ABB motion control drives

Firmware manual
ACSM1 speed and torque control program
List of related manuals
Drive hardware manuals *) Code (English)
ACSM1-04 Drive Modules (0.75 to 45 kW) Hardware 3AFE68797543
Manual
ACSM1-04 Drive Modules (55 to 110 kW) Hardware 3AFE68912130
Manual
ACSM1-04Lx Liquid-cooled Drive Modules (55 to 160 kW) 3AUA0000022083
Hardware Manual

Drive firmware manuals

ACSM1 Speed and Torque Control Program Firmware 3AFE68848261
Manual
ACSM1 Motion Control Program Firmware Manual 3AFE68848270

Drive PC tools manuals

DriveStudio User Manual 3AFE68749026
DriveSPC User Manual 3AFE68836590

Application guides
Application guide - Safe torque off function for ACSM1, 3AFE68929814
ACS850 and ACQ810 drives
Functional Safety Solutions with ACSM1 Drives 3AUA0000031517
Application Guide
System Engineering Manual 3AFE68978297

Option manuals *)
FIO-01 Digital I/O Extension Users Manual 3AFE68784921
FIO-11 Analog I/O Extension Users Manual 3AFE68784930
FEN-01 TTL Encoder Interface Users Manual 3AFE68784603
FEN-11 Absolute Encoder Interface Users Manual 3AFE68784841
FEN-21 Resolver Interface Users Manual 3AFE68784859
ACSM1 Control Panel Users Guide 3AUA0000020131

*) A multilingual quick installation guide is included with the delivery.

You can find manuals and other product documents in PDF format on the Internet. See section
Document library on the Internet on the inside of the back cover. For manuals not available in the
Document library, contact your local ABB representative.
ACSM1 Speed and Torque Control Program

Firmware Manual

3AFE68848261 REV H
EN
EFFECTIVE: 2012-11-26

2012 ABB Oy. All Rights Reserved.

 5

Table of contents

Table of contents

Introduction to the manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Reader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
How to start up the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
How to control the drive through the I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Drive programming using PC tools

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Application programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
User parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Application events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Program execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Application program licensing and protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Drive control and features

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Drive control chain for speed and torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Motor control features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Table of contents
6

Thermal motor protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

DC voltage control features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Undervoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Braking chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Low voltage mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Speed control features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Speed controller tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Motor feedback features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Motor encoder gear function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Miscellaneous features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Backup and restore of drive contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Drive-to-drive link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Fan control logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Default connections of the control unit

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Parameters and firmware blocks

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Types of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Firmware blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Group 01 ACTUAL VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
ACTUAL VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
POS FEEDBACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Group 02 I/O VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Group 03 CONTROL VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Group 06 DRIVE STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Group 08 ALARMS & FAULTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Group 09 SYSTEM INFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Group 10 START/STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
DRIVE LOGIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Group 11 START/STOP MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
START/STOP MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Group 12 DIGITAL IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
DIO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
DIO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
DIO3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
DI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Group 13 ANALOGUE INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
AI1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
AI2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Group 15 ANALOGUE OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Table of contents
 7

AO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
AO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Group 16 SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Group 17 PANEL DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Group 20 LIMITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
LIMITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Group 22 SPEED FEEDBACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
SPEED FEEDBACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Group 24 SPEED REF MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
SPEED REF SEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
SPEED REF MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Group 25 SPEED REF RAMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
SPEED REF RAMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Group 26 SPEED ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
SPEED ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Group 28 SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Group 32 TORQUE REFERENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
TORQ REF SEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
TORQ REF MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Group 33 SUPERVISION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
SUPERVISION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Group 34 REFERENCE CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
REFERENCE CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Group 35 MECH BRAKE CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
MECH BRAKE CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Group 40 MOTOR CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
MOTOR CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Group 45 MOT THERM PROT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
MOT THERM PROT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Group 46 FAULT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
FAULT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Group 47 VOLTAGE CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
VOLTAGE CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Group 48 BRAKE CHOPPER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
BRAKE CHOPPER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Group 50 FIELDBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
FIELDBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Group 51 FBA SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Group 52 FBA DATA IN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Group 53 FBA DATA OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Group 55 COMMUNICATION TOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Group 57 D2D COMMUNICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
D2D COMMUNICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Group 90 ENC MODULE SEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
ENCODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Group 91 ABSOL ENC CONF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
ABSOL ENC CONF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Group 92 RESOLVER CONF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
RESOLVER CONF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

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Group 93 PULSE ENC CONF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

PULSE ENC CONF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Group 95 HW CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Group 97 USER MOTOR PAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Group 98 MOTOR CALC VALUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Group 99 START-UP DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Parameter data
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Fieldbus equivalent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Pointer parameter format in fieldbus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
32-bit integer value pointers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
32-bit integer bit pointers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Actual signals (Parameter groups 19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

Fault tracing
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Alarm and fault indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
How to reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Alarm messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Fault messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Standard function blocks

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Alphabetical index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Arithmetic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
ABS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
ADD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
DIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
EXPT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
MOVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
MUL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
MULDIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
SQRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
SUB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Bitstring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
ROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
ROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

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SHL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
SHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
XOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Bitwise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
BGET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
BITAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
BITOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
BSET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
REG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
SR-D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
D2D_Conf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
D2D_McastToken . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
D2D_SendMessage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
DS_ReadLocal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
DS_WriteLocal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
EQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
GE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
GT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
LE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
LT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
NE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
BOOL_TO_DINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
BOOL_TO_INT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
DINT_TO_BOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
DINT_TO_INT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
DINT_TO_REALn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
DINT_TO_REALn_SIMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
INT_TO_BOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
INT_TO_DINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
REAL_TO_REAL24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
REAL24_TO_REAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
REALn_TO_DINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
REALn_TO_DINT_SIMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
CTD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
CTD_DINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
CTU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
CTU_DINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
CTUD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
CTUD_DINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Edge & bistable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
FTRIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
RS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
RTRIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
SR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
FIO_01_slot1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

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FIO_01_slot2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
FIO_11_AI_slot1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
FIO_11_AI_slot2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
FIO_11_AO_slot1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
FIO_11_AO_slot2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
FIO_11_DIO_slot1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
FIO_11_DIO_slot2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Feedback & algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
CYCLET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
DATA CONTAINER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
FUNG-1V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
INT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
MOTPOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
RAMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
REG-G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
SOLUTION_FAULT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
FILT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
GetBitPtr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
GetValPtr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
PARRD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
PARRDINTR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
PARRDPTR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
PARWR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Program structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
BOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
ELSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
ELSEIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
ENDIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
IF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
MAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
MIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
MUX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
SEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Switch & Demux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
DEMUX-I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
DEMUX-MI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
SWITCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
SWITCHC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
MONO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
TOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
TON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

Table of contents
 11

Application program template

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

Appendix A Fieldbus control

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Setting up communication through a fieldbus adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Setting the drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Basics of the fieldbus adapter interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Control Word and Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
FBA communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Fieldbus references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
State diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

Appendix B Drive-to-drive link

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Datasets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Types of messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Master point-to-point messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Read remote messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Follower point-to-point messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Standard multicast messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Broadcast messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Chained multicast messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Examples of using standard function blocks in drive-to-drive communication . . . . . . . . . . . . . . . 351
Example of master point-to-point messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Example of read remote messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Releasing tokens for follower-to-follower communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
Example of follower point-to-point messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Example of standard master-to-follower(s) multicast messaging . . . . . . . . . . . . . . . . . . . . . . . 354
Example of broadcast messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

Appendix C Control chain and drive logic diagrams

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

Table of contents
12

Table of contents
 13

Introduction to the manual

What this chapter contains

The chapter includes a description of the contents of the manual. In addition it
contains information about the compatibility, safety and intended audience.

Compatibility
The manual is compatible with ACSM1 Speed and Torque Control program version
UMFI1800 and later. See parameter 9.04 FIRMWARE VER or PC tool (View -
Properties).

Safety instructions
Follow all safety instructions delivered with the drive.
Read the complete safety instructions before you install, commission, or use
the drive. The complete safety instructions are given at the beginning of the
Hardware Manual.
Read the software function specific warnings and notes before changing the
default settings of the function. For each function, the warnings and notes are
given in this manual in the section describing the related user-adjustable
parameters.

Reader
The reader of the manual is expected to know the standard electrical wiring
practices, electronic components, and electrical schematic symbols.

Introduction to the manual

14

Contents
The manual consists of the following chapters:
Start-up instructs in setting up the control program and how to control the drive
through the I/O interface.
Drive programming using PC tools introduces programming via PC tool
(DriveStudio and/or DriveSPC).
Drive control and features describes the control locations and operation modes of
the drive, and the features of the application program.
Default connections of the control unit presents the default connections of the
JCU Control Unit.
Parameters and firmware blocks describes the drive parameters and firmware
function blocks.
Parameter data contains more information on the parameters of the drive.
Fault tracing lists the warning and fault messages with the possible causes and
remedies.
Standard function blocks
Application program template
Appendix A Fieldbus control describes the communication between the drive
and a fieldbus.
Appendix B Drive-to-drive link describes the communication between drives
connected together by the drive-to-drive link.
Appendix C Control chain and drive logic diagrams.

Product and service inquiries

Address any inquiries about the product to your local ABB representative, quoting
the type code and serial number of the unit in question. A listing of ABB sales,
support and service contacts can be found by navigating to www.abb.com/drives and
selecting Drives Sales, Support and Service network.

Product training
For information on ABB product training, navigate to www.abb.com/drives and select
Drives Training courses.

Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to www.abb.com/drives and select
Document Library Manuals feedback form (LV AC drives).

Introduction to the manual

 15

Start-up

What this chapter contains

This chapter describes the basic start-up procedure of the drive and instructs in how
to control the drive through the I/O interface.

How to start up the drive

The drive can be operated:
locally from PC tool or control panel
externally via I/O connections or fieldbus interface.
The start-up procedure presented uses the DriveStudio PC tool program. Drive
references and signals can be monitored with DriveStudio (Data Logger or Monitor
Window). For instructions on how to use DriveStudio, see DriveStudio User Manual
[3AFE68749026 (English)].
The start-up procedure includes actions which need to be performed only when the
drive is powered up for the first time (eg, entering the motor data). After the first start-
up, the drive can be powered up without using these start-up functions. The start-up
procedure can be repeated later if start-up data needs to be changed.
In addition to the PC tool commissioning and drive power-up, the start-up procedure
includes the following steps:
entering the motor data and performing the motor identification run
setting up the encoder/resolver communication
checking the emergency stop and Safe Torque Off circuits
setting up the voltage control
setting the drive limits
setting up the motor overtemperature protection
tuning the speed controller
setting up the fieldbus control.
If an alarm or a fault is generated during the start-up, see chapter Fault tracing for
the possible causes and remedies. If problems continue, disconnect the main power
and wait 5 minutes for the intermediate circuit capacitors to discharge and check the
drive and motor connections.
Before you start, ensure you have the motor nameplate and encoder data (if
needed) at your hand.

Start-up
16

Safety
The start-up may only be carried out by a qualified electrician.
The safety instructions must be followed during the start-up procedure. See the safety
instructions on the first pages of the appropriate hardware manual.
Check the installation. See the installation checklist in the appropriate hardware manual.
Check that the starting of the motor does not cause any danger.
De-couple the driven machine if
- there is a risk of damage in case of an incorrect direction of rotation, or
- a normal motor ID run (99.13 IDRUN MODE = (1) Normal) is required during the drive start-
up, when the load torque is higher than 20% or the machinery is not able to withstand the
nominal torque transient during the motor ID run.
PC tool
Install the DriveStudio PC tool onto the PC. Install also DriveSPC if block programming is
needed. For instructions, see DriveStudio User Manual [3AFE68749026 (English)] and
DriveSPC User Manual [3AFE68836590 (English)].
Connect the drive to the PC:
Connect the other end of the communication cable (OPCA-02, code: 68239745) to the panel
link of the drive. Connect the other end of the communication cable via USB adapter or
directly to the PC serial port.
Power up
Switch the power on. 7-segment display:

->

Note: The drive will indicate an alarm (2021 NO MOTOR DATA) until the motor data is entered later
in this procedure. This is completely normal.
Start the DriveStudio program by clicking the DriveStudio icon on the
PC desktop.

Check whether an application program exists using the DriveStudio

tool. If it does, the rows SOLUTION PROGRAM (SP) and SP EMPTY
TEMPLATE are displayed in drive properties (View - Properties,
Software category).
If an application program already exists, NOTE that some of the drive
functions may have been disabled. ENSURE that the application
program is suitable for your drive application.
Switch to local control to ensure that external control is disabled by
clicking the Take/Release button of the DriveStudio tool control panel.

Start-up
 17

Motor data entering

Open the parameter and signal list by selecting the Parameter
Browser of the appropriate drive.
Select the language. 99.01 LANGUAGE
Parameters are set as follows:
Select the parameter group (in this case 99 START-UP DATA) by
double-clicking it. Select the appropriate parameter by double-clicking
it and set the new value.
Select the motor type: asynchronous or permanent magnet motor. 99.04 MOTOR TYPE

Select the motor control mode. DTC is suitable for most cases. For 99.05 MOTOR CTRL
information on scalar control, see parameter 99.05 MOTOR CTRL MODE
MODE.
Enter the motor data from the motor nameplate. Note: Set the motor data
to exactly the same value
Asynchronous motor nameplate example: as on the motor
nameplate. For example,
ABB Motors if the motor nominal
3 motor M2AA 200 MLA 4 speed is 1470 rpm on the
IEC 200 M/L 55
No nameplate, setting the
Ins.cl. F IP 55 value of parameter 99.09
V Hz kW r/min A cos IA/IN t E/s MOT NOM SPEED to
690 Y 50 30 1475 32.5 0.83
400 D 50 30 1475 56 0.83 1500 rpm results in
660 Y 50 30 1470 34 0.83 380 V wrong operation of the
380 D 50 30 1470 59 0.83 mains drive.
415 D 50 30 1475 54 0.83
440 D 60 35 1770 59 0.83
voltage
Cat. no 3GAA 202 001 - ADA

6312/C3 6210/C3 180

IEC 34-1

Permanent magnet motor nameplate example:

With DTC control (99.05 MOTOR CTRL MODE = (0) DTC) at least
parameters 99.0699.10 must be set. Better control accuracy can be
achieved by setting also parameters 99.1199.12.

Start-up
18

- motor nominal current 99.06 MOT NOM

CURRENT
Allowed range: approximately 1/6 I2n 2 I2n of the drive (02 I2nd if parameter
99.05 MOTOR CTRL MODE = (1) Scalar). With multimotor drives, see section
Multimotor drives on page 19.

- motor nominal voltage 99.07 MOT NOM

VOLTAGE
Allowed range: 1/6 UN 2 UN of the drive. (UN refers to the highest voltage in each
of the nominal voltage range, ie, 480 V AC for ACSM1-04).
With permanent magnet motors: The nominal voltage is the BackEMF voltage (at
motor nominal speed). If the voltage is given as voltage per rpm, eg, 60 V per
1000 rpm, the voltage for 3000 rpm nominal speed is 3 60 V = 180 V.
Note that the nominal voltage is not equal to the equivalent DC motor voltage
(E.D.C.M.) value given by some motor manufactures. The nominal voltage can be
calculated by dividing the E.D.C.M. voltage by 1.7 (= square root of 3).

- motor nominal frequency 99.08 MOT NOM FREQ

Range: 5500 Hz. With multimotor drives, see section Multimotor drives on page 19.

With permanent magnet motor: If the frequency is not given on the motor nameplate, it
has to be calculated with the following formula:
f = n p / 60
where p = number of pole pairs, n = motor nominal speed.

- motor nominal speed 99.09 MOT NOM SPEED

Range: 010000 rpm. With multimotor drives, see section Multimotor drives on
page 19.

- motor nominal power 99.10 MOT NOM

Range: 010000 kW. With multimotor drives, see section Multimotor drives on POWER
page 19.

- motor nominal cos (not applicable for permanent magnet motors). 99.11 MOT NOM COSFII
This value can be set for better DTC control accuracy. If value is not
given by the motor manufacturer, use value 0 (i.e. default value).
Range: 01.

- motor nominal shaft torque. This value can be set for better DTC 99.12 MOT NOM
control accuracy. If value is not given by the motor manufacturer, use TORQUE
value 0 (i.e. default value).
Range: 02147483.647 Nm.

After the motor parameters have been set, alarm ID-RUN is generated Alarm:
to inform that the motor ID run needs to be performed. ID-RUN

Start-up
 19

Multimotor drives
Ie, more than one motor is connected to one drive.
Check that the motors have the same relative slip (only for
asynchronous motors), nominal voltage and number of poles. If the
manufacturer motor data is insufficient, use the following formulas to
calculate the slip and the number of poles:
f N 60
p = Int ---------------
nN

f N 60
n s = ----------------
p

nS nN
s = ------------------ 100%
nS

where
p = number of pole pairs (= motor pole number / 2)
fN = motor nominal frequency [Hz]
nN = motor nominal speed [rpm]
s = motor slip [%]
nS = motor synchronous speed [rpm].

Set the sum of the motor nominal currents. 99.06 MOT NOM
CURRENT

Set the nominal motor frequencies. Frequencies must be the same. 99.08 MOT NOM FREQ

Set the sum of the motor nominal powers. 99.10 MOT NOM
POWER
If the motor powers are close to each other or the same but the
nominal speeds vary slightly, parameter 99.09 MOT NOM SPEED can 99.09 MOT NOM SPEED
be set to an average value of the motor speeds.
External control unit power supply
If the control unit of the drive is powered from an external power 95.01 CTRL UNIT
supply (as specified in Hardware Manual), set parameter 95.01 CTRL SUPPLY
UNIT SUPPLY to EXTERNAL 24V.
External mains choke
If the drive is equipped with an external choke (specified in Hardware 95.02 EXTERNAL
Manual), set parameter 95.02 EXTERNAL CHOKE to YES. CHOKE

Motor overtemperature protection (1)

Select how the drive reacts when motor overtemperature is detected. 45.01 MOT TEMP PROT

Select the motor temperature protection: motor thermal model or 45.02 MOT TEMP
motor temperature measurement. For motor temperature SOURCE
measurement connections, see section Temperature sensors on
page 42.

Start-up
20

ID RUN (motor identification run)

WARNING! With Normal or Reduced ID run the motor will run at up to approximately
50100% of the nominal speed during the motor ID run. ENSURE THAT IT IS SAFE
TO RUN THE MOTOR BEFORE PERFORMING THE MOTOR ID RUN!
Note: Ensure that possible Safe Torque Off and emergency stop circuits are closed during the
motor ID run.
Check the direction of rotation of the motor before starting the motor When drive output
ID run. During the run (Normal or Reduced), the motor will rotate in the phases U2, V2 and
forward direction. W2 are connected to
the corresponding
motor terminals:

forward
direction

reverse
direction

Start-up
 21

Select the motor identification method by parameter 99.13 IDRUN 99.13 IDRUN MODE
MODE. During the motor ID run, the drive will identify the 11.07 AUTOPHASING
characteristics of the motor for optimum motor control. The motor ID MODE
run is performed at the next start of the drive.
Note: The motor shaft must NOT be locked and the load torque must be < 20% during
Normal ID run. With permanent magnet motor this restriction applies also when
Standstill ID run is selected.
Note: Mechanical brake (if present) is not opened during the motor ID run.
Note: The motor ID run cannot be performed if par. 99.05 MOTOR CTRL MODE = (1)
Scalar.

NORMAL ID run should be selected whenever possible.

Note: The driven machinery must be de-coupled from the motor with Normal ID run if
the load torque is higher than 20%, or
the machinery is not able to withstand the nominal torque transient during the motor
ID run.

The REDUCED ID run should be selected instead of the Normal ID

run if the mechanical losses are higher than 20%, ie, the motor cannot
be de-coupled from the driven equipment, or full flux is required to
keep the motor brake open (conical motor).
The STANDSTILL ID run should be selected only if the Normal or
Reduced ID run is not possible due to the restrictions caused by the
connected mechanics (eg, with lift or crane applications).
AUTOPHASING can only be selected after the Normal/Reduced/
Standstill ID run has been performed once. Autophasing is used when
an absolute encoder or a resolver (or encoder with commutation
signals) has been added/changed to a permanent magnet motor, but
there is no need to perform the Normal/Reduced/Standstill ID run
again. See parameter 11.07 AUTOPHASING MODE on page 93 for
information on autophasing modes, and section Autophasing on page
39.
Check the drive limits. The following must apply to all drive ID run
methods:
20.05 MAXIMUM CURRENT > 99.06 MOT NOM CURRENT
In addition, the following must apply for Reduced and Normal ID run:
20.01 MAXIMUM SPEED > 50% of synchronous speed of the motor
20.02 MINIMUM SPEED < 0
supply voltage > 66% of 99.07 MOT NOM VOLTAGE
20.06 MAXIMUM TORQUE > 100% (asynchronous machines with
Normal ID run only)
20.06 MAXIMUM TORQUE > 30% (asynchronous machines with
Reduced ID run, and permanent magnet motors).
When the motor ID run has been successfully completed, set the limit
values as required by the application.

Start-up
22

Start the motor to activate the motor ID run.

Note: RUN ENABLE must be active.

10.09 RUN ENABLE

Motor ID run is indicated by alarm ID-RUN and by a rotating display on Alarm: ID-RUN
the 7-segment display.
7-segment display:
rotating display

If the motor ID run is not successfully completed, fault ID-RUN FAULT Fault
is generated. ID-RUN FAULT

Speed measurement with encoder/resolver

An encoder/resolver feedback can be used for more accurate motor control.
Follow these instructions when encoder/resolver interface module FEN-xx is installed in drive
option Slot 1 or 2. Note: Two encoder interface modules of the same type are not allowed.
Select the used encoder/resolver. For more information, see 90.01 ENCODER 1 SEL /
parameter group 90 on page 180. 90.02 ENCODER 2 SEL

Set other necessary encoder/resolver parameters: 91.0191.31 /

- Absolute encoder parameters (group 91, page 184) 92.0192.03 /
- Resolver parameters (group 92, page 189). 93.0193.22
- Pulse encoder parameters (group 93, page 190).

Set parameter 90.10 ENC PAR REFRESH to (1) Configure so that the 90.10 ENC PAR
new parameter settings take effect. REFRESH

Checking the encoder/resolver connection

Follow these instructions when encoder/resolver interface module FEN-xx is installed in drive
option Slot 1 or 2. Note: Two encoder interface modules of the same type are not allowed.
Set parameter 22.01 SPEED FB SEL to (0) Estimated. 22.01 SPEED FB SEL

Enter a small speed reference value (for example 3% of the nominal

motor speed).

Start the motor.

Check that the estimated (1.14 SPEED ESTIMATED) and actual 1.14 SPEED
speed (1.08 ENCODER 1 SPEED / 1.10 ENCODER 2 SPEED) are ESTIMATED
equal. If the values differ, check the encoder/resolver parameter
1.08 ENCODER 1
settings. SPEED /
Hint: If the actual speed (with absolute or pulse encoder) differs form the 1.10 ENCODER 2
reference value by a factor of 2, check the pulse number setting (91.01 SINE SPEED
COSINE NR / 93.01 ENC1 PULSE NR / 93.11 ENC2 PULSE NR).

Start-up
 23

If the direction of rotation is selected as forward, check that the actual 1.08 ENCODER 1
speed (1.08 ENCODER 1 SPEED / 1.10 ENCODER 2 SPEED) is SPEED /
1.10 ENCODER 2
positive:
SPEED
If the actual direction of rotation is forward and the actual speed
negative, the phasing of the pulse encoder wires is reversed.
If the actual direction of rotation is reverse and the actual speed
negative, the motor cables are incorrectly connected.
Changing the connection:
Disconnect the main power, and wait for 5 minutes for the intermediate circuit
capacitors to discharge. Do the necessary changes. Switch the power on and start the
motor again. Check that the estimated and actual speed values are correct.
If the direction of rotation is selected as reverse, the actual speed
must be negative.
Note: Resolver autotuning routines should always be performed after
resolver cable connection has been modified. Autotuning routines can
be activated by setting parameter 92.02 EXC SIGNAL AMPL or 92.03
EXC SIGNAL FREQ, and then setting parameter 90.10 ENC PAR
REFRESH to (1) Configure. If the resolver is used with a permanent
magnet motor, an Autophasing ID run should be performed as well.
Stop the motor.

Set parameter 22.01 SPEED FB SEL to (1) Enc1 speed or (2) Enc2 22.01 SPEED FB SEL
speed.
If the speed feedback cannot be used in motor control: In special
applications parameter 40.06 FORCE OPEN LOOP must be set to
TRUE.
Note: Speed filtering needs to be adjusted especially when the
encoder pulse number is small. See section Speed filtering on page
26.
Emergency stop circuit
If there is an emergency stop circuit in use, check that the circuit 10.10 EM STOP OFF3 or
functions (emergency stop signal is connected to the digital input 10.11 EM STOP OFF1
which is selected as the source for the emergency stop activation). (emergency stop control
through fieldbus 2.12
FBA MAIN CW bits 24)

Start-up
24

Safe Torque Off

The Safe Torque Off function disables the control voltage of the power semiconductors of the drive
output stage, thus preventing the inverter from generating the voltage required to rotate the motor.
For Safe Torque Off wiring, see the appropriate hardware manual and Application guide - Safe
torque off function for ACSM1, ACS850 and ACQ810 drives (3AFE68929814 [English]).
If there is a Safe Torque Off circuit in use, check that the circuit
functions.
Selects how the drive reacts when the Safe Torque Off function is 46.07 STO DIAGNOSTIC
active (i.e. when the control voltage of the power semiconductors of
the drive output stage is disabled).
Voltage control
If the DC voltage drops due to input power cut off, the undervoltage controller will automatically
decrease the motor torque in order to keep the voltage above the lower limit.
To prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage controller
automatically decreases the generating torque when the limit is reached.
When the overvoltage controller is limiting the generating torque, quick deceleration of the motor is
not possible. Thus electrical braking (braking chopper and braking resistor) is needed in some
applications to allow the drive to dissipate regenerative energy. The chopper connects the braking
resistor to the intermediate circuit of the drive whenever the DC voltage exceeds the maximum limit.
Check that the overvoltage and undervoltage controllers are active. 47.01 OVERVOLTAGE
CTRL
47.02 UNDERVOLT
CTRL

If the application requires a braking resistor (the drive has a built-in 48.0148.07
braking chopper): 47.01 OVERVOLTAGE
CTRL
Set the braking chopper and resistor settings.
Note: When a braking chopper and resistor are used, the overvoltage
controller must be deactivated by parameter 47.01 OVERVOLTAGE
CTRL.
Check that the connection functions.
For more information on the braking resistor connection, see the
appropriate hardware manual.

Start-up
 25

Start function
Select the start function. 11.01 START MODE
Setting 11.01 START MODE to (2) Automatic selects a general-
purpose start function. This setting also makes flying start (starting to
a rotating motor) possible.
The highest possible starting torque is achieved when 11.01 START
MODE is set to (0) Fast (automatic optimised DC magnetising) or (1)
Const time (constant DC magnetising with user-defined magnetising
time).
Note: When 11.01 START MODE setting is (0) Fast or (1) Const time,
flying start (start to a rotating motor) is not possible.
Limits
Set the operation limits according to the process requirements. 20.0120.07
Note: If load torque is suddenly lost when the drive is operating in
torque control mode, the drive will rush to the defined negative or
positive maximum speed. For safe operation, ensure the set limits are
suitable for your application.
Motor overtemperature protection (2)
Set the alarm and fault limits for the motor overtemperature protection. 45.03 MOT TEMP ALM
LIM
45.04 MOT TEMP FLT
LIM

Set the typical ambient temperature of the motor. 45.05 AMBIENT TEMP

When 45.02 MOT TEMP SOURCE is set to (0) ESTIMATED, the 45.06 MOT LOAD
motor thermal protection model must be configured as follows: CURVE
45.07 ZERO SPEED
- Set the maximum allowed operating load of the motor.
LOAD
- Set the zero speed load. A higher value can be used if the motor has 45.08 BREAK POINT
an external motor fan to boost the cooling. 45.09 MOTNOM TEMP
- Set the break point frequency of the motor load curve. RISE

- Set the motor nominal temperature rise. 45.10 MOT THERM

TIME
- Set the time inside which the temperature has reached 63% of the
nominal temperature.
If possible, perform the motor ID run again at this point (see page 20). 99.13 IDRUN MODE

Start-up
26

Speed filtering
The measured speed always has a small ripple because of electrical and mechanical interferences,
couplings and encoder resolution (i.e. small pulse number). A small ripple is acceptable as long as
it does not affect the speed control chain. The interferences in the speed measurement can be
filtered with a speed error filter or with an actual speed filter.
Reducing the ripple with filters may cause speed controller tuning problems. A long filter time
constant and fast acceleration time contradict one another. A very long filter time results in unstable
control.
If the used speed reference changes rapidly (servo application), use 26.06 SPD ERR FTIME
the speed error filter to filter the possible interferences in the speed
measurement. In this case the speed error filter is more suitable than
the actual speed filter:
- Set the filter time constant.
If the used speed reference remains constant, use the actual speed 22.02 SPEED ACT
filter to filter the possible interferences in the speed measurement. In FTIME
this case the actual speed filter is more suitable than the speed error
filter:
- Set the filter time constant.
If there are substantial interferences in the speed measurement, the
filter time constant should be proportional to the total inertia of the load
and motor, i.e. approximately 1030% of the mechanical time
constant
tmech = (nnom / Tnom) Jtot 2/ 60, where
Jtot = total inertia of the load and motor (the gear ratio between the
load and the motor must be taken into account)
nnom = motor nominal speed
Tnom = motor nominal torque
To get a fast dynamic torque or speed response with a speed
feedback value other than (0) Estimated (see parameter 22.01 SPEED
FB SEL), the actual speed filter time must be set to zero.
Speed controller tuning
For the most demanding applications, the P- and I-parts of the speed controller of the drive can be
tuned either manually or automatically. See parameter 28.16 PI TUNE MODE.
If it is necessary to adjust acceleration (deceleration) compensation, it must be done manually.
Acceleration (deceleration) compensation can be used to improve the 26.08 ACC COMP
speed control dynamic reference change (when the speed ramp times DERTIME
> 0). In order to compensate inertia during acceleration, a derivative of
the speed reference is added to the output of the speed controller.
Set the derivation time for acceleration (deceleration) compensation.
The value should be proportional to the total inertia of the load and
motor, i.e. approximately 50100% of the mechanical time constant
(tmech). See the mechanical time constant equation in section Speed
filtering on page 26.

Start-up
 27

Fieldbus control
Follow these instructions when the drive is controlled from a fieldbus control system via fieldbus
adapter Fxxx. The adapter is installed in drive Slot 3.
Enable the communication between the drive and fieldbus adapter. 50.01 FBA ENABLE

Connect the fieldbus control system to the fieldbus adapter module.

Set the communication and adapter module parameters: See section
Setting up communication through a fieldbus adapter module on page
336.
Test that the communication functions.

Start-up
28

How to control the drive through the I/O interface

The table below instructs how to operate the drive through the digital and analogue
inputs, when the default parameter settings are valid.

PRELIMINARY SETTINGS
Ensure the control connections are wired according to the connection
diagram given in chapter Default connections of the control unit.
Switch to external control by clicking the Take/Release button of the PC
tool control panel.

STARTING AND CONTROLLING THE SPEED OF THE MOTOR

Start the drive by switching digital input DI1 on. Digital input status can be 2.01 DI STATUS
monitored with signal 2.01 DI STATUS.
Check that analogue input AI1 is used as a voltage input (selected by Voltage:
jumper J1).
J1

Regulate the speed by adjusting the voltage of analogue input AI1.

Check analogue input AI1 signal scaling. AI1 values can be monitored 13.0213.04
with signals 2.04 AI1 and 2.05 AI1 SCALED. 2.04 AI1
When AI1 is used as a voltage input, the input is differential and the 2.05 AI1 SCALED
negative value corresponds to the negative speed and the positive value
to the positive speed.
STOPPING THE MOTOR
Stop the drive by switching digital input DI1 off. 2.01 DI STATUS

Start-up
 29

Drive programming using PC tools

What this chapter contains

This chapter introduces the drive programming using the DriveStudio and DriveSPC
applications. For more information, see DriveStudio User Manual [3AFE68749026
(English)] and DriveSPC User Manual [3AFE68836590 (English)].

General
The drive control program is divided into two parts:
firmware program
application program.
The firmware program performs the main control functions, including speed and
torque control, drive logic (start/stop), I/O, feedback, communication and protection
functions. Firmware functions are configured and programmed with parameters. The
functions of the firmware program can be extended with application programming.
Application programs are built out of function blocks.
The drive supports two different programming methods:
parameter programming
application programming with function blocks (the blocks are based on the
IEC-61131 standard).

Drive control program

Application program Firmware

Speed control
Function block program Firmware Torque control
blocks Drive logic
Standard Technology
(parameter
and signal
I/O interface
Fieldbus interface
M E
block library block library
interface) Protections
Feedback

Drive programming using PC tools

30

The following picture presents a view from DriveSPC.

SPEED REF SEL

Firmware
3
TL2 250 sec (1)

3.01 SPEED REF1

1
24.01 SPEED REF1 SEL
3.02 SPEED REF2
function blocks
0
24.02 SPEED REF2 SEL

SPEED REF MOD

4
TL3 250 sec (1)

3.03 SPEEDREF RAMP IN

O U TPU T(44)
(6 / 44)
< 24.03 SPEED REF1 IN
SP EE D REF 2
(6 / 3.02)
< 24.04 SPEED REF2 IN
F A LSE
MOTPOT < 24.05 SPD REF 1/2 SEL
44
1.000
TL9 10 msec (1) 24.06 SPEED SHARE
TRU E F A LSE
E NA BLE
O U TPU T(44) < 24.07 SPD REF NEG ENA
O U TP UT
D I STA TUS .4 0
(2 / 2.01.DI5)
UP
rpm
24.08 CONST SPEED
D I STA TUS .5 F A LSE
(2 / 2.01.DI6)
D O WN < 24.09 CONST SPEED ENA
10 0
RA M P TIM E
rpm
24.10 SPEED REF JOG1
1000 0
M A XV A L
rpm
24.11 SPEED REF JOG2
0 0
M IN V A L
rpm
24.12 SPEED REFMIN ABS
0
RES ETV A L SPEED REF RAMP
31
F A LSE
RES ET
TL7 500 sec (18)

3.04 SPEEDREF RAMPED

SPE ED RE F RA M P IN
(6 / 3.03)
< 25.01 SPEED RAMP IN
1500
rpm
25.02 SPEED SCALING
1.000
25.03 ACC TIME

Standard
s
1.000
s
25.04 DEC TIME
0.000
s
25.05 SHAPE TIME ACC1

function block
0.000
s
25.06 SHAPE TIME ACC2
0.000
s
25.07 SHAPE TIME DEC1
0.000
s
25.08 SHAPE TIME DEC2
0.000
s
25.09 ACC TIME JOGGING
0.000
s
25.10 DEC TIME JOGGING
1.000
s
25.11 EM STOP TIME
0.000
rpm
25.12 SPEEDREF BAL
F A LSE
< 25.13 SPEEDREF BAL ENA

Based on P repared Title D oc. des.

P age 6 S peed Ref C ustomer A pprov ed
F irmw are Library ID = 1, v er = 1.0 P roject name Resp. dept.
S tandard Library ID = 10000, v er = 1.0 C ust. Doc. N o. D oc. No.
Date

The application program template visible through DriveSPC is presented in chapter

Application program template (page 323).

Programming via parameters

Parameters can be set via DriveStudio, drive control panel (keypad) or the fieldbus
interface. All parameter settings are stored automatically to the permanent memory
of the drive. However, it is highly recommended to force a save by using parameter
16.07 PARAM SAVE before powering down the drive immediately after any
parameter changes. Values are restored after the power switch-off. If necessary, the
default values can be restored by parameter 16.04 PARAM RESTORE.
Because most parameters are used as firmware function block inputs, parameter
values can also be modified via the application program. Note that parameter
changes made via the application program override changes made via the
DriveStudio PC tool.

Drive programming using PC tools

 31

Application programming
Application programs are created with the DriveSPC PC tool.
The normal delivery of the drive does not include an application program. The user
can create an application program with the standard and firmware function blocks.
ABB also offers customised application programs and technology function blocks for
specific applications. For more information, contact your local ABB representative.

Function blocks
The application program uses three types of function blocks: firmware function
blocks, standard function blocks and technology function blocks.
Firmware function blocks
Most of the firmware functions are represented as function blocks in the DriveSPC
tool. Firmware function blocks are part of the drive control firmware, and used as an
interface between the application and firmware programs. Drive parameters in
groups 1099 are used as function block inputs and parameters in groups 19 as
function block outputs. Firmware function blocks are presented in chapter
Parameters and firmware blocks.
Standard function blocks (library)
Standard function blocks (eg, ADD, AND) are used to create an executable
application program. The standard function blocks available are presented in
chapter Standard function blocks.
Standard function block library is always included in the drive delivery.
Technology function blocks
Several technology function block libraries (eg, CAM) are available for different types
of applications. One technology library can be used at a time. Technology blocks are
used in a similar way as the standard blocks.

User parameters
User parameters can be created with the DriveSPC tool. They are inserted into the
application program as blocks that can be connected to existing application blocks.
User parameters can be added to any existing parameter group; the first available
index is 70. Parameter groups 5 and 7589 are available for user parameters
starting from index 1. Using attributes, the parameters can be defined as write-
protected, hidden, etc.
For more information, see the DriveSPC User Manual.

Application events
The application programmer can create his/her own application events (alarms and
faults) by adding alarm and fault blocks; these blocks are managed through the
Alarm and Fault Managers of the DriveSPC tool.
The operation of alarm and fault blocks is the same: when the block is enabled (by
setting the Enable input to 1), an alarm or fault is generated by the drive.

Drive programming using PC tools

32

Program execution
The application program is loaded to the permanent (non-volatile) memory of the
memory unit (JMU). When the loading finishes, the drive control board is
automatically reset, and the downloaded program started. The program is executed
in real time on the same Central Processing Unit (CPU of the drive control board) as
the drive firmware. The program can be executed at the two dedicated time levels of
1 and 10 milliseconds, as well as other time levels between certain firmware tasks.
Note: Because the firmware and application programs use the same CPU, the
programmer must ensure that the drive CPU is not overloaded. See parameter 1.21
CPU USAGE.

Application program licensing and protection

Note: This functionality is only available with DriveSPC version 1.5 and later.
The drive can be assigned an application licence consisting of an ID and password
using the DriveSPC tool. Likewise, the application program created in DriveSPC can
be protected by an ID and password. For instructions, refer to the DriveSPC user
manual.
If a protected application program is downloaded to a licensed drive, the IDs and
passwords of the application and drive must match. A protected application cannot
be downloaded to an unlicensed drive. On the other hand, an unprotected
application can be downloaded to a licensed drive.
The ID of the application licence is displayed by DriveStudio in the drive software
properties as APPL LICENCE. If the value is 0, no licence has been assigned to the
drive.
The parameters that are created using the DriveSPC parameter manager with hide
flags can be viewed or hidden by parameter 16.03 PASS CODE. The password code
must be the same as the drive APPL LICENCE. A wrong password code will hide the
visible application parameters again.
Notes:
The application licence can only be assigned to a complete drive, not a stand-
alone control unit.
A protected application can only be downloaded to a complete drive, not a stand-
alone control unit.

Drive programming using PC tools

 33

Operation modes
The DriveSPC tool offers the following operation modes:
Off-line
When the off-line mode is used without a drive connection, the user can
open a application program file (if exists).
modify and save the application program.
print the program pages.
When the off-line mode is used with a drive(s) connection, the user can
connect the selected drive to DriveSPC.
upload an application program from the connected drive (an empty template
which includes only the firmware blocks is available by default.)
download the configured application program to the drive and start the program
execution. The downloaded program contains the function block program and the
parameter values set in DriveSPC.
remove the program from the connected drive.
On-line
In the on-line mode, the user can
modify firmware parameters (changes are stored directly to the drive memory)
modify application program parameters (ie, parameters created in DriveSPC)
monitor the actual values of all function blocks in real time.

Drive programming using PC tools

34

Drive programming using PC tools

 35

Drive control and features

What this chapter contains

This chapter describes the control locations and operation modes of the drive, and
the features of the application program.

Local control vs. external control

The drive has two main control locations: external and local. The control location is
selected with the PC tool (Take/Release button) or with the LOC/REM key on the
control panel.
ACSM1

2) 3)

External control

I/O 1) 3)

PLC
Local control
(= Programmable
Logic Controller)
Drive-to-drive link

PC tool (DriveStudio/DriveSPC)
Fieldbus adapter
or
Fxxx in Slot 3
Control panel (optional)

M
3~
MOTOR
Encoder

1) Extra inputs/outputs can be added by installing optional I/O extension modules (FIO-xx) in drive Slot 1/2.
2) Incremental or absolute encoder, or resolver interface module (FEN-xx) installed in drive Slot 1/2
3) Two encoder/resolver interface modules of the same type are not allowed.

Drive control and features

36

Local control
The control commands are given from a PC equipped with DriveStudio and/or
DriveSPC, or from the control panel keypad when the drive is in local control. Speed,
torque and position control modes are available for local control.
Local control is mainly used during commissioning and maintenance. The control
panel always overrides the external control signal sources when used in local
control. Changing the control location to local can be disabled by parameter 16.01
LOCAL LOCK.
The user can select by a parameter (46.03 LOCAL CTRL LOSS) how the drive
reacts to a control panel or PC tool communication break.
External control
When the drive is in external control, control commands (start/stop, reset etc.) are
given through the fieldbus interface (via an optional fieldbus adapter module), the I/O
terminals (digital inputs), optional I/O extension modules or the drive-to-drive link.
Two external control locations, EXT1 and EXT2, are available. The user can select
control signals (eg, Group 10 START/STOP, Group 24 SPEED REF MOD and
Group 32 TORQUE REFERENCE) and control modes (Group 34 REFERENCE
CTRL) for both external control locations. Depending on the user selection, either
EXT1 or EXT2 is active at a time. Selection between EXT1/EXT2 is done via a freely
selectable bit pointer parameter 34.01 EXT1/EXT2 SEL. In addition, the EXT1
control location is divided into two parts, EXT1 CTRL MODE1 and EXT1 CTRL
MODE2. Both use the EXT1 control signals for start/stop, but the control mode can
be different; for example, EXT1 CTRL MODE2 can be used in homing.

Operating modes of the drive

The drive can operate in speed and torque control modes. A block diagram of the
drive control chain for these modes is presented on page 37; more detailed
diagrams are presented in Appendix C Control chain and drive logic diagrams
(page 355).

Speed control mode

Motor rotates at a speed proportional to the speed reference given to the drive. This
mode can be used either with estimated speed used as feedback, or with an
encoder or resolver for better speed accuracy.
Speed control mode is available in both local and external control.

Torque control mode

Motor torque is proportional to the torque reference given to the drive. This mode
can be used either with estimated speed used as feedback, or with an encoder or
resolver for more accurate and dynamic motor control.
Torque control mode is available in both local and external control.

Drive control and features

 Drive control chain for speed and torque control


 
  
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Drive control and features

38

Motor control features

Scalar motor control

It is possible to select scalar control as the motor control method instead of Direct
Torque Control (DTC). In scalar control mode, the drive is controlled with a frequency
reference. However, the performance of DTC is not achieved in scalar control.
It is recommended to activate the scalar motor control mode in the following
situations:
In multimotor drives: 1) if the load is not equally shared between the motors, 2) if
the motors are of different sizes, or 3) if the motors are going to be changed after
motor identification (motor ID run)
If the nominal current of the motor is less than 1/6 of the nominal output current of
the drive
If the drive is used without a motor connected (for example, for test purposes)
If the drive runs a medium-voltage motor through a step-up transformer.
In scalar control, some standard features are not available.
IR compensation for a scalar controlled drive
IR stands for voltage.
I (current) R (resistance) = U (voltage). Motor voltage
IR compensation is active only when the motor
control mode is scalar. When IR compensation IR Compensation
is activated, the drive gives an extra voltage
boost to the motor at low speeds. IR
compensation is useful in applications that
require a high break-away torque. No compensation
f (Hz)
In direct torque control (DTC) mode, IR 50% of nominal
compensation is automatic and manual frequency
adjustment is not needed.

Drive control and features

 39

Autophasing
Autophasing is an automatic measurement routine to determine the angular position
of the magnetic flux of a permanent magnet synchronous motor or the magnetic axis
of a synchronous reluctance motor. The motor control requires the absolute position
of the rotor flux to control the motor torque accurately.
Sensors like absolute encoders and resolvers indicate the rotor position at all times
after the offset between the zero angle of rotor and that of the sensor has been
established. On the other hand, a standard pulse encoder determines the rotor
position when it rotates but the initial position is not known. However, a pulse
encoder can be used as an absolute encoder if it is equipped with Hall sensors,
albeit with coarse initial position accuracy. The Hall sensors generate so-called
commutation pulses that change their state six times during one revolution, so it is
only known within which 60 sector of a complete revolution the initial position is.

Rotor 

Absolute encoder/resolver

The autophasing routine is performed with permanent magnet synchronous motors

in the following cases:
1. One-time measurement of the rotor and encoder position difference when an
absolute encoder, a resolver, or an encoder with commutation signals is used
2. At every power-up when an incremental encoder is used
3. With the open-loop motor control, repetitive measurement of the rotor position at
every start.
In the open-loop mode, the zero angle of the rotor is determined before the start. In
the closed loop mode, the actual angle of the rotor is determined with autophasing
when the sensor indicates the zero angle. The offset of the angle must be
determined because the actual zero angles of the sensor and the rotor do no usually
match. The autophasing mode determines how this operation is done both in the
open loop and closed loop modes.
Note: In the open loop mode, the motor always turns when it is started as the shaft is
turned towards the remanence flux.
A rotor position offset used in motor control can also be given by the user. See
parameter 97.20 POS OFFSET USER.

Drive control and features

40

Note: The same parameter is used by the autophasing routine which always writes
its result to parameter 97.20 POS OFFSET USER. Autophasing ID run results are
updated even if the user mode is not enabled (see parameter 97.01 USE GIVEN
PARAMS).
Several autophasing modes are available (see parameter 11.07 AUTOPHASING
MODE).
The turning mode is recommended especially with case 1 (see the list above) as it is
the most robust and accurate method. In the turning mode, the motor shaft is turned
back and forward (360/polepairs) to determine the rotor position. In case 3 (open-
loop control), the shaft is turned only in one direction and the angle is smaller.
The standstill modes can be used if the motor cannot be turned (for example, when
the load is connected). As the characteristics of motors and loads differ, testing must
be done to find out the most suitable standstill mode.
The drive is capable of determining the rotor position when started to a running
motor in the open-loop or closed loop modes. In this situation, the setting of
parameter 11.07 AUTOPHASING MODE has no effect.
The autophasing routine can fail and therefore it is recommended to perform the
autophasing routine several times and check the value of parameter 97.20 POS
OFFSET USER.
The autophasing fault can occur in a running motor if the estimated angle of the rotor
differs too much from the measured angle of the rotor. One reason for different
values in the estimated and measured angles is that there is a slip in the encoder
connection to the motor axle.
Another cause for the autophasing fault is a failed autophasing routine. In other
words, there has been a wrong value in parameter 97.20 POS OFFSET USER from
the beginning.
The third reason for the autophasing fault in a running motor is that there is a wrong
motor type in the control program or that the motor ID run has failed.
In addition, fault 0026 AUTOPHASING can occur during the autophasing routine if
parameter 11.07 AUTOPHASING MODE is set to Turning. The Turning mode
requires that the rotor can be turned during the autophasing routine. If the rotor is
locked or cannot be easily turned or if the rotor turns by force of external power, the
autophasing fault is triggered. Regardless of the chosen mode, the autophasing fault
occurs if the rotor is turning before the autophasing routine is started.

