@OOOOO@OOOX

XOOOXXOOXOOXOOOX

OOOXXOOXOOXOOOX

+OO

+OOO

OOOOOOOOO

10/5511/

OOXXOOXOOOOOXO

OXXOOXOOOOOOX

XOOOXOOOOOOX

13 14 15

@@O + O@@OO O X

@OXO@@OOO X

46/

OXOOOOOOX

OOOOOOOO

41-

OO@OOOX

49 38 39 40

52/

48Forced local OOOOOOOOOOO

41-

+/- speed OOOOOOOOOOO O

49 3-wire control stop input + @ @ O O O X X O O X O O

Frequency reference

source switching Motor V/Hz parameter

switching Motor control parameter

switching Fire-mode

52 /

Forced mode

The following logic input functions are ALWAYS active, regardless of the FNOd and CNOd setting .

• (1) Run permissive

• (10) Fault reset

• (11) External fault

When determining function compatibility using the table above, the function listed horizontally is activated first and the function listed vertically is activated second.

OOOOOOOOOOOOOO

OOOOOOOOOOOOOOO

OOO@OOOOOOOOOOO@

@@@O@@@@@O@@@@@O O

OOOOOX

OOOOX

OOOX

OOX

AAV75193 09/20009 71

I/O Control Parameters

Relay Output Functions

The two relay outputs (FL and RY-RC) can be set to the functions described i n the table below.

Function No. Function Description Action

0 Low speed attained

2 High speed attained

11 Inversion of fault relay (function 10)

14 Run relay

15 Inv e rs io n of run re la y (fun c ti o n 14 )

Inversion of low speed attained (function 0)

Inversion of high speed attained (function 2)

F100 speed attained (drive running)

(See page 93 parameter F100.)

Inversion of F100 speed attained (function 4)

Commanded speed attained (up to speed)

Inversion of commanded speed attained (function 6)

F101 speed attained

(See page 93 parameters F101 and F102.)

Inversion of F101 speed attained (function 8)

Fault relay (The drive is not in a fault state during auto fault reset attempts. See also function 36.)

Overtorque fault (Overtorque fault detection is active only if parameter F615 = 1. See page 105 for more detail on an overtorque fault and parameters F616 and F618.)

Inversion of overtorque fault (function

12)

Motor overload alarm (Motor overload alarm detection is only active if parameter OLn is set to either 0, 1, 4, or 5. See page 108 detail on motor overload protection settings.)

Inversion of motor overload alarm (function 16)

for more detail on

for more

OFF: output frequency is low speed setting LL ON: output frequency is > low speed setting LL

OFF: output frequency is > low speed setting LL ON: output frequency is low speed setting LL

OFF: output frequency is < high speed setting UL ON: output frequency is high speed setting UL

OFF: output frequency is high speed setting UL ON: output frequency is < high speed setting UL

OFF: output frequency is < F100 speed setting ON: output frequency is F100 speed setting

OFF: output frequency is F100 speed setting ON: output frequency is < F100 speed setting

OFF: output frequency is commanded speed +/- F102 hysteresis band ON: output frequency is > commanded speed +/- F102 hysteresis band

OFF: output frequency is > commanded speed +/- F102 hysteresis band ON: output frequency is commanded speed +/- F102hysteresis band

OFF: output frequency is F101 speed +/- F102 hysteresis band ON: output frequency is > F101 speed +/- F102 hysteresis band

OFF: output frequency is > F101 speed +/- F102 hysteresis band ON: output frequency is F101 speed +/- F102 hysteresis band

OFF: No drive fault ON: drive faulted

OFF: drive faulted ON: No drive fault

OFF: Estimated motor torque has NOT been at F616 level for a time period longer than that set by F618 ON: Estimated motor torque has been at F616 level f or a time period longer than that set by F618. drive stopped, displaying Ot fault

OFF: Estimated motor torque has been at F616 level for a time period longer than that set by F618. drive stopped, displaying Ot fault ON: Estimated motor torque has NOT been at F616 level for a time period longer than that set by F618

OFF: drive is not powering the motor ON: drive is powering the motor, accelerating, decelera ting, at constant speed, or DC braking

OFF: drive is powering the motor, accelerating, decel erating, at constant speed, or DC braking ON: drive is not powering the motor

OFF: motor thermal state is < 50% of motor overload fault level ON: motor thermal state is 50% of motor overload fault level

OFF: motor thermal state is 50% of motor overload fault level ON: motor thermal state is < 50% of motor overload fault level

72 AAV75193 09/20009

I/O Control Parameters

Function No. Function Description Action

Overtorque alarm (Overtorque alarm detection is active

22 General alarm

only if parameter F615 = 0. See page

105

for more detail on the overtorque

alarm and parameters F616, F619. Inversion of overtorque alarm (function

20)

OFF: Estimated motor torque is < 70% of F616 level minus F619 hysteresis band ON: Estimated motor torque is 70% of F616 level

OFF: Estimated motor torque is 70% of F616 level ON: Estimated motor torque is < 70% of F616 level minus F619 hysteresis band

OFF: No alarm condition from the sources listed below exists ON: An alarm has been issued by one of the following sources:

• Overtorque trip (output functions 12 and 13)

• Motor overload alarm (output functions 16 and 17)

• Overtorque alarm (output functions 20 and 21)

• Loss of load detection (output functions 24 and 25)

• Run time alarm (output functions 42 and 43)

• Undervoltage alarm (output functions 54 and 55)

• drive in sleep mode (see for more detail on parameter F256)

• Power failure stop (see for more detail on parameter F302)

• Overcurrent alarm – motor current limit level (parameter F601)

• Overvoltage alarm – DC bus voltage overvoltage stall level (parameter

F626)

• drive overheating alarm

OFF: An alarm has been issued by one of the following sources:

23 Inversion of general alarm (function 22)

Underload detection

(See 103

F609 – F612 and the underload

function.) Inversion of underload detection

(function 24)

for more detail on parameters

• Overtorque trip (output functions 12 and 13)

• Motor overload alarm (output functions 16 and 17)

• Overtorque alarm (output functions 20 and 21)

• Loss of load detection (output functions 24 and 25)

• Run time alarm (output functions 42 and 43)

• Undervoltage alarm (output functions 54 and 55)

• drive in sleep mode (see for more detail on parameter F256)

• Power failure stop (see for more detail on parameter F302)

• Overcurrent alarm – motor current limit level (parameter )

• Overvoltage alarm – DC bus voltage overvoltage stall level (parameter

F626)

• drive overheating alarm

ON: No alarm condition from the sources listed above exists

OFF: Motor current is greater than F611 level + F609 hysteresis band ON: Motor current is less than F611 level for the time set by F612