Drive control and features

 41

Flux braking
The drive can provide greater deceleration by raising the level of magnetization in
the motor. By increasing the motor flux with 40.10 FLUX BRAKING, the energy
generated by the motor during braking can be converted to motor thermal energy.

Motor TBr
speed (%) TBr = Braking torque
TN TN = 100 Nm
No flux braking 60

40 Flux braking

20
Flux braking No flux braking
t (s) f (Hz)

The drive monitors the motor status continuously, also during flux braking.
Therefore, flux braking can be used both for stopping the motor and for changing the
speed. The other benefits of flux braking are:
The braking starts immediately after a stop command is given. The function does
not need to wait for the flux reduction before it can start the braking.
The cooling of the induction motor is efficient. The stator current of the motor
increases during flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
Flux braking can be used with induction motors and permanent magnet
synchronous motors.
Two braking power levels are available:
Moderate braking provides faster deceleration compared to a situation where flux
braking is disabled. The flux level of the motor is limited to prevent excessive
heating of the motor.
Full braking exploits almost all available current to convert the mechanical braking
energy to motor thermal energy. Braking time is shorter compared to moderate
braking. In cyclic use, motor heating may be significant.

Thermal motor protection

With the parameters in group 45, the user can set up the motor overtemperature
protection and configure motor temperature measurement (if present). This block
also shows the estimated and measured motor temperature.
The motor can be protected against overheating by
the motor thermal protection model
measuring the motor temperature with PTC or KTY84 sensors. This will result in a
more accurate motor model.

Drive control and features

42

Thermal motor protection model

The drive calculates the temperature of the motor on the basis of the following
assumptions:
1) When power is applied to the drive for the first time, the motor is at ambient
temperature (defined by parameter 45.05 AMBIENT TEMP). After this, when power
is applied to the drive, the motor is assumed to be at the estimated temperature
(value of 1.18 MOTOR TEMP EST, saved at power switch-off).
2) Motor temperature is calculated using the user-adjustable motor thermal time and
motor load curve. The load curve should be adjusted in case the ambient
temperature exceeds 30 C.
It is possible to adjust the motor temperature supervision limits and select how the
drive reacts when overtemperature is detected.
Note: The motor thermal model can be used when only one motor is connected to
the inverter.
Temperature sensors
It is possible to detect motor overtemperature by connecting a motor temperature
sensor to thermistor input TH of the drive or to optional encoder interface module
FEN-xx.
The resistance of the sensor increases as the motor temperature rises over the
sensor reference temperature Tref, as does the voltage over the resistor.
The figure below shows typical PTC sensor resistance values as a function of the
motor operating temperature.
Ohm
4000

1330
Temperature PTC resistance
Normal 01 kohm 550
Excessive > 4 kohm*
*The limit for overtemperature 100
protection is 2.5 kohm.

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 43

The figure below shows typical KTY84 sensor resistance values as a function of the
motor operating temperature.
ohm
3000

2000
KTY84 scaling
90 C = 936 ohm
110 C = 1063 ohm
130 C = 1197 ohm 1000
150 C = 1340 ohm

0 T (C)
-100 0 100 200 300

It is possible to adjust the motor temperature supervision limits and select how the
drive reacts when overtemperature is detected.

WARNING! As the thermistor input on the JCU Control Unit is not insulated
according to IEC 60664, the connection of the motor temperature sensor requires
double or reinforced insulation between motor live parts and the sensor. If the
assembly does not fulfil the requirement,
- the I/O board terminals must be protected against contact and must not be
connected to other equipment
or
- the temperature sensor must be isolated from the I/O terminals.

The figure below shows a motor temperature measurement when thermistor input
TH is used.

One PTC or KTY84 sensor JCU Control Unit

TH
Motor
AGND
T
10 nF

Three PTC sensors JCU Control Unit

TH
Motor AGND

10 nF
T T T

Drive control and features

44

For encoder interface module FEN-xx connection, see the Users Manual of the
appropriate encoder interface module.

DC voltage control features

Overvoltage control
Overvoltage control of the intermediate DC link is needed with two-quadrant
line-side converters when the motor operates within the generating quadrant. To
prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage
controller automatically decreases the generating torque when the limit is reached.

Undervoltage control
If the incoming supply voltage is cut off, the drive will continue to operate by utilising
the kinetic energy of the rotating motor. The drive will be fully operational as long as
the motor rotates and generates energy to the drive. The drive can continue the
operation after the break if the main contactor remained closed.
Note: Units equipped with main contactor option must be equipped with a hold
circuit (eg, UPS) which keeps the contactor control circuit closed during a short
supply break.

Umains
TM fout UDC
(Nm) (Hz) (VDC) UDC
160 80 520

120 60 390

fout
80 40 260

TM
40 20 130

t(s)
1.6 4.8 8 11.2 14.4
UDC= intermediate circuit voltage of the drive, fout = output frequency of the drive,
TM = motor torque
Loss of supply voltage at nominal load (fout = 40 Hz). The intermediate circuit DC voltage drops to the
minimum limit. The controller keeps the voltage steady as long as the supply is switched off. The drive
runs the motor in generator mode. The motor speed falls but the drive is operational as long as the
motor has enough kinetic energy.

Drive control and features

 45

Voltage control and trip limits

The control and trip limits of the intermediate DC voltage regulator are relative either
to a supply voltage value provided by the user or to an automatically-determined
supply voltage. The actual voltage used is shown by parameter 1.19 USED SUPPLY
VOLT. The DC voltage (UDC) equals 1.35 times this value.
Automatic identification of the supply voltage is performed every time the drive is
powered. Automatic identification can be disabled by parameter 47.03
SUPPLVOLTAUTO-ID; the user can define the voltage manually at parameter 47.04
SUPPLY VOLTAGE.

Overvoltage fault level (UDC, high + 70 V; 880 V max.)

Overvoltage control level (1.25 UDC; 810 V max.)

1.07 DC-VOLTAGE

Undervoltage control level (0.8 UDC; 400 V min.)

Undervoltage trip level (UDC, low - 50 V; 350 V min.)

UDC = 1.35 1.19 USED SUPPLY VOLT

UDC, high = 1.25 UDC
UDC, low = 0.8 UDC

The intermediate DC circuit is charged over an internal resistor which is bypassed

when the capacitors are considered charged and the voltage has stabilized.

Braking chopper
The built-in braking chopper of the drive can be used to handle the energy generated
by a decelerating motor.
When the braking chopper is enabled and a resistor connected, the chopper will start
conducting when the DC link voltage of the drive reaches UDC_BR - 30 V. The
maximum braking power is achieved at UDC_BR + 30 V.
UDC_BR = 1.35 1.25 1.19 USED SUPPLY VOLT.

Drive control and features

46

Low voltage mode

A Low voltage mode is available to extend the supply voltage range. When the mode
is enabled, the drive can operate below the nominal range, for example when it
needs to be powered from an emergency supply.
Low voltage mode can be activated by parameter 47.05 LOW VOLT MOD ENA. Low
voltage mode introduces parameters 47.06 LOW VOLT DC MIN and 47.07 LOW
VOLT DC MAX for adjustment of minimum and maximum DC voltage control levels
respectively. The following rules apply:
47.06 LOW VOLT DC MIN = 250 to 450 V
47.07 LOW VOLT DC MAX = 350 to 810 V
47.07 LOW VOLT DC MAX > 47.06 LOW VOLT DC MIN + 50 V.
The value of parameter 47.08 EXT PU SUPPLY or its source should be set to 1
(true) when a supply below 270 V DC such as a battery is used. In such a
configuration, an additional DC power supply (JPO-01) is needed to power the main
circuit electronics. With an AC supply, the value of parameter 47.08 EXT PU
SUPPLY or its source should be set to 0 (false).
Parameters 47.0647.08 are effective only when Low voltage mode is active, ie,
value of parameter 47.05 LOW VOLT MOD ENA (or its source) is 1 (true).
In Low voltage mode, the default voltage control and trip levels as well as the braking
chopper operation levels (see sections Voltage control and trip limits and Braking
chopper elsewhere in this chapter) are changed as follows:
Value of parameter 47.08 EXT PU SUPPLY
Level
FALSE TRUE
200240 V AC 10%
Supply voltage range *48270 V DC 10%
270324 V DC 10%
Overvoltage trip level Unaffected Unaffected
Overvoltage control level 47.07 LOW VOLT DC MAX 47.07 LOW VOLT DC MAX
Undervoltage control level 47.06 LOW VOLT DC MIN Disabled
Undervoltage trip level 47.06 LOW VOLT DC MIN - 50 V Disabled
Braking chopper activation
47.07 LOW VOLT DC MAX - 30 V 47.07 LOW VOLT DC MAX - 30 V
level
Braking chopper maximum
47.07 LOW VOLT DC MAX + 30 V 47.07 LOW VOLT DC MAX + 30 V
power level
*Requires additional DC power supply JPO-01

Different system configurations are detailed in ACSM1 System Engineering Manual

(3AFE68978297 [English]).

Drive control and features

 47

Speed control features

Jogging
Jogging is typically used during servicing or commissioning to control the machinery
locally. It involves rotating the motor in small increments until the desired load
position is achieved.
Two jogging functions (1 or 2) are available. When a jogging function is activated,
the drive starts and accelerates to the defined jogging speed (parameters 24.10
SPEED REF JOG1 and 24.11 SPEED REF JOG2) along the defined jogging
acceleration ramp. When the function is deactivated, the drive decelerates to a stop
along the defined jogging deceleration ramp. One push button can be used to start
and stop the drive during jogging.
Jogging functions 1 and 2 are activated by a parameter or through fieldbus. The
source of the jogging command is selected by bit pointer parameters 10.07 JOG1
START and 10.14 JOG2 START. For activation through fieldbus, see 2.12 FBA
MAIN CW.
The figure and table below describe the operation of the drive during jogging. (Note
that they cannot be directly applied to jogging commands through fieldbus as those
require no enable signal; see parameter 10.15 JOG ENABLE.) They also represent
how the drive shifts to normal operation (= jogging inactive) when the drive start
command is switched on. Jog cmd = State of the jogging input; Jog enable = Jogging
enabled by the source set by parameter 10.15 JOG ENABLE; Start cmd = State of
the drive start command.
Speed Jogging example

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Time

Phase Jog Jog Start Description

cmd enable cmd
1-2 1 1 0 Drive accelerates to the jogging speed along the acceleration ramp of the jogging function.
2-3 1 1 0 Drive runs at the jogging speed.
3-4 0 1 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function.
4-5 0 1 0 Drive is stopped.
5-6 1 1 0 Drive accelerates to the jogging speed along the acceleration ramp of the jogging function.
6-7 1 1 0 Drive runs at the jogging speed.
7-8 x 0 1 Jog enable is not active; normal operation continues.
8-9 x 0 1 Normal operation overrides the jogging. Drive follows the speed reference.
9-10 x 0 0 Drive decelerates to zero speed along the active deceleration ramp.
10-11 x 0 0 Drive is stopped.

Drive control and features

48

Phase Jog Jog Start Description

cmd enable cmd
11-12 x 0 1 Normal operation overrides the jogging. Drive accelerates to the speed reference along
the active acceleration ramp.
12-13 1 1 1 Start command overrides the jog enable signal.
13-14 1 1 0 Drive decelerates to the jogging speed along the deceleration ramp of the jogging function.
14-15 1 1 0 Drive runs at the jogging speed.
15-16 x 0 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function.

Notes:
Jogging is not operational when the drive start command is on, or when the drive
is in local control.
Normal start is inhibited when jog enable is active.
The ramp shape time is set to zero during jogging.

Speed controller tuning

The speed controller of the drive can be automatically adjusted using the autotune
function (parameter 28.16 PI TUNE MODE). Autotuning is based on the load and
inertia of the motor and the machine. It is, however, also possible to manually adjust
the controller gain, integration time and derivation time. Autotuning can also be
performed from an external control location.
Autotuning can be performed in four different ways depending on the setting of
parameter 28.16 PI TUNE MODE. The selections (1) Smooth, (2) Middle and (3)
Tight define how the drive torque reference should react to a speed reference step
after tuning. The selection (1) Smooth will produce a slow response; (3) Tight will
produce a fast response. The selection (4) User allows customised control sensitivity
adjustment through parameters 28.17 TUNE BANDWIDTH and 28.18 TUNE
DAMPING. Detailed tuning status information is provided by parameter 6.03 SPEED
CTRL STAT.
Once parameter 28.16 PI TUNE MODE has been set, an autotuning routine will be
started when the drive modulation is started the next time. If the autotuning routine
fails, the SPEED CTRL TUNE FAIL alarm will occur for approximately 15 seconds. If
a stop command is given to the drive during the autotuning routine, the routine will
be aborted.

Drive control and features

 49

The figure below illustrates the motor speed and torque behaviour during an
autotuning routine.
n
%
nN

0.9

0.5

0.25
A

0 t

A: Speed actual
B: Torque reference

The prerequisites for performing the autotune routine are:

The motor ID run has been successfully completed
Speed, torque, current and acceleration limits (parameter groups 20 and 25) are
set
Speed feedback filtering, speed error filtering and zero speed are set (parameter
groups 22 and 26)
The drive is stopped.
The results of the autotune routine are automatically transferred into parameters
28.02 PROPORT GAIN (proportional gain of the speed controller)
28.03 INTEGRATION TIME (integration time of the speed controller)
1.31 MECH TIME CONST (mechanical time constant of the machinery).
Note: The autotuning routine accelerates and decelerates the motor according to
the ramp times set in group 25, and these values have an effect on the autotuning
results.

Drive control and features

50

The figure below shows speed responses at a speed reference step (typically
120%).

n
%
nN

A B C D

t
A: Undercompensated
B: Normally tuned (autotuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller

The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller.

Derivative
acceleration
compensation

Proportional,
Speed integral + Torque
+ Error +
reference - value + reference

Derivative

Actual speed

For more information on the use of the autotune function, see the description of
parameter 28.16 PI TUNE MODE.

Drive control and features

 51

Motor feedback features

Motor encoder gear function

The drive provides motor encoder gear function for compensating of mechanical
gears between the motor shaft, the encoder and the load.
Motor encoder gear application example:

Speed control uses the motor

speed. If no encoder is
mounted on the motor shaft,
the motor encoder gear
function must be applied in
order to calculate the actual
motor speed on the basis of the
measured load speed.
M
3~

MOTOR GEAR LOAD ENCODER

The motor encoder gear parameters 22.03 MOTOR GEAR MUL and 22.04 MOTOR
GEAR DIV are set as follows:
22.03 MOTOR GEAR MUL Actual speed
=
22.04 MOTOR GEAR DIV Encoder 1/2 speed

Note: If the motor gear ratio differs from 1, the motor model uses an estimated
speed instead of the speed feedback value.

Drive control and features

52

Mechanical brake control

The program supports the use of a mechanical brake to hold the motor and load at
zero speed when the drive is stopped or not powered.
Mechanical brake control (with or without acknowledgement) is activated by
parameter 35.01 BRAKE CONTROL. The acknowledgement (supervision) signal
can be connected to, for example, a digital input. The brake on/off value is reflected
by 3.15 BRAKE COMMAND, which should be connected to a relay (or digital)
output. The brake will open upon drive start after the delay 35.03 BRAKE OPEN
DELAY has elapsed and requested motor start torque 35.06 BRAKE OPEN TORQ is
available. The brake will close after motor speed decreases below 35.05 BRAKE
CLOSE SPD and the delay 35.04 BRAKE CLOSE DLY has elapsed. When the
brake close command is issued, the motor torque is stored into 3.14 BRAKE TORQ
MEM.
Note: The mechanical brake must be opened manually before the motor ID run.

Drive control and features

 53

Mechanical brake state diagram

From any state
1)

BSM STOPPED 0/0/1/1

9) 2)

Fault/Alarm* BSM
BRAKE NOT CLOSED START 0/1/1/1
BSM = Brake State
Machine 10) 3)

Fault/Alarm* OPEN
* Depends on setting of BRAKE START TORQUE BRAKE
1/1/1/1
par. 35.09 BRAKE
FAULT FUNC. 4)

RELEASE
11) RAMP
1/1/0/0 5)

6)
12)
CLOSE
BRAKE 0/1/1/0

13) 8)
7)

Fault/Alarm* Fault/Alarm*
BRAKE NOT OPEN BRAKE NOT CLOSED

State (Symbol NN
W/X/Y/Z )
- NN: State name
- W/X/Y/Z: State outputs/operations
W: 1 = Brake open command is active. 0 = Brake close command is active. (Controlled through selected digital/relay output with signal 3.15 BRAKE
COMMAND.)
X: 1 = Forced start (inverter is modulating). The function keeps the internal Start command on until the brake is closed regardless of the status of the
external Stop. Effective only when ramp stop has been selected as the stop mode (11.03 STOP MODE). Run enable and faults override the forced
start. 0 = No forced start (normal operation).
Y: 1 = Drive control mode is forced to speed/scalar.
Z: 1 = Ramp generator output is forced to zero. 0 = Ramp generator output is enabled (normal operation).

State change conditions (Symbol )

1) Brake control is active (35.01 BRAKE CONTROL = (1) WITH ACK or (2) NO ACK) OR modulation of the drive is requested to stop. The drive
control mode is forced to speed/scalar.
2) External start command is on AND brake open request is on (source selected by 35.07 BRAKE CLOSE REQ = 0).
3) Starting torque required at brake release is reached (35.06 BRAKE OPEN TORQ) AND brake hold is not active (35.08 BRAKE OPEN HOLD).
Note: With scalar control, the defined starting torque has no effect.
4) Brake is open (acknowledgement = 1, selected by par. 35.02 BRAKE ACKNOWL) AND the brake open delay has passed (35.03 BRAKE OPEN
DELAY). Start = 1.
5) 6) Start = 0 OR brake close command is active AND actual motor speed < brake close speed (35.05 BRAKE CLOSE SPD).
7) Brake is closed (acknowledgement = 0) AND brake close delay has passed (35.04 BRAKE CLOSE DLY). Start = 0.
8) Start = 1.
9) Brake is open (acknowledgement = 1) AND brake close delay has passed.
10) Defined starting torque at brake release is not reached.
11) Brake is closed (acknowledgement = 0) AND brake open delay has passed.
12) Brake is closed (acknowledgement = 0).
13) Brake is open (acknowledgement = 1) AND brake close delay has passed.

Drive control and features

54

Operation time scheme

The simplified time scheme below illustrates the operation of the brake control
function.

Start cmd

Ramp input

Modulating

Ref_Running

Brake open cmd

ncs
Ramp output

Torque ref

Ts Tmem

1 tmd 2 3 tod 4 5 6 tcd 7 time

Ts Start torque at brake release (parameter 35.06 BRAKE OPEN TORQ)

Tmem Stored torque value at brake close (signal 3.14 BRAKE TORQ MEM)
tmd Motor magnetising delay
tod Brake open delay (parameter 35.03 BRAKE OPEN DELAY)
ncs Brake close speed (parameter 35.05 BRAKE CLOSE SPD)
tcd Brake close delay (parameter 35.04 BRAKE CLOSE DLY)

Example
The figure below shows a brake control application example.

WARNING! Make sure that the machinery into which the drive with brake control
function is integrated fulfils the personnel safety regulations. Note that the frequency
converter (a Complete Drive Module or a Basic Drive Module, as defined in IEC
61800-2), is not considered as a safety device mentioned in the European
Machinery Directive and related harmonised standards. Thus, the personnel safety
of the complete machinery must not be based on a specific frequency converter
feature (such as the brake control function), but it has to be implemented as defined
in the application specific regulations.

Drive control and features

 55

The brake on/off is controlled via signal 3.15 BRAKE COMMAND. The source for the brake
supervision is selected by parameter 35.02 BRAKE ACKNOWL.
The brake control hardware and wirings need to be done by the user.
Brake on/off control through selected relay/digital output.
Brake supervision through selected digital input.
Emergency brake switch in the brake control circuit.

Brake on/off control through relay output (ie, parameter 12.12 RO1 OUT PTR is set to P.03.15 =
3.15 BRAKE COMMAND).
Brake supervision through digital input DI5 (ie, parameter 35.02 BRAKE ACKNOWL is set to
P.02.01.04 = 2.01 DI STATUS bit 4)

Brake control JCU unit

hardware X2
230 VAC
1 RO1
2 RO1
3 RO1

Emergency
brake X3

11 DI5

13 +24 V

Motor Mechanical brake

Drive control and features

56

Emergency stop
Note: The user is responsible for installing the emergency stop devices and all the
additional devices needed for the emergency stop to fulfil the required emergency
stop category classes.
The emergency stop signal is connected to the digital input which is selected as the
source for the emergency stop activation (parameter 10.10 EM STOP OFF3 or 10.11
EM STOP OFF1). Emergency stop can also be activated through fieldbus (2.12 FBA
MAIN CW).
Note: When an emergency stop signal is detected, the emergency stop function
cannot be cancelled even though the signal is cancelled.
For more information, refer to Application Guide: Functional Safety Solutions with
ACSM1 Drives (3AUA0000031517 [English]).

Miscellaneous features

Backup and restore of drive contents

General
The drive offers a possibility of backing up numerous settings and configurations to
external storage such as a PC file (using the DriveStudio tool) and the internal
memory of the control panel. These settings and configurations can then be restored
to the drive, or a number of drives.
Backup using DriveStudio includes
Parameter settings
User parameter sets
Application program..
Backup using the drive control panel includes
Parameter settings
User parameter sets.
For detailed instructions for performing the backup/restore, refer to the DriveStudio
and control panel documentation.
Limitations
A backup can be done without interfering with drive operation, but restoring a
backup always resets and reboots the control unit, so restore is not possible with the
drive running.
Backup/restore between different program variants (such as the Motion Control
Program and the Speed and Torque Control Program) is not possible.
Restoring backup files from one firmware version to another is considered risky, so
the results should be carefully observed and verified when done for the first time.
The parameters and application support are bound to change between firmware
versions and backups are not always compatible with other firmware versions even if

Drive control and features

 57

restore is allowed by the backup/restore tool. Before using the backup/restore

functions between different firmware versions, refer to the release notes of each
version.
Applications should not be transferred between different firmware versions. Contact
the supplier of the application when it needs to be updated for a new firmware
version.
Parameter restore
Parameters are divided into three different groups that can be restored together or
individually:
Motor configuration parameters and identification (ID) run results
Fieldbus adapter and encoder settings
Other parameters.
For example, retaining the existing motor ID run results in the drive will make a new
motor ID run unnecessary.
Restore of individual parameters can fail for the following reasons:
The restored value does not fall within the minimum and maximum limits of the
drive parameter
The type of the restored parameter is different from that in the drive
The restored parameter does not exist in the drive (often the case when restoring
the parameters of a new firmware version to a drive with an older version)
The backup does not contain a value for the drive parameter (often the case
when restoring the parameters of an old firmware version to a drive with a newer
version).
In these cases, the parameter is not restored; the backup/restore tool will warn the
user and offer a possibility to set the parameter manually.
User parameter sets
The drive has four user parameter sets that can be saved to the permanent memory
and recalled using drive parameters. It is also possible to use digital inputs to switch
between different user parameter sets. See the descriptions of parameters
16.0916.12.
A user parameter set contains all values of parameter groups 10 to 99 (except the
fieldbus communication configuration settings).
As the motor settings are included in the user parameter sets, make sure the
settings correspond to the motor used in the application before recalling a user set.
In an application where different motors are used with one drive, the motor ID run
needs to be performed with each motor and saved to different user sets. The
appropriate set can then be recalled when the motor is switched.

Drive control and features

58

Drive-to-drive link
The drive-to-drive link is a daisy-chained RS-485 transmission line that allows basic
master/follower communication with one master drive and multiple followers. For
more information, see Appendix B Drive-to-drive link.

Fan control logic

The fan operation can be controlled via parameter 46.13 FAN CTRL MODE. The
parameter provides the following four operation modes: Normal, Force OFF, Force
ON and Advanced. The control logic (Normal or Advanced) can be overridden by
forcing the fan ON or OFF in which case the fan is running always or never.
In the Normal mode the fan operation is based on the ON/OFF status of the
modulator. In addition, the fan runs a predetermined period after the modulator has
been switched OFF, which prevents the fan from starting and stopping unnecessarily
when the modulator is inactive only for a short period.
In the Advanced fan control mode, the fan operation is based on the measured
temperature of power stage, braking chopper (BC), interface board (INT board) and
DC link voltage. The fan is started if the temperature of the power stage or INT board
or BC rises over the predetermined level. Also an exceptionally high long-term DC
link voltage generates the running command for the fan. The fan is stopped if the
power stage, braking chopper and INT board are cool and the DC link voltage is
below the limit.
With the Normal or Advanced mode the DC voltage activation level for the fan ON
command is 640 VDC.
The fan runs a short period after a power-up regardless of parameter 46.13 FAN
CTRL MODE to remove moisture and dust from the machinery.

Drive control and features

 59

Default connections of the control unit

What this chapter contains

This chapter shows the default control connections of the JCU Control Unit.
More information on the connectivity of the JCU is given in the Hardware Manual of
the drive.

Default connections of the control unit

60

X1
Notes: External power input +24VI 1
24 V DC, 1.6 A GND 2
*Total maximum current:
X2
200 mA
Relay output: Brake close/open NO 1
250 V AC / 30 V DC COM 2
1) Selected by par. 12.01 2A NC 3
DIO1 CONF. X3
2) Selected by par. 12.02 +24 V DC* +24VD 1
DIO2 CONF. Digital I/O ground DGND 2
Digital input 1: Stop/start (par. 10.02 and 10.05) DI1 3
3) Selected by par. 12.03
DIO3 CONF. Digital input 2: EXT1/EXT2 (par. 34.01) DI2 4
+24 V DC* +24VD 5
4) Selected by jumper J1. Digital I/O ground DGND 6
5) Selected by jumper J2. Digital input 3: Fault reset (par. 10.08) DI3 7
Digital input 4: Not connected DI4 8
+24 V DC* +24VD 9
Current: Digital I/O ground DGND 10
J1/2 AIx Digital input 5: Not connected DI5 11
Digital input 6: Not connected DI6 12
Voltage: +24 V DC* +24VD 13
Digital I/O ground DGND 14
J1/2 AIx Digital input/output 1 1): Ready DIO1 15
Digital input/output 2 2): Running DIO2 16
+24 V DC* +24VD 17
Digital I/O ground DGND 18
Digital input/output 3 3): Fault DIO3 19
X4
Reference voltage (+) +VREF 1
Reference voltage () VREF 2
Ground AGND 3
Analogue input 1 (mA or V) 4): Speed reference (par. AI1+ 4
24.01) AI1 5
Analogue input 2 (mA or V) 5): Torque reference (par. AI2+ 6
32.01) AI2 7
AI1 current/voltage selection J1
AI2 current/voltage selection J2
Thermistor input TH 8
Ground AGND 9
Analogue output 1 (mA): Output current AO1 (I) 10
Analogue output 2 (V): Actual speed AO2 (U) 11
Ground AGND 12
X5
Drive-to-drive link termination J3
B 1
Drive-to-drive link A 2
BGND 3
X6
OUT1 1
Safe Torque Off. Both circuits must be closed for the
OUT2 2
drive to start. See the appropriate drive hardware
IN1 3
manual.
IN2 4
Control panel connection
Memory unit connection

Default connections of the control unit

 61

Parameters and firmware blocks

What this chapter contains

This chapter lists and describes the parameters provided by the firmware.

Types of parameters
Parameters are user-adjustable operation instructions of the drive (groups 1099).
There are four basic types of parameters: Actual signals, value parameters, value
pointer parameters and bit pointer parameters.
Actual signal
Type of parameter that is the result of a measurement or calculation by the drive.
Actual signals can be monitored, but not adjusted, by the user. Actual signals are
typically contained within parameter groups 19.
For additional actual signal data, eg, update cycles and fieldbus equivalents, see
chapter Parameter data.
Value parameter
A value parameter has a fixed set of choices or a setting range.
Example 1: Motor phase loss supervision is activated by selecting (1) Fault from the
selection list of parameter 46.04 MOT PHASE LOSS.
Example 2: The motor nominal power (kW) is set by writing the appropriate value to
parameter 99.10 MOT NOM POWER, eg, 10.
Value pointer parameter
A value pointer parameter points to the value of another parameter. The source
parameter is given in format P.xx.yy, where xx = Parameter group; yy = Parameter
index. In addition, value pointer parameters may have a set of pre-selected choices.
Example: Motor current signal, 1.05 CURRENT PERC, is connected to analogue
output AO1 by setting parameter 15.01 AO1 PTR to value P.01.05.
Bit pointer parameter
A bit pointer parameter points to the value of a bit in another parameter, or can be
fixed to 0 (FALSE) or 1 (TRUE). In addition, bit pointer parameters may have a set of
pre-selected choices.
When adjusting a bit pointer parameter on the optional control panel, CONST is
selected in order to fix the value to 0 (displayed as C.FALSE) or 1 (C.TRUE).
POINTER is selected to define a source from another parameter.
A pointer value is given in format P.xx.yy.zz, where xx = Parameter group,
yy = Parameter index, zz = Bit number.
Example: Digital input DI5 status, 2.01 DI STATUS bit 4, is used for brake
supervision by setting parameter 35.02 BRAKE ACKNOWL to value P.02.01.04.

Parameters and firmware blocks

62

Note: Pointing to a nonexisting bit will be interpreted as 0 (FALSE).

For additional parameter data, eg, update cycles and fieldbus equivalents, see
chapter Parameter data.

Firmware blocks
Firmware blocks accessible from the DriveSPC PC tool are described in the
parameter group that contains the most of the block inputs/outputs. Whenever a
block has inputs or outputs outside the current parameter group, a reference is
given. Likewise, parameters have a reference to the firmware block they are
included in (if any).
Note: Not all parameters are available through firmware blocks.

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1 Inputs
2 Outputs
3 Input parameter values
4 Pointer parameter indicator <
5 Parameter 26.01 is set to value P.1.1, ie, parameter 1.01 SPEED ACT. The 7 means the parameter can
be found on page 7 of DriveSPC.
6 Information of the block internal execution order (TLF4) and time level (250 sec). Time level, ie,
update cycle, is application-specific. See the time level of the block in DriveSPC.
7 Firmware block ID number in the application program
8 Firmware block execution order for the selected update cycle ID

Parameters and firmware blocks

 63

Group 01 ACTUAL VALUES

This group contains basic actual signals for monitoring the drive.
01
Firmware block: ACTUAL VALUES 14

ACTUAL VALUES MISC_3 2 m sec (1)

(1) 1.02 SPEED ACT PERC

1.03 FREQUENCY
1.04 CURRENT
1.05 CURRENT PERC
1.06 TORQUE
1.07 DC-VOLTAGE
1.14 SPEED ESTIMATED
1.15 TEMP INVERTER
1.16 TEMP BC
1.20 BRAKE RES LOAD
1.22 INVERTER POWER
1.26 ON TIME COUNTER
1.27 RUN TIME COUNTER
1.28 FAN ON-TIME
1.31 MECH TIME CONST
1.38 TEMP INT BOARD

1.01 SPEED ACT FW block: SPEED FEEDBACK (page 113)

Filtered actual speed in rpm. Used speed feedback is defined by parameter 22.01 SPEED FB SEL.
Filter time constant can be adjusted by parameter 22.02 SPEED ACT FTIME.

1.02 SPEED ACT PERC FW block: ACTUAL VALUES (see above)

Actual speed in percent of the motor synchronous speed.

1.03 FREQUENCY FW block: ACTUAL VALUES (see above)

Estimated drive output frequency in Hz.

1.04 CURRENT FW block: ACTUAL VALUES (see above)

Measured motor current in A.

1.05 CURRENT PERC FW block: ACTUAL VALUES (see above)

Motor current in percent of the nominal motor current.

1.06 TORQUE FW block: ACTUAL VALUES (see above)

Motor torque in percent of the motor nominal torque.

1.07 DC-VOLTAGE FW block: ACTUAL VALUES (see above)

Measured intermediate circuit voltage in V.

1.08 ENCODER 1 SPEED FW block: ENCODER (page 180)

Encoder 1 speed in rpm.

1.09 ENCODER 1 POS FW block: ENCODER (page 180)

Actual position of encoder 1 within one revolution.

Parameters and firmware blocks

64

1.10 ENCODER 2 SPEED FW block: ENCODER (page 180)

Encoder 2 speed in rpm.

1.11 ENCODER 2 POS FW block: ENCODER (page 180)

Actual position of encoder 2 within one revolution.

Firmware block: POS FEEDBACK 36

POS FEEDBACK POSCTR 500 sec (1)

(60) 1.12 POS ACT

1.13 POS 2ND ENC

1.12 POS ACT FW block: POS FEEDBACK (see above)

Actual position of the encoder.

1.13 POS 2ND ENC FW block: POS FEEDBACK (see above)

Scaled actual position of encoder 2 in revolutions.

1.14 SPEED ESTIMATED FW block: ACTUAL VALUES (see above)

Estimated motor speed in rpm.

1.15 TEMP INVERTER FW block: ACTUAL VALUES (see above)

Measured temperature of the heatsink in Celsius.

1.16 TEMP BC FW block: ACTUAL VALUES (see above)

Braking chopper IGBT temperature in Celsius.

1.17 MOTOR TEMP FW block: MOT THERM PROT (page 154)

Measured motor temperature in Celsius when a KTY sensor is used. (With a PTC sensor, the value is
always 0.)

1.18 MOTOR TEMP EST FW block: MOT THERM PROT (page 154)

Estimated motor temperature in Celsius.

1.19 USED SUPPLY VOLT FW block: VOLTAGE CTRL (page 162)

Either the user-given supply voltage (parameter 47.04 SUPPLY VOLTAGE), or, if auto-identification is
enabled by parameter 47.03 SUPPLVOLTAUTO-ID, the automatically determined supply voltage.

1.20 BRAKE RES LOAD FW block: ACTUAL VALUES (see above)

Estimated temperature of the braking resistor. The value is given in percent of the temperature the
resistor reaches when loaded with the power defined by parameter 48.04 BR POWER MAX CNT.

1.21 CPU USAGE FW block: None

Microprocessor load in percent.

Parameters and firmware blocks

 65

1.22 INVERTER POWER FW block: ACTUAL VALUES (see above)

Drive output power in kilowatts.

1.26 ON TIME COUNTER FW block: ACTUAL VALUES (see above)

This counter runs when the drive is powered. The counter can be reset using the DriveStudio tool.

1.27 RUN TIME COUNTER FW block: ACTUAL VALUES (see above)

Motor run time counter. The counter run when the drive modulates. The counter can be reset using
the DriveStudio tool.

1.28 FAN ON-TIME FW block: ACTUAL VALUES (see above)

Running time of the drive cooling fan. Can be reset by entering 0.

1.31 MECH TIME CONST FW block: ACTUAL VALUES (see above)

Mechanical time constant of the drive and the machinery as determined by the speed controller
autotune function. See parameter 28.16 PI TUNE MODE on page 136.

1.38 TEMP INT BOARD FW block: ACTUAL VALUES (see above)

Measured temperature of the interface board in degrees Celsius.

Parameters and firmware blocks

66

Group 02 I/O VALUES

This group contains information on the I/Os of the drive.
02
2.01 DI STATUS FW block: DI (page 96)

Status word of the digital inputs. Example: 000001 = DI1 is on, DI2 to DI6 are off.

2.02 RO STATUS FW block: RO (page 96)

Status of relay output. 1 = RO is energized.

2.03 DIO STATUS FW blocks: DIO1 (page 94), DIO2 (page 94), DIO3 (page 94)

Status word of digital inputs/outputs DIO13. Example: 001 = DIO1 is on, DIO2 and DIO3 are off.

2.04 AI1 FW block: AI1 (page 98)

Analogue input AI1 value in V or mA. The type is selected with jumper J1 on the JCU Control Unit.

2.05 AI1 SCALED FW block: AI1 (page 98)

Scaled value of analogue input AI1. See parameters 13.04 AI1 MAX SCALE and 13.05 AI1 MIN
SCALE.

2.06 AI2 FW block: AI2 (page 99)

Analogue input AI2 value in V or mA. The type is selected with jumper J2 on the JCU Control Unit.

2.07 AI2 SCALED FW block: AI2 (page 99)

Scaled value of analogue input AI2. See parameters 13.09 AI2 MAX SCALE and 13.10 AI2 MIN
SCALE.

2.08 AO1 FW block: AO1 (page 102)

Analogue output AO1 value in mA

2.09 AO2 FW block: AO2 (page 103)

Analogue output AO2 value in V

2.10 DIO2 FREQ IN FW block: DIO2 (page 94)

Scaled value of DIO2 when it is used as a frequency input. See parameters 12.02 DIO2 CONF and
12.14 DIO2 F MAX12.17 DIO2 F MIN SCALE.

2.11 DIO3 FREQ OUT FW block: DIO3 (page 94)

Frequency output value of DIO3 when it is used as a frequency output. See parameters 12.03 DIO3
CONF and 12.08 DIO3 F MAX12.11 DIO3 F MIN SCALE.

Parameters and firmware blocks

 67

2.12 FBA MAIN CW FW block: FIELDBUS (page 166)

Control Word for fieldbus communication.

Log. = Logical combination (ie, Bit AND/OR Selection parameter). Par. = Selection parameter. See
State diagram on page 341.

Bit Name Val. Information Log. Par.

0 STOP* 1 Stop according to the stop mode selected by 11.03 OR 10.02,
STOP MODE or according to the requested stop 10.03,
mode (bits 26). Note: Simultaneous STOP and 10.05,
START commands result in a stop command. 10.06
0 No operation
1 START 1 Start. Note: Simultaneous STOP and START OR 10.02,
commands result in a stop command. 10.03,
0 No operation 10.05,
10.06
2 STPMODE 1 Emergency OFF2 (bit 0 must be 1): Drive is AND -
EM OFF* stopped by cutting off the motor power supply (the
inverter IGBTs are blocked). The motor coasts to
stop. The drive will restart only with the next rising
edge of the start signal when the run enable signal
is on.
0 No operation
3 STPMODE 1 Emergency stop OFF3 (bit 0 must be 1): Stop within AND 10.10
EM STOP* the time defined by 25.11 EM STOP TIME.
0 No operation
4 STPMODE 1 Emergency stop OFF1 (bit 0 must be 1): Stop along AND 10.11
OFF1* the currently active deceleration ramp.
0 No operation
5 STPMODE 1 Stop along the currently active deceleration ramp. - 11.03
RAMP* 0 No operation
6 STPMODE 1 Coast to stop. - 11.03
COAST* 0 No operation
7 RUN 1 Activate run enable. AND 10.09
ENABLE 0 Activate run disable.
8 RESET 0->1 Fault reset if an active fault exists. OR 10.08
other No operation
9 JOGGING 1 1 Activate jogging function 1. See section Jogging on OR 10.07
page 47.
0 Jogging function 1 disabled
* If all stop mode bits 26 are 0, stop mode is selected by 11.03 STOP MODE. Coast stop (bit 6)
overrides the emergency stop (bit 2/3/4). Emergency stop overrides the normal ramp stop (bit 5).

Parameters and firmware blocks

68

2.12 FBA MAIN CW (continued from previous page)

Bit Name Val. Information Log. Par.

10 JOGGING 2 1 Activate jogging function 2. See section Jogging on OR 10.14
page 47.
0 Jogging function 2 disabled
11 REMOTE 1 Fieldbus control enabled - -
CMD 0 Fieldbus control disabled
12 RAMP OUT 1 Force Ramp Function Generator output to zero. - -
0 Drive ramps to a stop (current and DC voltage lim-
its in force).
0 No operation
13 RAMP HOLD 1 Halt ramping (Ramp Function Generator output - -
held).
0 No operation
14 RAMP IN 0 1 Force Ramp Function Generator input to zero. - -
0 No operation
15 EXT1 / EXT2 1 Switch to external control location EXT2. OR 34.01
0 Switch to external control location EXT1.
16 REQ 1 Activate start inhibit. - -
STARTINH 0 No start inhibit
17 LOCAL CTL 1 Request local control for Control Word. Used when - -
the drive is controlled via PC tool or panel or
through local fieldbus.
- Local fieldbus: Transfer to fieldbus local control
(control via fieldbus control word or reference).
Fieldbus steals the control.
- Panel or PC tool: Transfer to local control.
0 Request external control.
18 FBLOCAL 1 Request fieldbus local control. - -
REF 0 No fieldbus local control
1927 Not in use
28 CW B28 Freely programmable control bits. - -
29 CW B29
30 CW B30
31 CW B31

Parameters and firmware blocks

 69

2.13 FBA MAIN SW FW block: FIELDBUS (page 166)

Status Word for fieldbus communication. See State diagram on page 341.
Bit Name Value Information
0 READY 1 Drive is ready to receive start command.
0 Drive is not ready.
1 ENABLED 1 External run enable signal is received.
0 No external run enable signal is received.
2 RUNNING 1 Drive is modulating.
0 Drive is not modulating.
3 REF RUNNING 1 Normal operation is enabled. Drive is running and following given
reference.
0 Normal operation is disabled. Drive is not following given reference
(for example, modulating during magnetization).
4 EM OFF 1 Emergency OFF2 is active.
(OFF2) 0 Emergency OFF2 is inactive.
5 EM STOP 1 Emergency stop OFF3 (ramp stop) is active.
(OFF3) 0 Emergency OFF3 is inactive.
6 ACK 1 Start inhibit is active.
STARTINH 0 Start inhibit is inactive.
7 ALARM 1 An alarm is active. See chapter Fault tracing.
0 No alarm is active.
8 AT SETPOINT 1 Drive is at setpoint. Actual value equals reference value (ie, the
difference between the actual speed and the speed reference is within
the speed window defined by 26.07 SPEED WINDOW).
0 Drive has not reached setpoint.
9 LIMIT 1 Operation is limited by any torque or current limit.
0 Operation is within torque/current limits.
10 ABOVE LIMIT 1 Actual speed exceeds the defined limit, 22.07 ABOVE SPEED LIM.
0 Actual speed is within the defined limits.
11 EXT2 ACT 1 External control location EXT2 is active.
0 External control location EXT1 is active.
12 LOCAL FB 1 Fieldbus local control is active.
0 Fieldbus local control is inactive.
13 ZERO SPEED 1 Drive speed is below limit set by par. 22.05 ZERO SPEED LIMIT.
0 Drive has not reached zero speed limit.
14 REV ACT 1 Drive is running in reverse direction.
0 Drive is running in forward direction.
15 Not in use
16 FAULT 1 Fault is active. See chapter Fault tracing.
0 No fault is active.
17 LOCAL PANEL 1 Local control is active, ie, drive is controlled from PC tool or control
panel.
0 Local control is inactive.

Parameters and firmware blocks

70

2.13 FBA MAIN SW (continued from previous page)

Bit Name Value Information

1826 Not in use with Speed and Torque Control Program
27 REQUEST CTL 1 Control word is requested from fieldbus.
0 Control word is not requested from fieldbus.
28 SW B28 Programmable status bits (unless fixed by the used
29 SW B29 profile). See parameters 50.0850.11 and the user
30 SW B30 manual of the fieldbus adapter.
31 SW B31

2.14 FBA MAIN REF1 FW block: FIELDBUS (page 166)

Scaled fieldbus reference 1. See parameter 50.04 FBA REF1 MODESEL.

2.15 FBA MAIN REF2 FW block: FIELDBUS (page 166)

Scaled fieldbus reference 2. See parameter 50.05 FBA REF2 MODESEL.

2.16 FEN DI STATUS FW block: ENCODER (page 180)

Status of digital inputs of FEN-xx encoder interfaces in drive option Slots 1 and 2. Examples:
000001 (01h) = DI1 of FEN-xx in Slot 1 is ON, all others are OFF.
000010 (02h) = DI2 of FEN-xx in Slot 1 is ON, all others are OFF.
010000 (10h) = DI1 of FEN-xx in Slot 2 is ON, all others are OFF.
100000 (20h) = DI2 of FEN-xx in Slot 2 is ON, all others are OFF.

2.17 D2D MAIN CW FW block: D2D COMMUNICATION (page 175)

Drive-to-drive control word received through the drive-to-drive link. See also actual signal 2.18 below.

Bit Information
0 Stop.
1 Start.
26 Reserved.
7 Run enable. By default, not connected in a follower drive.
8 Reset. By default, not connected in a follower drive.
914 Freely assignable through bit pointer parameters.
15 EXT1/EXT2 selection. 0 = EXT1 active, 1 = EXT2 active. By default, not connected in a
follower drive.

Parameters and firmware blocks

 71

2.18 D2D FOLLOWER CW FW block: DRIVE LOGIC (page 85)

Drive-to-drive control word sent to the followers by default. See also firmware block D2D
COMMUNICATION on page 175.

Bit Information
0 Stop.
1 Start.
26 Reserved.
7 Run enable.
8 Reset.
914 Reserved.
15 EXT1/EXT2 selection. 0 = EXT1 active, 1 = EXT2 active.

2.19 D2D REF1 FW block: D2D COMMUNICATION (page 175)

Drive-to-drive reference 1 received through the drive-to-drive link.

2.20 D2D REF2 FW block: D2D COMMUNICATION (page 175)

Drive-to-drive reference 2 received through the drive-to-drive link.

Parameters and firmware blocks

72

Group 03 CONTROL VALUES

03
3.01 SPEED REF1 FW block: SPEED REF SEL (page 119)

Speed reference 1 in rpm.

3.02 SPEED REF2 FW block: SPEED REF SEL (page 119)

Speed reference 2 in rpm.

3.03 SPEEDREF RAMP IN FW block: SPEED REF MOD (page 120)

Used speed reference ramp input in rpm.

3.04 SPEEDREF RAMPED FW block: SPEED REF RAMP (page 123)

Ramped and shaped speed reference in rpm.

3.05 SPEEDREF USED FW block: SPEED ERROR (page 127)

Used speed reference in rpm (reference before the speed error calculation).

3.06 SPEED ERROR FILT FW block: SPEED ERROR (page 127)

Filtered speed error value in rpm.

3.07 ACC COMP TORQ FW block: SPEED ERROR (page 127)

Output of the acceleration compensation (torque in %).

3.08 TORQ REF SP CTRL FW block: SPEED CONTROL (page 131)

Limited speed controller output torque in %.

3.09 TORQ REF1 FW block: TORQ REF SEL (page 138)

Torque reference 1 in %.

3.10 TORQ REF RAMPED FW block: TORQ REF MOD (page 139)

Ramped torque reference in %.

3.11 TORQ REF RUSHLIM FW block: TORQ REF MOD (page 139)

Torque reference limited by the rush control (value in %). Torque is limited to ensure that the speed is
between the defined minimum and maximum speed limits (parameters 20.01 MAXIMUM SPEED and
20.02 MINIMUM SPEED).

3.12 TORQUE REF ADD FW block: TORQ REF SEL (page 138)

Torque reference additive in %.