OFF: Motor current is less than F611 level for the time set by F612 ON: Motor current is greater than F611 level + F609hysteresis band

AAV75193 09/20009 73

I/O Control Parameters

Function No. Function Description Action

OFF: None of the fault conditions listed below exist ON: One (or more) of the following fault conditions exists and has stopped t he drive:

• E – external fault

• E-18 – VIA analog input signal fault

• E-19 – main control boar d CPU co m m u n ica tion error

• E-20 – excessive torque boost fault

• E-21 – main control board CPU er ro r 2

• EEP1 – main control boa rd EEPROM error 1

• EEP2 – main control boa rd EEPROM error 2

• EEP3 – main control boa rd EEPROM error 3

• EF2 – ground fault

• EPH0 – output phase failure fault

• EPH1 – input phase failure fault

• Err1 – speed reference error

26 Non-autoresettable fault

Inversion of non-autoresettable fault (function 26)

• Err2 – main control board RAM error

• Err3 – main control board ROM error

• Err4 – main control board CPU er ro r 1

• Err5 – serial communication control error

• Err7 – motor current sensor error

• Err8 – serial communication network error

• Etn1 – auto-tuning error

• EtYP – drive ratings error

• OCA – short-circuit detected in drive output inverter stage during motor startup

• OCL – short-circuit detected in motor or output wiring during motor startup

• OH2 - external overheating fault

• Ot – overtorque fault

• Uc – underload fault

• UP1 - Undervoltage fault

OFF: One (or more) of the following fault conditions exists and has stopp ed the drive:

• E – external fault

• E-18 – VIA analog input signal fault

• E-19 – main control boar d CPU co m m u n ica tion error

• E-20 – excessive torque boost fault

• E-21 – main control board CPU er ro r 2

• EEP1 – main con8trol board EEPROM error 1

• EEP2 – main control boa rd EEPROM error 2

• EEP3 – main control boa rd EEPROM error 3

• EF2 – ground fault

• EPH0 – output phase failure fault

• EPH1 – input phase failure fault

• Err1 – speed reference error

• Err2 – main control board RAM error

• Err3 – main control board ROM error

• Err4 – main control board CPU er ro r 1

• Err5 – serial communication control error

• Err7 – motor current sensor error

• Err8 – serial communication network error

• Etn1 – auto-tuning error

• EtYP – drive ratings error

• OCA – short-circuit detected in drive output inverter stage during motor startup

• OCL – short-circuit detected in motor or output wiring during motor startup

• OH2 - external overheating fault

• Ot – overtorque fault

• Uc – underload fault

• UP1 - Undervoltage fault

ON: None of the fault conditions listed above exist

74 AAV75193 09/20009

I/O Control Parameters

Function No. Function Description Action

OFF: None of the fault conditions listed below exist ON: One (or more) of the following fault conditions exists:

• OC1– overcurrent fault during acceleration

• OC2 – overcurrent fault during deceleration

• OC3 – overcurrent fault during constant speed operation

• OC1P – overcurrent flowing in element during acceleration

• OC2P – overcurrent flowing in element during deceleration

28 Auto-resettable fault

Inversion of auto-resettable fault (function 28)

• OC3P – overcurrent flowing in element during constant speed operation

• OH – drive overheating fault

• OL1 – drive overload fault

• OL2 – motor overload fault

• OP1 – overvoltage fault during acceleration

• OP2 – overvoltage fault during deceleration

• OP3 – overvoltage fault during constant speed operation

• SOUt – permanent magnet motor step-out fault

OFF: One (or more) of the following fault conditions exists:

• OC1 – overcurrent fault during acceleration

• OC2 – overcurrent fault during deceleration

• OC3 – overcurrent fault during constant speed operation

• OC1P – overcurrent flowing in element during acceleration

• OC2P – overcurrent flowing in element during deceleration

• OC3P – overcurrent flowing in element during constant speed operation

• OH – drive overheating fault

• OL1 – drive overload fault

• OL2 – motor overload fault

• OP1 – overvoltage fault during acceleration

• OP2 – overvoltage fault during deceleration

• OP3 – overvoltage fault during constant speed operation

• SOUt – permanent magnet motor step-out fault

30 drive ready condition 1

32 drive ready condition 2

34 VIB input reference source

37 Inversion of fault relay (function 36)

38 Serial communication data

Inversion of drive ready condition 1 (function 30)

Inversion of drive ready condition 2 (function 32)

Inversion of VIB input reference source (function 34)

Fault relay (The drive is not in a fault state during auto fault reset attempts. See also function 10.)

Inversion of serial communication data (function 38)

ON: None of the fault conditions listed above exist OFF: drive not ready for operation

ON: drive ready for operation (ready includes active run permissive and active run command)

OFF: drive ready for operation (ready includes active run permissive and active run command) ON: drive not ready for operation

OFF: drive not ready for operation ON: drive ready for operation (ready does not include act ive run permissive or active run command)

OFF: drive ready for operation (ready does not include active run permissive or active run command) ON: drive not ready for operation

OFF: analog input terminal VIB is NOT the active speed reference source ON: VIB is the active speed reference source

OFF: analog input terminal VIB is the active speed reference source ON: VIB is NOT the active speed reference source

OFF: No drive fault ON: drive faulted

OFF: drive faulted ON: No drive fault

OFF: Serial communication word FA50 bit 0 = 0 ON: Serial communication word FA50 bit 0 = 1

OFF: Serial communication word FA50 bit 0 = 1 ON: Serial communication word FA50 bit 0 = 0

AAV75193 09/20009 75

I/O Control Parameters

Function No. Function Description Action

drive operational run time alarm

43 Inversion of run time alarm (function 42)

48 Logic input F state

50 Logic input R state

52 drive speed reference equals VIA signal

54 Undervoltage alarm

56 Local/remote switching

58 PTC thermal alarm

60 drive speed reference equals VIB signal

(See page 95 parameter F621.)

drive service alarm (See page 106 parameter F634.)