3.13 TORQ REF TO TC FW block: REFERENCE CTRL (page 145)

Torque reference in % for the torque control. When 99.05 MOTOR CTRL MODE is set to (1) Scalar,
this value is forced to 0.

3.14 BRAKE TORQ MEM FW block: MECH BRAKE CTRL (page 148)

Torque value (in %) stored when the mechanical brake close command is issued.

Parameters and firmware blocks

 73

3.15 BRAKE COMMAND FW block: MECH BRAKE CTRL (page 148)

Brake on/off command. 0 = Close. 1 = Open. For brake on/off control, connect this signal to a relay
output (or a digital output). See section Mechanical brake control on page 52.

3.16 FLUX REF USED FW block: MOTOR CONTROL (page 151)

Used flux reference in percent.

3.17 TORQUE REF USED FW block: MOTOR CONTROL (page 151)

Used/limited torque reference in percent.

3.20 MAX SPEED REF FW block: LIMITS (page 109)

Maximum speed reference.

3.21 MIN SPEED REF FW block: LIMITS (page 109)

Minimum speed reference.

Parameters and firmware blocks

74

Group 06 DRIVE STATUS

06
6.01 STATUS WORD 1 FW block: DRIVE LOGIC (page 85)

Status word 1.
Bit Name Val. Information
0 READY 1 Drive is ready to receive start command.
0 Drive is not ready.
1 ENABLED 1 External run enable signal is received.
0 No external run enable signal is received.
2 STARTED 1 Drive has received start command.
0 Drive has not received start command.
3 RUNNING 1 Drive is modulating.
0 Drive is not modulating.
4 EM OFF (OFF2) 1 Emergency OFF2 is active.
0 Emergency OFF2 is inactive.
5 EM STOP 1 Emergency stop OFF3 (ramp stop) is active.
(OFF3) 0 Emergency OFF3 is inactive.
6 ACK STARTINH 1 Start inhibit is active.
0 Start inhibit is inactive.
7 ALARM 1 An alarm is active. See chapter Fault tracing.
0 No alarm
8 EXT2 ACT 1 External control EXT2 is active.
0 External control EXT1 is active.
9 LOCAL FB 1 Fieldbus local control is active.
0 Fieldbus local control is inactive.
10 FAULT 1 A fault is active. See chapter Fault tracing.
0 No fault
11 LOCAL PANEL 1 Local control is active, ie, drive is controlled from PC tool or con-
trol panel.
0 Local control is inactive.
12 NOT FAULTED 1 No fault
0 A fault is active. See chapter Fault tracing.
1315 Reserved

Parameters and firmware blocks

 75

6.02 STATUS WORD 2 FW block: DRIVE LOGIC (page 85)

Status word 2.
Bit Name Val. Information
0 START ACT 1 Drive start command is active.
0 Drive start command is inactive.
1 STOP ACT 1 Drive stop command is active.
0 Drive stop command is inactive.
2 READY RELAY 1 Ready to function: run enable signal on, no fault, emergency stop
signal off, no motor ID run inhibition. Connected by default to DIO1
by par. 12.04 DIO1 OUT PTR. (Can be freely connected anywhere.)
0 Not ready to function
3 MODULATING 1 Modulating: IGBTs are controlled, ie, the drive is RUNNING.
0 No modulation: IGBTs are not controlled.
4 REF RUNNING 1 Normal operation is enabled. Running. Drive follows the given
reference.
0 Normal operation is disabled, Drive is not following the given
reference (eg, in magnetisation phase drive is modulating).
5 JOGGING 1 Jogging function 1 or 2 is active.
0 Jogging function is inactive.
6 OFF1 1 Emergency stop OFF1 is active.
0 Emergency stop OFF1 is inactive.
7 START INH 1 Maskable (by par. 10.12 START INHIBIT) start inhibit is active.
MASK 0 No start inhibit (maskable)
8 START INH 1 Non-maskable start inhibit is active.
NOMASK 0 No start inhibit (non-maskable)
9 CHRG REL 1 Charging relay is closed.
CLOSED 0 Charging relay is open.
10 STO ACT 1 Safe Torque Off function is active. See parameter 46.07 STO DIAG-
NOSTIC.
0 Safe Torque Off function is inactive.
11 Reserved
12 RAMP IN 0 1 Ramp Function Generator input is forced to zero.
0 Normal operation
13 RAMP HOLD 1 Ramp Function Generator output is held.
0 Normal operation
14 RAMP OUT 0 1 Ramp Function Generator output is forced to zero.
0 Normal operation
15 DATA LOGGER 1 The drive data logger is on and has not been triggered.
ON 0 The drive data logger is off, or its post-trigger time has not yet
elapsed. See the DriveStudio user manual.

Parameters and firmware blocks

76

6.03 SPEED CTRL STAT FW block: DRIVE LOGIC (page 85)

Speed control status word.

Bit Name Val. Information
0 SPEED ACT 1 Actual speed is negative.
NEG
1 ZERO SPEED 1 Actual speed has reached the zero speed limit (22.05 ZERO
SPEED LIMIT).
2 ABOVE LIMIT 1 Actual speed has exceeded the supervision limit (22.07 ABOVE
SPEED LIM).
3 AT SETPOINT 1 Difference between 1.01 SPEED ACT and 3.03 SPEEDREF
RAMP IN (in speed control) or 3.05 SPEEDREF USED (in posi-
tion control) is within speed window (26.07 SPEED WINDOW).
4 BAL ACTIVE 1 Speed controller output balancing is active (28.09 SPEEDCTRL
BAL EN).
5 PI TUNE 1 Speed controller autotune is active.
ACTIVE
6 PI TUNE REQ 1 Speed controller autotune has been requested by parameter
28.16 PI TUNE MODE.
7 PI TUNE DONE 1 Speed controller autotune has been completed successfully.
815 Reserved

6.05 LIMIT WORD 1 FW block: DRIVE LOGIC (page 85)

Limit word 1.
Bit Name Val. Information
0 TORQ LIM 1 Drive torque is being limited by the motor control (undervoltage
control, overvoltage control, current limitation, load angle
limitation, or pull-out limitation), or by parameter 20.06 MAXIMUM
TORQUE or 20.07 MINIMUM TORQUE. The source of the
limitation is identified by 6.07 TORQ LIM STATUS.
1 SPD CTL TLIM 1 Speed controller output minimum torque limit is active. The limit is
MIN defined by parameter 28.10 MIN TORQ SP CTRL.
2 SPD CTL TLIM 1 Speed controller output maximum torque limit is active. The limit
MAX is defined by parameter 28.11 MAX TORQ SP CTRL.
3 TORQ REF MAX 1 Torque reference (3.09 TORQ REF1) maximum limit is active.
The limit is defined by parameter 32.04 MAXIMUM TORQ REF.
4 TORQ REF MIN 1 Torque reference (3.09 TORQ REF1) minimum limit is active. The
limit is defined by parameter 32.05 MINIMUM TORQ REF.
5 TLIM MAX 1 Torque reference maximum value is limited by the rush control,
SPEED because of maximum speed limit 20.01 MAXIMUM SPEED.
6 TLIM MIN 1 Torque reference minimum value is limited by the rush control,
SPEED because of minimum speed limit 20.02 MINIMUM SPEED.
715 Reserved

Parameters and firmware blocks

 77

6.07 TORQ LIM STATUS FW block: DRIVE LOGIC (page 85)

Torque controller limitation status word.

Bit Name Val. Information
0 UNDERVOLTAGE 1 Intermediate circuit DC undervoltage *
1 OVERVOLTAGE 1 Intermediate circuit DC overvoltage *
2 MINIMUM TORQUE 1 Torque reference minimum limit is active. The limit is
defined by parameter 20.07 MINIMUM TORQUE. *
3 MAXIMUM TORQUE 1 Torque reference maximum limit is active. The limit is
defined by parameter 20.06 MAXIMUM TORQUE. *
4 INTERNAL CURRENT 1 An inverter current limit is active. The limit is identified by
bits 811.
5 LOAD ANGLE 1 For permanent magnet motor only: Load angle limit is
active, ie, the motor cannot produce more torque.
6 MOTOR PULLOUT 1 For asynchronous motor only: Motor pull-out limit is active,
ie, the motor cannot produce more torque.
7 Reserved
8 THERMAL 1 Bit 4 = 0: Input current is limited by main circuit thermal
limit. Bit 4 = 1: Output current is limited by main circuit
thermal limit.
9 I2MAX CURRENT 1 Inverter output current limit is active. **
10 USER CURRENT 1 Maximum inverter output current limit is active. The limit is
defined by parameter 20.05 MAXIMUM CURRENT. **
1115 Reserved
* Only one of bits 03 can be on simultaneously. The bit typically indicates the limit that is
exceeded first.
** Only either 9 or 10 can be on simultaneously. The bit typically indicates the limit that is exceeded
first.

6.12 OP MODE ACK FW block: REFERENCE CTRL (page 145)

Operation mode acknowledge: 0 = Stopped, 1 = Speed, 2 = Torque, 3 = Min, 4 = Max, 5 = Add, 10 =

Scalar, 11 = Forced magn (ie, DC Hold).

6.14 SUPERV STATUS FW block: SUPERVISION (page 141)

Supervision status word. See also parameter group 33 (page 141).

Bit Name Val. Information
0 SUPERV FUNC1 1 Supervision function 1 is active (below low limit or over high
STATUS limit)
1 SUPERV FUNC2 1 Supervision function 2 is active (below low limit or over high
STATUS limit)
2 SUPERV FUNC3 1 Supervision function 3 is active (below low limit or over high
STATUS limit)
315 Reserved

Parameters and firmware blocks

78

Group 08 ALARMS & FAULTS

08
8.01 ACTIVE FAULT FW block: FAULT FUNCTIONS (page 158)

Fault code of the latest (active) fault.

8.02 LAST FAULT FW block: FAULT FUNCTIONS (page 158)

Fault code of the 2nd latest fault.

8.03 FAULT TIME HI FW block: FAULT FUNCTIONS (page 158)

Time (real time or power-on time) at which the active fault occurred in format dd.mm.yy
(=day.month.year).

8.04 FAULT TIME LO FW block: FAULT FUNCTIONS (page 158)

Time (real time or power-on time) at which the active fault occurred in format hh.mm.ss
(hours.minutes.seconds).

8.05 ALARM LOGGER 1 FW block: FAULT FUNCTIONS (page 158)

Alarm logger 1. For possible causes and remedies, see chapter Fault tracing. Can be reset by
entering a 0.

Bit Alarm
0 BRAKE START TORQUE
1 BRAKE NOT CLOSED
2 BRAKE NOT OPEN
3 SAFE TORQUE OFF
4 STO MODE CHANGE
5 MOTOR TEMP
6 EMERGENCY OFF
7 RUN ENABLE
8 ID-RUN
9 EMERGENCY STOP
10 POSITION SCALING
11 BR OVERHEAT
12 BC OVERHEAT
13 DEVICE OVERTEMP
14 INTBOARD OVERTEMP
15 BC MOD OVERTEMP

Parameters and firmware blocks

 79

8.06 ALARM LOGGER 2 FW block: FAULT FUNCTIONS (page 158)

Alarm logger 2. For possible causes and remedies, see chapter Fault tracing. Can be reset by
entering a 0.

Bit Alarm
0 IGBT OVERTEMP
1 FIELDBUS COMM
2 LOCAL CTRL LOSS
3 AI SUPERVISION
4 Reserved
5 NO MOTOR DATA
6 ENCODER 1 FAIL
7 ENCODER 2 FAIL
8 LATCH POS 1 FAIL
9 LATCH POS 2 FAIL
10 ENC EMUL FAILURE
11 FEN TEMP FAILURE
12 ENC MAX FREQ
13 ENC REF ERROR
14 RESOLVER ERR
15 ENCODER 1 CABLE

8.07 ALARM LOGGER 3 FW block: FAULT FUNCTIONS (page 158)

Alarm logger 3. For possible causes and remedies, see chapter Fault tracing. Can be reset by
entering a 0.

Bit Alarm
0 ENCODER 2 CABLE
1 D2D COMM
2 D2D BUF OVLOAD
3 PS COMM
4 RESTORE
5 CUR MEAS CALIB
6 AUTOPHASING
7 EARTH FAULT
8 Reserved
9 MOTOR NOM VALUE
10 D2D CONFIG
11 STALL
1214 Reserved
15 SPEED FEEDBACK

Parameters and firmware blocks

80

8.08 ALARM LOGGER 4 FW block: FAULT FUNCTIONS (page 158)

Alarm logger 4. For possible causes and remedies, see chapter Fault tracing. Can be reset by
entering a 0.

Bit Alarm
0 OPTION COMM LOSS
1 SOLUTION ALARM
25 Reserved
6 PROT. SET PASS
78 Reserved
9 DC NOT CHARGED
10 SPEED TUNE FAIL
1115 Reserved

8.09 ALARM LOGGER 5 FW block: FAULT FUNCTIONS (page 158)

Alarm logger 5. For possible causes and remedies, see chapter Fault tracing. Can be reset by
entering a 0.

Bit Alarm
015 Reserved

8.10 ALARM LOGGER 6 FW block: FAULT FUNCTIONS (page 158)

Alarm logger 6. For possible causes and remedies, see chapter Fault tracing. Can be reset by
entering a 0.

Bit Alarm
01 Reserved
2 LOW VOLT MOD CON
315 Reserved

Parameters and firmware blocks

 81

8.15 ALARM WORD 1 FW block: FAULT FUNCTIONS (page 158)

Alarm word 1. For possible causes and remedies, see chapter Fault tracing. This alarm word is
refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal.

Bit Alarm
0 BRAKE START TORQUE
1 BRAKE NOT CLOSED
2 BRAKE NOT OPEN
3 SAFE TORQUE OFF
4 STO MODE CHANGE
5 MOTOR TEMP
6 EMERGENCY OFF
7 RUN ENABLE
8 ID-RUN
9 EMERGENCY STOP
10 POSITION SCALING
11 BR OVERHEAT
12 BC OVERHEAT
13 DEVICE OVERTEMP
14 INTBOARD OVERTEMP
15 BC MOD OVERTEMP

8.16 ALARM WORD 2 FW block: FAULT FUNCTIONS (page 158)

Alarm word 2. For possible causes and remedies, see chapter Fault tracing. This alarm word is
refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal.

Bit Alarm
0 IGBT OVERTEMP
1 FIELDBUS COMM
2 LOCAL CTRL LOSS
3 AI SUPERVISION
4 Reserved
5 NO MOTOR DATA
6 ENCODER 1 FAIL
7 ENCODER 2 FAIL
8 LATCH POS 1 FAIL
9 LATCH POS 2 FAIL
10 ENC EMUL FAILURE
11 FEN TEMP FAILURE
12 ENC MAX FREQ
13 ENC REF ERROR
14 RESOLVER ERR
15 ENCODER 1 CABLE

Parameters and firmware blocks

82

8.17 ALARM WORD 3 FW block: FAULT FUNCTIONS (page 158)

Alarm word 3. For possible causes and remedies, see chapter Fault tracing. This alarm word is
refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal.

Bit Alarm
0 ENCODER 2 CABLE
1 D2D COMM
2 D2D BUF OVLOAD
3 PS COMM
4 RESTORE
5 CUR MEAS CALIB
6 AUTOPHASING
7 EARTH FAULT
8 Reserved
9 MOTOR NOM VALUE
10 D2D CONFIG
11 STALL
1214 Reserved
15 SPEED FEEDBACK

8.18 ALARM WORD 4 FW block: FAULT FUNCTIONS (page 158)

Alarm word 4. For possible causes and remedies, see chapter Fault tracing. This alarm word is
refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal.

Bit Alarm
0 OPTION COMM LOSS
1 SOLUTION ALARM
25 Reserved
6 PROT. SET PASS
78 Reserved
9 DC NOT CHARGED
10 SPEED TUNE FAIL
1115 Reserved

Parameters and firmware blocks

 83

Group 09 SYSTEM INFO

09
9.01 DRIVE TYPE FW block: None

Displays the drive application type.

(1) ACSM1 Speed: Speed and torque control application

9.02 DRIVE RATING ID FW block: None

Displays the inverter type of the drive.

(0) Unconfigured, (1) ACSM1-xxAx-02A5-4, (2) ACSM1-xxAx-03A0-4, (3) ACSM1-xxAx-04A0-4,
(4) ACSM1-xxAx-05A0-4, (5) ACSM1-xxAx-07A0-4, (6) ACSM1-xxAx-09A5-4,
(7) ACSM1-xxAx-012A-4, (8) ACSM1-xxAx-016A-4, (9) ACSM1-xxAx-024A-4,
(10) ACSM1-xxAx-031A-4, (11) ACSM1-xxAx-040A-4, (12) ACSM1-xxAx-046A-4,
(13) ACSM1-xxAx-060A-4, (14) ACSM1-xxAx-073A-4, (15) ACSM1-xxAx-090A-4,
(20) ACSM1-xxAx-110A-4, (21) ACSM1-xxAx-135A-4, (22) ACSM1-xxAx-175A-4,
(23) ACSM1-xxAx-210A-4, (24) ACSM1-xxCx-024A-4, (25) ACSM1-xxCx-031A-4,
(26) ACSM1-xxCx-040A-4, (27) ACSM1-xxCx-046A-4, (28) ACSM1-xxCx-060A-4,
(29) ACSM1-xxCx-073A-4, (30) ACSM1-xxCx-090A-4, (31) ACSM1-xxLx-110A-4,
(32) ACSM1-xxLx-135A-4, (33) ACSM1-xxLx-175A-4, (34) ACSM1-xxLx-210A-4,
(35) ACSM1-xxLx-260A-4

9.03 FIRMWARE ID FW block: None

Displays the firmware name, eg, UMFI.

9.04 FIRMWARE VER FW block: None

Displays the version of the firmware package in the drive, eg, NNNN hex.

9.05 FIRMWARE PATCH FW block: None

Displays the version of the firmware patch in the drive.

9.10 INT LOGIC VER FW block: None

Displays the version of the logic in the power unit interface.

9.11 SLOT 1 VIE NAME FW block: None

Read-only. Shows the VIE name of the module in slot 1. Value is EMPTY if there is no module.

9.12 SLOT 1 VIE VER FW block: None

Read-only. Shows the VIE version of the module in slot 1, eg, NNNN hex.

9.13 SLOT 2 VIE NAME FW block: None

Read-only. Shows the VIE name of the module in slot 2. Value is EMPTY if there is no module.

9.14 SLOT 2 VIE VER FW block: None

Read-only. Shows the VIE version of the module in slot 2, eg, NNNN hex.

Parameters and firmware blocks

84

9.20 OPTION SLOT 1 FW block: None

Displays the type of the optional module in option Slot 1.

(0) NO OPTION, (1) NO COMM, (2) UNKNOWN, (3) FEN-01, (4) FEN-11, (5) FEN-21, (6) FIO-01,
(7) FIO-11, (8) FPBA-01, (9) FPBA-02, (10) FCAN-01, (11) FDNA-01, (12) FENA-01, (13) FENA-11,
(14) FLON-01, (15) FRSA-00, (16) FMBA-01, (17) FFOA-01, (18) FFOA-02, (19) FSEN-01,
(20) FEN-31, (21) FIO-21, (22) FSCA-01, (23) FSEA-21, (24) FIO-31, (25) FECA-01, (26) FENA-21,
(27) FB COMMON, (28) FMAC-01, (29) FEPL-01, (30) FCNA-01

9.21 OPTION SLOT 2 FW block: None

Displays the type of the optional module in option Slot 2. See 9.20 OPTION SLOT 1.

9.22 OPTION SLOT 3 FW block: None

Displays the type of the optional module in option Slot 3. See 9.20 OPTION SLOT 1.

Parameters and firmware blocks

 85

Group 10 START/STOP
Settings for
selecting start/stop/direction signal sources for external control locations EXT1
and EXT2
selecting sources for external fault reset, run enable and start enable signals
selecting sources for emergency stop (OFF1 and OFF3)
selecting source for jogging function activation signal
enabling the start inhibit function.
See also section Jogging on page 47.

10
Firmware block: DRIVE LOGIC
21

DRIVE LOGIC TLF10 2 msec (3)

(10) 2.18 D2D FOLLOWER CW

6.01 STATUS WORD 1
This block 6.02 STATUS WORD 2

selects the sources for the start/ 6.03 SPEED CTRL STAT

stop/direction signals for external 6.05 LIMIT WORD 1

control locations EXT1 and EXT2 6.07 TORQ LIM STATUS

6.09 POS CTRL STATUS
selects the sources for external
6.10 POS CTRL STATUS2
fault reset, run enable and start
6.11 POS CORR STATUS
enable signals
selects the sources for emergency
[ In1 ]
10.01 EXT1 START FUNC
[ DI STATUS.0 ]
stop (OFF1 and OFF3) (2 / 2.01.DI1)
[ FALSE ]
< 10.02 EXT1 START IN1

selects the source for jogging [ In1 ]

< 10.03 EXT1 START IN2

activation signal [ DI STATUS.0 ]

10.04 EXT2 START FUNC
< 10.05 EXT2 START IN1
enables the start inhibit function. (2 / 2.01.DI1)
[ FALSE ]
< 10.06 EXT2 START IN2
[ FALSE ]
< 10.07 JOG1 START
[ DI STATUS.2 ]
(2 / 2.01.DI3)
< 10.08 FAULT RESET SEL
[ TRUE ]
< 10.09 RUN ENABLE
[ TRUE ]
< 10.10 EM STOP OFF3
[ TRUE ]
< 10.11 EM STOP OFF1
[ Disabled ]
10.12 START INHIBIT
[ FBA MAIN CW ]
(4 / 2.12)
< 10.13 FB CW USED
[ FALSE ]
< 10.14 JOG2 START
[ FALSE ]
< 10.15 JOG ENABLE
[ D2D MAIN CW ]
(4 / 2.17)
< 10.16 D2D CW USED
[ TRUE ]
< 10.17 START ENABLE

Block outputs located in other 2.18 D2D FOLLOWER CW (page 71)

parameter groups 6.01 STATUS WORD 1 (page 74)
6.02 STATUS WORD 2 (page 75)
6.03 SPEED CTRL STAT (page 76)
6.05 LIMIT WORD 1 (page 76)
6.07 TORQ LIM STATUS (page 77)
Outputs 6.096.11 are not used with the Speed and Torque Control
Program.

Parameters and firmware blocks

86

10.01 EXT1 START FUNC FW block: DRIVE LOGIC (see above)

Selects the source for the start and stop control in external control location EXT1.
Note: This parameter cannot be changed while the drive is running.

(0) Not sel No source selected.

(1) In1 Source of the start and stop commands are selected by parameter
10.02 EXT1 START IN1. The start/stop is controlled as follows:
Par. 10.02 Command
0 -> 1 Start
1 -> 0 Stop

(2) 3-wire Source of the start and stop commands are selected by parameters
10.02 EXT1 START IN1 and 10.03 EXT1 START IN2. The start/stop is
controlled as follows:
Par. 10.02 Par. 10.03 Command
0 -> 1 1 Start
Any 1 -> 0 Stop
Any 0 Stop

(3) FBA Start and stop control from the source selected by parameter 10.13 FB
CW USED.

(4) D2D Start and stop control from another drive via D2D Control Word.

(5) IN1 F IN2R The source selected by 10.02 EXT1 START IN1 is the forward start
signal, the source selected by 10.03 EXT1 START IN2 is the reverse
start signal.
Par. 10.02 Par. 10.03 Command
0 0 Stop
1 0 Start forward
0 1 Start reverse
1 1 Stop

(6) IN1S IN2DIR The source selected by 10.02 EXT1 START IN1 is the start signal
(0 = stop, 1 = start), the source selected by 10.03 EXT1 START IN2 is
the direction signal (0 = forward, 1 = reverse).

10.02 EXT1 START IN1 FW block: DRIVE LOGIC (see above)

Selects the source 1 for the start and stop commands in external control location EXT1. See
parameter 10.01 EXT1 START FUNC selections (1) In1 and (2) 3-wire.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

10.03 EXT1 START IN2 FW block: DRIVE LOGIC (see above)

Selects the source 2 for the start and stop commands in external control location EXT1. See
parameter 10.01 EXT1 START FUNC selection (2) 3-wire.
Note: This parameter cannot be changed while the drive is running.

Parameters and firmware blocks

 87

Bit pointer: Group, index and bit

10.04 EXT2 START FUNC FW block: DRIVE LOGIC (see above)

Selects the source for the start and stop control in external control location EXT2.
Note: This parameter cannot be changed while the drive is running.

(0) Not sel No source selected.

(1) In1 Source of the start and stop commands are selected by parameter
10.05 EXT2 START IN1. The start/stop is controlled as follows:
Par. 10.05 Command
0 -> 1 Start
1 -> 0 Stop

(2) 3-wire Source of the start and stop commands are selected by parameters
10.05 EXT2 START IN1 and 10.06 EXT2 START IN2. The start/stop is
controlled as follows:
Par. 10.05 Par. 10.06 Command
0 -> 1 1 Start
Any 1 -> 0 Stop
Any 0 Stop

(3) FBA Start and stop control from the source selected by parameter 10.13 FB
CW USED.

(4) D2D Start and stop control from another drive via D2D Control Word.

(5) IN1 F IN2R The source selected by 10.05 EXT2 START IN1 is the forward start
signal, the source selected by 10.06 EXT2 START IN2 is the reverse
start signal.
Par. 10.05 Par. 10.06 Command
0 0 Stop
1 0 Start forward
0 1 Start reverse
1 1 Stop

(6) IN1S IN2DIR The source selected by 10.05 EXT2 START IN1 is the start signal
(0 = stop, 1 = start), the source selected by 10.06 EXT2 START IN2 is
the direction signal (0 = forward, 1 = reverse).

10.05 EXT2 START IN1 FW block: DRIVE LOGIC (see above)

Selects the source 1 for the start and stop commands in external control location EXT2. See
parameter 10.04 EXT2 START FUNC selections (1) In1 and (2) 3-wire.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

Parameters and firmware blocks

88

10.06 EXT2 START IN2 FW block: DRIVE LOGIC (see above)

Selects the source 2 for the start and stop commands in external control location EXT2. See
parameter 10.04 EXT2 START FUNC selection (2) 3-wire.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

10.07 JOG1 START FW block: DRIVE LOGIC (see above)

If enabled by parameter 10.15 JOG ENABLE, selects the source for the activation of jogging function
1. 1 = Active. (Jogging function 1 can also be activated through fieldbus regardless of parameter
10.15.)
See section Jogging on page 47. See also other jogging function parameters: 10.14 JOG2 START,
10.15 JOG ENABLE, 24.03 SPEED REF1 IN / 24.04 SPEED REF2 IN, 24.10 SPEED REF JOG1,
24.11 SPEED REF JOG2, 25.09 ACC TIME JOGGING, 25.10 DEC TIME JOGGING and 22.06 ZERO
SPEED DELAY.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

10.08 FAULT RESET SEL FW block: DRIVE LOGIC (see above)

Selects the source for the external fault reset signal. The signal resets the drive after a fault trip if the
cause of the fault no longer exists. 1 = Fault reset.

Bit pointer: Group, index and bit

10.09 RUN ENABLE FW block: DRIVE LOGIC (see above)

Selects the source for the run enable signal. If the run enable signal is switched off, the drive will not
start or stops if the drive is running. 1 = Run enable.
See also parameter 10.17 START ENABLE.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

10.10 EM STOP OFF3 FW block: DRIVE LOGIC (see above)

Selects the source for the emergency stop OFF3. 0 = OFF3 active: The drive is stopped along the
emergency stop ramp time, 25.11 EM STOP TIME.
Emergency stop can also be activated through fieldbus (2.12 FBA MAIN CW).
See section Emergency stop on page 56.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

10.11 EM STOP OFF1 FW block: DRIVE LOGIC (see above)

Selects the source for the emergency stop OFF1. 0 = OFF1 active: The drive is stopped with the
active deceleration time.
Emergency stop can also be activated through fieldbus (2.12 FBA MAIN CW).
See section Emergency stop on page 56.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

Parameters and firmware blocks

 89

10.12 START INHIBIT FW block: DRIVE LOGIC (see above)

Enables the start inhibit function. The start inhibit function prevents drive restart (ie, protects against
unexpected start) if
drive trips on a fault and fault is reset.
run enable signal activates while the start command is active. See parameter 10.09 RUN ENABLE.
control changes from local to remote.
external control switches from EXT1 to EXT2 or from EXT2 to EXT1.
An active start inhibit can be reset with a stop command.
Note that in certain applications it is necessary to allow the drive to restart.

(0) Disabled Start inhibit function disabled.

(1) Enabled Start inhibit function enabled.

10.13 FB CW USED FW block: DRIVE LOGIC (see above)

Selects the source for the control word when fieldbus (FBA) is selected as the external start and stop
control location (see parameters 10.01 EXT1 START FUNC and 10.04 EXT2 START FUNC). By
default, the source is parameter 2.12 FBA MAIN CW.
Note: This parameter cannot be changed while the drive is running.

Value pointer: Group and index

10.14 JOG2 START FW block: DRIVE LOGIC (see above)

If enabled by parameter 10.15 JOG ENABLE, selects the source for the activation of jogging function
2. 1 = Active. (Jogging function 2 can also be activated through fieldbus regardless of parameter
10.15.)
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

10.15 JOG ENABLE FW block: DRIVE LOGIC (see above)

Selects the source for enabling parameters 10.07 JOG1 START and 10.14 JOG2 START.
Note: Jogging can be enabled using this parameter only when no start command from an external
control location is active. On the other hand, if jogging is already enabled, the drive cannot be started
from an external control location apart from jog commands through fieldbus.

Bit pointer: Group, index and bit

10.16 D2D CW USED FW block: DRIVE LOGIC (see above)

Selects the source for the control word for drive-to-drive communication. By default, the source is
parameter 2.17 D2D MAIN CW.

Value pointer: Group and index

Parameters and firmware blocks

90

10.17 START ENABLE FW block: DRIVE LOGIC (see above)

Selects the source for the start enable signal. If the start enable signal is switched off, the drive will not
start or stops if the drive is running. 1 = Start enable.
Note: This parameter cannot be changed while the drive is running.
Note: Functionality of the Start enable signal is different from the Run enable signal.
Example: External damper control application using Start enable and Run enable. Motor can start
only after the damper is fully open.

Drive started

Start/Stop commands
(group 10)

Start enable signal (10.17)

Started (6.01 STATUS

WORD 1 bit 2)
Damper open

Damper
closed
Damper status
Damper Damper
opening closing
time time
Run enable signal from the
damper end switch when the
damper is fully opened
(10.09)

Motor speed

Acceleration Deceleration
time (25.03) time (25.04)

Bit pointer: Group, index and bit

Parameters and firmware blocks

 91

Group 11 START/STOP MODE

These parameters select the start and stop functions as well as the autophasing
mode, define the DC magnetising time of the motor, and configure the DC hold
function.

11
Firmware block: START/STOP MODE
22

START/STOP MODE [ Const time ]

TLF10 2 msec (4)

11.01 START MODE

(11) [ 500 ms ]
11.02 DC MAGN TIME
[ Ramp ]
11.03 STOP MODE
[ 5.0 rpm ]
11.04 DC HOLD SPEED
[ 30 % ]
11.05 DC HOLD CUR REF
[ Disabled ]
11.06 DC HOLD
[ Turning ]
11.07 AUTOPHASING MODE

11.01 START MODE FW block: START/STOP MODE (see above)

Selects the motor start function.

Notes:
This parameter has no effect if parameter 99.05 MOTOR CTRL MODE is set to (1) Scalar.
Starting to a rotating machine is not possible when DC magnetising is selected ((0) Fast or (1) Const
time).
With permanent magnet motors, automatic start must be used.
This parameter cannot be changed while the drive is running.

(0) Fast DC magnetising should be selected if a high break-away torque is

required. The drive pre-magnetises the motor before the start. The
pre-magnetising time is determined automatically, being typically 200
ms to 2 s depending on the motor size.

(1) Const time Constant DC magnetising should be selected instead of FAST DC

magnetising if a constant pre-magnetising time is required (eg, if the
motor start must be simultaneous with a mechanical brake release).
This selection also guarantees the highest possible break-away
torque when the pre-magnetising time is set long enough. The pre-
magnetising time is defined by parameter 11.02 DC MAGN TIME.
WARNING! The drive will start after the set magnetising time
has passed even if motor magnetisation is not completed. In
applications where a full break-away torque is essential,
ensure that the constant magnetising time is long enough to allow
generation of full magnetisation and torque.

(2) Automatic Automatic start guarantees optimal motor start in most cases. It
includes the flying start function (starting to a rotating machine) and
the automatic restart function (stopped motor can be restarted
immediately without waiting the motor flux to die away). The drive
motor control program identifies the flux as well as the mechanical
state of the motor and starts the motor instantly under all conditions.

Parameters and firmware blocks

92

11.02 DC MAGN TIME FW block: START/STOP MODE (see above)

Defines the constant DC magnetising time. See parameter 11.01 START MODE. After the start
command, the drive automatically premagnetises the motor the set time.
To ensure full magnetising, set this value to the same value as or higher than the rotor time constant.
If not known, use the rule-of-thumb value given in the table below:

Motor rated power Constant magnetising time

< 1 kW > 50 to 100 ms
1 to 10 kW > 100 to 200 ms
10 to 200 kW > 200 to 1000 ms
200 to 1000 kW > 1000 to 2000 ms

Note: This parameter cannot be changed while the drive is running.

010000 ms DC magnetising time.

11.03 STOP MODE FW block: START/STOP MODE (see above)

Selects the motor stop function.

(1) Coast Stop by cutting of the motor power supply. The motor coasts to a stop.
WARNING! If the mechanical brake is used, ensure it is safe
to stop the drive by coasting. For more information on
mechanical brake function, see parameter group 35.

(2) Ramp Stop along ramp. See parameter group 25.

11.04 DC HOLD SPEED FW block: START/STOP MODE (see above)

Defines the DC hold speed. See parameter 11.06 DC HOLD.

01000 rpm DC hold speed.

11.05 DC HOLD CUR REF FW block: START/STOP MODE (see above)

Defines the DC hold current in percent of the motor nominal current. See parameter 11.06 DC HOLD.

0100% DC hold current.

Parameters and firmware blocks

 93

11.06 DC HOLD FW block: START/STOP MODE (see above)

Enables the DC hold function. The function makes it possible to lock the rotor at zero speed.
When both the reference and the speed drop below the value of parameter 11.04 DC HOLD SPEED,
the drive will stop generating sinusoidal current and start to inject DC into the motor. The current is set
by parameter 11.05 DC HOLD CUR REF. When the reference speed exceeds parameter 11.04 DC
HOLD SPEED, normal drive operation continues.

Motor speed DC Hold

t
Reference

11.04 DC HOLD SPEED

t

Notes:
The DC hold function has no effect if the start signal is switched off.
The DC hold function can only be activated in speed control mode.
The DC hold function cannot be activated if par. 99.05 MOTOR CTRL MODE is set to (1) Scalar.
Injecting DC current into the motor causes the motor to heat up. In applications where long DC hold
times are required, externally ventilated motors should be used. If the DC hold period is long, the
DC hold cannot prevent the motor shaft from rotating if a constant load is applied to the motor.

Bit pointer: Group and index and bit

(0) Disabled DC hold function disabled.

(1) Enabled DC hold function enabled.

11.07 AUTOPHASING MODE FW block: START/STOP MODE (see above)

Selects the way the autophasing routine is performed. See also section Autophasing on page 39.

(0) Turning This mode gives the most accurate autophasing result. This mode can
be used, and is recommended if it is allowed for the motor to rotate
and the start-up is not time-critical. Note: This mode will cause the
motor to rotate during the motor ID run.

(1) Standstill 1 Faster than the (0) Turning mode, but not as accurate. The motor will
not rotate.

(2) Standstill 2 An alternative standstill autophasing mode that can be used if the
TURNING mode cannot be used, and the (1) Standstill 1 mode gives
erratic results. However, this mode is considerably slower than (1)
Standstill 1.

Parameters and firmware blocks

94

Group 12 DIGITAL IO
Settings for the digital inputs and outputs, and the relay output.

12
Firmware block: DIO1
18

DIO1 TLF7 2 msec (3)

(6) 2.03 DIO STATUS

2.03
Bit 0

[ Output ]
Selects whether DIO1 is used as a [ STATUS WORD 2.2 ]
12.01 DIO1 CONF
< 12.04 DIO1 OUT PTR
digital input or as a digital output and (4 / 6.02.READY RELAY)

connects an actual signal to the

digital output. The block also shows
the DIO status.

Block outputs located in other 2.03 DIO STATUS (page 66)

parameter groups

Firmware block: DIO2

19

DIO2 TLF7 2 msec (4)

(7) 2.03 DIO STATUS

2.03
Bit 1
2.10 DIO2 FREQ IN
Selects whether DIO2 is used as a [ Output ]
12.02 DIO2 CONF
digital or frequency input or as a [ STATUS WORD 2.3 ]
< 12.05 DIO2 OUT PTR
digital output and connects an actual (4 / 6.02.MODULATING)
[ 1000 Hz ]
12.14 DIO2 F MAX
signal to the digital output. The block [ 3 Hz ]
12.15 DIO2 F MIN
also shows the DIO status. [ 1500 ]
12.16 DIO2 F MAX SCALE
Frequency input can be scaled with [ 0]
12.17 DIO2 F MIN SCALE
standard function blocks. See chapter
Standard function blocks.

Block outputs located in other 2.03 DIO STATUS (page 66)

parameter groups 2.10 DIO2 FREQ IN (page 66)

Firmware block: DIO3

20

DIO3 TLF7 2 msec (5)

(8) 2.03 DIO STATUS

2.03
Bit 2

2.11 DIO3 FREQ OUT

Selects whether DIO3 is used as a [ Output ]
12.03 DIO3 CONF
digital input or as a digital/frequency [ STATUS WORD 1.10 ]
< 12.06 DIO3 OUT PTR
output, connects an actual signal to (4 / 6.01.FAULT)
[ SPEED ACT ]
< 12.07 DIO3 F OUT PTR
the digital/frequency output and (7 / 1.01)
[ 1000 Hz ]
12.08 DIO3 F MAX
scales the frequency output. The [ 3 Hz ]
12.09 DIO3 F MIN
block also shows the DIO status. [ 1500 ]
12.10 DIO3 F MAX SCALE
[ 0]
12.11 DIO3 F MIN SCALE

Block outputs located in other 2.03 DIO STATUS (page 66)

parameter groups 2.11 DIO3 FREQ OUT (page 66)

12.01 DIO1 CONF FW block: DIO1 (see above)

Selects whether DIO1 is used as a digital input or as a digital output.

(0) Output DIO1 is used as a digital output.

(1) Input DIO1 is used as a digital input.

Parameters and firmware blocks

 95

12.02 DIO2 CONF FW block: DIO2 (see above)

Selects whether DIO2 is used as a digital input, as a digital output or as a frequency input.

(0) Output DIO2 is used as a digital output.

(1) Input DIO2 is used as a digital input.

(2) Freq input DIO2 is used as a frequency input.

12.03 DIO3 CONF FW block: DIO3 (see above)

Selects whether DIO3 is used as a digital input, as a digital output or as a frequency output.

(0) Output DIO2 is used as a digital output.

(1) Input DIO2 is used as a digital input.

(2) Freq output DIO2 is used as a frequency output.

12.04 DIO1 OUT PTR FW block: DIO1 (see above)

Selects a drive signal to be connected to digital output DIO1 (when 12.01 DIO1 CONF is set to (0)
Output).

Bit pointer: Group, index and bit

12.05 DIO2 OUT PTR FW block: DIO2 (see above)

Selects a drive signal to be connected to digital output DIO2 (when 12.02 DIO2 CONF is set to (0)
Output).

Bit pointer: Group, index and bit

12.06 DIO3 OUT PTR FW block: DIO3 (see above)

Selects a drive signal to be connected to digital output DIO3 (when 12.03 DIO3 CONF is set to (0)
Output).

Bit pointer: Group, index and bit

12.07 DIO3 F OUT PTR FW block: DIO3 (see above)

Selects a drive signal to be connected to frequency output (when 12.03 DIO3 CONF is set to (2) Freq
output).

Value pointer: Group and index

12.08 DIO3 F MAX FW block: DIO3 (see above)

When 12.03 DIO3 CONF is set to (2) Freq output, defines the maximum DIO3 output frequency.

332768 Hz Maximum DIO3 output frequency.

12.09 DIO3 F MIN FW block: DIO3 (see above)

When 12.03 DIO3 CONF is set to (2) Freq output, defines the minimum DIO3 output frequency.

332768 Hz Minimum DIO3 output frequency.

Parameters and firmware blocks

96

12.10 DIO3 F MAX SCALE FW block: DIO3 (see above)

When 12.03 DIO3 CONF is set to (2) Freq output, defines the real value of the signal (selected by
parameter 12.07 DIO3 F OUT PTR) that corresponds to the maximum DIO3 frequency output value
(defined by parameter 12.08 DIO3 F MAX).

fDIO3 (Hz) fDIO3 (Hz)

12.08
12.08

12.09
12.09

12.11 12.10 Signal (real) 12.10 12.11 Signal (real)

selected by selected by
par. 12.07 par. 12.07

032768 Real signal value corresponding to maximum DIO3 output frequency.

12.11 DIO3 F MIN SCALE FW block: DIO3 (see above)

When 12.03 DIO3 CONF is set to (2) Freq output, defines the real value of the signal (selected by
parameter 12.07 DIO3 F OUT PTR) that corresponds to the minimum DIO3 frequency output value
(defined by parameter 12.09 DIO3 F MIN).

032768 Real signal value corresponding to minimum DIO3 output frequency.

Firmware block: RO
17

RO TLF7 2 msec (2)

(5) 2.02 RO STATUS

[ BRAKE COMMAND.0 ]
Connects an actual signal to the relay (4 / 3.15.0)
< 12.12 RO1 OUT PTR

output. The block also shows the

relay output status.

Block outputs located in other 2.02 RO STATUS (page 66)

parameter groups

12.12 RO1 OUT PTR FW block: RO (see above)

Selects a drive signal to be connected to relay output RO1.

Bit pointer: Group, index and bit

Firmware block: DI
16

DI TLF7 2 msec (1)

(4) 2.01 DI STATUS

[ 00 0000 ]
Shows the status of the digital inputs. 12.13 DI INVERT MASK

Inverts the status of any DI if desired.

Block outputs located in other 2.01 DI STATUS (page 66)

parameter groups

Parameters and firmware blocks

 97

12.13 DI INVERT MASK FW block: DI (see above)

Inverts status of digital inputs as reported by 2.01 DI STATUS. For example, a value of 0b000100
inverts the status of DI3 in the signal.

0b0000000b111111 DI status inversion mask.

12.14 DIO2 F MAX FW block: DIO2 (see above)

Defines the maximum input frequency for DIO2 when 12.02 DIO2 CONF is set to (2) Freq input.
The frequency signal connected to DIO2 is scaled into an internal signal (2.10 DIO2 FREQ IN) by
parameters 12.1412.17 as follows:
2.10 DIO2 FREQ IN

12.16

12.17

12.15 12.14 fDIO2 (Hz)

332768 Hz DIO2 maximum frequency.

12.15 DIO2 F MIN FW block: DIO2 (see above)

Defines the minimum input frequency for DIO2 when 12.02 DIO2 CONF is set to (2) Freq input. See
parameter 12.14 DIO2 F MAX

332768 Hz DIO2 minimum frequency.

12.16 DIO2 F MAX SCALE FW block: DIO2 (see above)

Defines the value that corresponds to the maximum input frequency defined by parameter 12.14 DIO2
F MAX. See parameter 12.14 DIO2 F MAX.

-3276832768 Scaled value corresponding to DIO2 maximum frequency.

12.17 DIO2 F MIN SCALE FW block: DIO2 (see above)

Defines the value that corresponds to the minimum input frequency defined by parameter 12.15 DIO2
F MIN. See parameter 12.14 DIO2 F MAX.

-3276832768 Scaled value corresponding to DIO2 minimum frequency.

Parameters and firmware blocks

98

Group 13 ANALOGUE INPUTS

Settings for the analogue inputs.
The drive offers two programmable analogue inputs, AI1 and AI2. Both inputs can be
used either as a voltage or a current input (-1111 V or -2222 mA). The input type
is selected with jumpers J1 and J2 respectively on the JCU Control Unit.
The inaccuracy of the analogue inputs is 1% of the full scale range and the
resolution is 11 bits (+ sign). The hardware filter time constant is approximately 0.25
ms.
Analogue inputs can be used as the source for speed and torque reference.
Analogue input supervision can be added with standard function blocks. See chapter
Standard function blocks.

13
Firmware block: AI1
23

AI1 TLF7 2 msec (6)

(12) 2.04 AI1

2.05 AI1 SCALED
Filters and scales the analogue input [ 0.000 s ]
13.01 AI1 FILT TIME
AI1 signal and selects the AI1 [ 10.000 mA ]
13.02 AI1 MAX
supervision. Also shows the value of [ -10.000 mA ]
13.03 AI1 MIN
the input. [ 1500.000 ]
13.04 AI1 MAX SCALE
[ -1500.000 ]
13.05 AI1 MIN SCALE

Block outputs located in other 2.04 AI1 (page 66)

parameter groups 2.05 AI1 SCALED (page 66)

13.01 AI1 FILT TIME FW block: AI1 (see above)

Defines the filter time constant for analogue input AI1.

%
Unfiltered signal O = I (1 - e-t/T)
100
I = filter input (step)
63 O = filter output
Filtered signal t = time
T = filter time constant
t
T

Note: The signal is also filtered due to the signal interface hardware (approximately 0.25 ms time
constant). This cannot be changed by any parameter.

030 s Filter time constant for AI1.

13.02 AI1 MAX FW block: AI1 (see above)

Defines the maximum value for analogue input AI1. The type is selected with jumper J1 on the JCU
Control Unit.

-1111 V / -2222 mA Maximum AI1 input value.

Parameters and firmware blocks

 99

13.03 AI1 MIN FW block: AI1 (see above)

Defines the minimum value for analogue input AI1. The type is selected with jumper J1 on the JCU
Control Unit.

-1111 V / -2222 mA Minimum AI1 input value.

13.04 AI1 MAX SCALE FW block: AI1 (see above)

Defines the real value that corresponds to the maximum analogue input value defined by parameter
13.02 AI1 MAX.

AI (scaled)

13.04

13.03
13.02 AI (mA / V)

13.05

-3276832768 Real value corresponding to value of parameter 13.02.

13.05 AI1 MIN SCALE FW block: AI1 (see above)

Defines the real value that corresponds to the minimum analogue input value defined by parameter
13.03 AI1 MIN. See parameter 13.04 AI1 MAX SCALE.

-3276832768 Real value corresponding to value of parameter 13.03.

Firmware block: AI2

24

AI2 TLF7 2 msec (7)

(13) 2.06 AI2

2.07 AI2 SCALED
Filters and scales the analogue input [ 0.000 s ]
13.06 AI2 FILT TIME
AI2 signal and selects the AI2 [ 10.000 mA ]
13.07 AI2 MAX
supervision. Also shows the value of [ -10.000 mA ]
13.08 AI2 MIN
the input. [ 100.000 ]
13.09 AI2 MAX SCALE
[ -100.000 ]
13.10 AI2 MIN SCALE

Block outputs located in other 2.06 AI2 (page 66)

parameter groups 2.07 AI2 SCALED (page 66)

13.06 AI2 FILT TIME FW block: AI2 (see above)

Defines the filter time constant for analogue input AI2. See parameter 13.01 AI1 FILT TIME.