Inversion of drive maintenance alarm (function 44)

Inversion of logic input F state (function 48)

Inversion of logic input R state (function

50)

Inversion of drive speed reference equals VIA signal (function 52)

Inversion of undervoltage alarm (function 54)

Inversion of local/remote switching (function 57)

Inversion of PTC thermal alarm (function 58)

Inversion of drive speed reference equals VIB signal (function 60)

for more detail on

OFF: Run time is < F621 time setting ON: Run time is F621 time setting

OFF: Run time is F621 time setting ON: Run time is < F621 time setting

OFF: drive maintenance alarm not active ON: drive maintenance alarm active

OFF: drive maintenance alarm active ON: drive maintenance alarm not active

OFF: Logic input F is not active ON: Logic input F is active

OFF: Logic input F is active ON: Logic input F is not active

OFF: Logic input R is not active ON: Logic input R is active

OFF: Logic input R is active ON: Logic input R is not active

OFF: Speed reference from the source identified by FNOd or the source identified by F207 ON: Speed reference from the source identified by FNOd or the source identified by F207 = VIA signal

OFF: Speed reference from the source identified by FNOd or the source identified by F207 = VIA signal ON: Speed reference from the source identified by FNOd or the source identified by F207

OFF: Undervoltage alarm is not active ON: Undervoltage alarm is active

OFF: Undervoltage alarm is active ON: Undervoltage alarm is not active

OFF: drive is in remote mode ON: drive is in local mode

OFF: drive is in local mode ON: drive is in remote mode

OFF: Motor temperature as indicated by PTC thermal probes is < 60% of the trip level ON: Motor temperature as indicated by PTC thermal probes is 60 % of the tri p level

OFF: Motor temperature as indicated by PTC thermal probes is 60% of the trip level ON: Motor temperature as indicated by PTC thermal probes is < 60% of the trip level

OFF: Speed reference from the source identified by FNOd or the source identified F207 ON: Speed reference from source identified by FNOd or the source identified

F207 = VIB signal

OFF: Speed reference from source identified by FNOd or the source identified F207 = VIB signal ON: Speed reference from the source identified by FNOd or the source identified F207

≠ VIA signal

≠ VIB signal

76 AAV75193 09/20009

I/O Control Parameters

Function No. Function Description Action

62 Analog VIA detection

63 Inversion of analog VIA detection

64 Analog VIB detection

65 Inversion of analog VIB detection

254 Relay output is always OFF OFF 255 Relay output is always ON ON

Set frequency attainment signal with hysteresis

Inversion of set frequency attainment signal with hysteresis

ON: The value of VIA is equal to or higher than F160 + F161 OFF: The value of VIA is equal to or lower than F160 - F161

ON: The value of VIA is equal to or lower than F160 - F161 OFF: The value of VIA is equal to or higher than F160 + F161

ON: The value of VIB is equal to or higher than F162 + F163 OFF: The value of VIB is equal to or lower than F162 - F163

ON: The value of VIB is equal to or lower than F162 - F163 OFF: The value of VIB is equal to or higher than F162 + F163

ON: The ouptput frequency is equal to or higher than F101 + F102 OFF: The ouptput frequency is equal to or lower than F101 - F102 (See page 93

ON: The ouptput frequency is equal to or lower than F101 - F102 OFF: The ouptput frequency is equal to or higher than F101 + F102 (See page 93

for more detail on parameters F101 and F102.)

AAV75193 09/20009 77

I/O Control Parameters

Analog Input Functions

Two analog inputs are supplied with the ATV21 drive. The terminals are designated VIA and VIB.

Analog Input VIA

• VIA can accept the following signal types:

- Voltage (V): 0–10 V, voltage or potentiometer input

- Current (I): 0–20 mA or 4–20 mA

- The signal type (V or I) is selected by setting SW3 on the main control board.

For information on wiring, consult the ATV21 Installation manual.

• The slope and bias of the input signal are adjusted with parameters F201–F204 and F470–F471. For more information, see page 81

• VIA is configured as the speed reference input in the following macro-configurations:

- Run permis si v e

-3-wire

- 4-20 mA.

• Relay output functions 34 and 35 can signal when VIA i s being use d as the speed reference sou rce. For more informatio n, see ta ble on page 72

• Relay output functions 52 and 53 can be used to signal the results of a comp arison between the signal at VIA and the speed reference commanded by FNOd or F207. This function can also be used to send out a signal indicat ing whether the a mount of processing and the amount of feedback agree with each other. For more information, see table on page 72 on page 80

• The drive can enter a fault state if the VIA signal drops below a specified level for more than 300 mS. For more information, see parameter F633 on page 104

• VIA can serve as an analog or a logic input, depending o n setting of paramet er F109 (set to 0 for analog input). Analog input is the factory setting. See page 80

and consult “I/O Control Parameters” on page 80.

. Also, consult “I/O Control Parameters”

and review information about parameter F167 on page 93.

and error code E-18 on page 118.

for more information about parameter F109.

Analog Input VIB

• VIB can accept the following signal types:

- Voltage (V): 0–10V, voltage or potentiometer input

- PTC motor thermal sensor input. For more information, see parameters F645 and F646 on page 88

• Adjust the slope and bias of the input signal with parameters F210 - F213 and F472- F473. For more information, see page 81

• Relay output functions 52 and 53 can signal when VIA i s being use d as the speed reference sou rce. For more informatio n, see ta ble on page 72

• Relay output functions 60 and 61 can be used to signal the results of a comp arison between the signal at VIA and the speed reference commanded by FNOd or F207. This function can also be used to send out a signal indicat ing whether the a mount of processing and the amount of feedback agree with each other. For more information, see table on page 72 on page 80

and consult “I/O Control Parameters” on page 80.

. Also, consult “I/O Control Parameters”

and review information about parameter F167 on page 93.

General

• The selection of VIA or VIB as the speed reference input in remote mode is made through parameters FNOd and F207. FNOd is the primary speed reference source, while F207 is the second ary source. Switching between the two is determined by the setting of parameter F200. For more information, see Auto/Manual Speed Reference Switching F200 on page 84

• Analog output terminal FN can be configured to provide a signal in p roportion to the VIA or VIB si gnal levels. See parameter FNSL, selections 13 and 14, on page 84

• When PID control is enabled, VIA or VIB can serve as the setpoint input. Either VIA or VIB must be selected as the feedback input. See page 86

• Information can be transferred between the serial communication network and the analog inputs via read and write functions F870,

F871, and F875-F879. For more information, see page 111

for more information on parameter F360 and PID c ontrol.

to 113.

78 AAV75193 09/20009

I/O Control Parameters

Analog Output Functions

One analog output is supplied with the ATV21 drive. The terminal i s designated FM.

FM is a multifunctional programmable analog output supplying an output frequency signal as the factory default.

The FM terminal can output a voltage or current signal.

• When switch SW2 is set to V (voltage), FM outputs a 0–10 Vdc signal at 1 mA.

• When switch SW2 is set to I (current), FM outputs a 0–20 mA signal up to 24 Vdc. For detail on proper wiring, consult the ATV21 Installation manual.

The drive value represented by the FM analog output signal is determined by the setting of parameter Analog Output Function Selectio n

FNSL(see page 83

Calibrating the FM signal output to provide full scale deflection on an analog meter is achieved by adjusting parameter Analog Output

Scaling FN (see page 83

The slope and bias of the FM analog output signal can be adjusted using parameters F691 and F692. For more information, see page 84

AAV75193 09/20009 79

I/O Control Parameters

DANGER

UNINTENDED EQUIPMENT OPERATION

• Prevent accidental grounding of logic inputs configured for sink logic. Accidental grounding can result in unintended activation of drive functions.

• Protect the signal conductors against damage that could result in unintentional conductor grounding.

Failure to follow these instructions will result in death or serious injury.

Logic Inputs Function

See table on page 67 for a full list of F,R and RES logic inputs assi gnments.

Code Name/Description Adjustment range Factory setting

F111

M F Logic Input Function

The setting of parameter F111 determines the control function of logic input terminal F.

0 to 72

2 (forward run

command)

F112

F113

Code Name/Description Adjustment range Factory setting

F109

M R Logic Input Function

The setting of parameter F112determines the control function of logic input terminal R.

M RES Logic Input Function

The setting of parameter F113 determines the control function of logic input terminal RES.

M VIA Input Function (Analog or Logic Selection)

0 to 72 6 (preset speed

command input 1)

0 to 72 10 (fault reset)

0 1 2

F118

v Analog input v Logic input - sink (negative logic) v Logic input - source (positive logic)

The setting of parameter F109determines whether control input terminal VIA will serve as an analog input (0-10 Vdc or 0–20 mA) or as a logic input (either sink or source).

When configuring VIA as a logic input, be sure to slide switch SW3 on the main control board to the V (voltage) position.

When configuring VIA as a logic input using sink (negative) logic, be sure to connect a 4.7 k between control terminals P24 and VIA.

For more information on the use of control input terminal VIA, see ATV21 Installation manual.

M VIA Logic Input Function

The setting of parameter F118determines the control function of logic input terminal VIA.

See table on page 67

for a full list of VIA logic input assignments.

0 to 72 7 (preset speed

Ω (1/2 W) resistor

command input 2)

80 AAV75193 09/20009

I/O Control Parameters

Output Frequency

Level 2

Output Frequency

Level 1

Speed Reference

Level 1

Speed Reference

Level 2

Analog Input Adjustments (F201–F204; F160-F163; F210–F213;

F470–F473)

Analog Input Speed Reference and Output Frequency

Do not set the same frequency values for both output frequency levels 1 and 2. This will cause an Err1 fault.

When using a 4–20 mA signal, set speed reference level 1 value to 20% (4 ÷ 20 = 20%).

A further refinement of the bias and slope of the analog input signals can be made with parameters F470 – F473.

Code Name/Description Adjustment range Factory setting

F201

F202

F203

F204

F160

F161

F210

F211

M VIA speed reference level 1

M VIA output frequency level 1

M VIA speed reference level 2

M VIA output frequency level 2

M Threshold logic for relay link to VIA

M Hysteresis threshold for logic relay link to VIA

M VIB speed reference level 1

M VIB output frequency level 1

0 to 100 % 0 %

0.0 to 200.0 Hz 0.0 Hz

0 to 100 % 100 %

0.0 to 200.0 Hz 50.0 Hz

0 to 100 % 0 %

0 to 20 % 3 %

0 to 100 % 0 %

0.0 to 200.0 Hz 0.0 Hz

AAV75193 09/20009 81

F212

F213

F162

F163

M VIB speed reference level 2

M VIB output frequency level 2

M Threshold logic for relay link to VIB

M Hysteresis threshold for logic relay link to VIB

0 to 100 % 100 %

0.0 to 200.0 Hz 50.0 Hz

0 to 100 % 0 %

0 to 20 % 3 %

I/O Control Parameters

100%

10 Vdc

0 V

20 mAdc

0(4) mA

Output frequency

Maximum frequency

Speed Reference Signal (VIA, VIB Input Value)

Default Setting

Smaller

Large

Smaller

Large

Analog Input Bias and Gain Adjustments

Code Name/Description Adjustment range Factory setting

F470

F471

F472

F473

M VIA analog input bias

M VIA analog input gain

M VIB analog input bias

M VIB analog input gain

0 to 255 128

0 to 255 148

0 to 255 128

0 to 255 148

Parameters VIA analog input bias F470 and VIB analog input bias F472 are factory set so that a minimal signal must be applied to VIA or VIB before the drive starts the motor.

• To increase the signal level required to start the motor, decrease the input bias level.

• To reduce the signal level required to start the motor, increase the input bias level.

DANGER

UNINTENDED EQUIPMENT OPERATION

If the input bias level is set too high, the drive will start the motor without a signal present at VIA or VIB.

Failure to follow this instruction can result in death or serious injury.

Parameters VIA analog input gain and frequency just before the signal to VIA or VIB reaches its maximum level.

• To decrease the signal level required before the drive output reaches rated voltage and frequency, increase the input gain level.

• To increase the signal level required before the drive output reaches rated voltage and frequency, decrease the input gain level.

Note: If the input gain level is set too low, the drive output may never reach rated voltage and frequency.

F471 and VIB analog input gain F473 are factory set so t hat the drive out put reaches rated vol tage

82 AAV75193 09/20009

I/O Control Parameters

Value Function Maximum Signal

0 Output frequency Maximum Frequency FH 1 Output current 150 % of drive’s rated current 2 Speed reference Maximum Frequency FH 3 DC bus voltage 150 % of drive’s rated current 4 Output motor voltage 150 % of drive’s rated current 5 Input power 185 % of drive’s rated current 6 Output power 185 % of drive’s rated current 7 Estimated motor torque 250 % of rated motor torque 8 Motor torque current Current at 250 % of rated motor torque

9 Motor thermal state 100 % of motor’s rating 10 drive thermal state 100 % 11 DO NOT USE - 12 Internal speed reference (after PID) Maximum Frequency FH 13 VIA input value Maximum input value 14 VIB input value Maximum input value

Fixed output – 100% signal (Selection 1 – output current)

Fixed output – 50% signal (Selection 1 – output current)

Fixed output – 100% signal (Selections 0, 2, 3, 4, 5, 6, 7, 8, 9,10, 12, 13, 14, 18)

18 Serial communication data FA51 = 1000 19 DO NOT USE -

Code Name/Description Factory setting

F200

FMSL

M Auto/Manual Speed Reference Switching

0 1

v Enabled v Disabled

Switching between two speed reference sources by means of a lo gic inp ut is e nabled i f parameter F200 is set to 0.

To use this function, you must assign a logic input to function 38, Auto/manual speed reference switching.