030 s Filter time constant for AI2.

Parameters and firmware blocks

100

13.07 AI2 MAX FW block: AI2 (see above)

Defines the maximum value for analogue input AI2. The type is selected with jumper J2 on the JCU
Control Unit.

-1111 V / -2222 mA Maximum AI2 input value.

13.08 AI2 MIN FW block: AI2 (see above)

Defines the minimum value for analogue input AI2. The type is selected with jumper J2 on the JCU
Control Unit.

-1111 V / -2222 mA Minimum AI2 input value.

13.09 AI2 MAX SCALE FW block: AI2 (see above)

Defines the real value that corresponds to the maximum analogue input value defined by parameter
13.07 AI2 MAX.

AI (scaled)

13.09

13.08
13.07 AI (mA / V)

13.10

-3276832768 Real value corresponding to value of parameter 13.07.

13.10 AI2 MIN SCALE FW block: AI2 (see above)

Defines the real value that corresponds to the minimum analogue input value defined by parameter
13.08 AI2 MIN. See parameter 13.09 AI2 MAX SCALE.

-3276832768 Real value corresponding to value of parameter 13.08.

13.11 AITUNE FW block: None

Triggers the AI tuning function.

Connect the signal to the input and select the appropriate tuning function.

(0) No action AI tune is not activated.

(1) AI1 min tune Current analogue input AI1 signal value is set as minimum value for
AI1, parameter 13.03 AI1 MIN. The value reverts back to (0) No action
automatically.

(2) AI1 max tune Current analogue input AI1 signal value is set as maximum value for
AI1, parameter 13.02 AI1 MAX. The value reverts back to (0) No
action automatically.

Parameters and firmware blocks

 101

(3) AI2 min tune Current analogue input AI2 signal value is set as minimum value for
AI2, parameter 13.08 AI2 MIN. The value reverts back to (0) No action
automatically.

(4) AI2 max tune Current analogue input AI2 signal value is set as maximum value for
AI2, parameter 13.07 AI2 MAX. The value reverts back to (0) No
action automatically.

13.12 AI SUPERVISION FW block: None

Selects how the drive reacts when analogue input signal limit is reached. The limit is selected by
parameter 13.13 AI SUPERVIS ACT.

(0) No No action taken.

(1) Fault The drive trips on fault AI SUPERVISION.

(2) Spd ref Safe The drive generates alarm AI SUPERVISION and sets the speed to
the speed defined by parameter 46.02 SPEED REF SAFE.
WARNING! Make sure that it is safe to continue operation in
case of a communication break.

(3) Last speed The drive generates alarm AI SUPERVISION and freezes the speed
to the level the drive was operating at. The speed is determined by the
average speed over the previous 10 seconds.
WARNING! Make sure that it is safe to continue operation in
case of a communication break.

13.13 AI SUPERVIS ACT FW block: None

Selects the analogue input signal supervision limit.

Bit Supervision selected by parameter 13.12 AI SUPERVISION is activated if

0 AI1<min AI1 signal value falls below the value defined by equation:
par. 13.03 AI1 MIN - 0.5 mA or V
1 AI1>max AI1 signal value exceeds the value defined by equation:
par. 13.02 AI1 MAX + 0.5 mA or V
2 AI2<min AI2 signal value falls below the value defined by equation:
par. 13.08 AI2 MIN - 0.5 mA or V
3 AI2>max AI2 signal value exceeds the value defined by equation:
par. 13.07 AI2 MAX + 0.5 mA or V

Example: If parameter value is set to 0010 (bin), bit 1 AI1>max is selected.

0b00000b1111 AI1/AI2 signal supervision selection.

Parameters and firmware blocks

102

Group 15 ANALOGUE OUTPUTS

Settings for the analogue outputs.
The drive offers two programmable analogue outputs: one current output AO1
(020 mA) and one voltage output AO2 (-1010 V).
The resolution of the analogue outputs is 11 bits (+ sign) and the inaccuracy is 2% of
the full scale range.
The analogue output signals can be proportional to motor speed, process speed
(scaled motor speed), output frequency, output current, motor torque, motor power,
etc. It is possible to write a value to an analogue output through a serial
communication link (eg, fieldbus link).

15
Firmware block: AO1
25

AO1 TLF7 2 msec (8)

(14) 2.08 AO1

[ CURRENT PERC ]
Connects an actual signal to (1 / 1.05)
[ 0.100 s ]
< 15.01 AO1 PTR
15.02 AO1 FILT TIME
analogue output AO1, and filters and [ 20.000 mA ]
15.03 AO1 MAX
scales the output signal. Also shows [ 4.000 mA ]
15.04 AO1 MIN
the value of the output. [ 100.000 ]
15.05 AO1 MAX SCALE
[ 0.000 ]
15.06 AO1 MIN SCALE

Block outputs located in other 2.08 AO1 (page 66)

parameter groups

15.01 AO1 PTR FW block: AO1 (see above)

Selects a drive signal to be connected to analogue output AO1.

Value pointer: Group and index

15.02 AO1 FILT TIME FW block: AO1 (see above)

Defines the filtering time constant for analogue output AO1.

%
Unfiltered signal O = I (1 - e-t/T)
100
I = filter input (step)
63 O = filter output
Filtered signal
t = time
T = filter time constant
t
T
Note: The signal is also filtered due to the signal interface hardware (approximately 0.5 ms time
constant). This cannot be changed by any parameter.

030 s Filter time constant for AO1.

15.03 AO1 MAX FW block: AO1 (see above)

Defines the maximum value for analogue output AO1.

022.7 mA Maximum AO1 output value.

Parameters and firmware blocks

 103

15.04 AO1 MIN FW block: AO1 (see above)

Defines the minimum value for analogue output AO1.

022.7 mA Minimum AO1 output value.

15.05 AO1 MAX SCALE FW block: AO1 (see above)

Defines the real value that corresponds to the maximum analogue output value defined by
parameter 15.03 AO1 MAX.
AO (mA)
AO (mA)
15.03
15.03

15.04 15.04

15.06 15.05 AO (real) 15.05 15.06 AO (real)

-3276832767 Real value corresponding to value of parameter 15.03.

15.06 AO1 MIN SCALE FW block: AO1 (see above)

Defines the real value that corresponds to the minimum analogue output value defined by
parameter 15.04 AO1 MIN. See parameter 15.05 AO1 MAX SCALE.

-3276832767 Real value corresponding to value of parameter 15.04.

Firmware block: AO2

26

AO2 TLF7 2 msec (9)

(15) 2.09 AO2

[ SPEED ACT PERC ]

Connects an actual signal to (1 / 1.02)
[ 0.100 s ]
< 15.07 AO2 PTR
15.08 AO2 FILT TIME
analogue output AO2, and filters and [ 10.000 V ]
15.09 AO2 MAX
scales the output signal. Also shows [ -10.000 V ]
15.10 AO2 MIN
the value of the output. [ 100.000 ]
15.11 AO2 MAX SCALE
[ -100.000 ]
15.12 AO2 MIN SCALE

Block outputs located in other 2.09 AO2 (page 66)

parameter groups

15.07 AO2 PTR FW block: AO2 (see above)

Selects a drive signal to be connected to analogue output AO2.

Value pointer: Group and index

15.08 AO2 FILT TIME FW block: AO2 (see above)

Defines the filtering time constant for analogue output AO2. See parameter 15.02 AO1 FILT TIME.

030 s Filter time constant for AO2.

Parameters and firmware blocks

104

15.09 AO2 MAX FW block: AO2 (see above)

Defines the maximum value for analogue output AO2.

-1010 V Maximum AO2 output value.

15.10 AO2 MIN FW block: AO2 (see above)

Defines the minimum value for analogue output AO2.

-1010 V Minimum AO2 output value.

15.11 AO2 MAX SCALE FW block: AO2 (see above)

Defines the real value that corresponds to the maximum analogue output value defined by
parameter 15.09 AO2 MAX.
AO (V)
AO (V)
15.09
15.09

15.10 15.10

15.12 15.11 AO (real) 15.11 15.12 AO (real)

-3276832767 Real value corresponding to value of parameter 15.09.

15.12 AO2 MIN SCALE FW block: AO2 (see above)

Defines the real value that corresponds to the minimum analogue output value defined by
parameter 15.10 AO2 MIN. See parameter 15.11 AO2 MAX SCALE.

-3276832767 Real value corresponding to value of parameter 15.10.

Parameters and firmware blocks

 105

Group 16 SYSTEM
Local control and parameter access settings, restoration of default parameter
values, save of parameters into permanent memory.

16
16.01 LOCAL LOCK FW block: None

Selects the source for disabling local control (Take/Release button on the PC tool, LOC/REM key of
the panel). 1 = Local control disabled. 0 = Local control enabled.
WARNING! Before activating, ensure that the control panel is not needed for stopping the
drive!

Bit pointer: Group, index and bit

16.02 PARAMETER LOCK FW block: None

Selects the state of the parameter lock. The lock prevents parameter changing.
Note: This parameter can only be adjusted after the correct pass code has been entered at parameter
16.03 PASS CODE.

(0) Locked Locked. Parameter values cannot be changed from the control panel.

(1) Open The lock is open. Parameter values can be changed.

(2) Not saved The lock is open. Parameter values can be changed, but the changes
will not be stored at power switch off.

16.03 PASS CODE FW block: None

After entering 358 at this parameter, parameter 16.02 PARAMETER LOCK can be adjusted.
The value reverts back to 0 automatically.

16.04 PARAM RESTORE FW block: None

Restores the original settings of the application, ie, parameter factory default values.
Note: This parameter cannot be changed while the drive is running.

(0) Done Restoration is completed.

(1) Restore defs All parameter values are restored to default values, except motor
data, motor ID run results, and fieldbus, drive-to-drive link and
encoder configuration data.

(2) Clear all All parameter values are restored to default values, including motor
data, motor ID run results and fieldbus and encoder configuration
data. PC tool communication is interrupted during the restoration.
Drive CPU is re-booted after the restoration is completed.

16.07 PARAM SAVE FW block: None

Saves the valid parameter values to permanent memory.

See also section Programming via parameters on page 30.

(0) Done Save completed.

(1) Save Save in progress.

Parameters and firmware blocks

106

16.09 USER SET SEL FW block: None

Enables the save and restoration of up to four custom sets of parameter settings.
The set that was in use before powering down the drive is in use after the next power-up.
Note: Any parameter changes made after loading a user set are not automatically stored into the
loaded set they must be saved using this parameter.

(1) No request Load or save operation complete; normal operation.

(2) Load set 1 Load user parameter set 1.

(3) Load set 2 Load user parameter set 2.

(4) Load set 3 Load user parameter set 3.

(5) Load set 4 Load user parameter set 4.

(6) Save set 1 Save user parameter set 1.

(7) Save set 2 Save user parameter set 2.

(8) Save set 3 Save user parameter set 3.

(9) Save set 4 Save user parameter set 4.

(10) IO mode Load user parameter set using parameters 16.11 and 16.12.

16.10 USER SET LOG FW block: None

Shows the status of the user parameter sets (see parameter 16.09 USER SET SEL). Read-only.

N/A No user sets have been saved.

(1) Loading A user set is being loaded.

(2) Saving A user set is being saved.

(4) Faulted Invalid or empty parameter set.

(8) Set1 IO act User parameter set 1 has been selected by parameters 16.11 and
16.12.

(16) Set2 IO act User parameter set 2 has been selected by parameters 16.11 and
16.12.

(32) Set3 IO act User parameter set 3 has been selected by parameters 16.11 and
16.12.

(64) Set4 IO act User parameter set 4 has been selected by parameters 16.11 and
16.12.

(128) Set1 par act User parameter set 1 has been loaded using parameter 16.09.

(256) Set2 par act User parameter set 2 has been loaded using parameter 16.09.

(512) Set3 par act User parameter set 3 has been loaded using parameter 16.09.

(1024) Set4 par act User parameter set 4 has been loaded using parameter 16.09.

Parameters and firmware blocks

 107

16.11 USER IO SET LO FW block: None

Together with parameter 16.12 USER IO SET HI, selects the user parameter set when parameter
16.09 USER SET SEL is set to (10) IO mode. The status of the source defined by this parameter and
parameter 16.12 select the user parameter set as follows:

Status of source Status of source User parameter set

defined by par. 16.11 defined by par. 16.12 selected
FALSE FALSE Set 1
TRUE FALSE Set 2
FALSE TRUE Set 3
TRUE TRUE Set 4

Bit pointer: Group, index and bit

16.12 USER IO SET HI FW block: None

See parameter 16.11 USER IO SET LO.

Bit pointer: Group, index and bit

16.13 TIME SOURCE PRIO FW block: None

Selects which real-time clock source is adopted by the drive as the master real-time clock. Some
selections specify multiple sources that are in order of priority.

(0) FB_D2D_MMI Fieldbus (highest priority); drive-to-drive link; man-machine interface

(control panel or PC).

(1) D2D_FB_MMI Drive-to-drive link (highest priority); fieldbus; man-machine interface

(control panel or PC).

(2) FB_D2D Fieldbus (highest priority); drive-to-drive link.

(3) D2D_FB Drive-to-drive link (highest priority); fieldbus.

(4) FB Only Fieldbus only.

(5) D2D Only Drive-to-drive link only.

(6) MMI_FB_D2D Man-machine interface (control panel or PC) (highest priority);

fieldbus; drive-to-drive link.

(7) MMI Only Man-machine interface (control panel or PC) only.

(8) Internal No external sources are used as master real-time clock.

Parameters and firmware blocks

108

Group 17 PANEL DISPLAY

Selection of signals for panel display.

17
17.01 SIGNAL1 PARAM FW block: None

Selects the first signal to be displayed on the control panel. The default signal is 1.03 FREQUENCY.

Value pointer: Group and index

17.02 SIGNAL2 PARAM FW block: None

Selects the second signal to be displayed on the control panel. The default signal is 1.04 CURRENT.

Value pointer: Group and index

17.03 SIGNAL3 PARAM FW block: None

Selects the third signal to be displayed on the control panel. The default signal is 1.06 TORQUE.

Value pointer: Group and index

Parameters and firmware blocks

 109

Group 20 LIMITS
Definition of drive operation limits.

20
Firmware block:
LIMITS 27
LIMITS MISC_3 2 msec (5)

(20) 3.20 MAX SPEED REF

3.21 MIN SPEED REF
Adjusts the drive speed, current and
torque limits, selects the source for
(Drive value)
20.01 MAXIMUM SPEED
(Drive value)
the positive/negative speed reference 20.02 MINIMUM SPEED
(Drive value)
enable command and enables the (Drive value)
< 20.03 POS SPEED ENA

thermal current limitation. (Drive value)

< 20.04 NEG SPEED ENA
20.05 MAXIMUM CURRENT
(Drive value)
20.06 MAXIMUM TORQUE
(Drive value)
20.07 MINIMUM TORQUE

Block outputs located in other 3.20 MAX SPEED REF (page 73)
parameter groups 3.21 MIN SPEED REF (page 73)

20.01 MAXIMUM SPEED FW block: LIMITS (see above)

Defines the allowed maximum speed. See also parameter 22.08 SPEED TRIPMARGIN.

030000 rpm Allowed maximum speed.

20.02 MINIMUM SPEED FW block: LIMITS (see above)

Defines the allowed minimum speed. See also parameter 22.08 SPEED TRIPMARGIN.

-300000 rpm Allowed minimum speed.

Parameters and firmware blocks

110

20.03 POS SPEED ENA FW block: LIMITS (see above)

Selects the source of the positive speed reference enable command.

1 = Positive speed reference is enabled.
0 = Positive speed reference is interpreted as zero speed reference (In the figure below 3.03
SPEEDREF RAMP IN is set to zero after the positive speed enable signal has cleared). Actions in
different control modes:
Speed control: Speed reference is set to zero and the motor is stopped along the currently active
deceleration ramp.
Torque control: Torque limit is set to zero and the rush controller stops the motor.

20.03 POS SPEED ENA

20.04 NEG SPEED ENA

3.03 SPEEDREF RAMP IN

1.08 ENCODER 1 SPEED

Example: The motor is rotating in the forward direction. To stop the motor, the positive speed enable
signal is deactivated by a hardware limit switch (eg, via digital input). If the positive speed enable
signal remains deactivated and the negative speed enable signal is active, only reverse rotation of the
motor is allowed.

Bit pointer: Group, index and bit

20.04 NEG SPEED ENA FW block: LIMITS (see above)

Selects the source of the negative speed reference enable command. See parameter 20.03 POS
SPEED ENA.

Bit pointer: Group, index and bit

20.05 MAXIMUM CURRENT FW block: LIMITS (see above)

Defines the allowed maximum motor current.

030000 A Maximum allowed motor current.

20.06 MAXIMUM TORQUE FW block: LIMITS (see above)

Defines the maximum torque limit for the drive (in percent of the motor nominal torque).

01600% Maximum torque limit.

20.07 MINIMUM TORQUE FW block: LIMITS (see above)

Defines the minimum torque limit for the drive (in percent of the motor nominal torque).

-16000% Minimum torque limit.

Parameters and firmware blocks

 111

20.08 THERM CURR LIM FW block: None

Enables the thermal current limitation. Thermal current limit is calculated by the inverter thermal
protection function.

(0) Disable The calculated thermal limit is not used. If the inverter output current is
excessive, alarm IGBT OVERTEMP is generated and eventually the
drive trips on fault IGBT OVERTEMP.

(1) Enable The calculated thermal current value limits the inverter output current
(ie, motor current).

Parameters and firmware blocks

112

Group 22 SPEED FEEDBACK

Settings for
selection of speed feedback used in drive control
filtering disturbances in measured speed signal
motor encoder gear function
zero speed limit for stop function
delay for Zero Speed Delay function
definition of limits for actual speed supervision
loss of speed feedback signal protection.

22.02 SPEED ACT FTIME

22.03 MOTOR GEAR MUL

1.08 ENCODER 1 SPEED

x
1.10 ENCODER 2 SPEED 1.01 SPEED ACT
1.14 SPEED ESTIMATED
y
22.01 SPEED FB SEL

22.04 MOTOR GEAR DIV

26.07 SPEED WINDOW a a>b

3.03 SPEEDREF RAMP IN - a=b
6.03 SPEED CTRL STAT
bit 3 AT SETPOINT
3.05 SPEEDREF USED
+ ABS b a<b

22.07 ABOVE SPEED LIM a a>b

6.03 SPEED CTRL STAT
OPMODE = a=b bit 2 ABOVE LIMIT
ABS b a<b
POSITION SYNCRON

a a>b
6.03 SPEED CTRL STAT
a=b bit 0 SPEED ACT NEG
0 b a<b

ABS a a>b
a=b
22.05 ZERO SPEED LIMIT b a<b t 6.03 SPEED CTRL STAT
bit 1 ZERO SPEED

22.06 ZERO SPEED DELAY

Parameters and firmware blocks

 113

22
Firmware block: SPEED FEEDBACK
5

SPEED FEEDBACK TLF8 250 sec (2)

(22) 1.01 SPEED ACT

[ Estimated ]
22.01 SPEED FB SEL
[ 3.000 ms ]
22.02 SPEED ACT FTIME
[1]
22.03 MOTOR GEAR MUL
[1]
22.04 MOTOR GEAR DIV
[ 30.00 rpm ]
22.05 ZERO SPEED LIMIT
[ 0 ms ]
22.06 ZERO SPEED DELAY
[ 0 rpm ]
22.07 ABOVE SPEED LIM
[ 500.0 rpm ]
22.08 SPEED TRIPMARGIN
[ Fault ]
22.09 SPEED FB FAULT

Block outputs located in other 1.01 SPEED ACT (page 63)

parameter groups

22.01 SPEED FB SEL FW block: SPEED FEEDBACK (see above)

Selects the speed feedback value used in control.

(0) Estimated Calculated speed estimate.

(1) Enc1 speed Actual speed measured with encoder 1. The encoder is selected by
parameter 90.01 ENCODER 1 SEL.

(2) Enc2 speed Actual speed measured with encoder 2. The encoder is selected by
parameter 90.02 ENCODER 2 SEL.

22.02 SPEED ACT FTIME FW block: SPEED FEEDBACK (see above)

Defines the time constant of the actual speed filter, ie, time within the actual speed has reached 63%
of the nominal speed (filtered speed = 1.01 SPEED ACT).
If the used speed reference remains constant, the possible interferences in the speed measurement
can be filtered with the actual speed filter. Reducing the ripple with filter may cause speed controller
tuning problems. A long filter time constant and fast acceleration time contradict one another. A very
long filter time results in unstable control.
If there are substantial interferences in the speed measurement, the filter time constant should be
proportional to the total inertia of the load and motor, in this case 1030% of the mechanical time
constant
tmech = (nnom / Tnom) Jtot 2/ 60, where
Jtot = total inertia of the load and motor (the gear ratio between the load and motor must be taken into
account)
nnom = motor nominal speed
Tnom = motor nominal torque
To get a fast dynamic torque or speed response with a speed feedback value other than (0) Estimated
(see parameter 22.01 SPEED FB SEL), the actual speed filter time must be set to zero.
See also parameter 26.06 SPD ERR FTIME.

010000 ms Time constant for actual speed filter.

Parameters and firmware blocks

114

22.03 MOTOR GEAR MUL FW block: SPEED FEEDBACK (see above)

Defines the motor gear numerator for the motor encoder gear function.
22.03 MOTOR GEAR MUL Actual speed
------------------------------------------------------------------------ = ----------------------------------
22.04 MOTOR GEAR DIV Input speed
where input speed is encoder 1/2 speed (1.08 ENCODER 1 SPEED / 1.10 ENCODER 2 SPEED) or
speed estimate (1.14 SPEED ESTIMATED).
Note: If the motor gear ratio differs from 1, the motor model uses an estimated speed instead of the
speed feedback value.
See also section Motor encoder gear function on page 51.

-231 231 -1 Numerator for motor encoder gear. Note: A setting of 0 is changed
internally to 1.

22.04 MOTOR GEAR DIV FW block: SPEED FEEDBACK (see above)

Defines the motor gear denominator for the motor encoder gear function. See parameter 22.03
MOTOR GEAR MUL.

1 231 -1 Denominator for motor encoder gear.

22.05 ZERO SPEED LIMIT FW block: SPEED FEEDBACK (see above)

Defines the zero speed limit. The motor is stopped along a speed ramp until the defined zero speed
limit is reached. After the limit, the motor coasts to stop.
Note: Too low a setting may result in the drive not stopping at all.

030000 rpm Zero speed limit.

Parameters and firmware blocks

 115

22.06 ZERO SPEED DELAY FW block: SPEED FEEDBACK (see above)

Defines the delay for the zero speed delay function. The function is useful in applications where
a smooth and quick restarting is essential. During the delay the drive knows accurately the rotor
position.
No Zero Speed Delay With Zero Speed Delay

Speed Speed
Speed controller Speed controller remains live.
switched off: Motor Motor is decelerated to true 0
coasts to stop. speed.

22.05 ZERO SPEED LIMIT

Time Time
22.06 ZERO SPEED DELAY
No Zero Speed Delay
The drive receives a stop command and decelerates along a ramp. When the motor actual speed falls
below the value of parameter 22.05 ZERO SPEED LIMIT, the speed controller is switched off. The
inverter modulation is stopped and the motor coasts to standstill.
With Zero Speed Delay
The drive receives a stop command and decelerates along a ramp. When the actual motor speed falls
below the value of parameter 22.05 ZERO SPEED LIMIT, the zero speed delay function activates.
During the delay the function keeps the speed controller live: the inverter modulates, motor is
magnetised and the drive is ready for a quick restart. Zero speed delay can be used, eg, with the
jogging function.

030000 ms Zero speed delay.

22.07 ABOVE SPEED LIM FW block: SPEED FEEDBACK (see above)

Defines the supervision limit for the actual speed. See also parameter 2.13 FBA MAIN SW, bit 10.

030000 rpm Supervision limit for actual speed.

Parameters and firmware blocks

116

22.08 SPEED TRIPMARGIN FW block: SPEED FEEDBACK (see above)

Defines, together with 20.01 MAXIMUM SPEED and 20.02 MINIMUM SPEED, the maximum allowed
speed of the motor (overspeed protection). If the actual speed (1.01 SPEED ACT) exceeds the speed
limit defined by parameter 20.01 or 20.02 by more than 22.08 SPEED TRIPMARGIN, the drive trips
on fault OVERSPEED.
Example: If the maximum speed is 1420 rpm and speed trip margin is 300 rpm, the drive trips at
1720 rpm.
Speed

22.08 SPEED TRIPMARGIN

20.01 MAXIMUM SPEED

20.02 MINIMUM SPEED

22.08 SPEED TRIPMARGIN

010000 rpm Speed trip margin.

22.09 SPEED FB FAULT FW block: SPEED FEEDBACK (see above)

Selects the action in case of speed feedback data loss.

Note: If this parameter is set to (1) Warning or (2) No, a loss of feedback will cause an internal faulted
state. To clear the internal fault and to reactivate speed feedback, use parameter 90.10 ENC PAR
REFRESH.

(0) Fault Drive trips on a fault (OPTION COMM LOSS, ENCODER 1/2,
ENCODER 1/2 CABLE or SPEED FEEDBACK depending on the type
of problem).

(1) Warning Drive continues operation with open loop control and generates an
alarm (OPTION COMM LOSS, ENCODER 1/2 FAILURE, ENCODER
1/2 CABLE or SPEED FEEDBACK depending on the type of
problem).

(2) No Drive continues operation with open loop control. No faults or alarms
are generated. The encoder speed is zero until encoder operation is
reactivated with parameter 90.10 ENC PAR REFRESH.

Parameters and firmware blocks

 117

22.10 SPD SUPERV EST FW block: FAULT FUNCTIONS (see page 158)

Defines the activation level for encoder supervision. The drive reacts according to 22.09 SPEED FB
FAULT when:
the estimated speed (1.14 SPEED ESTIMATED) is greater than 22.10 SPD SUPERV EST AND
the filtered encoder speed* is lower than 22.11 SPD SUPERV ENC.

Speed
99.09 MOT NOM SPEED

1.14 SPEED ESTIMATED**

22.10 SPD SUPERV EST

22.11 SPD SUPERV ENC

Filtered encoder speed*, **

*Filtered outcome of encoder 1/2 speed. Parameter 22.12 SPD SUPERV FILT defines the
filtration coefficient for this speed.
**In normal operation, the filtered encoder speed is equal to signal 1.14 SPEED ESTIMATED.

Encoder supervision can be disabled by setting this parameter to the maximum speed.

030000 rpm Activation level for encoder supervision.

22.11 SPD SUPERV ENC FW block: FAULT FUNCTIONS (see page 158)

Defines the activation level for the encoder speed used in encoder supervision. See parameter 22.10
SPD SUPERV EST.

030000 rpm Activation level for the encoder speed.

22.12 SPD SUPERV FILT FW block: FAULT FUNCTIONS (see page 158)

Defines the time constant for the encoder speed filtration used in encoder supervision. See parameter
22.10 SPD SUPERV EST.

010000 ms Time constant for the encoder speed filtration.

Parameters and firmware blocks

118

Group 24 SPEED REF MOD

Settings for
speed reference selection
speed reference modification (scaling and inversion)
constant speed and jogging references
definition of absolute minimum speed reference.
Depending on user selection, either speed reference 1 or speed reference 2 is active
at a time.
Speed reference can be any of the following (in priority order):
fault speed reference (in a control panel or PC tool communication break)
local speed reference (from panel)
fieldbus local reference
jogging reference 1/2
constant speed reference 1/2
external speed reference.
Note: Constant speed overrides external speed reference.
Speed reference is limited according to the set minimum and maximum speed
values and ramped and shaped according to the defined acceleration and
deceleration values. See parameter group 25 (page 123).

24.01 SPEED
REF1 SEL
ZERO
AI1
AI2
FBA REF1 3.01 SPEED REF1
FBA REF2
D2D REF1
D2D REF2
ENC1 SPEED
ENC2 SPEED

24.02 SPEED
REF2 SEL
ZERO
AI1
AI2
FBA REF1 3.02 SPEED REF2
FBA REF2
D2D REF1
D2D REF2
ENC1 SPEED
ENC2 SPEED

Parameters and firmware blocks

 119

20.03 POS SPEED ENA

0

24.09 CONST SPEED ENA

20.01 MAXIMUM SPEED
24.08 CONST SPEED
06.01 STATUS WORD 1
3.01 SPEED REF1 bit 9 LOCAL FB

3.02 SPEED REF2

x
2.14 FBA MAIN REF1
24.05 SPEED REF 1/2 SEL 03.03 SPEEDREF
Local speed reference RAMP IN
24.06 SPEED SHARE
x 06.01 STATUS WORD 1 bit 11
0

LOCAL PANEL
1 46.02 SPEED REF SAFE

-1 SAFE SPEED COMMAND

24.07 SPEEDREF NEG ENA 24.12 SPEED REF MIN ABS

24.10 SPEED REF JOG1 0

24.11 SPEED REF JOG2 20.02 MINIMUM SPEED

10.13 FB CW USED 20.04 NEG SPEED ENA
bit 10 JOGGING
06.02 STATUS WORD 2
06.02 STATUS WORD 2
bit 12 RAMP IN 0
bit 5 JOGGING

24
Firmware block: SPEED REF SEL
3

SPEED REF SEL TLF2 500 sec (1)

(23) 3.01 SPEED REF1

3.02 SPEED REF2
Selects the sources for two speed [ AI1 ]
24.01 SPEED REF1 SEL
references, REF1 or REF2, from a [ ZERO ]
24.02 SPEED REF2 SEL
selection list. Also shows the values
of both speed references.
The sources can alternatively be
selected with value pointer
parameters. See firmware block
SPEED REF MOD on page 120.

Block outputs located in other 3.01 SPEED REF1 (page 72)

parameter groups 3.02 SPEED REF2 (page 72)

24.01 SPEED REF1 SEL FW block: SPEED REF SEL (see above)

Selects the source for speed reference 1 (3.01 SPEED REF1).

Source for speed reference 1/2 can also be selected by value pointer parameter 24.03 SPEED REF1
IN / 24.04 SPEED REF2 IN.

(0) ZERO Zero reference.

(1) AI1 Analogue input AI1.

(2) AI2 Analogue input AI2.

(3) FBA REF1 Fieldbus reference 1.

(4) FBA REF2 Fieldbus reference 2.

(5) D2D REF1 Drive to drive reference 1.

Parameters and firmware blocks

120

(6) D2D REF2 Drive to drive reference 2.

(7) ENC1 SPEED Encoder 1 (1.08 ENCODER 1 SPEED).

(8) ENC2 SPEED Encoder 2 (1.10 ENCODER 2 SPEED).

24.02 SPEED REF2 SEL FW block: SPEED REF SEL (see above)

Selects the source for speed reference 2 (3.02 SPEED REF2).

See parameter 24.01 SPEED REF1 SEL.

Firmware block: SPEED REF MOD

4

SPEED REF MOD TLF2 500 sec (2)

(24) 3.03 SPEEDREF RAMP IN

[ AI1 SCALED ]
This block (3 / 2.05)
[ SPEED REF2 ]
< 24.03 SPEED REF1 IN
< 24.04 SPEED REF2 IN
selects the sources for two speed
(6 / 3.02)
[ FALSE ]
< 24.05 SPEED REF 1/2SEL
references, REF1 or REF2 [ 1.000 ]
24.06 SPEED SHARE
scales and inverts the speed [ FALSE ]
< 24.07 SPEEDREF NEG ENA
reference [ 0 rpm ]
24.08 CONST SPEED
defines the constant speed [ FALSE ]
< 24.09 CONST SPEED ENA

reference
[ 0 rpm ]
24.10 SPEED REF JOG1
[ 0 rpm ]
defines the speed reference for 24.11 SPEED REF JOG2
[ 0 rpm ]
jogging functions 1 and 2 24.12 SPEED REFMIN ABS

defines the speed reference

absolute minimum limit.

Block outputs located in other 3.03 SPEEDREF RAMP IN (page 72)

parameter groups

24.03 SPEED REF1 IN FW block: SPEED REF MOD (see above)

Selects the source for speed reference 1 (overrides the setting of parameter 24.01 SPEED REF1
SEL). The default value is P.3.1, ie, 3.01 SPEED REF1, which is the output of the SPEED REF RAMP
block.

Value pointer: Group and index

24.04 SPEED REF2 IN FW block: SPEED REF MOD (see above)

Selects the source for speed reference 2 (overrides the setting of parameter 24.02 SPEED REF2
SEL). The default value is P.3.2, ie, 3.02 SPEED REF2, which is the output of the SPEED REF RAMP
block.

Value pointer: Group and index

24.05 SPEED REF 1/2SEL FW block: SPEED REF MOD (see above)

Selects between speed reference 1 or 2. Reference 1/2 source is defined by parameter 24.03 SPEED
REF1 IN / 24.04 SPEED REF2 IN. 0 = Speed reference 1.

Bit pointer: Group, index and bit

24.06 SPEED SHARE FW block: SPEED REF MOD (see above)

Defines the scaling factor for speed reference 1/2 (speed reference 1 or 2 is multiplied by the defined
value). Speed reference 1 or 2 is selected by parameter 24.05 SPEED REF 1/2SEL.

Parameters and firmware blocks

 121

-88 Scaling factor for speed reference 1/2.

24.07 SPEEDREF NEG ENA FW block: SPEED REF MOD (see above)

Selects the source for the speed reference inversion. 1 = Sign of the speed reference is changed
(inversion active).

Bit pointer: Group, index and bit

24.08 CONST SPEED FW block: SPEED REF MOD (see above)

Defines the constant speed.

-3000030000 rpm Constant speed.

24.09 CONST SPEED ENA FW block: SPEED REF MOD (see above)

Selects the source for enabling the use of the constant speed reference define by parameter 24.08
CONST SPEED. 1 = Enable.

Bit pointer: Group, index and bit

24.10 SPEED REF JOG1 FW block: SPEED REF MOD (see above)

Defines the speed reference for jogging function 1. See section Jogging on page 47.

-3000030000 rpm Speed reference for jogging 1.

24.11 SPEED REF JOG2 FW block: SPEED REF MOD (see above)

Defines the speed reference for jogging function 2. See section Jogging on page 47.

-3000030000 rpm Speed reference for jogging 2.

24.12 SPEED REFMIN ABS FW block: SPEED REF MOD (see above)

Defines the absolute minimum limit for the speed reference.

Limited speed reference
20.01 MAXIMUM SPEED

24.12 SPEED REFMIN ABS

(24.12 SPEED REFMIN ABS Speed reference

20.02 MINIMUM SPEED

030000 rpm Absolute minimum limit for speed reference.

Parameters and firmware blocks

122

Group 25 SPEED REF RAMP

Speed reference ramp settings such as
selection of source for speed ramp input
acceleration and deceleration times (also for jogging)
acceleration and deceleration ramp shapes
emergency stop OFF3 ramp time
the speed reference balancing function (forcing the output of the ramp generator
to a predefined value).
Note: Emergency stop OFF1 uses the currently active ramp time.
06.02 STATUS WORD 2
bit 14 RAMP OUT 0

25.13 SPEEDREF BAL ENA

06.02 STATUS WORD 2 bit 13

RAMP HOLD

Ramp & Shape

03.03 SPEEDREF RAMP IN

03.04
SPEED REF
0 RAMPED
25.02 SPEED SCALING

25.12 SPEEDREF BAL

25.04 DEC TIME

25.10 DEC TIME JOGGING

06.02 STATUS WORD 2

bit 5 JOGGING
25.11 EM STOP TIME

25.03 ACC TIME

25.09 ACC TIME JOGGING

06.01 STATUS WORD 1 OR

bit 5 EM STOP

25.05 SHAPE TIME ACC1

25.06 SHAPE TIME ACC2
0

25.07 SHAPE TIME DEC1

25.08 SHAPE TIME DEC2
0

Parameters and firmware blocks

 123

25
Firmware block: SPEED REF RAMP
28

SPEED REF RAMP TLF3 250 sec (1)

(25) 3.04 SPEEDREF RAMPED

[ SPEEDREF RAMP IN ]
This block (6 / 3.03)
[ 1500 rpm ]
< 25.01 SPEED RAMP IN
25.02 SPEED SCALING
selects the source for the speed [ 1.000 s ]
25.03 ACC TIME
ramp input [ 1.000 s ]
25.04 DEC TIME
adjusts acceleration and [ 0.000 s ]
25.05 SHAPE TIME ACC1
deceleration times (also for jogging) [ 0.000 s ]
25.06 SHAPE TIME ACC2
adjusts acceleration/deceleration [ 0.000 s ]
25.07 SHAPE TIME DEC1
ramp shapes [ 0.000 s ]
25.08 SHAPE TIME DEC2
[ 0.000 s ]
adjusts ramp time for emergency 25.09 ACC TIME JOGGING
[ 0.000 s ]
stop OFF3 [ 1.000 s ]
25.10 DEC TIME JOGGING

forces the output of the ramp [ 0 rpm ]

25.11 EM STOP TIME
25.12 SPEEDREF BAL
generator to a defined value [ FALSE ]
< 25.13 SPEEDREF BAL ENA
shows the ramped and shaped
speed reference value.

Block outputs located in other 3.04 SPEEDREF RAMPED (page 72)

parameter groups

25.01 SPEED RAMP IN FW block: SPEED REF RAMP (see above)

Shows the source of the speed ramp input. The default value is P.3.3, ie, signal 3.03 SPEEDREF
RAMP IN, which is the output of the SPEED REF MOD firmware block.

Value pointer: Group and index

25.02 SPEED SCALING FW block: SPEED REF RAMP (see above)

Defines the speed value used in acceleration and deceleration (parameters 25.03/25.09 and 25.04/
25.10/25.11). Also affects fieldbus reference scaling (see Appendix A Fieldbus control, section
Fieldbus references on page 340).

030000 rpm Speed value for acceleration/deceleration.

25.03 ACC TIME FW block: SPEED REF RAMP (see above)

Defines the acceleration time, ie, the time required for the speed to change from zero to the speed
value defined by parameter 25.02 SPEED SCALING.
If the speed reference increases faster than the set acceleration rate, the motor speed will follow the
acceleration rate.
If the speed reference increases slower than the set acceleration rate, the motor speed will follow the
reference signal.
If the acceleration time is set too short, the drive will automatically prolong the acceleration in order
not to exceed the drive torque limits.

01800 s Acceleration time.

Parameters and firmware blocks

124

25.04 DEC TIME FW block: SPEED REF RAMP (see above)

Defines the deceleration time, ie, the time required for the speed to change from the speed value
defined by parameter 25.02 SPEED SCALING to zero.
If the speed reference decreases slower than the set deceleration rate, the motor speed will follow the
reference signal.
If the reference changes faster than the set deceleration rate, the motor speed will follow the
deceleration rate.
If the deceleration time is set too short, the drive will automatically prolong the deceleration in order
not to exceed drive torque limits. If there is any doubt about the deceleration time being too short,
ensure that the DC overvoltage control is on (parameter 47.01 OVERVOLTAGE CTRL).
Note: If a short deceleration time is needed for a high inertia application, the drive should be equipped
with an electric braking option, eg, with a braking chopper (built-in) and a braking resistor.

01800 s Deceleration time.

25.05 SHAPE TIME ACC1 FW block: SPEED REF RAMP (see above)

Selects the shape of the acceleration ramp at the beginning of the acceleration.
0.00 s: Linear ramp. Suitable for steady acceleration or deceleration and for slow ramps.
0.011000.00 s: S-curve ramp. S-curve ramps are ideal for conveyor and lifting applications. The S-
curve consists of symmetrical curves at both ends of the ramp and a linear part in between.
Note: When jogging or emergency ramp stop is active, acceleration and deceleration shape times are
forced to zero.

Linear ramp: S-curve ramp:

Speed Par. 25.06 = 0 s Speed Par. 25.07 > 0 s

Linear ramp:
Par. 25.05 = 0 s

S-curve ramp: Linear ramp: S-curve ramp:

Par. 25.06 > 0 s Par. 25.07 = 0 s Par. 25.08 > 0 s
S-curve ramp: Linear ramp:
Par. 25.05 > 0 s Par. 25.08 = 0 s

Time Time

01000 s Ramp shape at beginning of acceleration.

25.06 SHAPE TIME ACC2 FW block: SPEED REF RAMP (see above)

Selects the shape of the acceleration ramp at the end of the acceleration. See parameter 25.05
SHAPE TIME ACC1.

01000 s Ramp shape at end of acceleration.

25.07 SHAPE TIME DEC1 FW block: SPEED REF RAMP (see above)

Selects the shape of the deceleration ramp at the beginning of the deceleration. See parameter 25.05
SHAPE TIME ACC1.

01000 s Ramp shape at beginning of deceleration.

Parameters and firmware blocks

 125

25.08 SHAPE TIME DEC2 FW block: SPEED REF RAMP (see above)

Selects the shape of the deceleration ramp at the end of the deceleration. See parameter 25.05
SHAPE TIME ACC1.

01000 s Ramp shape at end of deceleration.

25.09 ACC TIME JOGGING FW block: SPEED REF RAMP (see above)

Defines the acceleration time for the jogging function, ie, the time required for the speed to change
from zero to the speed value defined by parameter 25.02 SPEED SCALING.

01800 s Acceleration time for jogging.

25.10 DEC TIME JOGGING FW block: SPEED REF RAMP (see above)

Defines the deceleration time for the jogging function, ie, the time required for the speed to change
from the speed value defined by parameter 25.02 SPEED SCALING to zero.

01800 s Deceleration time for jogging.

25.11 EM STOP TIME FW block: SPEED REF RAMP (see above)

Defines the time inside which the drive is stopped if an emergency stop OFF3 is activated (ie, the time
required for the speed to change from the speed value defined by parameter 25.02 SPEED SCALING
to zero). Emergency stop activation source is selected by parameter 10.10 EM STOP OFF3.
Emergency stop can also be activated through fieldbus (2.12 FBA MAIN CW).
Emergency stop OFF1 uses the active ramp time.

01800 s Emergency stop OFF3 deceleration time.

25.12 SPEEDREF BAL FW block: SPEED REF RAMP (see above)

Defines the reference for the speed ramp balancing, ie, the output of the speed reference ramp
firmware block is forced to a defined value.
The source for the balancing enable signal is selected by parameter 25.13 SPEEDREF BAL.

-3000030000 rpm Speed ramp balancing reference.

25.13 SPEEDREF BAL ENA FW block: SPEED REF RAMP (see above)

Selects the source for enabling the speed ramp balancing. See parameter 25.12 SPEEDREF BAL.
1 = Speed ramp balancing enabled.

Bit pointer: Group, index and bit

Parameters and firmware blocks

126

Group 26 SPEED ERROR

Speed error is determined by comparing the speed reference and speed feedback.
The error can be filtered using a first-order low-pass filter if the feedback and
reference have disturbances. In addition, a torque boost can be applied to
compensate acceleration; the torque is relative to the rate of change (derivative) in
the speed reference and inertia of the load. The speed error value can be supervised
using the window function.
The signal used as speed reference is 3.04 SPEEDREF RAMPED.
26.11 SPEED WIN HI

OPMODE = 26.08 ACC COMP DER TIME

POSITION SYNCRON
26.09 ACC COMP FTIME

26.04 SPEED FEED PCTRL

d
TAccCom 3.07 ACC COMP TORQ
dt
20.01 MAXIMUM SPEED

6.12 OP
MODE ACK

03.04 SPEED REF NCTRL SPEED

POSITION + + 3.06 SPEED ERROR FILT

4.01 SPEED REF PCTRL

SYNCHRON -
HOMING
PROF VEL

26.05 SPEED STEP

0
06.02 STATUS WORD 2 bit 14
RAMP OUT 0
06.02 STATUS WORD 2 bit 12
RAMP IN 0
20.02 MINIMUM SPEED

1.01 SPEED ACT NCTRL

26.06 SPD ERR FTIME
26.10 SPEED WIN FUNC
26.12 SPEED WIN LO

Parameters and firmware blocks

 127

26
Firmware block: SPEED ERROR
6

SPEED ERROR TLF3 250 sec (2)

(26) 3.05 SPEEDREF USED

3.06 SPEED ERROR FILT
This block 3.07 ACC COMP TORQ

selects the source for speed error SPEED ACT

< 26.01 SPEED ACT NCTRL
(7 / 1.01)
calculation (speed reference - SPEEDREF RAMPED
< 26.02 SPEED REF NCTRL
(6 / 3.04)
actual speed) in different control SPEEDREF RAMPED
(6 / 3.04)
< 26.03 SPEED REF PCTRL
modes SPEEDREF RAMPED
(6 / 3.04)
< 26.04 SPEED FEED PCTRL
selects the source for speed [ 0.00 rpm ]
26.05 SPEED STEP
reference
[ 0.0 ms ]
26.06 SPEED ERR FTIME
[ 100 rpm ]
defines the speed error filtering 26.07 SPEED WINDOW
[ 0.00 s ]
time [ 8.0 ms ]
26.08 ACC COMP DERTIME

defines an additional speed step to [ Disabled ]

26.09 ACC COMP FTIME
26.10 SPEED WIN FUNC
the speed error [ 0 rpm ]
26.11 SPEED WIN HI
defines the supervision of speed [ 0 rpm ]
26.12 SPEED WIN LO
error with the speed error window
function
defines inertia compensation during
acceleration
shows the used speed reference,
filtered speed error and the output
of the acceleration compensation.

Block outputs located in other 3.05 SPEEDREF USED (page 72)

parameter groups 3.06 SPEED ERROR FILT (page 72)
3.07 ACC COMP TORQ (page 72)

26.01 SPEED ACT NCTRL FW block: SPEED ERROR (see above)

Selects the source for the actual speed in the speed control mode.
Note: This parameter has been locked, ie, no user setting is possible.

Value pointer: Group and index

26.02 SPEED REF NCTRL FW block: SPEED ERROR (see above)

Selects the source for the speed reference in the speed control mode.
Note: This parameter has been locked, ie, no user setting is possible.

Value pointer: Group and index

26.03 SPEED REF PCTRL FW block: SPEED ERROR (see above)

Selects the source for the speed reference in position and synchron control modes.
Note: This parameter is only for positioning applications.

Value pointer: Group and index

26.04 SPEED FEED PCTRL FW block: SPEED ERROR (see above)

This parameter is only for positioning applications.

Value pointer: Group and index

Parameters and firmware blocks

128

26.05 SPEED STEP FW block: SPEED ERROR (see above)

Defines an additional speed step given to the input of the speed controller (added to the speed error
value).

-3000030000 rpm Speed step.

26.06 SPD ERR FTIME FW block: SPEED ERROR (see above)

Defines the time constant of the speed error low pass filter.
If the used speed reference changes rapidly (servo application), the possible interferences in the
speed measurement can be filtered with the speed error filter. Reducing the ripple with filter may
cause speed controller tuning problems. A long filter time constant and fast acceleration time
contradict one another. A very long filter time results in unstable control.
See also parameter 22.02 SPEED ACT FTIME.

01000 ms Time constant for speed error low pass filter. 0 ms = filtering disabled.

26.07 SPEED WINDOW FW block: SPEED ERROR (see above)

Defines the absolute value for the motor speed window supervision, ie, the absolute value for the
difference between the actual speed and the unramped speed reference (1.01 SPEED ACT - 3.03
SPEEDREF RAMP IN). When the motor speed is within the limits defined by this parameter, signal
2.13 bit 8 (AT_SETPOINT) value is 1. If the motor speed is not within the defined limits, bit 8 value
is 0.