When the assigned logic input is off, the drive will follow t he speed reference source defined by parameter Remote

Mode Primary Speed Reference Source

When the assigned logic input is on, the drive will fol low the speed reference source defined by parameter Remote

Mode Secondary Speed Reference Source

When parameter F200 is set to 1, the drive will follow the FNOd speed reference source when it is ope rating above 1 Hz. Below 1 Hz, it will follow the F207 speed reference source.

FNOd (see page 54).

M Analog Output Function Selection

F207 (see page 56).

AAV75193 09/20009 83

M Analog Output Scaling

I/O Control Parameters

FNSL signal value

Output Current

:Large Gain

:Small Gain

Output Current

FNSL signal value

10 V

0 V

F694

F695

10 V

0 V

F695

F694

Speed reference Motor frequency Internal reference (after PID)

Code Name/Description Adjustment range Factory setting

F691

F692

M Analog Output Slope

0 1

v Negative slop e v Positive slope

M Analog Output Bias

Refer to the diagram below for examples of adjusting parameters FN, F691, and F692.

(mA)

- 1

0 to 100 % 0 %

100%

(mA)

100%

F694

F695

M Low frequency when analog output equal 0 V

Refer to the diagram below for adjusting parameters F694, and F695.

M High frequency when analog output equal 0 V

Refer to the diagram above for adjusting parameters F694, and F695.

0 Hz to FH Hz 0 Hz

84 AAV75193 09/20009

I/O Control Parameters

Code Name/Description Adjustment range Factory setting

F130

M RY-RC Relay Function

For a full description of the various functions assignable to the RY-RC relay, see page 72. The RY-RC relay can have a secondary assignment with programmed selection logic. See parameters RY-RC

Relay Secondary Function

detail.

F137 and RY-RC Relay Function Logic Selection F139 on page 92 for more

0 to 61, 254, 255

4: F100 speed

attained

(drive running)

F146

F132

F147

M Delay for RY-RC Relay

This parameter introduce a delay on RY-RC output signal relay.

M FL Relay Function

For a full description of the various functions assignable to the FL relay, see page 72.

M Delay for FL Relay

This parameter introduce a delay on FL output signal relay.

0.0 to 60.0 s 0.0 s

0 to 61, 254, 255

0.0 to 60.0 s 0.0 s

11: Inversion of fault

relay

AAV75193 09/20009 85

I/O Control Parameters

Feedback

Amount

Fast Response

(F362 = Large Gain)

Motor Speed Change

Slow Response (F362= Small Gain)

Time

Feedback Amount

Motor Speed Change

(F363= Small Gain)

Time

(F3632 = Large Gain)

Residual Deviation

Code Name/Description Adjustment range Factory setting

F360

F362

M PID Control Enable

0 1 2

v PID disabled v Enabled (feedback source is VIA) v Enabled (feedback source is VIB)

Parameter F360 is used to enable PID control and define the source of the feedback signal.

The PID source is defined by the setting of parameter Remote Mode Primary Speed Reference Source (see page 54

Parameter Frequency Command Agreement Detection Range to signal when the PID setpoint and feedback are in agreement (see page 93

M PID Proportionnal Gain

Parameter F362 adjusts the proportional gain applied during PID control. The speed change applied to the motor is a correctional value proportional to t he product of this parameter’s setting and the process error (devi ation between the setpoint and the feedback value).

A higher setting of F362 provides a fast response to a process error but may also result in instability such as hunting. The diagram below illustrates the effect produced by adjusting F362.

- 0

FNOd

F167 can be adjus ted to command a drive relay

0.01 to 100.0 % 0.30 %

F363

86 AAV75193 09/20009

M PID Integral Gain

Parameter F363 adjusts the integral gain applied during PID control. Any residual process errors that remain after correction by the proportional gain are cleared to zero over time by the integral gain function.

A higher setting of F363 provides a fast response to a process error but may also result in instability such as hunting. The diagram below illustrates the effect produced by adjusting F363.

The integral gain value can be set to zero by setting a logic input to function 65. For more information, see table on page 67

0.01 to 100.0 0.20

and parameters F111, F112, F113, page 80, and F118, page 80.

I/O Control Parameters

Current Error

Error

Feedback

Amount

Small Derivative Gain

Large Derivative Gain

Motor Speed Change

Time

Code Name/Description Adjustment range Factory setting

F366

F359

M PID Derivative Gain

Parameter F366 adjusts the derivative gain applied during PID control. This gain adjusts the response time of the drive to rapid changes in the process.

Increasing the setting of F366 more than necessary may cause great fluctuations in motor speed resulting in system instability. The diagram below illustrates the effect produced by adjusting F366.

M PID Control Waiting Time

If parameter F359 is set to a value greater than 0 seconds, the drive wi ll not immediately enter PID control upo n startup. For the time set by F359, the drive will i gnore the feedback si gnal, accelerat ing the mot or to the speed set by the reference input. This fu nc tion can be used to prevent the drive from entering PID contro l mode before the system approaches the final operating level.

0.00 to 2.55 0.00

0 to 2400 seconds 0

F380

F391

F392

F393

M PI regulator reversal direction correction

0 1

v No v Yes

M Stop on LL hysteresis

M PI wake up threshold on PI error

M PI wake up threshold on PI feedback error

0.0 to FH 0.2 Hz

0.0 to FH 0.0 Hz

AAV75193 09/20009 87

I/O Control Parameters

Code Name/Description Adjustment range Factory setting

F645

F646

M PTC Motor Thermal Protection Enable

0 1

v Disabled v Enabled (fault mode). If F911 is set to 1 and the PTC probe signals a problem, the drive will fault and display

an OH2code.

v Enabled (alarm mode). If F911 i s set to 2 an d the PTC probe sig nals a problem, the dri ve wi ll sign al a f ault

and continue operating.

Setting parameter F645 to 1 or 2 converts control terminal VIB into a PTC motor thermal probe input. See the ATV21 Installation manual, for wiring details.

M PTC Resistor Value

- 0

100 to 9999 Ω 3000 Ω

88 AAV75193 09/20009

I/O Control Parameters

Always Active Logic Function

WARNING

LOSS OF CONTROL

• The designer of any control scheme must consider the potential failure modes of control pat hs and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop.

• Separate or redundant control paths must be provided for critical control functions.

• System control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link.

• Each implementation of an Altivar 21 drive must be individually and thoroughly tested for proper operation before being placed into service.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Two logic input functions can be configured to b e always acti ve. The lo gic input functions assigned to parame ters F108 and F110 will continuously affect drive operation. See table beginning on page 67

for a list of available logic input functions.

Code Name/Description Adjustment range Factory setting

F108

F110

M Always Active Logic Function 1

M Always Active Logic Function 2

0 to 72 0 (no function)

0 to 72 1 (run permissive)

AAV75193 09/20009 89

I/O Control Parameters

Preset Speeds (Sr1 – Sr7)

A maximum of seven preset speeds can be selected by 4 logic inputs (F, R, RES, or VIA). Preset spe ed control is only active when the drive is in logic input control (CNOd = 0).

For one preset speed, assign a logic input to function 6.

For up to three preset speeds, use two logic inputs for functions 6 and 7.

For up to seven preset speeds, use three logic inputs for functions 6, 7, and 8.

Preset speed commands take priority over speed commands from any other source . For more informati on on preset speeds, see page 67 See page 27

, for wiring instructions and timing diagram.

Code Name/Description Adjustment range Factory setting

Sr1

Sr2

Sr3

Sr4

Sr5

Sr6

Sr7

M Preset speed 1

M Preset speed 2

M Preset speed 3

M Preset speed 4

M Preset speed 5

M Preset speed 6

M Preset speed 7

LL to UL Hz 15 Hz

LL to UL Hz 20 Hz

LL to UL Hz 25 Hz

LL to UL Hz 30 Hz

LL to UL Hz 35 Hz

LL to UL Hz 40 Hz

LL to UL Hz 45 Hz

90 AAV75193 09/20009

I/O Control Parameters

+/- Speed Control Parameters

+/- speed (motorized potentiometer) control is selected by setting parameter FNOd or F207 to 5 (see pages 54 and 56). Two logic inputs are required, one to increase the speed command (logic input function 41) and one to decrease the speed command (logic input function 42). Logic input function 43 clears the speed reference val ue accumulated by the +/- speed logic inputs.

Parameters F264 – F269 refine the operation of +/- speed control.

The ratio of parameter F265 to parameter F264 determines the (+) speed command slope:

(+) speed command slope = F265 / F264

The ratio of parameter F267 to parameter F266determines the (-) speed command slope.

(-) speed command slope = F267 / F266

For more detail, see page 69

Code Name/Description Adjustment range Factory setting

F264

F265

F266

F267

F268

M +Speed Logic Input Response Time

M +Speed Frequency Steps

M -Speed Logic Input Response Time

M -Speed Frequency Steps

M Initial +/- Speed Command

0.0 to 10.0 seconds 0.1 seconds

Parameter F264 sets the maximum on-time of the logic input assigned to (+) speed, limiting the speed increase, as defined by parameter F265, to only one step. Keepi ng the logic input

active longer than the time set by parameter F264 will allow multiple step increases of the spe ed command.

0.0 to FH Hz 0.1 Hz

Parameter F265 sets the frequency width in Hz of each (+) speed command step.

0.0 to 10.0 seconds 0.1 seconds

Parameter F266 sets the maximum on-time of the logic input assigned to (-) speed, limiting the speed decrease, as defined by para meter F267, to only on e step. Keeping the logic input

active longer than the time set by parameter F265 will allow multiple step decreases of the speed command.

0.0 to FH Hz 0.1 Hz

ParameterF267 sets the frequency width in Hz of each (-) speed command step.

0.0 to FH Hz 0.0 Hz

Parameter F268 sets the +/- speed command in Hz that is applied to the drive when it is first powered up. Leaving this parameter at its default value wi ll result in t he drive’s output frequency star ting at 0 Hz every time it is powered up.

F269

AAV75193 09/20009 91

M Change of Initial +/- Speed Frequency

0 1

v Disabled v Enabled

The setting parameter F269determines whether the value of parameter F268 will change every time power is cycled to the drive. If parameter F269 is set to 1, parameter F268 will be set to the last sp eed command received by the drive before power was removed.

- 1

I/O Control Parameters

Output Frequency (Hz)

Commanded

Frequency

Relay Output Function 4

Relay Output Function 5

Time (S)

ON OFF

Output Frequency (Hz)

Relay Output Function 8 Relay Output Function 9

Time (S)

ON OFF

Relay Output Function 66

Relay Output Function 67

Code Name/Description Adjustment range Factory setting

F137

F139

F100

M RY-RC Relay Secondary Function

The RY-RC relay can be set to signal a secondary condi tion. The primary RY-RC relay function is set by parameter

F130 (see page 85

). See table beginning on page 72 for a full description of the primary and secondary

functions that can be assigned to the RY-RC relay.

M RY-RC Relay Function Logic Selection

0 1

v F130(primary) and F137 (secondary) v F130 (primary) or F137 (secondary)

The RY-RC relay can be configured to energize when either:

Both the primary AND secondary conditions are met (true) (F139 = 0), or Only one OR the other is met (true) (F139 = 1)

M Relay Output – Frequency Level 1 Attained

The frequency set by parameter F100 is the threshold level for relay output funct ions 4 and 5 (see page 72).

0 to 61, 254, 255 255 (always on)

- 0

0.0 to FHHz 0.0 Hz

F101

M Relay Output – Frequency Level 2 Attained

0.0 to FH Hz 0.0 Hz

The frequency set by parameter F101 +/- the F102 detection band is the threshold level for relay output functions 8 and 9 and the hysteresis for relay output functions 66 and 67 (see page 72

92 AAV75193 09/20009

I/O Control Parameters

Output Frequency (Hz)

Commanded Frequency

Relay Output Function 6 Relay Output Function 7

Time (S)

ON OFF

VIA

Relay Output Function 52 + 60 Relay Output Function 53 + 61

Time (S)

ON OFF ON OFF

Code Name/Description Adjustment range Factory setting

F102

F167

M Frequency Attained Detection Band

0.0 to FHHz 2.5 Hz

Parameter F102 determines the bandwidth around the F101 frequency (see di agram above) and the commanded frequency (see diagram below) driving relay output functions 6 through 9 (see page 72

M Frequency Command Agreement Detection

0.0 to FHHz 2.5 Hz

Range

Parameter F167 determines the bandwidth around the VIA or VIB speed reference (see below) driving relay output functions 52, 53, 60, and 61 (see page 76

This function can be used to signal whether the amount of processing and the amount of feedback agree when the PID function is in use.

F603

F604

AAV75193 09/20009 93

M External Fault Stop Mode

0 1 2

v Freewheel stop v Ramp stop v DC injection braking

The setting of parameter F603 determines how the drive will stop if a logic input assigned to function 11 or 46 is activated (see table on pages 68

M External Fault DC Braking Time

If parameter F603 is set to 2, parameter F604will determine how long DC current will be injected into the motor while the external fault logic input is active.

and 69).