030000 rpm Absolute value for motor speed window supervision.

26.08 ACC COMP DERTIME FW block: SPEED ERROR (see above)

Defines the derivation time for acceleration (deceleration) compensation. Used to improve the speed
control dynamic reference change.
In order to compensate inertia during acceleration, a derivative of the speed reference is added to the
output of the speed controller. The principle of a derivative action is described for parameter 28.04
DERIVATION TIME.
Note: The parameter value should be proportional to the total inertia of the load and motor,
ie, approximately 50100% of the mechanical time constant (tmech). See the mechanical time
constant equation in parameter 22.02 SPEED ACT FTIME.
If parameter value is set to zero, the function is deactivated.
The figure below shows the speed responses when a high inertia load is accelerated along a ramp.
No acceleration compensation With acceleration compensation

% Speed reference %
Actual speed

t t

See also parameter 26.09 ACC COMP FTIME.

The source for the acceleration compensation torque can also be selected by parameter 28.06 ACC
COMPENSATION. See parameter group 28.

Parameters and firmware blocks

 129

0600 s Derivation time for acceleration/deceleration compensation.

26.09 ACC COMP FTIME FW block: SPEED ERROR (see above)

Defines the filter time for the acceleration compensation.

01000 ms Filter time for acceleration compensation. 0 ms = filtering disabled.

26.10 SPEED WIN FUNC FW block: SPEED ERROR (see above)

Enables or disables speed error window control.

Speed error window control forms a speed supervision function for a torque-controlled drive. It
supervises the speed error value (speed reference actual speed). In the normal operating range,
window control keeps the speed controller input at zero. The speed controller is evoked only if
the speed error exceeds the upper boundary of the window (parameter 26.11 SPEED WIN HI), or
the absolute value of the negative speed error exceeds the lower boundary of the window
(parameter 26.12 SPEED WIN LO).
When the speed error moves outside the window, the exceeding part of the error value is connected to
the speed controller. The speed controller produces a reference term relative to the input and gain of
the speed controller (parameter 28.02 PROPORT GAIN) which the torque selector adds to the torque
reference. The result is used as the internal torque reference for the drive.
Example: In a load loss condition, the internal torque reference of the drive is decreased to prevent an
excessive rise of the motor speed. If window control were inactive, the motor speed would rise until a
speed limit of the drive were reached.

(0) Disabled Speed error window control inactive.

(1) Absolute Speed error window control active. The boundaries defined by
parameters 26.11 and 26.12 are absolute.

(2) Relative Speed error window control active. The boundaries defined by
parameters 26.11 and 26.12 are relative to speed reference.

26.11 SPEED WIN HI FW block: SPEED ERROR (see above)

Defines the upper boundary of the speed error window. Depending on the setting of parameter 26.10
SPEED WIN FUNC, this is either an absolute value or relative to speed reference.

03000 rpm Upper boundary of speed error window.

26.12 SPEED WIN LO FW block: SPEED ERROR (see above)

Defines the lower boundary of the speed error window. Depending on the setting of parameter 26.10
SPEED WIN FUNC, this is either an absolute value or relative to speed reference.

03000 rpm Lower boundary of speed error window.

Parameters and firmware blocks

130

Group 28 SPEED CONTROL

Speed controller settings such as
selection of source for speed error
adjustment of PID-type speed controller variables
limitation of speed controller output torque
selection of source for acceleration compensation torque
forcing an external value to the output of the speed controller (with the balancing
function).
adjustment of the load sharing in a Master/Follower application run by several
drives (the drooping function).
The speed controller includes an anti-windup function (ie, I-term is frozen during
torque reference limitation).
In torque control mode, the speed controller output is frozen.
28.11 MAX TORQ SP CTRL

3.07 ACC COMP TORQ

28.04 DERIVATION TIME

28.05 DERIV FILT TIME

28.02 PROPORT GAIN

d
Td 06.05 LIMIT WORD 1
dt bit 2 SPD CTL TLIM MAX

3.06 SPEED ERROR FILT Kp + + 3.08 TORQ REF SP CTRL

28.03 INTEGRATION TIME

dt
06.05 LIMIT WORD 1
+ Ti bit 1 SPD CTL TLIM MIN
06.05 SPEED CTRL STAT
bit 4 BAL ACTIVE
28.08 BAL REFERENCE
28.12 PI ADAPT MAX SPD 28.09 SPEEDCTRL BAL EN

28.14 P GAIN ADPT COEF 28.10 MIN TORQ SP CTRL

1.01 SPEED ACT F(x)

Kp x
28.15 I TIME ADPT COEF
28.13 PI ADAPT MIN SPD
28.07 DROOPING RATE

Parameters and firmware blocks

 131

28
Firmware block: SPEED CONTROL
7

SPEED CONTROL TLF3 250 sec (3)

(28) 3.08 TORQ REF SP CTRL

SPEED ERROR FILT

This block (7 / 3.06)
[ 10.00 ]
< 28.01 SPEED ERR NCTRL
28.02 PROPORT GAIN
selects the source for speed error [ 0.500 s ]
28.03 INTEGRATION TIME
adjusts PID-type speed controller [ 0.000 s ]
28.04 DERIVATION TIME
variables [ 8.0 ms ]
28.05 DERIV FILT TIME
defines limits for speed controller ACC COMP TORQ
(7 / 3.07)
< 28.06 ACC COMPENSATION
output torque [ 0.00 % ]
28.07 DROOPING RATE
selects the source for acceleration
[ 0.0 % ]
28.08 BAL REFERENCE
[ FALSE ]
compensation torque < 28.09 SPEEDCTRL BAL EN
[ -300.0 % ]
configures the balancing function [ 300.0 % ]
28.10 MIN TORQ SP CTRL

which forces the output of the [ 0 rpm ]

28.11 MAX TORQ SP CTRL
28.12 PI ADAPT MAX SPD
speed controller to an external [ 0 rpm ]
28.13 PI ADAPT MIN SPD
value [ 1.000 ]
28.14 P GAIN ADPT COEF
configures the drooping function [ 1.000 ]
28.15 I TIME ADPT COEF
(adjustment of load sharing in a
Master/Follower application)
shows the limited speed controller
output torque value.

Block outputs located in other 3.08 TORQ REF SP CTRL (page 72)
parameter groups

28.01 SPEED ERR NCTRL FW block: SPEED CONTROL (see above)

Selects the source for the speed error (reference - actual). The default value is P.3.6, ie, parameter
3.06 SPEED ERROR FILT, which is the output of the SPEED ERROR firmware block.
Note: This parameter has been locked, ie, no user setting is possible.

Value pointer: Group and index

28.02 PROPORT GAIN FW block: SPEED CONTROL (see above)

Defines the proportional gain (Kp) of the speed controller. Too large a gain may cause speed
oscillation. The figure below shows the speed controller output after an error step when the error
remains constant.
%
Gain = Kp = 1
TI = Integration time = 0
TD= Derivation time = 0

Error value
Controller output
Controller output
e = Error value
= Kp e
t

If gain is set to 1, a 10% change in error value (reference - actual value) causes the speed controller
output to change by 10%.
Note: This parameter is automatically set by the speed controller autotune function. See parameter
28.16 PI TUNE MODE.

0200 Proportional gain for speed controller.

Parameters and firmware blocks

132

28.03 INTEGRATION TIME FW block: SPEED CONTROL (see above)

Defines the integration time of the speed controller. The integration time defines the rate at which the
controller output changes when the error value is constant and the proportional gain of the speed
controller is 1. The shorter the integration time, the faster the continuous error value is corrected. Too
short integration time makes the control unstable.
If parameter value is set to zero, the I-part of the controller is disabled.
Anti-windup stops the integrator if the controller output is limited. See 6.05 LIMIT WORD 1.
The figure below shows the speed controller output after an error step when the error remains
constant.
% Controller output

Gain = Kp = 1
Kp e TI = Integration time > 0
TD= Derivation time = 0

Kp e e = Error value

t
TI
Note: This parameter is automatically set by the speed controller autotune function. See parameter
28.16 PI TUNE MODE.

0600 s Integration time for speed controller.

Parameters and firmware blocks

 133

28.04 DERIVATION TIME FW block: SPEED CONTROL (see above)

Defines the derivation time of the speed controller. Derivative action boosts the controller output if the
error value changes. The longer the derivation time, the more the speed controller output is boosted
during the change. If the derivation time is set to zero, the controller works as a PI controller,
otherwise as a PID controller. The derivation makes the control more responsive for disturbances.
The speed error derivative must be filtered with a low pass filter to eliminate disturbances.
The figure below shows the speed controller output after an error step when the error remains
constant.
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time > 0
Ts= Sample time period = 250 s
e = Error value
e = Error value change between two samples
%

Controller output
e
Kp TD
Ts Kp e
Error value

Kp e e = Error value

TI t

Note: Changing this parameter value is recommended only if a pulse encoder is used.

010 s Derivation time for speed controller.

28.05 DERIV FILT TIME FW block: SPEED CONTROL (see above)

Defines the derivation filter time constant.

01000 ms Derivation filter time constant.

28.06 ACC COMPENSATION FW block: SPEED CONTROL (see above)

Selects the source for the acceleration compensation torque.

The default value is P.3.7, ie, signal 3.07 ACC COMP TORQ, which is the output of the SPEED
ERROR firmware block.
Note: This parameter has been locked, ie, no user setting is possible.

Value pointer: Group and index

Parameters and firmware blocks

134

28.07 DROOPING RATE FW block: SPEED CONTROL (see above)

Defines the droop rate (in percent of the motor nominal speed). The drooping slightly decreases the
drive speed as the drive load increases. The actual speed decrease at a certain operating point
depends on the droop rate setting and the drive load (= torque reference / speed controller output). At
100% speed controller output, drooping is at its nominal level, ie, equal to the value of this parameter.
The drooping effect decreases linearly to zero along with the decreasing load.
Drooping rate can be used, eg, to adjust the load sharing in a Master/Follower application run by
several drives. In a Master/Follower application the motor shafts are coupled to each other.
The correct droop rate for a process must be found out case by case in practice.
Speed decrease = Speed controller output Drooping Max. speed
Example: Speed controller output is 50%, drooping rate is 1%, maximum speed of the drive is 1500 rpm.
Speed decrease = 0.50 0.01 1500 rpm = 7.5 rpm.

Motor speed (% of nominal)

No drooping
100% } 28.07 DROOPING RATE
Drooping

Speed controller Drive

output / % load
100%

0100% Droop rate.

28.08 BAL REFERENCE FW block: SPEED CONTROL (see above)

Defines the reference used in the speed control output balancing, ie, an external value to be forced to
the output of the speed controller. In order to guarantee smooth operation during output balancing, the
speed controller D-part is disabled and the acceleration compensation term is set to zero.
The source for the balancing enable signal is selected by parameter 28.09 SPEEDCTRL BAL EN.

-16001600% Speed control output balancing reference.

28.09 SPEEDCTRL BAL EN FW block: SPEED CONTROL (see above)

Selects the source for the speed control output balancing enable signal. See parameter 28.08 BAL
REFERENCE. 1 = Enabled. 0 = Disabled.

Bit pointer: Group, index and bit

28.10 MIN TORQ SP CTRL FW block: SPEED CONTROL (see above)

Defines the minimum speed controller output torque.

-16001600% Minimum speed controller output torque.

28.11 MAX TORQ SP CTRL FW block: SPEED CONTROL (see above)

Defines the maximum speed controller output torque.

-16001600% Maximum speed controller output torque.

Parameters and firmware blocks

 135

28.12 PI ADAPT MAX SPD FW block: SPEED CONTROL (see above)

Maximum actual speed for speed controller adaptation.

Speed controller gain and integration time can be adapted according to actual speed. This is done by
multiplying the gain (28.02 PROPORT GAIN) and integration time (28.03 INTEGRATION TIME) by
coefficients at certain speeds. The coefficients are defined individually for both gain and integration
time.
When the actual speed is below or equal to 28.13 PI ADAPT MIN SPD, 28.02 PROPORT GAIN and
28.03 INTEGRATION TIME are multiplied by 28.14 P GAIN ADPT COEF and 28.15 I TIME ADPT
COEF respectively.
When the actual speed is equal to or exceeds 28.12 PI ADAPT MAX SPD, no adaptation takes place;
in other words, 28.02 PROPORT GAIN and 28.03 INTEGRATION TIME are used as such.
Between 28.13 PI ADAPT MIN SPD and 28.12 PI ADAPT MAX SPD, the coefficients are calculated
linearly on the basis of the breakpoints.

Coefficient for Kp or TI Kp = Proportional gain

TI = Integration time

1.000

28.14 P GAIN ADPT COEF or

28.15 I TIME ADPT COEF

Actual speed
(rpm)
0 28.13 PI ADAPT 28.12 PI ADAPT
MIN SPD MAX SPD

030000 rpm Maximum actual speed for speed controller adaptation.

28.13 PI ADAPT MIN SPD FW block: SPEED CONTROL (see above)

Minimum actual speed for speed controller adaptation. See parameter 28.12 PI ADAPT MAX SPD.

030000 rpm Minimum actual speed for speed controller adaptation.

28.14 P GAIN ADPT COEF FW block: SPEED CONTROL (see above)

Proportional gain coefficient. See parameter 28.12 PI ADAPT MAX SPD.

0.000 10.000 Proportional gain coefficient.

28.15 I TIME ADPT COEF FW block: SPEED CONTROL (see above)

Integration time coefficient. See parameter 28.12 PI ADAPT MAX SPD.

0.000 10.000 Integration time coefficient.

Parameters and firmware blocks

136

28.16 PI TUNE MODE FW block: None

Activates the speed controller autotune function.

The autotune will automatically set parameters 28.02 PROPORT GAIN and 28.03 INTEGRATION
TIME, as well as 1.31 MECH TIME CONST. If the User autotune mode is chosen, also 26.06 SPD
ERR FTIME is automatically set.
The status of the autotune routine is shown by parameter 6.03 SPEED CTRL STAT.
WARNING! The motor will reach the torque and current limits during the autotune routine.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING THE
AUTOTUNE ROUTINE!
Notes:
Before using the autotune function, the following parameters should be set:
All parameters adjusted during the start-up as described in chapter Start-up (page 15)
22.05 ZERO SPEED LIMIT
Speed scaling and reference ramp settings in parameter group 25
26.06 SPD ERR FTIME
If the User autotune mode is desired: 28.17 TUNE BANDWIDTH and 28.18 TUNE DAMPING.
The drive must be in local control mode and stopped before an autotune is requested.
After requesting an autotune with this parameter, start the drive within 20 seconds.
Wait until the autotune routine is completed (this parameter has reverted to the value (0) Done). The
routine can be aborted by stopping the drive.
Check the values of the parameters set by the autotune function.
See also section Speed controller tuning on page 48.

(0) Done No tuning has been requested (normal operation). The parameter also
reverts to this value after an autotune is completed.

(1) Smooth Request speed controller autotune with preset settings for smooth
operation.

(2) Middle Request speed controller autotune with preset settings for medium-
tight operation.

(3) Tight Request speed controller autotune with preset settings for tight
operation.

(4) User Request speed controller autotune with the settings defined by
parameters 28.17 TUNE BANDWIDTH and 28.18 TUNE DAMPING.

28.17 TUNE BANDWIDTH FW block: None

Speed controller bandwidth for autotune procedure, User mode (see parameter 28.16 PI TUNE
MODE).
A larger bandwidth results in more restricted speed controller settings.

0.00 2000.00 Hz Tune bandwidth for User autotune mode.

28.18 TUNE DAMPING FW block: None

Speed controller damping for autotune procedure, User mode (see parameter 28.16 PI TUNE
MODE).
Higher damping results in safer and smoother operation.

0.0 200.0 Speed controller damping for User autotune mode.

Parameters and firmware blocks

 137

Group 32 TORQUE REFERENCE

Reference settings for torque control.
In torque control, the drive speed is limited between the defined minimum and
maximum limits. Speed-related torque limits are calculated and the input torque
reference is limited according to these limits. An OVERSPEED fault is generated if
the maximum allowed speed is exceeded.

32.01 TORQ REF1

SEL

ZERO
AI1 3.09 TORQ REF1
AI2
FBA REF1
FBA REF2
D2D REF1
D2D REF2

32.02 TORQ REF

ADD SEL

ZERO
AI1 3.12 TORQUE REF ADD
AI2
FBA REF1
FBA REF2
D2D REF1
D2D REF2

22.08 SPEED TRIP MARGIN

1.01 SPEED ACT

32.07 TORQ RAMP UP

32.04 MAXIMUM TORQ REF
32.06 LOAD SHARE

3.09 TORQ REF1

x RUSHCTRL 3.11 TORQ REF RUSHLIM

LOCAL CONTROL REF

LOCAL CONTROL
32.05 MINIMUM TORQ REF

32.08 TORQ RAMP DOWN

20.01 MAXIMUM SPEED
20.02 MINIMUM SPEED

06.05 LIMIT WORD 1 06.05 LIMIT WORD 1

bit 3 TORQ REF MAX bit 5 TLIM MAX SPEED
bit 4 TORQ REF MIN bit 6 TLIM MIN SPEED

Parameters and firmware blocks

138

32
Firmware block: TORQ REF SEL
1

TORQ REF SEL TLF1 500 sec (1)

(32) 3.09 TORQ REF1

3.12 TORQUE REF ADD
Selects the source for torque [ AI2 ]
32.01 TORQ REF1 SEL
reference 1 (from a parameter [ ZERO ]
32.02 TORQ REF ADD SEL
selection list) and the source for
torque reference addition (used, eg,
for compensating mechanical
interferences). Also shows the torque
reference and reference addition
values.

Block outputs located in other 3.09 TORQ REF1 (page 72)

parameter groups 3.12 TORQUE REF ADD (page 72)

32.01 TORQ REF1 SEL FW block: TORQ REF SEL (see above)

Selects the source for torque reference 1. See also parameter 32.03 TORQ REF IN.

(0) ZERO Zero reference.

(1) AI1 Analogue input AI1.

(2) AI2 Analogue input AI2.

(3) FBA REF1 Fieldbus reference 1.

(4) FBA REF2 Fieldbus reference 2.

(5) D2D REF1 Drive to drive reference 1.

(6) D2D REF2 Drive to drive reference 2.

32.02 TORQ REF ADD SEL FW block: TORQ REF SEL (see above)

Selects the source for the torque reference addition, 3.12 TORQUE REF ADD. Parameter 34.10
TORQ REF ADD SRC is connected to signal 3.12 TORQUE REF ADD by default.
Because the reference is added after the torque reference selection, this parameter can be used in
speed and torque control modes. See the block diagram in parameter group 34 (page 145).

(0) ZERO Zero reference addition.

(1) AI1 Analogue input AI1.

(2) AI2 Analogue input AI2.

(3) FBA REF1 Fieldbus reference 1.

(4) FBA REF2 Fieldbus reference 2.

(5) D2D REF1 Drive to drive reference 1.

(6) D2D REF2 Drive to drive reference 2.

Parameters and firmware blocks

 139

Firmware block:
TORQ REF MOD 2
TORQ REF MOD TRQREF 500 sec (2)

(33) 3.10 TORQ REF RAMPED

3.11 TORQ REF RUSHLIM
This block
[ TORQ REF1 ]
< 32.03 TORQ REF IN
selects the source for the torque (8 / 3.09)
(Drive value)
32.04 MAXIMUM TORQ REF
reference (Drive value)
32.05 MINIMUM TORQ REF
scales the input torque reference (Drive value)
32.06 LOAD SHARE
according to the defined load share (Drive value)
32.07 TORQ RAMP UP
factor (Drive value)
32.08 TORQ RAMP DOWN
defines limits for the torque (Drive value)
32.09 RUSH CTRL GAIN
reference (Drive value)
32.10 RUSH CTRL TI
defines ramp-up and ramp-down
times for the torque reference
shows the ramped torque reference
value and the torque reference
value limited by the rush control.

Block outputs located in other 3.10 TORQ REF RAMPED (page 72)
parameter groups 3.11 TORQ REF RUSHLIM (page 72)

32.03 TORQ REF IN FW block: TORQ REF MOD (see above)

Selects the source for the torque reference input for the torque ramp function. The default value is
P.3.9, ie, signal 3.09 TORQ REF1, which is the output of the TORQ REF SEL firmware block.

Value pointer: Group and index

32.04 MAXIMUM TORQ REF FW block: TORQ REF MOD (see above)

Defines the maximum torque reference.

01000% Maximum torque reference.

32.05 MINIMUM TORQ REF FW block: TORQ REF MOD (see above)

Defines the minimum torque reference.

-10000% Minimum torque reference.

32.06 LOAD SHARE FW block: TORQ REF MOD (see above)

Scales the external torque reference to a required level (external torque reference is multiplied by the
selected value).
Note: If local torque reference is used, no load share scaling is applied.

-88 External torque reference multiplier.

32.07 TORQ RAMP UP FW block: TORQ REF MOD (see above)

Defines the torque reference ramp-up time, ie, the time for the reference to increase from zero to the
nominal motor torque.

060 s Torque reference ramp-up time.

Parameters and firmware blocks

140

32.08 TORQ RAMP DOWN FW block: TORQ REF MOD (see above)

Defines the torque reference ramp-down time, ie, the time for the reference to decrease from the
nominal motor torque to zero.

060 s Torque reference ramp-down time.

32.09 RUSH CTRL GAIN FW block: TORQ REF MOD (see above)

Defines the proportional gain of the rush controller.

110000 Proportional gain of the rush controller.

32.10 RUSH CTRL TI FW block: TORQ REF MOD (see above)

Defines the integration time of the rush controller.

0.110 s Integration time of the rush controller.

Parameters and firmware blocks

 141

Group 33 SUPERVISION
Configuration of signal supervision.

33
Firmware block: SUPERVISION
45

SUPERVISION TLF11 10 msec (6)

(17) 6.14 SUPERV STATUS

[ Disabled ]
33.01 SUPERV1 FUNC
[ SPEED ACT ]
(7 / 1.01)
< 33.02 SUPERV1 ACT
[ 0.00 ]
33.03 SUPERV1 LIM HI
[ 0.00 ]
33.04 SUPERV1 LIM LO
[ Disabled ]
33.05 SUPERV2 FUNC
[ CURRENT ]
(1 / 1.04)
< 33.06 SUPERV2 ACT
[ 0.00 ]
33.07 SUPERV2 LIM HI
[ 0.00 ]
33.08 SUPERV2 LIM LO
[ Disabled ]
33.09 SUPERV3 FUNC
[ TORQUE ]
(1 / 1.06)
< 33.10 SUPERV3 ACT
[ 0.00 ]
33.11 SUPERV3 LIM HI
[ 0.00 ]
33.12 SUPERV3 LIM LO

Block outputs located in other 6.14 SUPERV STATUS (page 77)

parameter groups

33.01 SUPERV1 FUNC FW block: SUPERVISION (see above)

Selects the mode of supervision 1.

(0) Disabled Supervision 1 not in use.

(1) Low When the signal selected by parameter 33.02 SUPERV1 ACT falls
below the value of parameter 33.04 SUPERV1 LIM LO, bit 0 of 6.14
SUPERV STATUS is activated. To clear the bit, the signal must
exceed the value of parameter 33.03 SUPERV1 LIM HI.

(2) High When the signal selected by parameter 33.02 SUPERV1 ACT
exceeds the value of parameter 33.03 SUPERV1 LIM HI, bit 0 of 6.14
SUPERV STATUS is activated. To clear the bit, the signal must fall
below the value of parameter 33.04 SUPERV1 LIM LO.

(3) Abs Low When the absolute value of the signal selected by parameter 33.02
SUPERV1 ACT falls below the value of parameter 33.04 SUPERV1
LIM LO, bit 0 of 6.14 SUPERV STATUS is activated. To clear the bit,
the absolute value of the signal must exceed the value of parameter
33.03 SUPERV1 LIM HI.

(4) Abs High When the absolute value of the signal selected by parameter 33.02
SUPERV1 ACT exceeds the value of parameter 33.03 SUPERV1 LIM
HI, bit 0 of 6.14 SUPERV STATUS is activated. To clear the bit, the
absolute value of the signal must fall below the value of parameter
33.04 SUPERV1 LIM LO.

33.02 SUPERV1 ACT FW block: SUPERVISION (see above)

Selects the signal to be monitored by supervision 1. See parameter 33.01 SUPERV1 FUNC.

Value pointer: Group and index

Parameters and firmware blocks

142

33.03 SUPERV1 LIM HI FW block: SUPERVISION (see above)

Sets the upper limit for supervision 1. See parameter 33.01 SUPERV1 FUNC.

-3276832768 Upper limit for supervision 1.

33.04 SUPERV1 LIM LO FW block: SUPERVISION (see above)

Sets the lower limit for supervision 1. See parameter 33.01 SUPERV1 FUNC.

-3276832768 Lower limit for supervision 1.

33.05 SUPERV2 FUNC FW block: SUPERVISION (see above)

Selects the mode of supervision 2.

(0) Disabled Supervision 2 not in use.

(1) Low When the signal selected by parameter 33.06 SUPERV2 ACT falls
below the value of parameter 33.08 SUPERV2 LIM LO, bit 1 of 6.14
SUPERV STATUS is activated. To clear the bit, the signal must
exceed the value of parameter 33.07 SUPERV2 LIM HI.

(2) High When the signal selected by parameter 33.06 SUPERV2 ACT
exceeds the value of parameter 33.07 SUPERV2 LIM HI, bit 1 of 6.14
SUPERV STATUS is activated. To clear the bit, the signal must fall
below the value of parameter 33.08 SUPERV2 LIM LO.

(3) Abs Low When the absolute value of the signal selected by parameter 33.06
SUPERV2 ACT falls below the value of parameter 33.08 SUPERV2
LIM LO, bit 1 of 6.14 SUPERV STATUS is activated. To clear the bit,
the absolute value of the signal must exceed the value of parameter
33.07 SUPERV2 LIM HI.

(4) Abs High When the absolute value of the signal selected by parameter 33.06
SUPERV2 ACT exceeds the value of parameter 33.07 SUPERV2 LIM
HI, bit 1 of 6.14 SUPERV STATUS is activated. To clear the bit, the
absolute value of the signal must fall below the value of parameter
33.08 SUPERV2 LIM LO.

33.06 SUPERV2 ACT FW block: SUPERVISION (see above)

Selects the signal to be monitored by supervision 2. See parameter 33.05 SUPERV2 FUNC.

Value pointer: Group and index

33.07 SUPERV2 LIM HI FW block: SUPERVISION (see above)

Sets the upper limit for supervision 2. See parameter 33.05 SUPERV2 FUNC.

-3276832768 Upper limit for supervision 2.

33.08 SUPERV2 LIM LO FW block: SUPERVISION (see above)

Sets the lower limit for supervision 2. See parameter 33.05 SUPERV2 FUNC.

-3276832768 Lower limit for supervision 2.

Parameters and firmware blocks

 143

33.09 SUPERV3 FUNC FW block: SUPERVISION (see above)

Selects the mode of supervision 3.

(0) Disabled Supervision 3 not in use.

(1) Low When the signal selected by parameter 33.10 SUPERV3 ACT falls
below the value of parameter 33.12 SUPERV3 LIM LO, bit 2 of 6.14
SUPERV STATUS is activated. To clear the bit, the signal must
exceed the value of parameter 33.11 SUPERV3 LIM HI.

(2) High When the signal selected by parameter 33.10 SUPERV3 ACT
exceeds the value of parameter 33.11 SUPERV3 LIM HI, bit 2 of 6.14
SUPERV STATUS is activated. To clear the bit, the signal must fall
below the value of parameter 33.12 SUPERV3 LIM LO.

(3) Abs Low When the absolute value of the signal selected by parameter 33.10
SUPERV3 ACT falls below the value of parameter 33.12 SUPERV3
LIM LO, bit 2 of 6.14 SUPERV STATUS is activated. To clear the bit,
the absolute value of the signal must exceed the value of parameter
33.11 SUPERV3 LIM HI.

(4) Abs High When the absolute value of the signal selected by parameter 33.10
SUPERV3 ACT exceeds the value of parameter 33.11 SUPERV3 LIM
HI, bit 2 of 6.14 SUPERV STATUS is activated. To clear the bit, the
absolute value of the signal must fall below the value of parameter
33.12 SUPERV3 LIM LO.

33.10 SUPERV3 ACT FW block: SUPERVISION (see above)

Selects the signal to be monitored by supervision 3. See parameter 33.09 SUPERV3 FUNC.

Value pointer: Group and index

33.11 SUPERV3 LIM HI FW block: SUPERVISION (see above)

Sets the upper limit for supervision 3. See parameter 33.09 SUPERV3 FUNC.

-3276832768 Upper limit for supervision 3.

33.12 SUPERV3 LIM LO FW block: SUPERVISION (see above)

Sets the lower limit for supervision 3. See parameter 33.09 SUPERV3 FUNC.

-3276832768 Lower limit for supervision 3.

Parameters and firmware blocks

144

Group 34 REFERENCE CTRL

Reference source and type selection.
Using the parameters in this group, it is possible to select whether external control
location EXT1 or EXT2 is used (either one is active at a time). These parameters
also select the control mode (SPEED/TORQUE/MIN/MAX/ADD) and the used
torque reference in local and external control. It is possible to select two different
control modes for the EXT1 location by using parameters 34.03 EXT1 CTRL
MODE1 and 34.04 EXT1 CTRL MODE2; the same start/stop commands are used in
both modes.
For more information on control locations and control modes, see chapter Drive
control and features. For start/stop control in different control locations, see
parameter group 10 (page 85).

34.07 LOCAL
CTRL MODE

SPEED
TORQUE
POSITION

34.02 EXT1 MODE 1/2SEL

34.01 EXT1
CTRL MODE1

SPEED
TORQUE
MIN
MAX
ADD
POSITION
SYNCHRON
HOMING
PROF VEL
JOGGING

34.01 EXT1 LOCAL FIELDBUS

CTRL MODE2
6.12 OP MODE ACK
SPEED
TORQUE LOCAL EXT1/EXT2
MIN
MAX
ADD
POSITION
SYNCHRON
HOMING
PROF VEL

10.01 EXT1
START FUNC

IN1
3-WIRE
FBA
D2D
IN1F IN2R
IN1S IN2DIR

34.05 EXT2
CTRL MODE1

SPEED
TORQUE
MIN
MAX
ADD
POSITION
SYNCHRON
HOMING
PROF VEL

10.04 EXT2
START FUNC
IN1
3-WIRE
FBA
D2D
IN1F IN2R
IN1S IN2DIR

34.01 EXT1/EXT2 SEL

Parameters and firmware blocks

 145

6.12 OP MODE ACK

1= SPEED (B)
3.11 TORQ REF RUSHLIM A
2=TORQUE (A)

3=MIN (A/B) + 3.13 TORQ REF TO TC

4=MAX(A/B)
3.08 TORQ REF SP CTRL B
5=ADD (A+B)

99.05 MOTOR CTRL MODE

3.12 TORQUE REF ADD

34
Firmware block: REFERENCE CTRL
29

REFERENCE CTRL TLF8 250 sec (3)

(34) 3.13 TORQ REF TO TC

6.12 OP MODE ACK
This block [ DI STATUS.1 ]
< 34.01 EXT1/EXT2 SEL
defines the selection method
(2 / 2.01.DI2)
[ DI STATUS.5 ]
(2 / 2.01.DI6)
< 34.02 EXT1 MODE 1/2SEL
between external control locations [ Speed ]
34.03 EXT1 CTRL MODE1
EXT1 and EXT2 [ Homing ]
34.04 EXT1 CTRL MODE2
configures control mode (SPEED/ [ Position ]
34.05 EXT2 CTRL MODE1
TORQUE/MIN/MAX/ADD) [ Speed ]
34.07 LOCAL CTRL MODE

selection
TORQ REF SP CTRL
(7 / 3.08)
< 34.08 TREF SPEED SRC
TORQ REF RUSHLIM
selects the torque reference used (8 / 3.11)
< 34.09 TREF TORQ SRC
[ TORQUE REF ADD ]
in local and external control (8 / 3.12)
< 34.10 TORQ REF ADD SRC

shows the torque reference (for

torque control) and operating
mode.

Block outputs located in other 3.13 TORQ REF TO TC (page 72)

parameter groups 6.12 OP MODE ACK (page 77)

34.01 EXT1/EXT2 SEL FW block: REFERENCE CTRL (see above)

Selects the source for external control location EXT1/EXT2 selection. 0 = EXT1. 1 = EXT2.

Bit pointer: Group, index and bit

34.02 EXT1 MODE 1/2SEL FW block: REFERENCE CTRL (see above)

Selects the source for EXT1 control mode 1/2 selection. 1 = mode 2. 0 = mode 1.
Control mode 1/2 is selected by parameter 34.03 EXT1 CTRL MODE1 / 34.04 EXT1 CTRL MODE2.

Bit pointer: Group, index and bit

Parameters and firmware blocks

146

34.03 EXT1 CTRL MODE1 FW block: REFERENCE CTRL (see above)

Selects control mode 1 for external control location EXT1.

(1) Speed Speed control. Torque reference is 3.08 TORQ REF SP CTRL, which
is the output of the SPEED CONTROL firmware block. Torque
reference source can be changed by parameter 34.08 TREF SPEED
SRC.

(2) Torque Torque control. Torque reference is 3.11 TORQ REF RUSHLIM, which
is the output of the TORQ REF MOD firmware block. Torque reference
source can be changed by parameter 34.09 TREF TORQ SRC.

(3) Min Combination of selections (1) Speed and (2) Torque: Torque selector
compares the torque reference and the speed controller output and
the smaller of them is used.

(4) Max Combination of selections (1) Speed and (2) Torque: Torque selector
compares the torque reference and the speed controller output and
the greater of them is used.

(5) Add Combination of selections (1) Speed and (2) Torque: Torque selector
adds the speed controller output to the torque reference.

34.04 EXT1 CTRL MODE2 FW block: REFERENCE CTRL (see above)

Selects control mode 2 for external control location EXT1.

For selections, see parameter 34.03 EXT1 CTRL MODE1.

34.05 EXT2 CTRL MODE1 FW block: REFERENCE CTRL (see above)

Selects control mode for external control location EXT2.

For selections, see parameter 34.03 EXT1 CTRL MODE1.

34.07 LOCAL CTRL MODE FW block: REFERENCE CTRL (see above)

Selects the control mode for local control.

Note: This parameter cannot be changed while the drive is running.

(1) Speed Speed control. Torque reference is 3.08 TORQ REF SP CTRL, which
is the output of the SPEED CONTROL firmware block. Torque
reference source can be changed by parameter 34.08 TREF SPEED
SRC.

(2) Torque Torque control. Torque reference is 3.11 TORQ REF RUSHLIM, which
is an output of the TORQ REF MOD firmware block. Torque reference
source can be changed by parameter 34.09 TREF TORQ SRC.

Parameters and firmware blocks

 147

34.08 TREF SPEED SRC FW block: REFERENCE CTRL (see above)

Selects the source for the torque reference (from the speed controller). Default value is P.3.8, ie, 3.08
TORQ REF SP CTRL, which is the output of the SPEED CONTROL firmware block.
Note: This parameter has been locked, ie, no user setting is possible.

Value pointer: Group and index

34.09 TREF TORQ SRC FW block: REFERENCE CTRL (see above)

Selects the source for the torque reference (from the torque reference chain). Default value is P.3.11,
ie, 3.11 TORQ REF RUSHLIM, which is an output of the TORQ REF MOD firmware block.
Note: This parameter has been locked, ie, no user setting is possible.

Value pointer: Group and index

34.10 TORQ REF ADD SRC FW block: REFERENCE CTRL (see above)

Selects the source for the torque reference added to the torque value after the torque selection.
Default value is P.3.12, ie, 3.12 TORQUE REF ADD, which is an output of the TORQ REF SEL
firmware block.
Note: This parameter has been locked, ie, no user setting is possible.

Value pointer: Group and index

Parameters and firmware blocks

148

Group 35 MECH BRAKE CTRL

Settings for the control of a mechanical brake. See also section Mechanical brake
control on page 52.

35
Firmware block: MECH BRAKE CTRL
30

MECH BRAKE CTRL TLF10 2 msec (2)

(35) 3.14 BRAKE TORQ MEM

3.15 BRAKE COMMAND

[ NO ]
35.01 BRAKE CONTROL
[ FALSE ]
< 35.02 BRAKE ACKNOWL
[ 0.00 s ]
35.03 BRAKE OPEN DELAY
[ 0.00 s ]
35.04 BRAKE CLOSE DLY
[ 100.0 rpm ]
35.05 BRAKE CLOSE SPD
[ 0.0 % ]
35.06 BRAKE OPEN TORQ
[ FALSE ]
< 35.07 BRAKE CLOSE REQ
[ FALSE ]
< 35.08 BRAKE OPEN HOLD
[ FAULT ]
35.09 BRAKE FAULT FUNC

Block outputs located in other 3.14 BRAKE TORQ MEM (page 72)
parameter groups 3.15 BRAKE COMMAND (page 73)

35.01 BRAKE CONTROL FW block: MECH BRAKE CTRL (see above)

Activates the brake control function with or without supervision.

Note: This parameter cannot be changed while the drive is running.

(0) NO Inactive.

(1) WITH ACK Brake control with supervision (supervision is activated by parameter
35.02 BRAKE ACKNOWL).

(2) NO ACK Brake control without supervision.

35.02 BRAKE ACKNOWL FW block: MECH BRAKE CTRL (see above)

Selects the source for the external brake on/off supervision activation (when par. 35.01 BRAKE
CONTROL = (1) WITH ACK). The use of the external on/off supervision signal is optional. 1 = The
brake is open. 0 = The brake is closed.
Brake supervision is usually controlled with a digital input. It can also be controlled with an external
control system, eg, fieldbus.
When brake control error is detected the drive reacts as defined by parameter 35.09 BRAKE FAULT
FUNC.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

Parameters and firmware blocks

 149

35.03 BRAKE OPEN DELAY FW block: MECH BRAKE CTRL (see above)

Defines the brake open delay (= the delay between the internal open brake command and the release
of the motor speed control). The delay counter starts when the drive has magnetised the motor and
risen the motor torque to the level required at the brake release (parameter 35.06 BRAKE OPEN
TORQ). Simultaneously with the counter start, the brake function energises the relay output
controlling the brake and the brake starts opening.
Set the delay the same as the mechanical opening delay of the brake specified by the brake
manufacturer.

05 s Brake open delay.

35.04 BRAKE CLOSE DLY FW block: MECH BRAKE CTRL (see above)

Defines the brake close delay. The delay counter starts when the motor actual speed has fallen below
the set level (parameter 35.05 BRAKE CLOSE SPD) after the drive has received the stop command.
Simultaneously with the counter start, the brake control function de-energises the relay output
controlling the brake and the brake starts closing. During the delay, the brake function keeps the motor
live preventing the motor speed from falling below zero.
Set the delay time to the same value as the mechanical make-up time of the brake (= operating delay
when closing) specified by the brake manufacturer.

060 s Brake close delay.

35.05 BRAKE CLOSE SPD FW block: MECH BRAKE CTRL (see above)

Defines the brake close speed (an absolute value). See parameter 35.04 BRAKE CLOSE DLY.

01000 rpm Brake close speed.

35.06 BRAKE OPEN TORQ FW block: MECH BRAKE CTRL (see above)

Defines the motor starting torque at brake release (in percent of the motor nominal torque).

01000% Motor starting torque at brake release.

35.07 BRAKE CLOSE REQ FW block: MECH BRAKE CTRL (see above)

Selects the source for the brake close (open) request. 1 = Brake close request. 0 = Brake open
request.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

35.08 BRAKE OPEN HOLD FW block: MECH BRAKE CTRL (see above)

Selects the source for the activation of the brake open command hold. 1 = Hold active. 0 = Normal
operation.
Note: This parameter cannot be changed while the drive is running.

Bit pointer: Group, index and bit

Parameters and firmware blocks

150

35.09 BRAKE FAULT FUNC FW block: MECH BRAKE CTRL (see above)

Defines how the drive reacts in case of mechanical brake control error. If brake control supervision
has not been activated by parameter 35.01 BRAKE CONTROL, this parameter is disabled.

(0) FAULT The drive trips on fault BRAKE NOT CLOSED / BRAKE NOT OPEN if
the status of the optional external brake acknowledgement signal
does not meet the status presumed by the brake control function. The
drive trips on fault BRAKE START TORQUE if the required motor
starting torque at brake release is not achieved.

(1) ALARM The drive generates alarm BRAKE NOT CLOSED / BRAKE NOT
OPEN if the status of the optional external brake acknowledgement
signal does not meet the status presumed by the brake control
function. The drive generates alarm BRAKE START TORQUE if the
required motor starting torque at brake release is not achieved.

(2) OPEN FLT The drive generates alarm BRAKE NOT CLOSED (when closing the
brake) and trips on fault BRAKE NOT OPEN (when opening the
brake) if the status of the optional external brake acknowledgement
signal does not match the status presumed by the brake control
function. The drive trips on BRAKE START TORQUE if the required
motor start torque at brake release is not achieved.

Parameters and firmware blocks

 151

Group 40 MOTOR CONTROL

Motor control settings, such as
flux reference
drive switching frequency
motor slip compensation
voltage reserve
flux optimisation
IR compensation for scalar control mode.
Flux optimisation
Flux optimisation reduces the total energy consumption and motor noise level when
the drive operates below the nominal load. The total efficiency (motor and drive) can
be improved by 1% to 10%, depending on the load torque and speed.
Note: Flux optimisation limits the dynamic control performance of the drive because
with a small flux reference the drive torque cannot be increased fast.

40
Firmware block:
MOTOR CONTROL 31
MOTOR CONTROL MISC_3 2 msec (9)

(40) 3.16 FLUX REF USED

3.17 TORQUE REF USED
This block defines motor control
settings such as
(Drive value)
40.01 FLUX REF
(Drive value)
40.02 SF REF
flux reference (Drive value)
40.03 SLIP GAIN
drive switching frequency (Drive value)
40.04 VOLTAGE RESERVE
motor slip compensation (Drive value)
40.05 FLUX OPT
voltage reserve (Drive value)
40.06 FORCE OPEN LOOP
flux optimisation (Drive value)
40.07 IR COMPENSATION
IR compensation for scalar control (Drive value)
40.10 FLUX BRAKING
mode
flux braking.
The block also shows the flux and
torque reference used.

Block outputs located in other 3.16 FLUX REF USED (page 73)
parameter groups 3.17 TORQUE REF USED (page 73)

40.01 FLUX REF FW block: MOTOR CONTROL (see above)

Defines the flux reference.

0200% Flux reference.

40.02 SF REF FW block: MOTOR CONTROL (see above)

Defines the switching frequency of the drive.

When switching frequency exceeds 4 kHz, the allowed drive output current is limited. See switching
frequency derating in the appropriate Hardware Manual.

1/2/3/4/5/8/16 kHz Switching frequency.

Parameters and firmware blocks

152

40.03 SLIP GAIN FW block: MOTOR CONTROL (see above)

Defines the slip gain which is used to improve the estimated motor slip. 100% means full slip gain; 0%
means no slip gain. The default value is 100%. Other values can be used if a static speed error is
detected despite of the full slip gain.
Example (with nominal load and nominal slip of 40 rpm): A 1000 rpm constant speed reference is
given to the drive. Despite of the full slip gain (= 100%), a manual tachometer measurement from the
motor axis gives a speed value of 998 rpm. The static speed error is 1000 rpm - 998 rpm = 2 rpm. To
compensate the error, the slip gain should be increased. At the 105% gain value, no static speed error
exists (2 rpm / 40 rpm = 5%).

0200% Slip gain.

40.04 VOLTAGE RESERVE FW block: MOTOR CONTROL (see above)

Defines the minimum allowed voltage reserve. When the voltage reserve has decreased to the set
value, the drive enters the field weakening area.
If the intermediate circuit DC voltage Udc = 550 V and the voltage reserve is 5%, the RMS value of the
maximum output voltage in steady-state operation is
0.95 550 V / sqrt(2) = 369 V
The dynamic performance of the motor control in the field weakening area can be improved by
increasing the voltage reserve value, but the drive enters the field weakening area earlier.

-450% Minimum allowed voltage reserve.

40.05 FLUX OPT FW block: MOTOR CONTROL (see above)

Enables the flux optimisation function. Flux optimisation improves motor efficiency and reduces noise.
Flux optimisation is used in drives that usually operate below nominal load.
Note: With a permanent magnet motor, flux optimisation is always enabled regardless of this
parameter.

(0) Disable Flux optimisation disabled.

(1) Enable Flux optimisation enabled.

40.06 FORCE OPEN LOOP FW block: MOTOR CONTROL (see above)

Defines the speed/position information used by the motor model.

(0) FALSE Motor model uses the speed feedback selected by parameter 22.01
SPEED FB SEL.

(1) TRUE Motor model uses the internal speed estimate (even when parameter
22.01 SPEED FB SEL setting is (1) Enc1 speed / (2) Enc2 speed).

Parameters and firmware blocks

 153

40.07 IR COMPENSATION FW block: MOTOR CONTROL (see above)

Defines the relative output voltage boost at zero speed (IR compensation). The function is useful in
applications with high break-away torque when no DTC motor can be applied.
This parameter is only effective when parameter 99.05 MOTOR CTRL MODE is set to (1) Scalar.
U /UN
(%)
Relative output voltage. IR
compensation set to 15%.

100%

Relative output voltage. No IR

15%
compensation.

f (Hz)
Field weakening point

50% of nominal
frequency

050% IR compensation.

40.10 FLUX BRAKING FW block: MOTOR CONTROL (see above)

Defines the level of braking power.

(0) Disabled Flux braking is disabled.

(1) Moderate Flux level is limited during the braking. Deceleration time is longer
compared to full braking.

(2) Full Maximum braking power. Almost all available current is used to
convert the mechanical braking energy to thermal energy in the motor.

Parameters and firmware blocks

154

Group 45 MOT THERM PROT

Settings for thermal protection of the motor. See also section Thermal motor
protection on page 41.

45
Firmware block: MOT THERM PROT
32

MOT THERM PROT TLF11 10 msec (5)

(45) 1.17 MOTOR TEMP

1.18 MOTOR TEMP EST
Configures motor overtemperature [ No ]
45.01 MOT TEMP PROT
protection and temperature [ ESTIMATED ]
45.02 MOT TEMP SOURCE
measurement. Also shows the [ 90 C ]
45.03 MOT TEMP ALM LIM
estimated and measured motor [ 110 C ]
45.04 MOT TEMP FLT LIM
temperatures. [ 20 C ]
45.05 AMBIENT TEMP
[ 100 % ]
45.06 MOT LOAD CURVE
[ 100 % ]
45.07 ZERO SPEED LOAD
[ 45.00 Hz ]
45.08 BREAK POINT
[ 80 C ]
45.09 MOTNOM TEMP RISE
[ 256 s ]
45.10 MOT THERM TIME

Block outputs located in other 1.17 MOTOR TEMP (page 64)

parameter groups 1.18 MOTOR TEMP EST (page 64)

45.01 MOT TEMP PROT FW block: MOT THERM PROT (see above)

Selects how the drive reacts when motor overtemperature is detected.

(0) No Inactive.

(1) Alarm The drive generates alarm MOTOR TEMPERATURE when the
temperature exceeds the alarm level defined by parameter 45.03
MOT TEMP ALM LIM.