- 0

0.0 to 20 seconds 1.0 seconds

Display Parameters

Code Name/Description Adjustment range Factory setting

F710

F701

M Default graphic display terminal Operational Value

1 2 3 4 5 6 7 8 9

v Motor operating frequency (Hz or custom display, see Custom Frequency Display Conversion Factor

F702 on page 95)

v Speed reference (Hz or custom dis play, see F702 on page 95 v Motor current (% or A, see F701 below) v Drive rated current (A) v Drive thermal state (%) v Output power (kW) v Internal speed reference (after PID function) (Hz or custom display, see F702 on page 95 v Serial communication data v Output speed (rpm, see Motor Rated Speed v Displays the total number of frames received by the communication card since the last power ON v Displays the total number of valid frames received by the communication card since the last power ON

The setting of parameter F710 determines the default display on the drive’s graphic display terminal upon power up.

Status alarms C, P, L, and H can only be displayed on the graph ic display terminal if F710 is set to 0. See “Run Mode” on page 19

for more information.

M Graphic display terminal : % or A/V Units

0 1

v % v A (amperes) or V (volts)

The setting of parameter F701 determines how certain val ues will be displayed on the drive graphic display terminal, either as a percentage of the drive rating or as a value of amperes or volts as appropriate.

0 to 10 0

)

F417 on page 48)

- 1

F708

1to255

The setting of F701 will only affect parameters and display values that can be represented in amperes or volt s. This includes the following parameters:

- tHr and F173: motor rated current

- F251: DC braking current level

- F185 and F601: motor current lim it

- F611: underload detection level

- F910: permanent magnet motor step-out detection current level

Motor rated voltage (parameters uluand F171) are always displayed in volts.

M Graphic display terminal Frequency Resolution

v Disabled - 0.1 Hz steps v See the formula below

Parameter F708 works along with parameter Local Mode Speed Reference Step Changes (see page 55

At its factory setting, parameter F708 is disabled and the graphic display terminal increments or decrements frequency displays in 0.1 Hz steps.

If parameter F708 is set to a value other than 0, then the graphic display terminal frequency display is determined as follows:

graphic display terminal frequency display = Internal speed reference (after PID function) x F708 / F707

) to adjust the incremental steps of the drive graphic display terminal frequency display.

- 0

F707

For example, if both F707 and F708 are equal to 1, the graphic display terminal frequency display will increase only in full 1 Hz steps.

94 AAV75193 09/20009

Display Parameters

Code Name/Description Adjustment range Factory setting

F621

F748

F749

F702

M Run Time Alarm Setting

Parameter F621 is use d in conj unction with a relay output set to func tions 42 or 43 (see page 75) t o signal tha t the run time specified by the setting of F621 has accumulated.

0.1 = 1 hour, 100 = 1000 hours

M Accumulated Power Consumption Memory

0 1

v Disabled v Enabled

The setting of parameter F748 determines whether the drive’s ac cumulated power consumption memory, displayed in kilowatt-hours (kWh), is cleared when the line power is cycled. If F748is set to 0, the memory is cleared. If set to 1, the kWh memory is retained.

M Accumulated Power Consumption Display Unit

0 1 2 3

v 1 kWh v 0.1 kWh v 0.01 kWh v 0.001 kWh

The setting of parameter F749 determines the scaling of the kWh display on the graphic display terminal.

M Custom Frequency Display Conversion Factor

Parameters F702, F705, and F706 can be used to customize a speed display on the drive graphic display terminal to match the application’s operational speed, for example, feet per minute or units per hour.

0.00: Frequency displayed in Hz

0.0If parameter F702 is set to a value other than 0.00, the frequency value displayed will be calculated as follows:

Value displayed = display or parameter frequency x F702. See example below. 1 to 200.0: Conversion factor

0.0 to 999.9 610.0 (6100 hours)

- 1

According to drive

model (see table page

128)

0.00 to 200.0 0.00

F703

M Frequency free unit conversion selection

0 1

v All frequencies display free unit v PID frequencies free unit conversion

AAV75193 09/20009 95

Display Parameters

800

80 (Hz)

800

80 (Hz)

1000

80 (Hz)

200

Graphic display

terminal

Output Frequency

Graphic display

terminal

Graphic display

terminal

Output Frequency

Code Name/Description Adjustment range Factory setting

F705

F706

M Custom Frequency Display Conversion Slope

0 1

v Negative slop e v Positive slope

Parameter F705 sets the slope of the custom frequency display conversion. See the diagrams below for examples of the operation of this function.

M Custom Frequency Display Conversion Bias

Parameter F706 adds a bias to the custom frequency display conversion process.

- 1

0.00 to FH Hz 0.00 Hz

96 AAV75193 09/20009

Fault Management Parameters

Code Name/Description Factory setting

F303

1to 10

M Auto Fault Reset

v Disabled v Number of fault reset attempts

Description

The table below lists the faults that can be cleared with Auto fault reset. If parameter F303 is set to a value greater than 0 and one of these faults occurs, the drive will attempt to automatically clear the fault, allowing it to be restarted:

Automatically Resettable Faults

Code Fault Code Fault

OC1 Overcurrent during acceleration OL1 drive overload OC2 Overcurrent during deceleration OL2 Motor overload

OC3 Overcurrent during constant speed operation OP1 Overvoltage during acceleration OC1P Short-circuit or ground fault during acceleration OP2 Overvoltage during deceleration OC2P Short-circuit or ground fault during deceleration OP3 Overvoltage during constant state operation OC3P Short-circuit or ground fault during constant speed operation SOUt Permanent magnet motor pulls out of synchronism

OH drive overtemperature fault  –

Auto fault reset attempts will continue until the number of attempts set by parameter F303has been exhausted.

If these attempts do not clear the fault condition, the drive will stop and a manual fault reset will be required.

If another type of fault (a type not listed in Auto matically Resetta ble Faults tabl e above) occurs during the a uto fault reset process, th e drive will stop and a manual fault reset will be required.

A successful auto fault reset means that the drive accelerates the motor to the commanded speed without another fault occurring.

If an unspecified period of time elapses afte r a success ful aut o fault reset attempt without anot her fault occurring, the reset attempt count er will clear allowing another full set of reset attempts to be made during a future fault occurrence.

During the auto fault reset process, the drive graphic display terminal alternately displaysrtrY and the display value selected by parameter F710 (see page 94

Conditions permitting auto fault reset

An auto fault reset attempt will not be made if the cause of the fault persists.

In the case of an OL1 or OL2 fault, the drive will calculate the cooling time necessary to clear the fault.

In the event of an OH fault, the heatsink temperature probe will indicate when the fault can be cleared.

DC bus voltage measurements will indicate when anOP1, OP2, or OP3 fault can be cleared.

AAV75193 09/20009 97

Fault Management Parameters

Time delay

The first fault reset is attempted 1 second after the fa ult occurs. Each s ubsequent faul t reset att empt adds 1 second to the t ime interval, as illustrated in the table below.

Fault Reset Attempts

Attempt number Time delay between fault reset attempt and most recent fault

1 1 second 2 2 seconds 3 3 seconds 4 4 seconds 5 5 seconds 6 6 seconds 7 7 seconds 8 8 seconds 9 9 seconds

10 10 seconds

Fault relay action

An output relay set to functions 10 and 11 (see table on page 72) will not indicate a fault u nti l a ll f ault res et at t empts have b een exhaust ed. Output relay functions 28 and 29 can be used to indicate that an auto-resetable fault has occurred. Output relay functions 36 and 37 can be used to signal any kind of drive fault, even during auto fault reset attempts.

Drive fault memory

If parameter Drive Fault Memory F602 is set to 1 and power to the drive is cycled while an auto-resettable fault is active, the auto fault reset action will be cancelled (see page 100

98 AAV75193 09/20009

Fault Management Parameters

Inout Voltage

Motor Speed

Run Command

ON OFF

Motor Speed

Run Command

ON OFF

Run Permissive

ON OFF

Catch On The Fly (F301)

If catch-on-the-fly motor starting is enabled (parameter F301is not set to 0), the drive will detect the motor’s rotating direct ion and speed before applying power. This will result in a smooth reapplication of power to a coasting motor without high current or torque pulses. If F301 is disabled and the drive is started into a spinning motor, it will apply a low starting frequency to the motor, operating in current limit until the motor almost stops. Then, the drive will accelerate the motor to the commanded speed. Catch-on-the-fly motor starting will be applied if F301 is set to 1 or 3 and:

• There is a brief power loss (the graphic display terminal does not go blank) that results in the drive removing power from the motor,

• and, there is a continuous run command to the drive (2-wire control)

F301 Set to 1 or 3

Catch-on-the-fly motor starting will be applied if F301 is set to 2 or 3 and:

• The run permissive (logic input assigned to functions 1 or 54) is removed and restored,

• and, there is a continuous run command to the drive (2-wire control)

F301 Set to 2 or 3

If F301 is set to 4, the drive will perform a motor speed and direction search each time it receives a run command.

Note: Enabling catch-on-the-fly adds about 300 milliseconds to implementation of each start command to the drive.

Do not use catch-on-the-fly if there is more than one motor supplied by the drive.

Code Name/Description Factory setting

F301

M Catch On The Fly

0 1 2 3 4

v Disable v After brief power loss v After run pemissive is restored v After brief power loss or run permissive is restored v During every startup

3 (1)

(1) Catch-on-the-fly motor starting after a drive fault is always active if auto fault reset is enabled (parameter Auto Fault Reset

not set to 0, see page 97

AAV75193 09/20009 99

F303 is

Fault Management Parameters

Input Voltage

Motor Speed

Code Name/Description Factory setting

F632

F602

M Motor Overload Memory

v Cleared

If parameter F632 is set to 0, the driv e’s memory o f the motor’s t hermal s tate (us ed for overloa d calcul ation) is cleared whenever the power is cycled.

v Retained

If parameter F632 is set to 1, the drive’s memory of the motor’s thermal state is re tained even when power is removed. If the drive is faulted on an Motor Overload Fault OL2, a cooling time (as calculated by the drive) must expire before the motor can be restarted.

M Drive Fault Memory

v Cleared

If parameter F602 is set to 0 and power to the drive is cycled after a fault:

- If the cause of the fault has been eliminated, the drive will reset and can b e started. Information about the fault just cleared will be transferred to the fault history.

- If the cause of the fault has not been eliminated, the fault will be displ ayed again but the drive’s memory of t he operational information associated with the fa ult will be transferred to the fault history.

- Information about the 4

v Retained

If parameter F602 is set to 1 and power to the drive is cycled after a fault:

- If the cause of the fault has been eliminated, the drive will reset and can b e started. Information about the fault just cleared will be transferred to the fault history.

- If the cause of the fault has not been eliminated, the original fault code and all of its operational data will be available for viewing as the current fault in the monitoring mode.

- Information about the 4

- Auto fault reset will be disabled.

most recent fault will be eliminated from the fault histor y.

most recent fault will be retained in the fault history.

F608

F302

M Input Phase Failure Detection Mode

v Disabled

If parameter F608 is set to 0, input phase failure detection is disabled. Loss of one input phase will not cause the drive to fault.

v Enabled

If parameter F608 is set to 1, the loss of one input phase will cause an EPH1 fault.

M Input Phase Loss

1 2

v Disabled

If parameter F302 is set to 0 and the drive briefly loses input power, it may not fault but may instead experience a momentary reduction of motor voltage and/or current and t hen resume normal operation once full input powe r is restored.

v DO NOT SELECT v Freewheel

If parameter F302 is set to 2 and the drive briefly loses input power, the drive will remove power from t he motor and allow it to coast to a stop. The graphic display termi nal will flash StOP. The drive can only be restarted by providing a new run command.

100 AAV75193 09/20009

schneider Altivar 21 Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

Important information

Before You Begin

Documentation structure

Installation Manual

Programming Manual

Manuals for Modbus, Lonworks, BACnet, Metasys N2, Apogee FLN

Software enhancements

Enhancements made to version V1.1 in comparison to V1.0

Enhancements made to version V1.2 in comparison to V1.1

Enhancements made to version V1.3 in comparison to V1.2

Enhancements made to version V1.6 in comparison to V1.3

Enhancements made to version V1.7 in comparison to V1.6

Enhancements made to version V1.8 in comparison to V1.7

Enhancements made to version V1.9 in comparison to V1.8

Steps for setting up the drive

Factory configuration

Setup – Preliminary recommendations

Power switching via line contactor

User adjustment and extension of functions

Test on a low power motor or without a motor

Using motors in parallel

Using in single phase supply

Graphic display terminal

Graphic display terminal features

Graphic display terminal modes

Monitoring Mode

Run Mode

Programming Mode

Menu Structure

Menu Navigation

Submenus

Accessing and Changing Parameters

Common control schemes

2-wire control

3-wire control

External speed control potentiometer

4-20 mA speed control

Preset speeds (up to seven)

Forced local

Serial communication

PID control

Drive Operation

Local and Remote Modes of Operation

Local Mode

Resetting drive Faults in Local Mode

Logic Input Functions Active in Local Mode

Remote Mode

Quick Start

Quick menu AUF

Motor parameters

F415

F417

F400

Programming Parameters

Parameter Reset (tYP)

Macro Programming (AU4)

Parameter Lock (F700)

F700

Display of Submenu AUF (F738)

F738

Motor Control Parameters

Motor Control Mode (Pt)

F601

Motor Tuning

F607

F415

F416

F417

Auto-tuning

F400

F480

F485

F492

F494

F495