(2) Fault The drive generates alarm MOTOR TEMPERATURE or trips on fault
MOTOR OVERTEMP when the temperature exceeds the alarm/fault
level defined by parameter 45.03 MOT TEMP ALM LIM / 45.04 MOT
TEMP FLT LIM.

45.02 MOT TEMP SOURCE FW block: MOT THERM PROT (see above)

Selects the motor temperature protection. When overtemperature is detected the drive reacts as
defined by parameter 45.01 MOT TEMP PROT.

(0) ESTIMATED The temperature is supervised based on the motor thermal protection
model, which uses the motor thermal time constant (parameter 45.10
MOT THERM TIME) and the motor load curve (parameters
45.0645.08). User tuning is typically needed only if the ambient
temperature differs from the normal operating temperature specified
for the motor.
The motor temperature increases if it operates in the region above the
motor load curve. The motor temperature decreases if it operates in
the region below the motor load curve (if the motor is overheated).
WARNING! The model does not protect the motor if it does not
cool properly due to dust and dirt.

Parameters and firmware blocks

 155

(1) KTY JCU The temperature is supervised using a KTY84 sensor connected to
drive thermistor input TH.

(2) KTY 1st FEN The temperature is supervised using a KTY84 sensor connected to
encoder interface module FEN-xx installed in drive Slot 1/2. If two
encoder interface modules are used, encoder module connected to
Slot 1 is used for the temperature supervision. Note: This selection
does not apply for FEN-01. *

(3) KTY 2nd FEN The temperature is supervised using a KTY84 sensor connected to
encoder interface module FEN-xx installed in drive Slot 1/2. If two
encoder interface modules are used, encoder module connected to
Slot 2 is used for the temperature supervision. Note: This selection
does not apply for FEN-01. *

(4) PTC JCU The temperature is supervised using 13 PTC sensors connected to
drive thermistor input TH.

(5) PTC 1st FEN The temperature is supervised using 13 PTC sensors connected to
encoder interface module FEN-xx installed in drive Slot 1/2. If two
encoder interface modules are used, encoder module connected to
Slot 1 is used for the temperature supervision. *

(6) PTC 2nd FEN The temperature is supervised using 13 PTC sensors connected to
encoder interface module FEN-xx installed in drive Slot 1/2. If two
encoder interface modules are used, encoder module connected to
Slot 2 is used for the temperature supervision. *

*Note: If one FEN-xx module is used, parameter setting must be either (2) KTY 1st FEN or (5) PTC
1st FEN. The FEN-xx module can be in either Slot 1 or Slot 2.

45.03 MOT TEMP ALM LIM FW block: MOT THERM PROT (see above)

Defines the alarm limit for the motor overtemperature protection (when par. 45.01 MOT TEMP PROT
= (1) Alarm or (2) Fault).

0200 C Motor overtemperature alarm limit.

45.04 MOT TEMP FLT LIM FW block: MOT THERM PROT (see above)

Defines the fault limit for the motor overtemperature protection (when par. 45.01 MOT TEMP PROT =
(2) Fault).

0200 C Motor overtemperature fault limit.

45.05 AMBIENT TEMP FW block: MOT THERM PROT (see above)

Defines the ambient temperature for the thermal protection mode.

-60100 C Ambient temperature.

Parameters and firmware blocks

156

45.06 MOT LOAD CURVE FW block: MOT THERM PROT (see above)

Defines the load curve together with parameters 45.07 ZERO SPEED LOAD and 45.08 BREAK
POINT.
The value is given in percent of nominal motor current. When the parameter is set to 100%, the
maximum load is equal to the value of the parameter 99.06 MOT NOM CURRENT (higher loads heat
up the motor). The load curve level should be adjusted if the ambient temperature differs from the
nominal value.

I/IN I = Motor current

(%) IN = Nominal motor current
150

45.06
100

50
45.07

45.08 Drive output frequency

The load curve is used by the motor thermal protection model when parameter 45.02 MOT TEMP
SOURCE is set to (0) ESTIMATED.

50150% Motor current above breakpoint.

45.07 ZERO SPEED LOAD FW block: MOT THERM PROT (see above)

Defines the load curve together with parameters 45.06 MOT LOAD CURVE and 45.08 BREAK
POINT. Defines the maximum motor load at zero speed of the load curve. A higher value can be used
if the motor has an external motor fan to boost the cooling. See the motor manufacturer's
recommendations.
The value is given in percent of nominal motor current.
The load curve is used by the motor thermal protection model when parameter 45.02 MOT TEMP
SOURCE is set to (0) ESTIMATED.

50150% Motor current at zero speed.

45.08 BREAK POINT FW block: MOT THERM PROT (see above)

Defines the load curve together with parameters 45.06 MOT LOAD CURVE and 45.07 ZERO SPEED
LOAD. Defines the break point frequency of the load curve, ie, the point at which the motor load curve
begins to decrease from the value of parameter 45.06 MOT LOAD CURVE to the value of parameter
45.07 ZERO SPEED LOAD.
The load curve is used by the motor thermal protection model when parameter 45.02 MOT TEMP
SOURCE is set to (0) ESTIMATED.

0.01500 Hz Load curve breakpoint.

Parameters and firmware blocks

 157

45.09 MOTNOM TEMP RISE FW block: MOT THERM PROT (see above)

Defines the temperature rise of the motor when the motor is loaded with nominal current. See the
motor manufacturer's recommendations.
The temperature rise value is used by the motor thermal protection model when parameter 45.02
MOT TEMP SOURCE is set to (0) ESTIMATED.
Temperature

Motor nominal
temperature rise

Ambient temperature

0300 C Motor temperature rise.

45.10 MOT THERM TIME FW block: MOT THERM PROT (see above)

Defines the thermal time constant for the motor thermal protection model (ie, time inside which the
temperature has reached 63% of the nominal temperature). See the motor manufacturer's
recommendations.
The motor thermal protection model is used when parameter 45.02 MOT TEMP SOURCE is set to (0)
ESTIMATED.
Motor
load
100%

Temp. t
rise

100%
63%

t
Motor thermal time

10010000 s Motor thermal time.

Parameters and firmware blocks

158

Group 46 FAULT FUNCTIONS

Definition of drive behaviour upon a fault situation.
An alarm or a fault message indicates abnormal drive status. For the possible
causes and remedies, see chapter Fault tracing.

46
Firmware block: FAULT FUNCTIONS 33
FAULT FUNCTIONS MISC_3 2 msec (10)

(46) 8.01 ACTIVE FAULT

8.02 LAST FAULT
This block 8.03 FAULT TIME HI
configures supervision of external 8.04 FAULT TIME LO

faults by defining the source (for 8.05 ALARM LOGGER 1

example, a digital input) for external 8.06 ALARM LOGGER 2

fault indication signal 8.07 ALARM LOGGER 3

8.08 ALARM LOGGER 4
selects the reaction of the drive
8.09 ALARM LOGGER 5
(alarm; fault; continuation at safe
8.10 ALARM LOGGER 6
speed in some cases) upon 8.15 ALARM WORD 1
situations like local control 8.16 ALARM WORD 2
communication break, motor/supply 8.17 ALARM WORD 3
phase loss, earth fault, or Safe 8.18 ALARM WORD 4
Torque Off function activation (Drive value)
22.10 SPD SUPERV EST
shows the codes of the latest faults, (Drive value)
22.11 SPD SUPERV ENC
the time at which the active fault (Drive value)
22.12 SPD SUPERV FILT
occurred, and the alarm words. (Drive value)
< 46.01 EXTERNAL FAULT
(Drive value)
46.02 SPEED REF SAFE
(Drive value)
46.03 LOCAL CTRL LOSS
(Drive value)
46.04 MOT PHASE LOSS
(Drive value)
46.05 EARTH FAULT
(Drive value)
46.06 SUPPL PHS LOSS
(Drive value)
46.07 STO DIAGNOSTIC
(Drive value)
46.08 CROSS CONNECTION
(Drive value)
46.09 STALL FUNCTION
(Drive value)
46.10 STALL CURR LIM
(Drive value)
46.11 STALL FREQ HI
(Drive value)
46.12 STALL TIME

Block inputs located in other 22.10 SPD SUPERV EST (page 117)
parameter groups 22.11 SPD SUPERV ENC (page 117)
22.12 SPD SUPERV FILT (page 117)

Block outputs located in other 8.01 ACTIVE FAULT (page 78)

parameter groups 8.02 LAST FAULT (page 78)
8.03 FAULT TIME HI (page 78)
8.04 FAULT TIME LO (page 78)
8.05 ALARM LOGGER 1 (page 78)
8.06 ALARM LOGGER 2 (page 79)
8.07 ALARM LOGGER 3 (page 79)
8.08 ALARM LOGGER 4 (page 80)
8.09 ALARM LOGGER 5 (page 80)
8.10 ALARM LOGGER 6 (page 80)
8.15 ALARM WORD 1 (page 81)
8.16 ALARM WORD 2 (page 81)
8.17 ALARM WORD 3 (page 82)
8.18 ALARM WORD 4 (page 82)

Parameters and firmware blocks

 159

46.01 EXTERNAL FAULT FW block: FAULT FUNCTIONS (see above)

Selects an interface for an external fault signal. 0 = External fault trip. 1 = No external fault.

Bit pointer: Group, index and bit

46.02 SPEED REF SAFE FW block: FAULT FUNCTIONS (see above)

Defines the fault speed. Used as a speed reference when an alarm occurs when parameter 13.12 AI
SUPERVISION / 46.03 LOCAL CTRL LOSS / 50.02 COMM LOSS FUNC setting is (2) Spd ref Safe.

-3000030000 rpm Fault speed.

46.03 LOCAL CTRL LOSS FW block: FAULT FUNCTIONS (see above)

Selects how the drive reacts to a control panel or PC tool communication break.

(0) No No action.

(1) Fault Drive trips on LOCAL CTRL LOSS fault.

(2) Spd ref Safe The drive generates alarm LOCAL CTRL LOSS and sets the speed to
the speed defined by parameter 46.02 SPEED REF SAFE.
WARNING! Make sure that it is safe to continue operation in
case of a communication break.

(3) Last speed The drive generates alarm LOCAL CTRL LOSS and freezes the
speed to the level the drive was operating at. The speed is determined
by the average speed over the previous 10 seconds.
WARNING! Make sure that it is safe to continue operation in
case of a communication break.

46.04 MOT PHASE LOSS FW block: FAULT FUNCTIONS (see above)

Selects how the drive reacts when a motor phase loss is detected.

(0) No No action.

(1) Fault Drive trips on MOTOR PHASE fault.

46.05 EARTH FAULT FW block: FAULT FUNCTIONS (see above)

Selects how the drive reacts when an earth fault or current unbalance is detected in the motor or the
motor cable.

(0) No No action.

(1) Warning Drive generates alarm EARTH FAULT.

(2) Fault Drive trips on EARTH FAULT.

Parameters and firmware blocks

160

46.06 SUPPL PHS LOSS FW block: FAULT FUNCTIONS (see above)

Selects how the drive reacts when a supply phase loss is detected. This parameter is only used with
an AC supply.

(0) No No reaction.

(1) Fault Drive trips on SUPPLY PHASE fault.

46.07 STO DIAGNOSTIC FW block: FAULT FUNCTIONS (see above)

Selects how the drive reacts when it detects the absence of one or both Safe Torque Off (STO)
signals.
Note: This parameter is for supervision only. The Safe Torque Off function can activate even when
this parameter is set to (3) No.
For general information on the Safe Torque Off function, see the Hardware Manual of the drive and
Application guide - Safe torque off function for ACSM1, ACS850 and ACQ810 drives (3AFE68929814
[English]).

(1) Fault The drive trips on SAFE TORQUE OFF when one or both of the STO
signals are lost.

(2) Alarm Drive running:

The drive trips on SAFE TORQUE OFF when one or both of the STO
signals is lost.
Drive stopped:
The drive generates a SAFE TORQUE OFF alarm if both STO signals
are absent. If only one of the signals is lost, the drive trips on STO1
LOST or STO2 LOST.

(3) No Drive running:

The drive trips on SAFE TORQUE OFF when one or both of the STO
signals is lost.
Drive stopped:
No action if both STO signals are absent. If only one of the signals is
lost, the drive trips on STO1 LOST or STO2 LOST.

(4) Only Alarm The drive generates a SAFE TORQUE OFF alarm if both STO signals
are absent. If only one of the signals is lost, the drive trips on STO1
LOST or STO2 LOST.

46.08 CROSS CONNECTION FW block: FAULT FUNCTIONS (see above)

Selects how the drive reacts to incorrect input power and motor cable connection (ie, input power
cable is connected to drive motor connection). This parameter is only used with an AC supply.

(0) No No reaction.

(1) Fault Drive trips on CABLE CROSS CON fault.

Parameters and firmware blocks

 161

46.09 STALL FUNCTION FW block: FAULT FUNCTIONS (see above)

Selects how the drive reacts to a motor stall condition. A stall condition is defined as follows:
The drive is at stall current limit (46.10 STALL CURR LIM), and
the output frequency is below the level set by parameter 46.11 STALL FREQ HI, and
the conditions above have been valid longer than the time set by parameter 46.12 STALL TIME.

Bit Function
0 Ena sup (Enable supervision)
0 = Disabled: Supervision disabled.
1 = Enabled: Supervision enabled.
1 Ena warn (Enable warning)
0 = Disabled
1 = Enabled: Drive generates an alarm upon a stall condition.
2 Ena fault (Enable fault)
0 = Disabled
1 = Enabled: Drive trips on a fault upon a stall condition.

46.10 STALL CURR LIM FW block: FAULT FUNCTIONS (see above)

Stall current limit in percent of the nominal current of the motor. See parameter 46.09 STALL
FUNCTION.

0 1600% Stall current limit.

46.11 STALL FREQ HI FW block: FAULT FUNCTIONS (see above)

Stall frequency limit. See parameter 46.09 STALL FUNCTION.

Note: Setting the limit below 10 Hz is not recommended.

0.51000 Hz Stall frequency limit.

46.12 STALL TIME FW block: FAULT FUNCTIONS (see above)

Stall time. See parameter 46.09 STALL FUNCTION.

03600 s Stall time.

46.13 FAN CTRL MODE FW block: FAULT FUNCTIONS (see above)

Selects the fan control mode. See section Fan control logic.

(0) Normal Control mode based on the modulator ON/OFF status.

(1) Force ON Forces the fan to run always.

(2) Force OFF Prevents the fan from running ever.

(3) Advanced Control mode based on measured temperatures of the power stage,
braking chopper and interface board.

Parameters and firmware blocks

162

Group 47 VOLTAGE CTRL

Settings for overvoltage and undervoltage control, and supply voltage.

47
Firmware block:
VOLTAGE CTRL 34
VOLTAGE CTRL MISC_4 10 msec (1)

(47) 1.19 USED SUPPLY VOLT

This block
(Drive value)
47.01 OVERVOLTAGE CTRL
(Drive value)
47.02 UNDERVOLT CTRL
enables/disables overvoltage and (Drive value)
47.03 SUPPLVOLTAUTO-ID
undervoltage control (Drive value)
47.04 SUPPLY VOLTAGE
enables/disables automatic (Drive value)
< 47.05 LOW VOLT MOD ENA
identification of supply voltage (Drive value)
47.06 LOW VOLT DC MIN
provides a parameter for manual (Drive value)
47.07 LOW VOLT DC MAX
definition of supply voltage (Drive value)
< 47.08 EXT PU SUPPLY
shows the supply voltage value
used by the control program.

Block outputs located in other 1.19 USED SUPPLY VOLT (page 64)
parameter groups

47.01 OVERVOLTAGE CTRL FW block: VOLTAGE CTRL (see above)

Enables the overvoltage control of the intermediate DC link. Fast braking of a high inertia load causes
the voltage to rise to the overvoltage control limit. To prevent the DC voltage from exceeding the limit,
the overvoltage controller automatically decreases the braking torque.
Note: If a braking chopper and resistor or a regenerative supply section are included in the drive, the
controller must be disabled.

(0) Disable Overvoltage control disabled.

(1) Enable Overvoltage control enabled.

47.02 UNDERVOLT CTRL FW block: VOLTAGE CTRL (see above)

Enables the undervoltage control of the intermediate DC link. If the DC voltage drops due to input
power cut off, the undervoltage controller will automatically decrease the motor torque in order to keep
the voltage above the lower limit. By decreasing the motor torque, the inertia of the load will cause
regeneration back to the drive, keeping the DC link charged and preventing an undervoltage trip until
the motor coasts to stop. This will act as a power-loss ride-through functionality in systems with high
inertia, such as a centrifuge or a fan.

(0) Disable Undervoltage control disabled.

(1) Enable Undervoltage control enabled.

Parameters and firmware blocks

 163

47.03 SUPPLVOLTAUTO-ID FW block: VOLTAGE CTRL (see above)

Enables the auto-identification of the supply voltage. See also section Voltage control and trip limits on
page 45.

(0) Disable Auto-identification of supply voltage disabled. The drive sets the
voltage control and trip limits using the value of parameter 47.04
SUPPLY VOLTAGE.

(1) Enable Auto-identification of supply voltage enabled. The drive detects the
supply voltage level during intermediate circuit charging and sets the
voltage control and trip limits accordingly.

47.04 SUPPLY VOLTAGE FW block: VOLTAGE CTRL (see above)

Defines the nominal supply voltage. Used if auto-identification of the supply voltage is not enabled by
parameter 47.03 SUPPLVOLTAUTO-ID.

01000 V Nominal supply voltage.

47.05 LOW VOLT MOD ENA FW block: None

Enables/disables (or selects a signal source that enables/disables) Low voltage mode. 0 = Low
voltage mode disabled, 1 = Low voltage mode enabled. See section Low voltage mode on page 46.

Bit pointer: Group, index and bit

47.06 LOW VOLT DC MIN FW block: None

Minimum DC voltage for Low voltage mode. See section Low voltage mode on page 46.

250450 V Minimum DC voltage for Low voltage mode.

47.07 LOW VOLT DC MAX FW block: None

Maximum DC voltage for Low voltage mode. See section Low voltage mode on page 46.
Note: The value of this parameter must be higher than (47.06 LOW VOLT DC MIN + 50 V).

350810 V Maximum DC voltage for Low voltage mode.

47.08 EXT PU SUPPLY FW block: None

Enables/disables (or selects a signal source that enables/disables) external power unit supply, used
with low DC supply voltages such as a battery. 0 = External power unit supply disabled, 1 = External
power unit supply enabled. See section Low voltage mode on page 46.

Bit pointer: Group, index and bit

Parameters and firmware blocks

164

Group 48 BRAKE CHOPPER

Configuration of an internal braking chopper.

48
Firmware block: BRAKE CHOPPER
35

BRAKE CHOPPER [ Disable ]

TLF10 2 msec (11)

(48) [ TRUE ]
48.01 BC ENABLE
< 48.02 BC RUN-TIME ENA
[0s]
This block configures the braking [ 0.0000 kW ]
48.03 BRTHERMTIMECONST
48.04 BR POWER MAX CNT
chopper control and supervision. [ 0.0000 Ohm ]
48.05 R BR
[ 105 % ]
48.06 BR TEMP FAULTLIM
[ 95 % ]
48.07 BR TEMP ALARMLIM

48.01 BC ENABLE FW block: BRAKE CHOPPER (see above)

Enables the braking chopper control.

Note: Before enabling the braking chopper control, ensure the braking resistor is installed and the
overvoltage control is switched off (parameter 47.01 OVERVOLTAGE CTRL). The drive has a built-in
braking chopper.

(0) Disable Braking chopper control disabled.

(1) EnableTherm Enable the braking chopper control with resistor overload protection.

(2) Enable Enable the braking chopper control without resistor overload
protection. This setting can be used, for example, if the resistor is
equipped with a thermal circuit breaker that is wired to stop the drive if
the resistor overheats.

48.02 BC RUN-TIME ENA FW block: BRAKE CHOPPER (see above)

Selects the source for the quick run-time braking chopper control.
0 = Braking chopper operation is prevented. In other words, although the braking chopper has been
enabled with parameter 48.01 and DC voltage rises over the activation level, the braking chopper
remains inactive.
1 = Braking chopper is always active, ie, the braking chopper starts switching, if the DC voltage
reaches the activation level (even if the drive is not running).
This parameter can be used for programming the chopper control to function only when the drive is
operating in the generating mode. By default this parameter is connected to parameter 06.01 STATUS
WORD1 bit3 (RUNNING).

Bit pointer: Group, index and bit

48.03 BRTHERMTIMECONST FW block: BRAKE CHOPPER (see above)

Defines the thermal time constant of the braking resistor for overload protection.

010000 s Braking resistor thermal time constant.

48.04 BR POWER MAX CNT FW block: BRAKE CHOPPER (see above)

Defines the maximum continuous braking power which will raise the resistor temperature to the
maximum allowed value. The value is used in the overload protection.

010000 kW Maximum continuous braking power.

Parameters and firmware blocks

 165

48.05 R BR FW block: BRAKE CHOPPER (see above)

Defines the resistance value of the braking resistor. The value is used for braking chopper protection.

0.11000 ohm Resistance.

48.06 BR TEMP FAULTLIM FW block: BRAKE CHOPPER (see above)

Selects the fault limit for the braking resistor temperature supervision. The value is given in percent of
the temperature the resistor reaches when loaded with the power defined by parameter 48.04 BR
POWER MAX CNT.
When the limit is exceeded the drive trips on fault BR OVERHEAT.

0150% Resistor temperature fault limit.

48.07 BR TEMP ALARMLIM FW block: BRAKE CHOPPER (see above)

Selects the alarm limit for the braking resistor temperature supervision. The value is given in percent
of the temperature the resistor reaches when loaded with the power defined by parameter 48.04 BR
POWER MAX CNT.
When limit is exceeded the drive generates alarm BR OVERHEAT.

0150% Resistor temperature alarm limit.

Parameters and firmware blocks

166

Group 50 FIELDBUS
Basic settings for fieldbus communication. See also Appendix A Fieldbus control
on page 335.

50
Firmware block:
FIELDBUS 36
FIELDBUS MISC_2 500 sec (1)

(50) 2.12 FBA MAIN CW

2.13 FBA MAIN SW
This block 2.14 FBA MAIN REF1
initialises the fieldbus 2.15 FBA MAIN REF2
communication (Drive value)
50.01 FBA ENABLE
selects communication supervision (Drive value)
50.02 COMM LOSS FUNC
method (Drive value)
50.03 COMM LOSS T OUT
defines scaling of the fieldbus (Drive value)
50.04 FBA REF1 MODESEL
references and actual values (Drive value)
50.05 FBA REF2 MODESEL
selects sources for programmable [ SPEED ACT ]
(7 / 1.01)
< 50.06 FBA ACT1 TR SRC
status word bits [ TORQUE ]
(1 / 1.06)
< 50.07 FBA ACT2 TR SRC
shows the fieldbus control and (Drive value)
< 50.08 FBA SW B12 SRC

status words, and references.

(Drive value)
< 50.09 FBA SW B13 SRC
(Drive value)
< 50.10 FBA SW B14 SRC
(Drive value)
< 50.11 FBA SW B15 SRC
(Drive value)
50.12 FBA CYCLE TIME
(Drive value)
50.20 FB MAIN SW FUNC

Block outputs located in other 2.12 FBA MAIN CW (page 67)

parameter groups 2.13 FBA MAIN SW (page 69)
2.14 FBA MAIN REF1 (page 70)
2.15 FBA MAIN REF2 (page 70)

50.01 FBA ENABLE FW block: FIELDBUS (see above)

Enables communication between the drive and fieldbus adapter.

(0) Disable No communication.

(1) Enable Communication between drive and fieldbus adapter enabled.

50.02 COMM LOSS FUNC FW block: FIELDBUS (see above)

Selects how the drive reacts upon a fieldbus communication break. The time delay is defined by
parameter 50.03 COMM LOSS T OUT.

(0) No Communication break detection disabled.

(1) Fault Communication break detection active. Upon a communication break,

the drive trips on fault FIELDBUS COMM and coasts to stop.

(2) Spd ref Safe Communication break detection active. Upon a communication break,
the drive generates alarm FIELDBUS COMM and sets the speed to
the value defined by parameter 46.02 SPEED REF SAFE.
WARNING! Make sure that it is safe to continue operation in
case of a communication break.

Parameters and firmware blocks

 167

(3) Last speed Communication break detection active. Upon a communication break,
the drive generates alarm FIELDBUS COMM and freezes the speed
to the level the drive was operating at. The speed is determined by the
average speed over the previous 10 seconds.
WARNING! Make sure that it is safe to continue operation in
case of a communication break.

50.03 COMM LOSS T OUT FW block: FIELDBUS (see above)

Defines the time delay before the action defined by parameter 50.02 COMM LOSS FUNC is taken.
Time count starts when the link fails to update the message.

0.36553.5 s Delay for fieldbus communication loss function.

50.04 FBA REF1 MODESEL FW block: FIELDBUS (see above)

Selects the fieldbus reference FBA REF1 scaling and the actual value, which is sent to the fieldbus
(FBA ACT1).

(0) Raw data No scaling (ie, data is transmitted without scaling). Source for the
actual value, which is sent to the fieldbus, is selected by parameter
50.06 FBA ACT1 TR SRC.

(1) Torque Fieldbus adapter module uses torque reference scaling. Torque
reference scaling is defined by the used fieldbus profile (eg, with ABB
Drives Profile integer value 10000 corresponds to 100% torque
value). Signal 1.06 TORQUE is sent to the fieldbus as an actual value.
See the Users Manual of the appropriate fieldbus adapter module.

(2) Speed Fieldbus adapter module uses speed reference scaling. Speed
reference scaling is defined by the used fieldbus profile (eg, with ABB
Drives Profile integer value 20000 corresponds to the value of
parameter 25.02 SPEED SCALING). Signal 1.01 SPEED ACT is sent
to the fieldbus as an actual value. See the Users Manual of the
appropriate fieldbus adapter module.

(5) Auto One of the above selections is chosen automatically according to the
currently active control mode. See parameter group 34.

50.05 FBA REF2 MODESEL FW block: FIELDBUS (see above)

Selects the fieldbus reference FBA REF2 scaling.

See parameter 50.04 FBA REF1 MODESEL.

50.06 FBA ACT1 TR SRC FW block: FIELDBUS (see above)

Selects the source for fieldbus actual value 1 when parameter 50.04 FBA REF1 MODESEL / 50.05
FBA REF2 MODESEL is set to (0) Raw data.

Value pointer: Group and index

50.07 FBA ACT2 TR SRC FW block: FIELDBUS (see above)

Selects the source for fieldbus actual value 2 when parameter 50.04 FBA REF1 MODESEL / 50.05
FBA REF2 MODESEL is set to (0) Raw data.

Value pointer: Group and index

Parameters and firmware blocks

168

50.08 FBA SW B12 SRC FW block: FIELDBUS (see above)

Selects the source for freely programmable fieldbus status word bit 28 (2.13 FBA MAIN SW bit 28).
Note that this functionality may not be supported by the fieldbus communication profile.

Bit pointer: Group, index and bit

50.09 FBA SW B13 SRC FW block: FIELDBUS (see above)

Selects the source for freely programmable fieldbus status word bit 29 (2.13 FBA MAIN SW bit 29).
Note that this functionality may not be supported by the fieldbus communication profile.

Bit pointer: Group, index and bit

50.10 FBA SW B14 SRC FW block: FIELDBUS (see above)

Selects the source for freely programmable fieldbus status word bit 30 (2.13 FBA MAIN SW bit 30).
Note that this functionality may not be supported by the fieldbus communication profile.

Bit pointer: Group, index and bit

50.11 FBA SW B15 SRC FW block: FIELDBUS (see above)

Selects the source for freely programmable fieldbus status word bit 31 (2.13 FBA MAIN SW bit 31).
Note that this functionality may not be supported by the fieldbus communication profile.

Bit pointer: Group, index and bit

50.12 FBA CYCLE TIME FW block: FIELDBUS (see above)

Selects the fieldbus communication speed. The default selection is (2) Fast. Lowering the speed
reduces the CPU load.
The table below shows the read/write intervals for cyclic and acyclic data with each parameter setting.
Selection Cyclic* Acyclic*
Slow 10 ms 10 ms
Normal 2 ms 10 ms
Fast 500 us 2 ms

*Cyclic data consists of fieldbus CW and SW, Ref1 and Ref2, and Act1 and Act2.
**Acyclic data consists of the parameter data mapped to parameter groups 52 and 53.

(0) Slow Slow speed selected.

(1) Normal Normal speed selected.

(2) Fast Fast speed selected.

Parameters and firmware blocks

 169

50.20 FB MAIN SW FUNC FW block: FIELDBUS (see above)

Selects the rule on the basis of which the drive defines the value for 2.13 FBA MAIN SW bit 1
(ENABLED).
Bit Name Information
0 Run enable func 1 = Parameter only:
Drive writes value 1 to the bit when the external run enable signal
(par. 10.09 RUN ENABLE) has value 1.
0 = Param AND Fb cw:
Drive writes value 1 to the bit when the external run enable signal
(par. 10.09 RUN ENABLE) is 1 AND 2.12 FBA MAIN CW bit 7 (RUN
ENABLE) is 1.

Parameters and firmware blocks

170

Group 51 FBA SETTINGS

Further fieldbus communication configuration. These parameters need to be set only
if a fieldbus adapter module is installed. See also Appendix A Fieldbus control on
page 335.
Notes:
This parameter group is presented in the Users Manual of the fieldbus adapter as
parameter group 1 or A.
The new settings will take effect when the drive is powered up the next time
(before powering off the drive, wait at least 1 minute), or when parameter 51.27
FBA PAR REFRESH is activated.

51
51.01 FBA TYPE FW block: None

Displays the fieldbus protocol on the basis of the adapter module installed.

Not defined Fieldbus adapter module not found (not properly connected, or
disabled by parameter 50.01 FBA ENABLE).

(Fieldbus protocol) Fieldbus adapter for the stated protocol installed.

51.02 FBA PAR2 FW block: None

. .

51.26 FBA PAR26 FW block: None

Parameters 51.0251.26 are adapter module-specific. For more information, see the Users Manual
of the fieldbus adapter module. Note that not all of these parameters are necessarily used.

51.27 FBA PAR REFRESH FW block: None

Validates any changed adapter module configuration parameter settings. After refreshing, the value
reverts automatically to (0) DONE.
Note: This parameter cannot be changed while the drive is running.

(0) DONE Refreshing done.

(1) REFRESH Refreshing.

51.28 PAR TABLE VER FW block: None

Displays the parameter table revision of the fieldbus adapter module mapping file stored in the
memory of the drive.
In format xyz, where x = major revision number; y = minor revision number; z = correction number.

51.29 DRIVE TYPE CODE FW block: None

Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the
drive.
Example: 520 = ACSM1 Speed and Torque Control Program.

Parameters and firmware blocks

 171

51.30 MAPPING FILE VER FW block: None

Displays the fieldbus adapter module mapping file revision stored in the memory of the drive.
In hexadecimal format. Example: 0x107 = revision 1.07.

51.31 D2FBA COMM STA FW block: None

Displays the status of the fieldbus adapter module communication.

(0) IDLE Adapter not configured.

(1) EXEC. INIT Adapter initializing.

(2) TIME OUT A timeout has occurred in the communication between the adapter
and the drive.

(3) CONFIG ERROR Adapter configuration error the major or minor revision code of the
common program revision in the fieldbus adapter module is not the
revision required by the module (see par. 51.32 FBA COMM SW
VER), or mapping file upload has failed more than three times.

(4) OFF-LINE Adapter is off-line.

(5) ON-LINE Adapter is on-line.

(6) RESET Adapter is performing a hardware reset.

51.32 FBA COMM SW VER FW block: None

Displays the common program revision of the adapter module.

In format axyz, where a = major revision number, xy = minor revision numbers. z = correction letter.
Example: 190A = revision 1.90A.

51.33 FBA APPL SW VER FW block: None

Displays the application program revision of the adapter module.

In format axyz, where: a = major revision number, xy = minor revision numbers, z = correction letter.
Example: 190A = revision 1.90A.

Parameters and firmware blocks

172

Group 52 FBA DATA IN

These parameters select the data to be sent by the drive to the fieldbus controller,
and need to be set only if a fieldbus adapter module is installed. See also Appendix
A Fieldbus control on page 335.
Notes:
This parameter group is presented in the Users Manual of the fieldbus adapter as
parameter group 3 or C.
The new settings will take effect when the drive is powered up the next time
(before powering off the drive, wait at least 1 minute), or when parameter 51.27
FBA PAR REFRESH is activated.
The maximum number of data words is protocol-dependent.

52
52.01 FBA DATA IN1 FW block: None

Selects data to be transferred from the drive to the fieldbus controller.

0 Not in use.

4 Status Word (16 bits).

5 Actual value 1 (16 bits).

6 Actual value 2 (16 bits).

14 Status Word (32 bits).

15 Actual value 1 (32 bits).

16 Actual value 2 (32 bits).

1019999 Parameter index.

52.02 FBA DATA IN2 FW block: None

52.12 FBA DATA IN12 FW block: None

See 52.01 FBA DATA IN1.

Parameters and firmware blocks

 173

Group 53 FBA DATA OUT

These parameters select the data to be sent by the fieldbus controller to the drive,
and need to be set only if a fieldbus adapter module is installed. See also Appendix
A Fieldbus control on page 335.
Notes:
This parameter group is presented in the Users Manual of the fieldbus adapter as
parameter group 2 or B.
The new settings will take effect when the drive is powered up the next time
(before powering off the drive, wait at least 1 minute), or when parameter 51.27
FBA PAR REFRESH is activated.
The maximum number of data words is protocol-dependent.

53
53.01 FBA DATA OUT1 FW block: None

Selects data to be transferred from the fieldbus controller to the drive.

0 Not in use.

1 Control Word (16 bits).

2 Reference REF1 (16 bits).

3 Reference REF2 (16 bits).

11 Control Word (32 bits).

12 Reference REF1 (32 bits).

13 Reference REF2 (32 bits).

10019999 Parameter index.

53.02 FBA DATA OUT2 FW block: None

53.12 FBA DATA OUT12 FW block: None

See 53.01 FBA DATA OUT1.

Parameters and firmware blocks

174

Group 55 COMMUNICATION TOOL

Settings for an RS-485 network implemented using optional JPC-01 Network
communication adapters. The network enables the use of a single PC or control
panel to control multiple drives.
For more information, see the JPC-01 Network communication adapter Users
manual (3AUA0000072233).

55
55.01 MDB STATION ID FW block: None

Defines the ID of the drive on the RS-485 network. Each drive must have a dedicated ID number.

1247 ID number. For drives, use a number between 1 and 31. (DriveStudio
uses ID number 247.)

55.02 MDB BAUD RATE FW block: None

Sets the baud rate on the network.

Note: This parameter must be set to (0) Auto if a control panel is used as the controlling device.

(0) Auto Baud rate is determined automatically. At start-up, and after a

communication break, the initial rate is 9600 baud.

(1) 9600 9600 baud.

(2) 19200 19200 baud.

(3) 38400 38400 baud.

(4) 57600 57600 baud.

55.03 MDB PARITY FW block: None

Defines the use of parity bits. The same setting must be used in all on-line stations.

03 Number of parity bits.

Parameters and firmware blocks

 175

Group 57 D2D COMMUNICATION

Drive-to-drive communication settings. See Appendix B Drive-to-drive link on page
343.

57
Firmware block: D2D COMMUNICATION
44

D2D COMMUNICATION TLF9 500 sec (2)

(57) 2.17 D2D MAIN CW

2.19 D2D REF1
This block sets up the drive-to-drive 2.20 D2D REF2
communication. It also shows the [ Disabled ]
57.01 LINK MODE
main drive-to-drive control word and [ Alarm ]
57.02 COMM LOSS FUNC
the two references. [1]
57.03 NODE ADDRESS
[ 0000 0000 ]
57.04 FOLLOWER MASK 1
[ 0000 0000 ]
57.05 FOLLOWER MASK 2
[ SPEEDREF RAMPED ]
(6 / 3.04)
< 57.06 REF 1 SRC
[ TORQ REF TO TC ]
(8 / 3.13)
< 57.07 REF 2 SRC
[ D2D FOLLOWER CW ]
(4 / 2.18)
< 57.08 FOLLOWER CW SRC
[ NoSync ]
57.09 KERNEL SYNC MODE
[ 0.000 ms ]
57.10 KERNEL SYNC OFFS
[ Broadcast ]
57.11 REF 1 MSG TYPE
[0]
57.12 REF1 MC GROUP
[0]
57.13 NEXT REF1 MC GRP
[1]
57.14 NR REF1 MC GRPS

Block outputs located in other 2.17 D2D MAIN CW (page 70)

parameter groups 2.19 D2D REF1 (page 71)
2.20 D2D REF2 (page 71)

57.01 LINK MODE FW block: D2D COMMUNICATION (see above)

Activates the drive-to-drive connection.

(0) Disabled Drive-to-drive connection disabled.

(1) Follower The drive is a follower on the drive-to-drive link.

(2) Master The drive is the master on the drive-to-drive link. Only one drive can
be the master at a time.

57.02 COMM LOSS FUNC FW block: D2D COMMUNICATION (see above)

Selects how the drive acts when an erroneous drive-to-drive configuration or a communication break
is detected.

(0) No Protection inactive.

(1) Alarm The drive generates an alarm.

(2) Fault The drive trips on a fault.

Parameters and firmware blocks

176

57.03 NODE ADDRESS FW block: D2D COMMUNICATION (see above)

Sets the node address for a follower drive. Each follower must have a dedicated node address.
Note: If the drive is set to be the master on the drive-to-drive link, this parameter has no effect (the
master is automatically assigned node address 0).

162 Node address.

57.04 FOLLOWER MASK 1 FW block: D2D COMMUNICATION (see above)

On the master drive, selects the followers to be polled. If no response is received from a polled
follower, the action selected by parameter 57.02 COMM LOSS FUNC is taken.
The least significant bit represents follower with node address 1, while the most significant bit
represents follower 31. When a bit is set to 1, the corresponding node address is polled. For example,
followers 1 and 2 are polled when this parameter is set to the value of 0x3.

0x000000000x7FFFFFFF Follower mask 1.

57.05 FOLLOWER MASK 2 FW block: D2D COMMUNICATION (see above)

On the master drive, selects the followers to be polled. If no response is received from a polled
follower, the action selected by parameter 57.02 COMM LOSS FUNC is taken.
The least significant bit represents follower with node address 32, while the most significant bit
represents follower 62. When a bit is set to 1, the corresponding node address is polled. For example,
followers 32 and 33 are polled when this parameter is set to the value of 0x3.

0x000000000x7FFFFFFF Follower mask 2.

57.06 REF 1 SRC FW block: D2D COMMUNICATION (see above)

Selects the source of D2D reference 1 sent to the followers. The parameter is effective on the master
drive, as well as submasters (57.03 NODE ADDRESS = 57.12 REF1 MC GROUP) in a multicast
message chain (see parameter 57.11 REF 1 MSG TYPE).
The default value is P.03.04, ie, 3.04 SPEEDREF RAMPED.

Value pointer: Group and index.

57.07 REF 2 SRC FW block: D2D COMMUNICATION (see above)

On the master drive, selects the source of D2D reference 2 broadcast to all followers.
The default value is P.03.13, ie, 3.13 TORQ REF TO TC.

Value pointer: Group and index.

57.08 FOLLOWER CW SRC FW block: D2D COMMUNICATION (see above)

Selects the source of the D2D control word sent to the followers. The parameter is effective on the
master drive, as well as submasters in a multicast message chain (see parameter 57.11 REF 1 MSG
TYPE).
The default value is P.02.18, ie, 2.18 D2D FOLLOWER CW.

Value pointer: Group and index.

Parameters and firmware blocks

 177

57.09 KERNEL SYNC MODE FW block: D2D COMMUNICATION (see above)

Determines which signal the time levels of the drive are synchronised with. An offset can be defined
by parameter 57.10 KERNEL SYNC OFFS if desired.

(0) NoSync No synchronisation.

(1) D2DSync If the drive is the master on a drive-to-drive link, it broadcasts a

synchronisation signal to the follower(s). If the drive is a follower, it
synchronises its firmware time levels to the signal received from the
master.

(2) FBSync The drive synchronises its firmware time levels to a synchronisation
signal received through a fieldbus adapter.

(3) FBToD2DSync If the drive is the master on a drive-to-drive link, it synchronises its
firmware time levels to a synchronisation signal received from a
fieldbus adapter, and broadcasts the signal on the drive-to-drive link. If
the drive is a follower, this setting has no effect.

57.10 KERNEL SYNC OFFS FW block: D2D COMMUNICATION (see above)

Defines an offset between the synchronisation signal received and the time levels of the drive. With a
positive value, the drive time levels will lag behind the synchronisation signal; with a negative value,
the drive time levels will lead.

-49995000 ms Synchronisation offset.

57.11 REF 1 MSG TYPE FW block: D2D COMMUNICATION (see above)

By default, in drive-to-drive communication, the master broadcasts the drive-to-drive control word and
references 1 and 2 to all followers. This parameter enables multicasting, ie, sending the drive-to-drive
control word and reference 1 to a certain drive or group of drives. The message can then be further
relayed to another group of drives to form a multicast chain.
In the master, as well as any submaster (ie, follower relaying the message to other followers), the
sources for the control word and reference 1 are selected by parameters 57.08 FOLLOWER CW SRC
and 57.06 REF 1 SRC respectively.
Note: Reference 2 is broadcast by the master to all followers.
For more information, see Appendix B Drive-to-drive link on page 343.

(0) Broadcast The control word and reference 1 are sent by the master to all
followers. If the master has this setting, the parameter has no effect in
the followers.

(1) Ref1 MC Grps The drive-to-drive control word and reference 1 are only sent to the
drives in the multicast group specified by parameter 57.13 NEXT
REF1 MC GRP. This setting can also be used in submasters
(followers in which parameters 57.03 NODE ADDRESS and 57.12
REF1 MC GROUP are set to the same value) to form a multicast
chain.

57.12 REF1 MC GROUP FW block: D2D COMMUNICATION (see above)

Selects the multicast group the drive belongs to. See parameter 57.11 REF 1 MSG TYPE.

062 Multicast group (0 = none).

Parameters and firmware blocks

178

57.13 NEXT REF1 MC GRP FW block: D2D COMMUNICATION (see above)

Specifies the next multicast group of drives the multicast message is relayed to. See parameter 57.11
REF 1 MSG TYPE. This parameter is effective only in the master or in submasters (followers in which
parameters 57.03 NODE ADDRESS and 57.12 REF1 MC GROUP are set to the same value).

062 Next multicast group in message chain.

57.14 NR REF1 MC GRPS FW block: D2D COMMUNICATION (see above)

Sets the number of drives sending messages in the message chain. The value is typically equal to the
number of multicast groups in the chain assuming that the last drive is NOT sending an
acknowledgement to the master. See parameter 57.11 REF 1 MSG TYPE.
Notes:
This parameter is only effective in the master.

162 Total number of links in multicast message chain.

57.15 D2D COMM PORT FW block: None

Defines the hardware to which the drive-to-drive link is connected. In special cases (such as harsh
operating conditions), the galvanic isolation provided by the RS-485 interface of the FMBA module
may make for more robust communication than the standard drive-to-drive connection.

(0) on-board Connector X5 on the JCU Control Unit is used.

(1) Slot 1 An FMBA module installed in JCU option slot 1 is used.

(2) Slot 2 An FMBA module installed in JCU option slot 2 is used.

(3) Slot 3 An FMBA module installed in JCU option slot 3 is used.

Parameters and firmware blocks

 179

Group 90 ENC MODULE SEL

Settings for encoder activation, emulation, TTL echo, and encoder cable fault
detection.
The firmware supports two encoders, encoder 1 and 2 (but only one FEN-21
Resolver Interface Module). Revolution counting is only supported for encoder 1.
The following optional interface modules are available:
TTL Encoder Interface Module FEN-01: two TTL inputs, TTL output (for encoder
emulation and echo), two digital inputs for position latching, PTC temperature
sensor connection
Absolute Encoder Interface FEN-11: absolute encoder input, TTL input, TTL
output (for encoder emulation and echo), two digital inputs for position latching,
PTC/KTY temperature sensor connection
Resolver Interface Module FEN-21: resolver input, TTL input, TTL output (for
encoder emulation echo), two digital inputs for position latching, PTC/KTY
temperature sensor connection
HTL Encoder Interface Module FEN-31: HTL encoder input, TTL output (for
encoder emulation and echo), two digital inputs for position latching, PTC/KTY
temperature sensor connection.
The interface module is connected to drive option Slot 1 or 2. Note: Two encoder
interface modules of the same type are not allowed.
For encoder/resolver configuration, see parameter groups 91 (page 184), 92 (page
189) and 93 (page 190).
Note: Configuration data is written into the logic registers of the interface module
once after the power-up. If parameter values are changed, save values into the
permanent memory using parameter 16.07 PARAM SAVE. The new settings will
take effect when the drive is powered up again, or after re-configuration is forced
using parameter 90.10 ENC PAR REFRESH.

Parameters and firmware blocks

180

90
Firmware block: ENCODER
15

ENCODER TLF8 250 sec (1)

(3) 1.08 ENCODER 1 SPEED

1.09 ENCODER 1 POS
This block 1.10 ENCODER 2 SPEED

activates the communication to 1.11 ENCODER 2 POS

encoder interface 1/2 2.16 FEN DI STATUS

enables encoder emulation/echo [ None ]

90.01 ENCODER 1 SEL
shows encoder 1/2 speed and [ None ]
90.02 ENCODER 2 SEL
actual position. [ Disabled ]
90.03 EMUL MODE SEL
[ Disabled ]
90.04 TTL ECHO SEL
[ Fault ]
90.05 ENC CABLE FAULT
[ Done ]
90.10 ENC PAR REFRESH
[ 0]
93.21 EMUL PULSE NR
[ POS ACT ]
(11 / 1.12)
< 93.22 EMUL POS REF

Block inputs located in other 93.21 EMUL PULSE NR (page 192)

parameter groups 93.22 EMUL POS REF (page 192)

Block outputs located in other 1.08 ENCODER 1 SPEED (page 63)

parameter groups 1.09 ENCODER 1 POS (page 63)
1.10 ENCODER 2 SPEED (page 64)
1.11 ENCODER 2 POS (page 64)
2.16 FEN DI STATUS (page 70)

90.01 ENCODER 1 SEL FW block: ENCODER (see above)

Activates the communication to optional encoder/resolver interface 1.

Note: It is recommended that encoder interface 1 is used whenever possible since the data received
through that interface is fresher than the data received through interface 2. On the other hand, when
position values used in emulation are determined by the drive software, the use of encoder interface 2
is recommended as the values are transmitted earlier through interface 2 than through interface 1.

(0) None Inactive.

(1) FEN-01 TTL+ Communication active. Module type: FEN-01 TTL Encoder interface
Module. Input: TTL encoder input with commutation support (X32).
See parameter group 93.

(2) FEN-01 TTL Communication active. Module type: FEN-01 TTL Encoder interface
Module. Input: TTL encoder input (X31). See parameter group 93.

(3) FEN-11 ABS Communication active. Module type: FEN-11 Absolute Encoder
Interface. Input: Absolute encoder input (X42). See parameter group
91.

(4) FEN-11 TTL Communication active. Module type: FEN-11 Absolute Encoder
Interface. Input: TTL encoder input (X41). See parameter group 93.

(5) FEN-21 RES Communication active. Module type: FEN-21 Resolver Interface.
Input: Resolver input (X52). See parameter group 92.

(6) FEN-21 TTL Communication active. Module type: FEN-21 Resolver Interface.
Input: TTL encoder input (X51). See parameter group 93.

(7) FEN-31 HTL Communication active. Module type: FEN-31 HTL Encoder Interface.
Input: HTL encoder input (X82). See parameter group 93.

Parameters and firmware blocks

 181

90.02 ENCODER 2 SEL FW block: ENCODER (see above)

Activates the communication to the optional encoder/resolver interface 2.

For selections, see parameter 90.01 ENCODER 1 SEL.
Note: The counting of full shaft revolutions is not supported for encoder 2.

90.03 EMUL MODE SEL FW block: ENCODER (see above)

Enables the encoder emulation and selects the position value and the TTL output used in the
emulation process.
In encoder emulation, a calculated position difference is transformed to a corresponding number of
TTL pulses to be transmitted via the TTL output. The position difference is the difference between the
latest and the previous position values.
The position value used in emulation can be either a position determined by the drive software or
a position measured by an encoder. If drive software position is used, the source for the used position
is selected by parameter 93.22 EMUL POS REF. Because the software causes a delay, it is
recommended that actual position is always taken from an encoder. Drive software is recommended
to be used only with position reference emulation.
Encoder emulation can be used to increase or decrease the pulse number when TTL encoder data is
transmitted via the TTL output, eg, to another drive. If the pulse number requires no alternation, use
encoder echo for data transformation. See parameter 90.04 TTL ECHO SEL. Note: If encoder
emulation and echo are enabled for the same FEN-xx TTL output, the emulation overrides the echo.
If an encoder input is selected as emulation source, the corresponding selection must be activated
either with parameter 90.01 ENCODER 1 SEL or 90.02 ENCODER 2 SEL.
The TTL encoder pulse number used in emulation must be defined by parameter 93.21 EMUL PULSE
NR. See parameter group 93.

(0) Disabled Emulation disabled.

(1) FEN-01 SWref Module type: FEN-01 TTL Encoder interface Module. Emulation: Drive
software position (source selected by par. 93.22 EMUL POS REF) is
emulated to FEN-01 TTL output.

(2) FEN-01 TTL+ Module type: FEN-01 TTL Encoder interface Module. Emulation: FEN-
01 TTL encoder input (X32) position is emulated to FEN-01 TTL
output.

(3) FEN-01 TTL Module type: FEN-01 TTL Encoder interface Module. Emulation: FEN-
01 TTL encoder input (X31) position is emulated to FEN-01 TTL
output.

(4) FEN-11 SWref Module type: FEN-11 Absolute Encoder Interface. Emulation: Drive
software position (source selected by par. 93.22 EMUL POS REF) is
emulated to FEN-11 TTL output.

(5) FEN-11 ABS Module type: FEN-11 Absolute Encoder Interface. Emulation: FEN-11
absolute encoder input (X42) position is emulated to FEN-11 TTL
output.

(6) FEN-11 TTL Module type: FEN-11 Absolute Encoder Interface. Emulation: FEN-11
TTL encoder input (X41) position is emulated to FEN-11 TTL output.

(7) FEN-21 SWref Module type: FEN-21 Resolver Interface. Emulation: Drive software
position (source selected by par. 93.22 EMUL POS REF) is emulated
to FEN-21 TTL output.

Parameters and firmware blocks

182

(8) FEN-21 RES Module type: FEN-21 Resolver Interface. Emulation: FEN-21 resolver
input (X52) position is emulated to FEN-21 TTL output.

(9) FEN-21 TTL Module type: FEN-21 Resolver Interface. Emulation: FEN-21 TTL
encoder input (X51) position is emulated to FEN-21 TTL output.

(10) FEN-31 SWref Module type: FEN-31 HTL Encoder Interface. Emulation: Drive
software position (source selected by par. 93.22 EMUL POS REF) is
emulated to FEN-31 TTL output.

(11) FEN-31 HTL Module type: FEN-31 HTL Encoder Interface. Emulation: FEN-31 HTL
encoder input (X82) position is emulated to FEN-31 TTL output.

90.04 TTL ECHO SEL FW block: ENCODER (see above)

Enables and selects the interface for the TTL encoder signal echo.
Note: If encoder emulation and echo are enabled for the same FEN-xx TTL output, the emulation
overrides the echo.

(0) Disabled TTL echo disabled.

(1) FEN-01 TTL+ Module type: FEN-01 TTL Encoder Interface. Echo: TTL encoder
input (X32) pulses are echoed to the TTL output.

(2) FEN-01 TTL Module type: FEN-01 TTL Encoder Interface. Echo: TTL encoder
input (X31) pulses are echoed to the TTL output.

(3) FEN-11 TTL Module type: FEN-11 Absolute Encoder Interface. Echo: TTL encoder
input (X41) pulses are echoed to the TTL output.

(4) FEN-21 TTL Module type: FEN-21 Resolver Interface. Echo: TTL encoder input
(X51) pulses are echoed to the TTL output.

(5) FEN-31 HTL Module type: FEN-31 HTL Encoder Interface. Echo: HTL encoder
input (X82) pulses are echoed to the TTL output.

90.05 ENC CABLE FAULT FW block: ENCODER (see above)

Selects the action in case an encoder cable fault is detected by the FEN-xx encoder interface.
Notes:
This functionality is only available with the absolute encoder input of the FEN-11 based on sine/
cosine incremental signals, and with the HTL input of the FEN-31.
When the encoder input is used for speed feedback (see 22.01 SPEED FB SEL), this parameter
may be overridden by parameter 22.09 SPEED FB FAULT.

(0) No Cable fault detection inactive.

(1) Fault The drive trips on an ENCODER 1/2 CABLE fault.

(2) Warning The drive generates an ENCODER 1/2 CABLE warning. This is the
recommended setting if the maximum pulse frequency of sine/cosine
incremental signals exceeds 100 kHz; at high frequencies, the signals
may attenuate enough to invoke the function. The maximum pulse
frequency can be calculated as follows:
Pulses per revolution (par. 91.01) Maximum speed in rpm
60

Parameters and firmware blocks

 183

90.10 ENC PAR REFRESH FW block: ENCODER (see above)

Setting this parameter to 1 forces a reconfiguration of the FEN-xx interfaces, which is needed for any
parameter changes in groups 9093 to take effect.
Note: This parameter cannot be changed while the drive is running.

(0) Done Refreshing done.

(1) Configure Reconfigure. The value will automatically revert to DONE.

Parameters and firmware blocks

184

Group 91 ABSOL ENC CONF

Absolute encoder configuration; used when parameter 90.01 ENCODER 1 SEL /
90.02 ENCODER 2 SEL is set to (3) FEN-11 ABS.
The optional FEN-11 Absolute Encoder Interface module supports the following
encoders:
Incremental sin/cos encoders with or without zero pulse and with or without sin/
cos commutation signals
Endat 2.1/2.2 with incremental sin/cos signals (partially without sin/cos
incremental signals*)
Hiperface encoders with incremental sin/cos signals
SSI (Synchronous Serial Interface) with incremental sin/cos signals (partially
without sin/cos incremental signals*)
Tamagawa 17/33-bit digital encoders (the resolution of position data within one
revolution is 17 bits; multiturn data includes a 16-bit revolution count).
* EnDat and SSI encoders without incremental sin/cos signals are partially
supported only as encoder 1: Speed is not available and the time instant of the
position data (delay) depends on the encoder.
See also parameter group 90 on page 180, and FEN-11 Absolute Encoder Interface
Users Manual (3AFE68784841 [English]).
Note: Configuration data is written into the logic registers of the interface module
once after the power-up. If parameter values are changed, save values into the
permanent memory using parameter 16.07 PARAM SAVE. The new settings will
take effect when the drive is powered up again, or after re-configuration is forced
using parameter 90.10 ENC PAR REFRESH.

91
Firmware block: ABSOL ENC CONF 42
ABSOL ENC CONF MISC_4 10 msec (2)
(Drive value)
(91) (Drive value)
91.01 SINE COSINE NR
91.02 ABS ENC INTERF
(Drive value)
This block configures the absolute (Drive value)
91.03 REV COUNT BITS

encoder connection. (Drive value)

91.04 POS DATA BITS
91.05 REFMARK ENA
(Drive value)
91.06 ABS POS TRACKING
(Drive value)
91.10 HIPERFACE PARITY
(Drive value)
91.11 HIPERF BAUDRATE
(Drive value)
91.12 HIPERF NODE ADDR
(Drive value)
91.20 SSI CLOCK CYCLES
(Drive value)
91.21 SSI POSITION MSB
(Drive value)
91.22 SSI REVOL MSB
(Drive value)
91.23 SSI DATA FORMAT
(Drive value)
91.24 SSI BAUD RATE
(Drive value)
91.25 SSI MODE
(Drive value)
91.26 SSI TRANSMIT CYC
(Drive value)
91.27 SSI ZERO PHASE
(Drive value)
91.30 ENDAT MODE
(Drive value)
91.31 ENDAT MAX CALC

Parameters and firmware blocks

 185

91.01 SINE COSINE NR FW block: ABSOL ENC CONF (see above)

Defines the number of sine/cosine wave cycles within one revolution.

Note: This parameter does not need to be set when EnDat or SSI encoders are used in continuous
mode. See parameter 91.25 SSI MODE / 91.30 ENDAT MODE.

065535 Number of sine/cosine wave cycles within one revolution.

91.02 ABS ENC INTERF FW block: ABSOL ENC CONF (see above)

Selects the source for the encoder absolute position.

(0) None Not selected.

(1) Commut sig Commutation signals.

(2) EnDat Serial interface: EnDat encoder.

(3) Hiperface Serial interface: HIPERFACE encoder.

(4) SSI Serial interface: SSI encoder.

(5) Tamag. 17/33B Serial interface: Tamagawa 17/33-bit encoder.

91.03 REV COUNT BITS FW block: ABSOL ENC CONF (see above)

Defines the number of bits used in revolution counting with multiturn encoders. Used when parameter
91.02 ABS ENC INTERF is set to (2) EnDat, (3) Hiperface or (4) SSI. When 91.02 ABS ENC INTERF
is set to (5) Tamag. 17/33B), setting this parameter to a non-zero value activates multiturn data
requesting.

032 Number of bits used in revolution count. Eg, 4096 revolutions => 12
bits.

91.04 POS DATA BITS FW block: ABSOL ENC CONF (see above)

Defines the number of bits used within one revolution when parameter 91.02 ABS ENC INTERF is set
to (2) EnDat, (3) Hiperface or (4) SSI. When 91.02 ABS ENC INTERF is set to (5) Tamag. 17/33B, this
parameter is internally set to 17.

032 Number of bits used within one revolution. Eg, 32768 positions per
revolution => 15 bits.

91.05 REFMARK ENA FW block: ABSOL ENC CONF (see above)

Enables the encoder zero pulse for the absolute encoder input (X42) of an FEN-11 module (if
present). Zero pulse can be used for position latching.
Note: With serial interfaces (ie, when parameter 91.02 ABS ENC INTERF is set to (2) EnDat, (3)
Hiperface, (4) SSI or (5) Tamag. 17/33B), the zero pulse does not exist.

(0) FALSE Zero pulse disabled.

(1) TRUE Zero pulse enabled.

Parameters and firmware blocks

186

91.06 ABS POS TRACKING FW block: ABSOL ENC CONF (see above)

Enables position tracking, which counts the number of absolute encoder overflows (single and
multiturn encoder and resolver) in order to determine the actual position uniquely and clearly after a
power-up (or encoder refresh), especially with an odd load gear ratio.
Each time the position tracking is enabled or disabled, it must also be activated by setting parameter
90.10 ENC PAR REFRESH to (1) Configure.
Note: If the encoder was turned by more than half the encoder range while the drive was switched off,
the overflow counter has to be cleared. To clear the counter, set 91.06 ABS POS TRACKING to (0)
Disable and 90.10 ENC PAR REFRESH to (1) Configure.

(0) Disable Position tracking disabled.

(1) Enable Position tracking enabled.

91.10 HIPERFACE PARITY FW block: ABSOL ENC CONF (see above)

Defines the use of parity and stop bit(s) for HIPERFACE encoder (ie, when parameter 91.02 ABS
ENC INTERF is set to (3) Hiperface).
Typically this parameter does not need to be set.

(0) Odd Odd parity indication bit, one stop bit.

(1) Even Even parity indication bit, one stop bit.

91.11 HIPERF BAUDRATE FW block: ABSOL ENC CONF (see above)

Defines the transfer rate of the link for HIPERFACE encoder (ie, when parameter 91.02 ABS ENC
INTERF is set to (3) Hiperface).
Typically this parameter does not need to be set.

(0) 4800 4800 bits/s.

(1) 9600 9600 bits/s.

(2) 19200 19200 bits/s.

(3) 38400 38400 bits/s.

91.12 HIPERF NODE ADDR FW block: ABSOL ENC CONF (see above)

Defines the node address for HIPERFACE encoder (ie, when parameter 91.02 ABS ENC INTERF is
set to (3) Hiperface).
Typically this parameter does not need to be set.

0255 HIPERFACE encoder node address.

91.20 SSI CLOCK CYCLES FW block: ABSOL ENC CONF (see above)

Defines the length of the SSI message. The length is defined as the number of clock cycles. The
number of cycles can be calculated by adding 1 to the number of the bits in a SSI message frame.
Used with SSI encoders, ie, when parameter 91.02 ABS ENC INTERF is set to (4) SSI.

2127 SSI message length.

Parameters and firmware blocks

 187

91.21 SSI POSITION MSB FW block: ABSOL ENC CONF (see above)

Defines the location of the MSB (main significant bit) of the position data within a SSI message. Used
with SSI encoders, ie, when parameter 91.02 ABS ENC INTERF is set to (4) SSI.

1126 Position data MSB location (bit number).

91.22 SSI REVOL MSB FW block: ABSOL ENC CONF (see above)

Defines the location of the MSB (main significant bit) of the revolution count within a SSI message.
Used with SSI encoders, ie, when parameter 91.02 ABS ENC INTERF is set to (4) SSI.

1126 Revolution count MSB location (bit number).

91.23 SSI DATA FORMAT FW block: ABSOL ENC CONF (see above)

Selects the data format for SSI encoder (ie, when parameter 91.02 ABS ENC INTERF is set to (4)
SSI).

(0) binary Binary code.

(1) gray Gray code.

91.24 SSI BAUD RATE FW block: ABSOL ENC CONF (see above)

Selects the baud rate for SSI encoder (ie, when parameter 91.02 ABS ENC INTERF is set to (4) SSI).

(0) 10 kbit/s 10 kbit/s.

(1) 50 kbit/s 50 kbit/s.

(2) 100 kbit/s 100 kbit/s.

(3) 200 kbit/s 200 kbit/s.

(4) 500 kbit/s 500 kbit/s.

(5) 1000 kbit/s 1000 kbit/s.

91.25 SSI MODE FW block: ABSOL ENC CONF (see above)

Selects the SSI encoder mode.

Note: Parameter needs to be set only when an SSI encoder is used in continuous mode, ie, SSI
encoder without incremental sin/cos signals (supported only as encoder 1). SSI encoder is selected
by setting parameter 91.02 ABS ENC INTERF to (4) SSI.

(0) Initial pos. Single position transfer mode (initial position).

(1) Continuous Continuous position transfer mode.

91.26 SSI TRANSMIT CYC FW block: ABSOL ENC CONF (see above)

Selects the transmission cycle for SSI encoder.

Note: This parameter needs to be set only when an SSI encoder is used in continuous mode, ie, SSI
encoder without incremental sin/cos signals (supported only as encoder 1). SSI encoder is selected
by setting parameter 91.02 ABS ENC INTERF to (4) SSI.

(0) 50 us 50 s.

Parameters and firmware blocks

188

(1) 100 us 100 s.

(2) 200 us 200 s.

(3) 500 us 500 s.

(4) 1 ms 1 ms.

(5) 2 ms 2 ms.

91.27 SSI ZERO PHASE FW block: ABSOL ENC CONF (see above)

Defines the phase angle within one sine/cosine signal period that corresponds to the value of zero on
the SSI serial link data. The parameter is used to adjust the synchronization of the SSI position data
and the position based on sine/cosine incremental signals. Incorrect synchronization may cause an
error of 1 incremental period.
Note: This parameter needs to be set only when an SSI encoder with sine/cosine incremental signals
is used in initial position mode.

(0) 31545 deg 31545 degrees.

(1) 45135 deg 45135 degrees.

(2) 135225 deg 135225 degrees.

(3) 225315 deg 225315 degrees.

91.30 ENDAT MODE FW block: ABSOL ENC CONF (see above)

Selects the EnDat encoder mode.

Note: This parameter needs to be set only when an EnDat encoder is used in continuous mode, ie,
EnDat encoder without incremental sin/cos signals (supported only as encoder 1). EnDat encoder is
selected by setting parameter 91.02 ABS ENC INTERF to (2) EnDat.

(0) Initial pos. Single position transfer mode (initial position).

(1) Continuous Continuous position data transfer mode.

91.31 ENDAT MAX CALC FW block: ABSOL ENC CONF (see above)

Selects the maximum encoder calculation time for EnDat encoder.

Note: This parameter needs to be set only when an EnDat encoder is used in continuous mode, ie,
EnDat encoder without incremental sin/cos signals (supported only as encoder 1). EnDat encoder is
selected by setting parameter 91.02 ABS ENC INTERF to (2) EnDat.

(0) 10 us 10 s.

(1) 100 us 100 s.

(2) 1 ms 1 ms.

(3) 50 ms 50 ms.

Parameters and firmware blocks

 189

Group 92 RESOLVER CONF

Resolver configuration; used when parameter 90.01 ENCODER 1 SEL / 90.02
ENCODER 2 SEL is set to (5) FEN-21 RES.
The optional FEN-21 Resolver Interface module is compatible with resolvers which
are excited by sinusoidal voltage (to the rotor winding) and which generate sine and
cosine signals proportional to the rotor angle (to stator windings).
Note: Configuration data is written into the logic registers of the adapter once after
the power-up. If parameter values are changed, save values into the permanent
memory by parameter 16.07 PARAM SAVE. The new settings will take effect when
the drive is powered up again, or after re-configuration is forced by parameter 90.10
ENC PAR REFRESH.
Resolver autotuning is performed automatically whenever the resolver input is
activated after changes to parameters 92.02 EXC SIGNAL AMPL or 92.03 EXC
SIGNAL FREQ. Autotuning must be forced after any changes in the resolver cable
connection. This can be done by setting either 92.02 EXC SIGNAL AMPL or 92.03
EXC SIGNAL FREQ to its already existing value, and then setting parameter 90.10
ENC PAR REFRESH to 1.
If the resolver (or absolute encoder) is used for feedback from a permanent magnet
motor, an Autophasing ID run should be performed after replacement or any
parameter changes. See parameter 99.13 IDRUN MODE and section Autophasing
on page 39.
See also parameter group 90 on page 180, and FEN-21 Resolver Interface Users
Manual (3AFE68784859 [English]).

92
Firmware block: RESOLVER CONF
40

RESOLVER CONF [ 1]
TLF11 10 msec (3)

92.01 RESOLV POLEPAIRS

(92) [ 4.0 Vrms ]
92.02 EXC SIGNAL AMPL
[ 1 kHz ]
This block configures the resolver 92.03 EXC SIGNAL FREQ

connection.

92.01 RESOLV POLEPAIRS FW block: RESOLVER CONF (see above)

Selects the number of pole pairs.

132 Number of pole pairs.

92.02 EXC SIGNAL AMPL FW block: RESOLVER CONF (see above)

Defines the amplitude of the excitation signal.

4.012.0 Vrms Excitation signal amplitude.

92.03 EXC SIGNAL FREQ FW block: RESOLVER CONF (see above)

Defines the frequency of the excitation signal.

120 kHz Excitation signal frequency.

Parameters and firmware blocks

190

Group 93 PULSE ENC CONF

TTL/HTL input and TTL output configuration. See also parameter group 90 on page
180, and the appropriate encoder extension module manual.
Parameters 93.0193.06 are used when a TTL/HTL encoder is used as encoder 1
(see parameter 90.01 ENCODER 1 SEL).
Parameters 93.1193.16 are used when a TTL/HTL encoder is used as encoder 2
(see parameter 90.02 ENCODER 2 SEL).
Typically, only parameter 93.01/93.11 needs to be set for TTL/HTL encoders.
Note: Configuration data is written into the logic registers of the adapter once after
the power-up. If parameter values are changed, save values into the permanent
memory by parameter 16.07 PARAM SAVE. The new settings will take effect when
the drive is powered up again, or after re-configuration is forced by parameter 90.10
ENC PAR REFRESH.

93
Firmware block: PULSE ENC CONF
43

PULSE ENC CONF [0]

TLF11 10 msec (4)

(93) [ Quadrature ]
93.01 ENC1 PULSE NR
93.02 ENC1 TYPE
[ auto rising ]
This block configures the TTL/HTL [ TRUE ]
93.03 ENC1 SP CALCMODE
93.04 ENC1 POS EST ENA
input and TTL output. [ FALSE ]
93.05 ENC1 SP EST ENA
[ 4880Hz ]
93.06 ENC1 OSC LIM
[0]
93.11 ENC2 PULSE NR
[ Quadrature ]
93.12 ENC2 TYPE
[ auto rising ]
93.13 ENC2 SP CALCMODE
[ TRUE ]
93.14 ENC2 POS EST ENA
[ FALSE ]
93.15 ENC2 SP EST ENA
[ 4880Hz ]
93.16 ENC2 OSC LIM

93.01 ENC1 PULSE NR FW block: PULSE ENC CONF (see above)

Defines the pulse number per revolution for encoder 1.

065535 Pulses per revolution for encoder 1.

93.02 ENC1 TYPE FW block: PULSE ENC CONF (see above)

Selects the type of encoder 1.

(0) Quadrature Quadrature encoder (two channels, channels A and B).

(1) single track Single track encoder (one channel, channel A).

93.03 ENC1 SP CALCMODE FW block: PULSE ENC CONF (see above)

Selects the speed calculation mode for encoder 1.

*When single track mode has been selected by parameter 93.02 ENC1 TYPE, the speed is always
positive.

Parameters and firmware blocks

 191

(0) A&B all Channels A and B: Rising and falling edges are used for speed
calculation. Channel B: Defines the direction of rotation. *
Note: When single track mode has been selected by parameter 93.02
ENC1 TYPE, setting 0 acts like setting 1.

(1) A all Channel A: Rising and falling edges are used for speed calculation.
Channel B: Defines the direction of rotation. *

(2) A rising Channel A: Rising edges are used for speed calculation. Channel B:
Defines the direction of rotation. *

(3) A falling Channel A: Falling edges are used for speed calculation. Channel B:
Defines the direction of rotation. *

(4) auto rising Used mode (0, 1, 2 or 3) is changed automatically depending on the
pulse frequency according to the following table:
(5) auto falling
93.03 = 4 93.03 = 5
Pulse frequency of the channel(s)
Used mode
0 0 < 2442 Hz
1 1 24424884 Hz
2 3 > 4884 Hz

93.04 ENC1 POS EST ENA FW block: PULSE ENC CONF (see above)

Selects whether position estimation is used with encoder 1 to increase position data resolution or not.

(0) FALSE Measured position (Resolution: 4 x pulses per revolution for

quadrature encoders, 2 x pulses per revolution for single track
encoders.)

(1) TRUE Estimated position. (Uses position extrapolation. Extrapolated at the

time of data request.)

93.05 ENC1 SP EST ENA FW block: PULSE ENC CONF (see above)

Selects whether calculated or estimated speed is used with encoder 1.

(0) FALSE Last calculated speed (calculation interval is 62.5 s4 ms).

(1) TRUE Estimated speed (estimated at the time of data request) Estimation
increases the speed ripple in steady state operation, but improves the
dynamics.

93.06 ENC1 OSC LIM FW block: PULSE ENC CONF (see above)

Activates transient filter for encoder 1. Changes of direction of rotation are ignored above the selected
pulse frequency.

(0) 4880Hz Change in rotation of direction allowed below 4880 Hz.

(1) 2440Hz Change in rotation of direction allowed below 2440 Hz.

(2) 1220Hz Change in rotation of direction allowed below 1220 Hz.

(3) Disabled Change in rotation of direction allowed at any pulse frequency.

Parameters and firmware blocks

192

93.11 ENC2 PULSE NR FW block: PULSE ENC CONF (see above)

Defines the pulse number per revolution for encoder 2.

065535 Pulses per revolution for encoder 2.

93.12 ENC2 TYPE FW block: PULSE ENC CONF (see above)

Selects the type of encoder 2. For selections, see parameter 93.02 ENC1 TYPE.

93.13 ENC2 SP CALCMODE FW block: PULSE ENC CONF (see above)

Selects the speed calculation mode for encoder 2.

For selections, see parameter 93.03 ENC1 SP CALCMODE.

93.14 ENC2 POS EST ENA FW block: PULSE ENC CONF (see above)

Selects whether measured or estimated position is used with encoder 2.

For selections, see parameter 93.04 ENC1 POS EST ENA.

93.15 ENC2 SP EST ENA FW block: PULSE ENC CONF (see above)

Selects whether calculated or estimated speed is used with encoder 2.

For selections, see parameter 93.05 ENC1 SP EST ENA.

93.16 ENC2 OSC LIM FW block: PULSE ENC CONF (see above)

Activates transient filter for encoder 2. Changes of direction of rotation are ignored above the selected
pulse frequency.
For selections, see parameter 93.06 ENC1 OSC LIM.

93.21 EMUL PULSE NR FW block: ENCODER (page 180)

Defines the number of TTL pulses per revolution used in encoder emulation.
Encoder emulation is enabled by parameter 90.03 EMUL MODE SEL.

065535 TTL pulses used in encoder emulation.

93.22 EMUL POS REF FW block: ENCODER (page 180)

Selects the source for the position value used in encoder emulation when parameter 90.03 EMUL
MODE SEL is set to (1) FEN-01 SWref, (4) FEN-11 SWref, (7) FEN-21 SWref or (10) FEN-31 SWref.
See parameter group 90.
The source can be any actual or reference position value (except 1.09 ENCODER 1 POS and 1.11
ENCODER 2 POS).

Value pointer: Group and index

93.23 EMUL POS OFFSET FW block: None

Defines the zero point for emulated position in relation of the zero point of the input position (within
one revolution). The input position is selected by parameter 90.03 EMUL MODE SEL.
For example, if the offset is 0, an emulated zero pulse is generated each time the input position moves
across 0. With an offset of 0.5, an emulated zero pulse is generated each time the input position
(within one revolution) moves across 0.5.

0 0.99998 rev Emulated zero pulse position offset.

Parameters and firmware blocks

 193

Group 95 HW CONFIGURATION
Miscellaneous hardware-related settings.

95
95.01 CTRL UNIT SUPPLY FW block: None

Defines the manner in which the drive control unit is powered.

(0) Internal 24V The drive control unit is powered from the drive power unit it is
mounted on.

(1) External 24V The drive control unit is powered from an external power supply.

95.02 EXTERNAL CHOKE FW block: None

Defines if the drive is equipped with an AC choke or not.

(0) NO The drive is not equipped with an AC choke.

(1) YES The drive is equipped with an AC choke.

Parameters and firmware blocks

194

Group 97 USER MOTOR PAR

User adjustment of motor model values estimated during motor ID run. The values
can be entered in either per unit or SI.

97
97.01 USE GIVEN PARAMS FW block: None

Activates the motor model parameters 97.0297.14 and the rotor angle offset parameter 97.20.
Notes:
Parameter value is automatically set to zero when motor ID run is selected by parameter 99.13
IDRUN MODE. The values of parameters 97.0297.20 are updated according to the motor
characteristics identified during the motor ID run.
This parameter cannot be changed while the drive is running.

(0) NoUserPars Parameters 97.0297.20 inactive.

(1) UserMotPars The values of parameters 97.0297.14 are used in the motor model.

(2) UserPosOffs The value of parameter 97.20 is used as the rotor angle offset.
Parameters 97.0297.14 are inactive.

(3) AllUserPars The values of parameters 97.0297.14 are used in the motor model,
and the value of parameter 97.20 is used as the rotor angle offset.

97.02 RS USER FW block: None

Defines the stator resistance RS of the motor model.

00.5 p.u. (per unit) Stator resistance.

97.03 RR USER FW block: None

Defines the rotor resistance RR of the motor model.

Note: This parameter is valid only for asynchronous motors.

00.5 p.u. (per unit) Rotor resistance.

97.04 LM USER FW block: None

Defines the main inductance LM of the motor model.

Note: This parameter is valid only for asynchronous motors.

010 p.u. (per unit) Main inductance.

97.05 SIGMAL USER FW block: None

Defines the leakage inductance LS.

Note: This parameter is valid only for asynchronous motors.

01 p.u. (per unit) Leakage inductance.

97.06 LD USER FW block: None

Defines the direct axis (synchronous) inductance.

Note: This parameter is valid only for permanent magnet motors.

010 p.u. (per unit) Direct axis (synchronous) inductance.

Parameters and firmware blocks

 195

97.07 LQ USER FW block: None

Defines the quadrature axis (synchronous) inductance.

Note: This parameter is valid only for permanent magnet motors.

010 p.u. (per unit) Quadrature axis (synchronous) inductance.

97.08 PM FLUX USER FW block: None

Defines the permanent magnet flux.

Note: This parameter is valid only for permanent magnet motors.

02 p.u. (per unit) Permanent magnet flux.

97.09 RS USER SI FW block: None

Defines the stator resistance RS of the motor model.

0.00000100.00000 ohm Stator resistance.

97.10 RR USER SI FW block: None

Defines the rotor resistance RR of the motor model.

Note: This parameter is valid only for asynchronous motors.

0.00000100.00000 ohm Rotor resistance.

97.11 LM USER SI FW block: None

Defines the main inductance LM of the motor model.

Note: This parameter is valid only for asynchronous motors.

0.00100000.00 mH Main inductance.

97.12 SIGL USER SI FW block: None

Defines the leakage inductance LS.

Note: This parameter is valid only for asynchronous motors.

0.00100000.00 mH Leakage inductance.

97.13 LD USER SI FW block: None

Defines the direct axis (synchronous) inductance.

Note: This parameter is valid only for permanent magnet motors.

0.00100000.00 mH Direct axis (synchronous) inductance.

97.14 LQ USER SI FW block: None

Defines the quadrature axis (synchronous) inductance.

Note: This parameter is valid only for permanent magnet motors.

0.00100000.00 mH Quadrature axis (synchronous) inductance.

Parameters and firmware blocks

196

97.18 SIGNAL INJECTION FW block: None

Enables signal injection. A high frequency alternating signal is injected to the motor at the low speed
region to improve the stability of torque control. Signal injection can be enabled with different
amplitude levels.
Note: Use as low a level as possible that gives satisfactory performance. Signal injection cannot be
applied to asynchronous motors.

(0) Disabled Signal injection is disabled.

(1) Enabled5% Signal injection is enabled with an amplitude level of 5%.

(2) Enabled10% Signal injection is enabled with an amplitude level of 10%.

(3) Enabled15% Signal injection is enabled with an amplitude level of 15%.

(4) Enabled20% Signal injection is enabled with an amplitude level of 20%.

97.20 POS OFFSET USER FW block: None

Defines an angle offset between the zero position of the synchronous motor and the zero position of
the position sensor.
Notes:
The value is in electrical degrees. The electrical angle equals the mechanical angle multiplied by
the number of motor pole pairs.
This parameter is valid only for permanent magnet motors.

0360 Angle offset.

Parameters and firmware blocks

 197

Group 98 MOTOR CALC VALUES

Calculated motor values.

98
98.01 TORQ NOM SCALE FW block: None

Nominal torque in Nm which corresponds to 100%.

Note: This parameter is copied from parameter 99.12 MOT NOM TORQUE if given. Otherwise the
value is calculated.

02147483 Nm Nominal torque.

98.02 POLEPAIRS FW block: None

Calculated number of motor pole pairs.

Note: This parameter cannot be set by the user.

01000 Calculated number of motor pole pairs.

Parameters and firmware blocks

198

Group 99 START-UP DATA

Start-up settings such as language, motor data and motor control mode.
The nominal motor values must be set before the drive is started; for detailed
instructions, see chapter Start-up on page 15.
With DTC motor control mode, parameters 99.0699.10 must be set; better control
accuracy is achieved by also setting parameters 99.11 and 99.12.
With scalar control, parameters 99.0699.09 must be set.

99
99.01 LANGUAGE FW block: None

Selects the language.

Note: Not all languages listed below are necessarily supported.

(0809h) ENGLISH English.

(0407h) DEUTSCH German.

(0410h) ITALIANO Italian.

(040Ah) ESPAOL Spanish.

(041Dh) SVENSKA Swedish.

(041Fh) TRKE Turkish.

99.04 MOTOR TYPE FW block: None

Selects the motor type.

Note: This parameter cannot be changed while the drive is running.

(0) AM Asynchronous motor. Three phase AC voltage supplied induction

motor with squirrel cage rotor.

(1) PMSM Permanent magnet motor. Three phase AC voltage supplied

synchronous motor with permanent magnet rotor and sinusoidal
BackEMF voltage.

Parameters and firmware blocks

 199

99.05 MOTOR CTRL MODE FW block: None

Selects the motor control mode.

DTC (Direct torque control) mode is suitable for most applications.
Scalar control is suitable for special cases where DTC cannot be applied. In Scalar Control, the drive
is controlled with a frequency reference. The outstanding motor control accuracy of DTC cannot be
achieved in scalar control. There are some standard features that are disabled in the scalar control
mode, for example motor identification run (99.13), torque limits in parameter group 20, DC hold and
DC magnetising (11.0411.06, 11.01).
Note: Correct motor run requires that the magnetising current of the motor does not exceed 90
percent of the nominal current of the inverter.
Note: Scalar control mode must be used
with multimotor applications 1) if the load is not equally shared between the motors, 2) if the motors
are of different sizes, or 3) if the motors are going to be changed after the motor identification,
if the nominal current of the motor is less than 1/6 of the nominal output current of the drive, or
if the drive is used with no motor connected (eg, for test purposes).

(0) DTC Direct torque control mode.

(1) Scalar Scalar control mode.

99.06 MOT NOM CURRENT FW block: None

Defines the nominal motor current. Must be equal to the value on the motor rating plate. If several
motors are connected to the inverter, enter the total current of the motors.
Note: Correct motor run requires that the magnetising current of the motor does not exceed 90
percent of the nominal current of the inverter.
Note: This parameter cannot be changed while the drive is running.

032767 A Nominal motor current.

Note: The allowed range is 1/62 I2N of drive for direct control
mode (parameter 99.05 MOTOR CTRL MODE = (0) DTC). For scalar
control mode (parameter 99.05 MOTOR CTRL MODE = (1) Scalar),
the allowed range is 02 I2N of drive.

99.07 MOT NOM VOLTAGE FW block: None

Defines the nominal motor voltage. Nominal voltage is a fundamental phase to phase rms voltage,
which is supplied to the motor at the nominal operating point. This parameter value must be equal to
the value on the asynchronous motor name plate.
Note: Make sure the motor is connected correctly (star or delta) in accordance to the rating plate.
Note: With permanent magnet motors, the nominal voltage is the BackEMF voltage (at motor nominal
speed). If the voltage is given as voltage per rpm, eg, 60 V per 1000 rpm, the voltage for 3000 rpm
nominal speed is 3 60 V = 180 V. Note that the nominal voltage is not equal to the equivalent DC
motor voltage (E.D.C.M.) value given by some motor manufactures. The nominal voltage can be
calculated by dividing the E.D.C.M. voltage by 1.7 (= square root of 3).
Note: The stress on the motor insulations is always dependent on the drive supply voltage. This also
applies to the case where the motor voltage rating is lower than the rating of the drive and the supply
of the drive.
Note: This parameter cannot be changed while the drive is running.

032767 V Nominal motor voltage.

Note: The allowed range is 1/62 UN of drive.

Parameters and firmware blocks

200

99.08 MOT NOM FREQ FW block: None

Defines the nominal motor frequency.

Note: This parameter cannot be changed while the drive is running.

5500 Hz Nominal motor frequency.

99.09 MOT NOM SPEED FW block: None

Defines the nominal motor speed. Must be equal to the value on the motor rating plate. When
parameter value is changed, check the speed limits in parameter group 20.
Note: This parameter cannot be changed while the drive is running.
Note: For safety reasons, after motor ID run, the maximum and minimum speed limits (parameters
20.01 and 20.02) are automatically set to a 1.2 times bigger value than the nominal motor speed.

030000 rpm Nominal motor speed.

99.10 MOT NOM POWER FW block: None

Defines the nominal motor power. Must be equal to the value on the motor rating plate. If several
motors are connected to the inverter, enter the total power of the motors. Set also parameter 99.11
MOT NOM COSFII.
Note: This parameter cannot be changed while the drive is running.

010000 kW Nominal motor power.

99.11 MOT NOM COSFII FW block: None

Defines the cosphi (not applicable to permanent magnet motors) for a more accurate motor model.
Not obligatory; if set, should be equal to the value on the motor rating plate.
Note: This parameter cannot be changed while the drive is running.

01 Cosphi (0 = parameter disabled).

99.12 MOT NOM TORQUE FW block: None

Defines the nominal motor shaft torque for a more accurate motor model. Not obligatory.
Note: This parameter cannot be changed while the drive is running.

02147483 Nm Nominal motor shaft torque.

Parameters and firmware blocks

 201

99.13 IDRUN MODE FW block: None

Selects the type of the motor identification performed at the next start of the drive in DTC mode.
During the identification, the drive will identify the characteristics of the motor for optimum motor
control. After the motor ID run, the drive is stopped. Note: This parameter cannot be changed while
the drive is running.
Once the motor ID run is activated, it can be cancelled by stopping the drive: If motor ID run has
already been performed once, parameter is automatically set to (0) No. If no motor ID run has been
performed yet, parameter is automatically set to (3) Standstill. In this case, the motor ID run must be
performed.
Notes:
Motor ID run can only be performed in local control (ie, when drive is controlled via PC tool or
control panel).
Motor ID run cannot be performed if parameter 99.05 MOTOR CTRL MODE is set to (1) Scalar.
Motor ID run must be performed every time any of the motor parameters (99.04, 99.0699.12)
have been changed. Parameter is automatically set to STANDSTILL after the motor parameters
have been set.
With permanent magnet motor, the motor shaft must NOT be locked and the load torque must be <
10% during the motor ID run (Normal/Reduced/Standstill).
Mechanical brake (if present) is not opened during the motor ID run.
Ensure that possible Safe Torque Off and emergency stop circuits are closed during motor ID run.

(0) No No motor ID run is requested. This mode can be selected only if the
motor ID run (Normal/Reduced/Standstill) has already been performed
once.

(1) Normal Guarantees the best possible control accuracy. The motor ID run
takes about 90 seconds. This mode should be selected whenever it is
possible.
Note: The driven machinery must be de-coupled from the motor with
Normal ID run:
if the load torque is higher than 20%.
if the machinery is not able to withstand the nominal torque transient
during the motor ID run.
Note: Check the direction of rotation of the motor before starting the
motor ID run. During the run, the motor will rotate in the forward
direction.
WARNING! The motor will run at up to approximately
50100% of the nominal speed during the motor ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE
PERFORMING THE MOTOR ID RUN!

Parameters and firmware blocks

202

(2) Reduced Reduced ID run. This mode should be selected instead of the Normal
ID run
if mechanical losses are higher than 20% (ie, the motor cannot be
de-coupled from the driven equipment), or
if flux reduction is not allowed while the motor is running (ie, in case
of a motor with an integrated brake supplied from the motor
terminals), or
if large speed vibrations are detected during the Normal ID run.
With Reduced ID run, the control in the field weakening area or at high
torques is not necessarily as accurate as with the Normal ID run.
Reduced ID run is completed faster than the Normal ID run (< 90
seconds).
Note: Check the direction of rotation of the motor before starting the
motor ID run. During the run, the motor will rotate in the forward
direction.
WARNING! The motor will run at up to approximately
50100% of the nominal speed during the motor ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE
PERFORMING THE MOTOR ID RUN!

(3) Standstill Standstill ID run. The motor is injected with DC current. With
asynchronous motor, the motor shaft is not rotating (with permanent
magnet motor the shaft can rotate < 0.5 revolution).
Note: This mode should be selected only if the Normal or Reduced ID
run is not possible due to the restrictions caused by the connected
mechanics (eg, with lift or crane applications).

(4) Autophasing During autophasing, the start angle of the motor is determined. Note
that other motor model values are not updated. See also parameter
11.07 AUTOPHASING MODE, and section Autophasing on page 39.
Notes:
Autophasing can only be selected after the Normal/Reduced/
Standstill ID run has been performed once. Autophasing is used
when an absolute encoder, a resolver or an encoder with
commutation signals has been added/changed to a permanent
magnet motor and there is no need to perform the Normal/Reduced/
Standstill ID run again.
During Autophasing the motor shaft must NOT be locked and the
load torque must be < 5%.

(5) Cur meas cal Current offset and gain measurement calibration. The calibration will
be performed at next start.

Parameters and firmware blocks

 203

(6) Advanced Advanced ID run. Guarantees the best possible control accuracy. The
motor ID run can take a couple of minutes. This mode should be
selected when top performance is needed in the whole operating
area.
Notes:
The driven machinery must be de-coupled from the motor because
of high torque and speed transients that are applied.
During the run, the motor may rotate both in the forward and reverse
direction.
WARNING! The motor may run at up to the maximum (positive)
and minimum (negative) allowed speed during the motor ID
run. Several accelerations and decelerations are done. The
maximum torque, current and speed allowed by the limit parameters
may be utilized. ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE MOTOR ID RUN!

Parameters and firmware blocks

204

Parameters and firmware blocks

 205

Parameter data

What this chapter contains

This chapter lists the parameters of the drive with some additional data. For the
parameter descriptions, see chapter Parameters and firmware blocks.

Terms
Term Definition
Actual signal Signal measured or calculated by the drive. Can be monitored by the user.
No user setting is possible.
Def Default value
enum Enumerated list, ie, selection list
FbEq Fieldbus equivalent: The scaling between the value shown on the panel
and the integer used in serial communication.
Page no. Page number for more information
INT32 32-bit integer value (31 bits + sign)
Bit pointer Bit pointer. A bit pointer points to a single bit in the value of another
parameter.
Val pointer Value pointer. A value pointer points to the value of another parameter.
Parameter An operation instruction of the drive that is often user-adjustable.
Parameters that are signals measured or calculated by the drive are called
actual signals.
Pb Packed boolean
PT Parameter protection type. See WP, WPD and WP0.
REAL 16-bit value 16-bit value (31 bits + sign)
= integer value = fractional value

REAL24 8-bit value 24-bit value (31 bits + sign)

= integer value = fractional value
Save PF Parameter setting is protected against power failure.
Type Data type. See enum, INT32, Bit pointer, Val pointer, Pb, REAL, REAL24,
UINT32.
UINT32 32-bit unsigned integer value
WP Write protected parameter (ie, read only)
WPD Write protected parameter while drive is running
WP0 Parameter can only be set to zero.

Parameter data
206

Fieldbus equivalent
Serial communication data between fieldbus adapter and drive is transferred in
integer format. Thus the drive actual and reference signal values must be scaled to
16/32-bit integer values. Fieldbus equivalent defines the scaling between the signal
value and the integer used in serial communication.
All the read and sent values are limited to 16/32 bits.
Example: If 32.04 MAXIMUM TORQ REF is set from external control system,
an integer value of 10 corresponds to 1%.

Pointer parameter format in fieldbus communication

Value and bit pointer parameters are transferred between the fieldbus adapter and
drive as 32-bit integer values.

32-bit integer value pointers

When a value pointer parameter is connected to the value of another parameter, the
format is as follows:
Bit

3031 1629 815 07

Name Source type Not in use Group Index

Value 1 - 1255 1255

Description Value pointer is - Group of source Index of source

connected to parameter parameter
parameter/signal.

For example, the value that should be written into parameter 33.02 SUPERV1 ACT
to change its value to 1.07 DC-VOLTAGE is
0100 0000 0000 0000 0000 0001 0000 0111 = 1073742087 (32-bit integer).
When a value pointer parameter is connected to an application program, the format
is as follows:
Bit

3031 2429 023

Name Source type Not in use Address

Value 2 - 0 224-1

Description Value pointer is - Relative address of

connected to application application program
program. variable

Note: Value pointer parameters which are connected to an application program

cannot be set via fieldbus (ie, read access only).

Parameter data
 207

32-bit integer bit pointers

When a bit pointer parameter is connected to value 0 or 1, the format is as follows:
Bit

3031 1629 115 0

Name Source type Not in use Not in use Value

Value 0 - - 01

Description Bit pointer is - - 0 = False, 1 = True

connected to 0/1.

When a bit pointer is connected to a bit value of another parameter, the format is as
follows:
Bit

3031 2429 1623 815 07

Name Source type Not in use Bit sel Group Index

Value 1 - 031 2255 1255

Description Bit pointer is - Bit selection Group of Index of

connected to source source
signal bit parameter parameter
value.

When a bit pointer parameter is connected to an application program, the format is

as follows:
Bit

3031 2429 023

Name Source type Bit sel Address

Value 2 031 0 224-1

Description Bit pointer is connected Bit selection Relative address of

to application program. application program
variable

Note: Bit pointer parameters which are connected to an application program cannot
be set via fieldbus (ie, read access only).

Parameter data
 208

Actual signals (Parameter groups 19)

Index Name Type Range Unit FbEq Update Data PT Save Page
time length PF no.
01 ACTUAL VALUES
1.01 SPEED ACT REAL -3000030000 rpm 1 = 100 250 s 32 WP 63
1.02 SPEED ACT PERC REAL -10001000 % 1 = 100 2 ms 32 WP 63
1.03 FREQUENCY REAL -3000030000 Hz 1 = 100 2 ms 32 WP 63
1.04 CURRENT REAL 030000 A 1 = 100 10 ms 32 WP 63
1.05 CURRENT PERC REAL 01000 % 1 = 10 2 ms 16 WP 63
1.06 TORQUE REAL -16001600 % 1 = 10 2 ms 16 WP 63
1.07 DC-VOLTAGE REAL - V 1 = 100 2 ms 32 WP 63
1.08 ENCODER 1 SPEED REAL - rpm 1 = 100 250 s 32 WP 63
1.09 ENCODER 1 POS REAL24 - rev 1=100000000 250 s 32 WP 63
1.10 ENCODER 2 SPEED REAL - rpm 1 = 100 250 s 32 WP 64
1.11 ENCODER 2 POS REAL24 - rev 1=100000000 250 s 32 WP 64
1.12 POS ACT REAL -3276832767 rev 1 = 1000 250 s 32 WP 64
1.13 POS 2ND ENC REAL -3276832767 revs 1=1 250 s 32 WP 64
1.14 SPEED ESTIMATED REAL -3000030000 rpm 1 = 100 2 ms 32 WP 64
1.15 TEMP INVERTER REAL24 -40160 C 1 = 10 2 ms 16 WP 64
1.16 TEMP BC REAL24 -40160 C 1 = 10 2 ms 16 WP 64
1.17 MOTOR TEMP REAL -10250 C 1 = 10 10 ms 16 WP 64
1.18 MOTOR TEMP EST INT32 -601000 C 1=1 10 ms 16 WP x 64
1.19 USED SUPPLY VOLT REAL 01000 V 1 = 10 10 ms 16 WP 64
1.20 BRAKE RES LOAD REAL24 01000 % 1=1 50 ms 16 WP 64
1.21 CPU USAGE UINT32 0100 % 1=1 100 ms 16 WP 64
1.22 INVERTER POWER REAL -231231 - 1 kW 1 = 100 10 ms 32 WP 65
1.26 ON TIME COUNTER INT32 035791394.1 h 1 = 100 10 ms 32 WP0 x 65
1.27 RUN TIME COUNTER INT32 035791394.1 h 1 = 100 10 ms 32 WP0 x 65
1.28 FAN ON-TIME INT32 035791394.1 h 1 = 100 10 ms 32 WP0 x 65
1.31 MECH TIME CONST REAL 032767 s 1 = 1000 10 ms 32 WP x 65
1.38 TEMP INT BOARD REAL24 -40160 C 1 = 10 2 ms 16 WP 65
02 I/O VALUES
2.01 DI STATUS Pb 00x3F - 1=1 2 ms 16 WP 66
2.02 RO STATUS Pb - - 1=1 2 ms 16 WP 66
2.03 DIO STATUS Pb - - 1=1 2 ms 16 WP 66
2.04 AI1 REAL - V or mA 1 = 1000 2 ms 16 WP 66
2.05 AI1 SCALED REAL - - 1 = 1000 250 s 32 WP 66
2.06 AI2 REAL - V or mA 1 = 1000 2 ms 16 WP 66
2.07 AI2 SCALED REAL - - 1 = 1000 250 s 32 WP 66
2.08 AO1 REAL - mA 1 = 1000 2 ms 16 WP 66
2.09 AO2 REAL - V 1 = 1000 2 ms 16 WP 66
2.10 DIO2 FREQ IN REAL -3276832768 - 1 = 1000 2 ms 32 WP 66
2.11 DIO3 FREQ OUT REAL -3276832768 Hz 1 = 1000 2 ms 32 WP 66
2.12 FBA MAIN CW Pb 0 - 1=1 500 s 32 WP 67
0xFFFFFFFF

Parameter data
 209

Index Name Type Range Unit FbEq Update Data PT Save Page
time length PF no.
2.13 FBA MAIN SW Pb 0 - 1=1 500 s 32 WP 69
0xFFFFFFFF
2.14 FBA MAIN REF1 INT32 -231231 - 1 - 1=1 500 s 32 WP 70
2.15 FBA MAIN REF2 INT32 -231 2 31
-1 - 1=1 500 s 32 WP 70
2.16 FEN DI STATUS Pb 00x33 - 1=1 500 s 16 WP 70
2.17 D2D MAIN CW Pb 00xFFFF - 1=1 500 s 16 WP 70
2.18 D2D FOLLOWER CW Pb 00xFFFF - 1=1 2 ms 16 WP 71
2.19 D2D REF1 REAL -231 2 31
-1 - 1=1 500 s 32 WP 71
2.20 D2D REF2 REAL -231231 - 1 - 1=1 2 ms 32 WP 71
03 CONTROL VALUES
3.01 SPEED REF1 REAL -3000030000 rpm 1 = 100 500 s 32 WP 72
3.02 SPEED REF2 REAL -3000030000 rpm 1 = 100 500 s 32 WP 72
3.03 SPEEDREF RAMP IN REAL -3000030000 rpm 1 = 100 500 s 32 WP 72
3.04 SPEEDREF RAMPED REAL -3000030000 rpm 1 = 100 500 s 32 WP 72
3.05 SPEEDREF USED REAL -3000030000 rpm 1 = 100 250 s 32 WP 72
3.06 SPEED ERROR FILT REAL -3000030000 rpm 1 = 100 250 s 32 WP 72
3.07 ACC COMP TORQ REAL -16001600 % 1 = 10 250 s 16 WP 72
3.08 TORQ REF SP CTRL REAL -16001600 % 1 = 10 250 s 16 WP 72
3.09 TORQ REF1 REAL -10001000 % 1 = 10 500 s 16 WP 72
3.10 TORQ REF RAMPED REAL -10001000 % 1 = 10 500 s 16 WP 72
3.11 TORQ REF RUSHLIM REAL -10001000 % 1 = 10 250 s 16 WP 72
3.12 TORQUE REF ADD REAL -10001000 % 1 = 10 250 s 16 WP 72
3.13 TORQ REF TO TC REAL -16001600 % 1 = 10 250 s 16 WP 72
3.14 BRAKE TORQ MEM REAL -10001000 % 1 = 10 2 ms 16 WP x 72
3.15 BRAKE COMMAND enum 01 - 1=1 2 ms 16 WP 73
3.16 FLUX REF USED REAL24 0200 % 1=1 2 ms 16 WP 73
3.17 TORQUE REF USED REAL -16001600 % 1 = 10 250 s 32 WP 73
3.20 MAX SPEED REF REAL 030000 rpm 1 = 100 2 ms 16 WP 73
3.21 MIN SPEED REF REAL -300000 rpm 1 = 100 2 ms 16 WP 73
06 DRIVE STATUS
6.01 STATUS WORD 1 Pb 065535 - 1=1 2 ms 16 WP 74
6.02 STATUS WORD 2 Pb 065535 - 1=1 2 ms 16 WP 75
6.03 SPEED CTRL STAT Pb 031 - 1=1 250 s 16 WP 76
6.05 LIMIT WORD 1 Pb 0255 - 1=1 250 s 16 WP 76
6.07 TORQ LIM STATUS Pb 065535 - 1=1 250 s 16 WP 77
6.12 OP MODE ACK enum 011 - 1=1 2 ms 16 WP 77
6.14 SUPERV STATUS Pb 065535 - 1=1 2 ms 16 WP 77
08 ALARMS & FAULTS
8.01 ACTIVE FAULT enum 065535 - 1=1 - 16 WP 78
8.02 LAST FAULT enum 065535 - 1=1 - 16 WP 78
8.03 FAULT TIME HI INT32 -231231 - 1 days 1=1 - 32 WP 78
8.04 FAULT TIME LO INT32 -231 2 31
-1 time 1=1 - 32 WP 78
8.05 ALARM LOGGER 1 UINT32 - - 1=1 2 ms 16 WP0 78
8.06 ALARM LOGGER 2 UINT32 - - 1=1 2 ms 16 WP0 79

Parameter data
 210

Index Name Type Range Unit FbEq Update Data PT Save Page
time length PF no.
8.07 ALARM LOGGER 3 UINT32 - - 1=1 2 ms 16 WP0 79
8.08 ALARM LOGGER 4 UINT32 - - 1=1 2 ms 16 WP0 80
8.09 ALARM LOGGER 5 UINT32 - - 1=1 2 ms 16 WP0 80
8.10 ALARM LOGGER 6 UINT32 - - 1=1 2 ms 16 WP0 80
8.15 ALARM WORD 1 UINT32 - - 1=1 2 ms 16 WP0 81
8.16 ALARM WORD 2 UINT32 - - 1=1 2 ms 16 WP0 81
8.17 ALARM WORD 3 UINT32 - - 1=1 2 ms 16 WP0 82
8.18 ALARM WORD 4 UINT32 - - 1=1 2 ms 16 WP0 82
09 SYSTEM INFO
9.01 DRIVE TYPE INT32 065535 - 1=1 - 16 WP 83
9.02 DRIVE RATING ID INT32 065535 - 1=1 - 16 WP 83
9.03 FIRMWARE ID Pb - - 1=1 - 16 WP 83
9.04 FIRMWARE VER Pb - - 1=1 - 16 WP 83
9.05 FIRMWARE PATCH Pb - - 1=1 - 16 WP 83
9.10 INT LOGIC VER Pb - - 1=1 - 32 WP 83
9.20 OPTION SLOT 1 INT32 018 - 1=1 - 16 WP 84
9.21 OPTION SLOT 2 INT32 018 - 1=1 - 16 WP 84
9.22 OPTION SLOT 3 INT32 018 - 1=1 - 16 WP 84

Parameter groups 1099

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
10 START/STOP
10.01 EXT1 START FUNC enum 06 - - 2 ms 16 1 WPD 86
10.02 EXT1 START IN1 Bit pointer - 2 ms 32 P.02.01.00 WPD 86
10.03 EXT1 START IN2 Bit pointer - 2 ms 32 C.False WPD 86
10.04 EXT2 START FUNC enum 06 - - 2 ms 16 1 WPD 87
10.05 EXT2 START IN1 Bit pointer - 2 ms 32 P.02.01.00 WPD 87
10.06 EXT2 START IN2 Bit pointer - 2 ms 32 C.False WPD 88
10.07 JOG1 START Bit pointer - 2 ms 32 C.False WPD 88
10.08 FAULT RESET SEL Bit pointer - 2 ms 32 P.02.01.02 88
10.09 RUN ENABLE Bit pointer - 2 ms 32 C.True WPD 88
10.10 EM STOP OFF3 Bit pointer - 2 ms 32 C.True WPD 88
10.11 EM STOP OFF1 Bit pointer - 2 ms 32 C.True WPD 88
10.12 START INHIBIT enum 01 - 1=1 2 ms 16 0 89
10.13 FB CW USED Val pointer - 2 ms 32 P.02.12 WPD 89
10.14 JOG2 START Bit pointer - 2 ms 32 C.False WPD 89
10.15 JOG ENABLE Bit pointer - 2 ms 32 C.False WPD 89
10.16 D2D CW USED Val pointer - 2 ms 32 P.02.17 WPD 89
10.17 START ENABLE Bit pointer - 2 ms 32 C.True WPD 90
11 START/STOP MODE
11.01 START MODE enum 02 - 1=1 - 16 1 WPD 91
11.02 DC MAGN TIME UINT32 010000 ms 1=1 - 16 500 WPD 92
11.03 STOP MODE enum 12 - 1=1 2 ms 16 2 92

Parameter data
 211

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
11.04 DC HOLD SPEED REAL 01000 rpm 1 = 10 2 ms 16 5 92
11.05 DC HOLD CUR REF UINT32 0100 % 1=1 2 ms 16 30 92
11.06 DC HOLD Bit pointer 01 - 1=1 2 ms 16 0 93
11.07 AUTOPHASING enum 02 - 1=1 - 16 0 93
MODE
12 DIGITAL IO
12.01 DIO1 CONF enum 01 - 1=1 10 ms 16 0 94
12.02 DIO2 CONF enum 02 - 1=1 10 ms 16 0 95
12.03 DIO3 CONF enum 03 - 1=1 10 ms 16 0 95
12.04 DIO1 OUT PTR Bit pointer - 10 ms 32 P.06.02.02 95
12.05 DIO2 OUT PTR Bit pointer - 10 ms 32 P.06.02.03 95
12.06 DIO3 OUT PTR Bit pointer - 10 ms 32 P.06.01.10 95
12.07 DIO3 F OUT PTR Val pointer - 10 ms 32 P.01.01 95
12.08 DIO3 F MAX REAL 332768 Hz 1=1 10 ms 16 1000 95
12.09 DIO3 F MIN REAL 332768 Hz 1=1 10 ms 16 3 95
12.10 DIO3 F MAX SCALE REAL 032768 - 1=1 10 ms 16 1500 96
12.11 DIO3 F MIN SCALE REAL 032768 - 1=1 10 ms 16 0 96
12.12 RO1 OUT PTR Bit pointer - 10 ms 32 P.03.15.00 96
12.13 DI INVERT MASK UINT32 063 - 1=1 10 ms 16 0 97
12.14 DIO2 F MAX REAL 332768 Hz 1=1 10 ms 16 1000 97
12.15 DIO2 F MIN REAL 332768 Hz 1=1 10 ms 16 3 97
12.16 DIO2 F MAX SCALE REAL -32768 - 1=1 10 ms 16 1500 97
32768
12.17 DIO2 F MIN SCALE REAL -32768 - 1=1 10 ms 16 0 97
32768
13 ANALOGUE INPUTS
13.01 AI1 FILT TIME REAL 030 s 1 = 1000 10 ms 16 0 98
13.02 AI1 MAX REAL -1111/ V or 1 = 1000 10 ms 16 10 98
-2222 mA
13.03 AI1 MIN REAL -1111/ V or 1 = 1000 10 ms 16 -10 99
-2222 mA
13.04 AI1 MAX SCALE REAL -32768 - 1 = 1000 10 ms 32 1500 99
32767
13.05 AI1 MIN SCALE REAL -32768 - 1 = 1000 10 ms 32 -1500 99
32767
13.06 AI2 FILT TIME REAL 030 s 1 = 1000 10 ms 16 0 99
13.07 AI2 MAX REAL -1111/ V or 1 = 1000 10 ms 16 10 100
-2222 mA
13.08 AI2 MIN REAL -1111/ V or 1 = 1000 10 ms 16 -10 100
-2222 mA
13.09 AI2 MAX SCALE REAL -32768 - 1 = 1000 10 ms 32 100 100
32767
13.10 AI2 MIN SCALE REAL -32768 - 1 = 1000 10 ms 32 -100 100
32767
13.11 AITUNE enum 04 - 1=1 10 ms 16 0 100
13.12 AI SUPERVISION enum 03 - 1=1 2 ms 16 0 101

Parameter data
 212

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
13.13 AI SUPERVIS ACT UINT32 0000 - 1=1 2 ms 32 0 101
1111
15 ANALOGUE
OUTPUTS
15.01 AO1 PTR Val pointer - - 32 P.01.05 102
15.02 AO1 FILT TIME REAL 030 s 1 = 1000 10 ms 16 0.1 102
15.03 AO1 MAX REAL 022.7 mA 1 = 1000 10 ms 16 20 102
15.04 AO1 MIN REAL 022.7 mA 1 = 1000 10 ms 16 4 103
15.05 AO1 MAX SCALE REAL -32768 - 1 = 1000 10 ms 32 100 103
32767
15.06 AO1 MIN SCALE REAL -32768 - 1 = 1000 10 ms 32 0 103
32767
15.07 AO2 PTR Val pointer - - 32 P.01.02 103
15.08 AO2 FILT TIME REAL 030 s 1 = 1000 10 ms 16 0.1 103
15.09 AO2 MAX REAL -1010 V 1 = 1000 10 ms 16 10 104
15.10 AO2 MIN REAL -1010 V 1 = 1000 10 ms 16 -10 104
15.11 AO2 MAX SCALE REAL -32768 - 1 = 1000 10 ms 32 100 104
32767
15.12 AO2 MIN SCALE REAL -32768 - 1 = 1000 10 ms 32 -100 104
32767
16 SYSTEM
16.01 LOCAL LOCK Bit pointer - 2 ms 32 C.False 105
16.02 PARAMETER LOCK enum 02 - 1=1 2 ms 16 1 105
16.03 PASS CODE INT32 0231 -1 - 1=1 - 32 0 105
16.04 PARAM RESTORE enum 02 - 1=1 - 16 0 WPD 105
16.07 PARAM SAVE enum 01 - 1=1 - 16 0 105
16.09 USER SET SEL enum 110 - 1=1 - 32 1 WPD 106
16.10 USER SET LOG Pb 00x7FF - 1=1 - 32 0 WP 106
16.11 USER IO SET LO Bit pointer - - 32 C.False 107
16.12 USER IO SET HI Bit pointer - - 32 C.False 107
16.13 TIME SOURCE PRIO enum 08 - 1=1 - 16 0 107
17 PANEL DISPLAY
17.01 SIGNAL1 PARAM INT32 00.00 - 1=1 16 01.03 108
255.255
17.02 SIGNAL2 PARAM INT32 00.00 - 1=1 16 01.04 108
255.255
17.03 SIGNAL3 PARAM INT32 00.00 - 1=1 16 01.06 108
255.255
20 LIMITS
20.01 MAXIMUM SPEED REAL 030000 rpm 1=1 2 ms 32 1500 109
20.02 MINIMUM SPEED REAL -300000 rpm 1=1 2 ms 32 -1500 109
20.03 POS SPEED ENA Bit pointer - 2 ms 32 C.True 110
20.04 NEG SPEED ENA Bit pointer - 2 ms 32 C.True 110
20.05 MAXIMUM CURRENT REAL 030000 A 1 = 100 10 ms 32 2 2 110
[99.06]
20.06 MAXIMUM TORQUE REAL 01600 % 1 = 10 2 ms 16 300 110
20.07 MINIMUM TORQUE REAL -16000 % 1 = 10 2 ms 16 -300 110

Parameter data
 213

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
20.08 THERM CURR LIM enum 01 - 1=1 - 16 1 111
22 SPEED FEEDBACK
22.01 SPEED FB SEL enum 02 - 1=1 10 ms 16 0 WPD 113
22.02 SPEED ACT FTIME REAL 010000 ms 1 = 1000 10 ms 32 3 113
22.03 MOTOR GEAR MUL INT32 -231231 -1 - 1=1 10 ms 32 1 114
22.04 MOTOR GEAR DIV UINT32 1231 -1 - 1=1 10 ms 32 1 114
22.05 ZERO SPEED LIMIT REAL 030000 rpm 1 = 1000 2 ms 32 30 114
22.06 ZERO SPEED DELAY UINT32 030000 ms 1=1 2 ms 16 0 115
22.07 ABOVE SPEED LIM REAL 030000 rpm 1=1 2 ms 16 0 115
22.08 SPEED TRIPMARGIN REAL 010000 rpm 1 = 10 2 ms 32 500 116
22.09 SPEED FB FAULT enum 02 - 1=1 10 ms 16 0 116
22.10 SPD SUPERV EST REAL 030000 rpm 1=1 250 s 32 450 117
22.11 SPD SUPERV ENC REAL 030000 rpm 1=1 250 s 32 15 117
22.12 SPD SUPERV FILT REAL 010000 ms 1=1 250 s 32 15 117
24 SPEED REF MOD
24.01 SPEED REF1 SEL enum 08 - 1=1 10 ms 16 1 119
24.02 SPEED REF2 SEL enum 08 - 1=1 10 ms 16 0 120
24.03 SPEED REF1 IN Val pointer - 10 ms 32 P.03.01 120
24.04 SPEED REF2 IN Val pointer - 10 ms 32 P.03.02 120
24.05 SPEED REF 1/2SEL Bit pointer - 2 ms 32 C.False 120
24.06 SPEED SHARE REAL -88 - 1 = 1000 2 ms 16 1 120
24.07 SPEEDREF NEG Bit pointer - 2 ms 32 C.False 121
ENA
24.08 CONST SPEED REAL -30000. rpm 1=1 2 ms 16 0 121
30000
24.09 CONST SPEED ENA Bit pointer - 2 ms 32 C.False 121
24.10 SPEED REF JOG1 REAL -30000. rpm 1=1 2 ms 16 0 121
30000
24.11 SPEED REF JOG2 REAL -30000. rpm 1=1 2 ms 16 0 121
30000
24.12 SPEED REFMIN ABS REAL 030000 rpm 1=1 2 ms 16 0 121
25 SPEED REF RAMP
25.01 SPEED RAMP IN Val pointer - 10 ms 32 P.03.03 WP 123
25.02 SPEED SCALING REAL 030000 rpm 1=1 10 ms 16 1500 123
25.03 ACC TIME REAL 01800 s 1 = 1000 10 ms 32 1 123
25.04 DEC TIME REAL 01800 s 1 = 1000 10 ms 32 1 124
25.05 SHAPE TIME ACC1 REAL 01000 s 1 = 1000 10 ms 32 0 124
25.06 SHAPE TIME ACC2 REAL 01000 s 1 = 1000 10 ms 32 0 124
25.07 SHAPE TIME DEC1 REAL 01000 s 1 = 1000 10 ms 32 0 124
25.08 SHAPE TIME DEC2 REAL 01000 s 1 = 1000 10 ms 32 0 125
25.09 ACC TIME JOGGING REAL 01800 s 1 = 1000 10 ms 32 0 125
25.10 DEC TIME JOGGING REAL 01800 s 1 = 1000 10 ms 32 0 125
25.11 EM STOP TIME REAL 01800 s 1 = 1000 10 ms 32 1 125
25.12 SPEEDREF BAL REAL -30000 rpm 1 = 1000 2 ms 32 0 125
30000

Parameter data
 214

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
25.13 SPEEDREF BAL ENA Bit pointer - 2 ms 32 C.False 125
26 SPEED ERROR
26.01 SPEED ACT NCTRL Val pointer - 2 ms 32 P.01.01 WP 127
26.02 SPEED REF NCTRL Val pointer - 2 ms 32 P.03.04 WP 127
26.03 SPEED REF PCTRL Val pointer - 2 ms 32 P.04.01 127
26.04 SPEED FEED PCTRL Val pointer - 2 ms 32 P.04.20 127
26.05 SPEED STEP REAL -30000 rpm 1 = 100 2 ms 32 0 128
30000
26.06 SPD ERR FTIME REAL 01000 ms 1 = 10 2 ms 16 0 128
26.07 SPEED WINDOW REAL 030000 rpm 1=1 250 s 16 100 128
26.08 ACC COMP REAL 0600 s 1 = 100 2 ms 32 0 128
DERTIME
26.09 ACC COMP FTIME REAL 01000 ms 1 = 10 2 ms 16 8 129
26.10 SPEED WIN FUNC UINT32 02 - 1=1 250 s 16 0 129
26.11 SPEED WIN HI REAL 03000 rpm 1=1 250 s 16 0 x 129
26.12 SPEED WIN LO REAL 03000 rpm 1=1 250 s 16 0 x 129
28 SPEED CONTROL
28.01 SPEED ERR NCTRL Val pointer - 2 ms 32 P.03.06 WP 131
28.02 PROPORT GAIN REAL 0200 - 1 = 100 2 ms 16 10 131
28.03 INTEGRATION TIME REAL 0600 s 1 = 1000 2 ms 32 0.5 132
28.04 DERIVATION TIME REAL 010 s 1 = 1000 2 ms 16 0 133
28.05 DERIV FILT TIME REAL 01000 ms 1 = 10 2 ms 16 8 133
28.06 ACC Val pointer - 2 ms 32 P.03.07 WP 133
COMPENSATION
28.07 DROOPING RATE REAL 0100 % 1 = 100 2 ms 16 0 134
28.08 BAL REFERENCE REAL -1600 % 1 = 10 2 ms 16 0 134
1600
28.09 SPEEDCTRL BAL EN Bit pointer - 2 ms 32 C.False 134
28.10 MIN TORQ SP CTRL REAL -1600 % 1 = 10 2 ms 16 -300 134
1600
28.11 MAX TORQ SP CTRL REAL -1600 % 1 = 10 2 ms 16 300 134
1600
28.12 PI ADAPT MAX SPD REAL 030000 rpm 1=1 10 ms 16 0 135
28.13 PI ADAPT MIN SPD REAL 030000 rpm 1=1 10 ms 16 0 135
28.14 P GAIN ADPT COEF REAL 010 - 1 = 1000 10 ms 16 0 135
28.15 I TIME ADPT COEF REAL 010 - 1 = 1000 10 ms 16 0 135
28.16 PI TUNE MODE enum 04 - 1=1 16 0 136
28.17 TUNE BANDWIDTH REAL 02000 Hz 1 = 100 16 100 136
28.18 TUNE DAMPING REAL 0200 - 1 = 10 16 0.5 136
32 TORQUE
REFERENCE
32.01 TORQ REF1 SEL enum 04 - 1=1 10 ms 16 2 138
32.02 TORQ REF ADD SEL enum 04 - 1=1 10 ms 16 0 138
32.03 TORQ REF IN Val pointer - 250 s 32 P.03.09 139
32.04 MAXIMUM TORQ REAL 01000 % 1 = 10 250 s 16 300 139
REF

Parameter data
 215

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
32.05 MINIMUM TORQ REF REAL -10000 % 1 = 10 250 s 16 -300 139
32.06 LOAD SHARE REAL -88 - 1 = 1000 250 s 16 1 139
32.07 TORQ RAMP UP UINT32 060 s 1 = 1000 10 ms 32 0 139
32.08 TORQ RAMP DOWN UINT32 060 s 1 = 1000 10 ms 32 0 140
32.09 RUSH CTRL GAIN REAL 110000 - 1 = 10 10 ms 32 1000 140
32.10 RUSH CTRL TI REAL 0.110 s 1 = 10 10 ms 32 2 140
33 SUPERVISION
33.01 SUPERV1 FUNC UINT32 04 - 1=1 2 ms 16 0 141
33.02 SUPERV1 ACT Val pointer - 2 ms 32 P.01.01 141
33.03 SUPERV1 LIM HI REAL -32768 - 1 = 100 2 ms 32 0 142
32768
33.04 SUPERV1 LIM LO REAL -32768 - 1 = 100 2 ms 32 0 142
32768
33.05 SUPERV2 FUNC UINT32 04 - 1=1 2 ms 16 0 142
33.06 SUPERV2 ACT Val pointer - 2 ms 32 P.01.04 142
33.07 SUPERV2 LIM HI REAL -32768 - 1 = 100 2 ms 32 0 142
32768
33.08 SUPERV2 LIM LO REAL -32768 - 1 = 100 2 ms 32 0 142
32768
33.09 SUPERV3 FUNC UINT32 04 - 1=1 2 ms 16 0 143
33.10 SUPERV3 ACT Val pointer - 2 ms 32 P.01.06 143
33.11 SUPERV3 LIM HI REAL -32768 - 1 = 100 2 ms 32 0 143
32768
33.12 SUPERV3 LIM LO REAL -32768 - 1 = 100 2 ms 32 0 143
32768
34 REFERENCE CTRL
34.01 EXT1/EXT2 SEL Bit pointer - 2 ms 32 P.02.01.01 145
34.02 EXT1 MODE 1/2SEL Bit pointer - 2 ms 32 C.False 145
(P.02.01.05
for pos.
appl.)
34.03 EXT1 CTRL MODE1 enum 15 (19 - 1=1 2 ms 16 1 146
for pos.
appl.)
34.04 EXT1 CTRL MODE2 enum 15 (19 - 1=1 2 ms 16 2 (8 for 146
for pos. pos. appl.)
appl.)
34.05 EXT2 CTRL MODE1 enum 15 (19 - 1=1 2 ms 16 2 (6 for 146
for pos. pos. appl.)
appl.)
34.07 LOCAL CTRL MODE enum 12 (16 - 1=1 2 ms 16 1 WPD 146
for pos.
appl.)
34.08 TREF SPEED SRC Val pointer - 250 s 32 P.03.08 WP 147
34.09 TREF TORQ SRC Val pointer - 250 s 32 P.03.11 WP 147
34.10 TORQ REF ADD SRC Val pointer - 250 s 32 P.03.12 WP 147

Parameter data
 216

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
35 MECH BRAKE CTRL
35.01 BRAKE CONTROL enum 02 - 1=1 2 ms 16 0 WPD 148
35.02 BRAKE ACKNOWL Bit pointer - 2 ms 32 C.False WPD 148
35.03 BRAKE OPEN DELAY UINT32 05 s 1 = 100 2 ms 16 0 149
35.04 BRAKE CLOSE DLY UINT32 060 s 1 = 100 2 ms 16 0 149
35.05 BRAKE CLOSE SPD REAL 01000 rpm 1 = 10 2 ms 16 100 149
35.06 BRAKE OPEN TORQ REAL 01000 % 1 = 10 2 ms 16 0 149
35.07 BRAKE CLOSE REQ Bit pointer - 2 ms 32 C.False WPD 149
35.08 BRAKE OPEN HOLD Bit pointer - 2 ms 32 C.False WPD 149
35.09 BRAKE FAULT FUNC enum 02 - 1=1 2 ms 16 0 150
40 MOTOR CONTROL
40.01 FLUX REF REAL 0200 % 1=1 10 ms 16 100 151
40.02 SF REF enum 016 kHz 1=1 - 16 4 151
40.03 SLIP GAIN REAL 0200 % 1=1 - 100 152
40.04 VOLTAGE RESERVE REAL V/% 1=1 - - 152
40.05 FLUX OPT enum 01 - 1=1 - - 152
40.06 FORCE OPEN LOOP enum 01 - 1=1 250 s 16 0 152
40.07 IR COMPENSATION REAL24 050 % 1 = 100 2 ms 32 0 153
40.10 FLUX BRAKING enum 02 - 1=1 - 16 0 153
45 MOT THERM PROT
45.01 MOT TEMP PROT enum 02 - 1=1 10 ms 16 2 154
45.02 MOT TEMP SOURCE enum 06 - 1=1 10 ms 16 0 154
45.03 MOT TEMP ALM LIM INT32 0200 C 1=1 - 16 90 155
45.04 MOT TEMP FLT LIM INT32 0200 C 1=1 - 16 110 155
45.05 AMBIENT TEMP INT32 -60100 C 1=1 - 16 20 155
45.06 MOT LOAD CURVE INT32 50150 % 1=1 - 16 100 156
45.07 ZERO SPEED LOAD INT32 50150 % 1=1 - 16 100 156
45.08 BREAK POINT INT32 0.01500 Hz 1 = 100 - 16 45 156
45.09 MOTNOM TEMP INT32 0300 C 1=1 - 16 80 157
RISE
45.10 MOT THERM TIME INT32 10010000 s 1=1 - 16 256 157
46 FAULT FUNCTIONS
46.01 EXTERNAL FAULT Bit pointer - 2 ms 32 C.True 159
46.02 SPEED REF SAFE REAL -30000 rpm 1=1 2 ms 16 0 159
30000
46.03 LOCAL CTRL LOSS enum 03 - 1=1 - 16 1 159
46.04 MOT PHASE LOSS enum 01 - 1=1 2 ms 16 1 159
46.05 EARTH FAULT enum 02 - 1=1 - 16 2 159
46.06 SUPPL PHS LOSS enum 01 - 1=1 2 ms 16 1 160
46.07 STO DIAGNOSTIC enum 14 - 1=1 10 ms 16 1 160
46.08 CROSS enum 01 - 1=1 - 16 1 160
CONNECTION
46.09 STALL FUNCTION Pb 0b000 - 1=1 10 ms 16 0b111 161
0b111
46.10 STALL CURR LIM REAL 01600 % 1 = 10 10 ms 16 200 161

Parameter data
 217

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
46.11 STALL FREQ HI REAL 0.51000 Hz 1 = 10 10 ms 16 15 161
46.12 STALL TIME UINT32 03600 s 1=1 10 ms 16 20 161
47 VOLTAGE CTRL
47.01 OVERVOLTAGE enum 01 - 1=1 10 ms 16 1 162
CTRL
47.02 UNDERVOLT CTRL enum 01 - 1=1 10 ms 16 1 162
47.03 SUPPLVOLTAUTO-ID enum 01 - 1=1 10 ms 16 1 163
47.04 SUPPLY VOLTAGE REAL 01000 V 1 = 10 2 ms 16 400 163
47.05 LOW VOLT MOD ENA Bit pointer - 32 C.False 163
47.06 LOW VOLT DC MIN REAL 250450 V 1=1 10 ms 16 250 163
47.07 LOW VOLT DC MAX REAL 350810 V 1=1 10 ms 16 810 163
47.08 EXT PU SUPPLY Bit pointer - 32 C.False 163
48 BRAKE CHOPPER
48.01 BC ENABLE enum 02 - 1=1 - 16 0 164
48.02 BC RUN-TIME ENA Bit pointer - 2 ms 32 P.06.01.03 164
48.03 BRTHERMTIMECON REAL24 010000 s 1=1 - 32 0 164
ST
48.04 BR POWER MAX REAL24 010000 kW 1 = 10000 - 32 0 164
CNT
48.05 R BR REAL24 0.11000 ohm 1 = 10000 - 32 - 165
48.06 BR TEMP FAULTLIM REAL24 0150 % 1=1 - 16 105 165
48.07 BR TEMP ALARMLIM REAL24 0150 % 1=1 - 16 95 165
50 FIELDBUS
50.01 FBA ENABLE enum 01 - 1=1 - 16 0 166
50.02 COMM LOSS FUNC enum 03 - 1=1 - 16 0 166
50.03 COMM LOSS T OUT UINT32 0.36553.5 s 1 = 10 - 16 0.3 167
50.04 FBA REF1 MODESEL enum 02 (04 - 1=1 10 ms 16 2 167
for pos.
appl.)
50.05 FBA REF2 MODESEL enum 02 (04 - 1=1 10 ms 16 3 167
for pos.
appl.)
50.06 FBA ACT1 TR SRC Val pointer - 10 ms 32 P.01.01 167
50.07 FBA ACT2 TR SRC Val pointer - 10 ms 32 P.01.06 167
50.08 FBA SW B12 SRC Bit pointer - 500 s 32 C.False 168
50.09 FBA SW B13 SRC Bit pointer - 500 s 32 C.False 168
50.10 FBA SW B14 SRC Bit pointer - 500 s 32 C.False 168
50.11 FBA SW B15 SRC Bit pointer - 500 s 32 C.False 168
50.12 FBA CYCLE TIME enum 02 - 1=1 10 ms 16 2 168
50.20 FB MAIN SW FUNC Pb 0b000 - 1=1 10 ms 16 0b001 169
0b111
51 FBA SETTINGS
51.01 FBA TYPE UINT32 065536 - 1=1 16 0 170
51.02 FBA PAR2 UINT32 065536 - 1=1 16 0 x 170
.
51.26 FBA PAR26 UINT32 065536 - 1=1 16 0 x 170

Parameter data
 218

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
51.27 FBA PAR REFRESH UINT32 01 - 1=1 16 0 WPD x 170
51.28 PAR TABLE VER UINT32 065536 - 1=1 16 0 x 170
51.29 DRIVE TYPE CODE UINT32 065536 - 1=1 16 0 x 170
51.30 MAPPING FILE VER UINT32 065536 - 1=1 16 0 x 171
51.31 D2FBA COMM STA UINT32 06 - 1=1 16 0 x 171
51.32 FBA COMM SW VER UINT32 065536 - 1=1 16 0 x 171
51.33 FBA APPL SW VER UINT32 065536 - 1=1 16 0 x 171
52 FBA DATA IN
52.01 FBA DATA IN1 UINT32 09999 - 1=1 16 0 x 172
-
52.12 FBA DATA IN12 UINT32 09999 - 1=1 16 0 x 172
53 FBA DATA OUT
53.01 FBA DATA OUT1 UINT32 09999 - 1=1 16 0 x 173

53.12 FBA DATA OUT12 UINT32 09999 - 1=1 16 0 x 173
55 COMMUNICATION
TOOL
55.01 MDB STATION ID UINT32 1247 - 1=1 16 1 174
55.02 MDB BAUD RATE UINT32 04 - 1=1 16 0 174
55.03 MDB PARITY UINT32 03 - 1=1 16 0 174
57 D2D
COMMUNICATION
57.01 LINK MODE UINT32 02 - 1=1 10 ms 16 0 175
57.02 COMM LOSS FUNC UINT32 02 - 1=1 10 ms 16 1 175
57.03 NODE ADDRESS UINT32 162 - 1=1 10 ms 16 1 WPD 176
57.04 FOLLOWER MASK 1 UINT32 0231 - 1=1 10 ms 32 0 WPD 176
57.05 FOLLOWER MASK 2 UINT32 0231 - 1=1 10 ms 32 0 WPD 176
57.06 REF 1 SRC Val pointer - 10 ms 32 P.03.04 176
57.07 REF 2 SRC Val pointer - 10 ms 32 P.03.13 176
57.08 FOLLOWER CW SRC Val pointer - 10 ms 32 P.02.18 176
57.09 KERNEL SYNC enum 03 - 1=1 10 ms 16 0 WPD 177
MODE
57.10 KERNEL SYNC OFFS REAL -4999 ms 1=1 10 ms 16 0 WPD 177
5000
57.11 REF 1 MSG TYPE UINT32 01 - 1=1 10 ms 16 0 177
57.12 REF1 MC GROUP UINT32 062 - 1=1 10 ms 16 0 177
57.13 NEXT REF1 MC GRP UINT32 062 - 1=1 10 ms 16 0 178
57.14 NR REF1 MC GRPS UINT32 162 - 1=1 10 ms 16 1 178
57.15 D2D COMM PORT UINT32 03 - 1=1 16 0 WPD 178

Parameter data
 219

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
90 ENC MODULE SEL
90.01 ENCODER 1 SEL enum 06 - 1=1 16 0 180
90.02 ENCODER 2 SEL enum 06 - 1=1 16 0 181
90.03 EMUL MODE SEL enum 09 - 1=1 16 0 181
90.04 TTL ECHO SEL enum 04 - 1=1 16 0 182
90.05 ENC CABLE FAULT UINT32 02 - 1=1 16 1 182
90.10 ENC PAR REFRESH UINT32 01 - 1=1 16 0 WPD 183
91 ABSOL ENC CONF
91.01 SINE COSINE NR UINT32 065535 - 1=1 16 0 185
91.02 ABS ENC INTERF UINT32 04 - 1=1 16 0 185
91.03 REV COUNT BITS UINT32 032 - 1=1 16 0 185
91.04 POS DATA BITS UINT32 032 - 1=1 16 0 185
91.05 REFMARK ENA UINT32 01 - 1=1 16 0 185
91.06 ABS POS TRACKING UINT32 01 - 1=1 16 0 186
91.10 HIPERFACE PARITY UINT32 01 - 1=1 16 0 186
91.11 HIPERF BAUDRATE UINT32 03 - 1=1 16 1 186
91.12 HIPERF NODE ADDR UINT32 0255 - 1=1 16 64 186
91.20 SSI CLOCK CYCLES UINT32 2127 - 1=1 16 2 186
91.21 SSI POSITION MSB UINT32 1126 - 1=1 16 1 187
91.22 SSI REVOL MSB UINT32 1126 - 1=1 16 1 187
91.23 SSI DATA FORMAT UINT32 01 - 1=1 16 0 187
91.24 SSI BAUD RATE UINT32 05 - 1=1 16 2 187
91.25 SSI MODE UINT32 01 - 1=1 16 0 187
91.26 SSI TRANSMIT CYC UINT32 05 - 1=1 16 1 187
91.27 SSI ZERO PHASE UINT32 03 - 1=1 16 0 188
91.30 ENDAT MODE UINT32 01 - 1=1 16 0 188
91.31 ENDAT MAX CALC UINT32 03 - 1=1 16 3 188
92 RESOLVER CONF
92.01 RESOLV POLEPAIRS UINT32 132 - 1=1 16 1 189
92.02 EXC SIGNAL AMPL UINT32 412 Vrms 1 = 10 16 4 189
92.03 EXC SIGNAL FREQ UINT32 120 kHz 1=1 16 1 189
93 PULSE ENC CONF
93.01 ENC1 PULSE NR UINT32 065535 - 1=1 16 0 190
93.02 ENC1 TYPE enum 01 - 1=1 16 0 190
93.03 ENC1 SP enum 0.5 - 1=1 16 4 190
CALCMODE
93.04 ENC1 POS EST ENA enum 01 - 1=1 16 1 191
93.05 ENC1 SP EST ENA enum 01 - 1=1 16 0 191
93.06 ENC1 OSC LIM enum 03 - 1=1 16 0 191
93.11 ENC2 PULSE NR UINT32 065535 - 1=1 16 0 192
93.12 ENC2 TYPE enum 01 - 1=1 16 0 192
93.13 ENC2 SP enum 0.5 - 1=1 16 4 192
CALCMODE
93.14 ENC2 POS EST ENA enum 01 - 1=1 16 1 192
93.15 ENC2 SP EST ENA enum 01 - 1=1 16 0 192

Parameter data
 220

Index Parameter Type Range Unit FbEq Update Data Def PT Save Page
time len. PF no.
93.16 ENC2 OSC LIM enum 03 - 1=1 16 0 192
93.21 EMUL PULSE NR UINT32 065535 - 1=1 16 0 192
93.22 EMUL POS REF Val pointer - 32 P.01.12 192
(P.04.17 for
pos. appl.)
93.23 EMUL POS OFFSET REAL 0 rev 1 = 100000 32 0 192
0.99998
95 HW
CONFIGURATION
95.01 CTRL UNIT SUPPLY enum 01 - 1=1 16 0 193
95.02 EXTERNAL CHOKE enum 01 - 1=1 16 0 193
97 USER MOTOR PAR
97.01 USE GIVEN PARAMS enum 03 - 1=1 16 0 WPD 194
97.02 RS USER REAL24 00.5 p.u. 1 = 100000 32 0 194
97.03 RR USER REAL24 00.5 p.u. 1 = 100000 32 0 194
97.04 LM USER REAL24 010 p.u. 1 = 100000 32 0 194
97.05 SIGMAL USER REAL24 01 p.u. 1 = 100000 32 0 194
97.06 LD USER REAL24 010 p.u. 1 = 100000 32 0 194
97.07 LQ USER REAL24 010 p.u. 1 = 100000 32 0 195
97.08 PM FLUX USER REAL24 02 p.u. 1 = 100000 32 0 195
97.09 RS USER SI REAL24 0100 ohm 1 = 100000 32 0 195
97.10 RR USER SI REAL24 0100 ohm 1 = 100000 32 0 195
97.11 LM USER SI REAL24 0100000 mH 1 = 100000 32 0 195
97.12 SIGL USER SI REAL24 0100000 mH 1 = 100000 32 0 195
97.13 LD USER SI REAL24 0100000 mH 1 = 100000 32 0 195
97.14 LQ USER SI REAL24 0100000 mH 1 = 100000 32 0 195
97.18 SIGNAL INJECTION UINT32 04 - 1=1 16 0 196
97.20 POS OFFSET USER REAL 0360 (el.) 1=1 32 0 196
98 MOTOR CALC
VALUES
98.01 TORQ NOM SCALE UINT32 02147483 Nm 1 = 1000 32 0 WP 197
98.02 POLEPAIRS UINT32 01000 - 1=1 16 0 WP 197
99 START-UP DATA
99.01 LANGUAGE enum - 1=1 16 198
99.04 MOTOR TYPE enum 01 - 1=1 16 0 WPD 198
99.05 MOTOR CTRL MODE enum 01 - 1=1 16 0 199
99.06 MOT NOM CURRENT REAL 06400 A 1 = 10 32 0 WPD 199
99.07 MOT NOM VOLTAGE REAL 80960 V 1 = 10 32 0 WPD 199
99.08 MOT NOM FREQ REAL 0500 Hz 1 = 10 32 0 WPD 200
99.09 MOT NOM SPEED REAL 030000 rpm 1=1 32 0 WPD 200
99.10 MOT NOM POWER REAL 010000 kW 1 = 100 32 0 WPD 200
99.11 MOT NOM COSFII REAL24 01 - 1 = 100 32 0 WPD 200
99.12 MOT NOM TORQUE INT32 02147483 Nm 1 = 1000 32 0 WPD 200
99.13 IDRUN MODE enum 06 - 1=1 16 0 WPD 201

Parameter data
 221

Fault tracing

What this chapter contains

The chapter lists all alarm and fault messages including the possible cause and
corrective actions.

Safety

WARNING! Only qualified electricians are allowed to maintain the drive. The Safety
Instructions on the first pages of the appropriate hardware manual must be read
before you start working with the drive.

Alarm and fault indications

An alarm or a fault message indicates abnormal drive status. Most alarm and fault
causes can be identified and corrected using this information. If not, an ABB
representative should be contacted.
The four-digit code number in brackets after the message is for the fieldbus
communication.
The alarm/fault code is displayed on the 7-segment display of the drive. The
following table describes the indications given by the 7-segment display.

Display Meaning

E- followed by System error.

error code 90019002 = Control unit hardware failure.
9003 = No memory unit connected.
9004 = Memory unit failure.
90079008 = Loading of firmware from memory unit failed.
90099018 = Internal error. Contact an ABB representative.
9019 = Contents of memory unit corrupted.
9020 = Internal error. Contact an ABB representative.
9021 = Program versions of memory unit and drive incompatible.
90229026 = Internal error. Contact an ABB representative.
9027 = Memory unit of out memory.
91029106 = Internal error. Contact an ABB representative.
91079108 = Application initialization fault.
91099111 = Internal error. Contact an ABB representative.
9112 = Problem with ACSM1 variant data (Speed / Motion).
A- followed by Alarm. See section Alarm messages generated by the drive on page 223.
error code
F- followed by Fault. See section Fault messages generated by the drive on page 231.
error code

Fault tracing
222

How to reset
The drive can be reset either by pressing the reset key on the PC tool ( ) or control
panel (RESET) or switching the supply voltage off for a while. When the fault has
been removed, the motor can be restarted.
A fault can also be reset from an external source by parameter 10.08 FAULT RESET
SEL.

Fault history
When a fault is detected, it is stored in the fault logger with a time stamp. The fault
history stores information on the 16 latest faults of the drive. Three of the latest faults
are stored at the beginning of a power switch off.
Signals 8.01 ACTIVE FAULT and 8.02 LAST FAULT store the fault codes of the most
recent faults.
Alarms can be monitored via bit words 8.05 ALARM LOGGER 18.10 ALARM
LOGGER 6 and 8.15 ALARM WORD 18.18 ALARM WORD 4. Alarm information
is lost at power switch off or fault reset.

Fault tracing
 223

Alarm messages generated by the drive

Code Alarm Cause What to do
(fieldbus code)

2000 BRAKE START TORQUE Mechanical brake alarm. Alarm Check brake open torque setting, parameter
(0x7185) is activated if required motor 35.06.
starting torque, 35.06 BRAKE Check drive torque and current limits. See
Programmable fault: 35.09
OPEN TORQ, is not achieved. firmware block LIMITS on page 109.
BRAKE FAULT FUNC

2001 BRAKE NOT CLOSED Mechanical brake control alarm. Check mechanical brake connection.
(0x7186) Alarm is activated, eg, if brake Check mechanical brake settings, parameters
acknowledgement is not as 35.0135.09.
Programmable fault: 35.09
expected during brake closing.
BRAKE FAULT FUNC To determine whether problem is with
acknowledgement signal or brake: Check if
brake is closed or open.

2002 BRAKE NOT OPEN Mechanical brake control alarm. Check mechanical brake connection.
(0x7187) Alarm is activated, eg, if brake Check mechanical brake settings, parameters
acknowledgement is not as 35.0135.08.
Programmable fault: 35.09
expected during brake opening.
BRAKE FAULT FUNC To determine whether problem is with
acknowledgement signal or brake: Check if
brake is closed or open.

2003 SAFE TORQUE OFF Safe Torque Off function is Check safety circuit connections. For more
(0xFF7A) active, ie, safety circuit signal(s) information, see appropriate drive hardware
connected to connector X6 is manual and Application guide - Safe torque
Programmable fault: 46.07
lost while drive is stopped and off function for ACSM1, ACS850 and
STO DIAGNOSTIC
parameter 46.07 STO ACQ810 drives (3AFE68929814 [English]).
DIAGNOSTIC is set to (2)
Alarm.

2005 MOTOR TEMPERATURE Estimated motor temperature Check motor ratings and load.
(0x4310) (based on motor thermal model) Let motor cool down. Ensure proper motor
has exceeded alarm limit cooling: Check cooling fan, clean cooling
Programmable fault: 45.01
defined by parameter 45.03 surfaces, etc.
MOT TEMP PROT
MOT TEMP ALM LIM.
Check value of alarm limit.
Check motor thermal model settings,
parameters 45.0645.08 and 45.10 MOT
THERM TIME.

Measured motor temperature Check that actual number of sensors

has exceeded alarm limit corresponds to value set by parameter 45.02
defined by parameter 45.03 MOT TEMP SOURCE.
MOT TEMP ALM LIM. Check motor ratings and load.
Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check value of alarm limit.

2006 EMERGENCY OFF Drive has received emergency To restart drive, activate RUN ENABLE signal
(0xF083) OFF2 command. (source selected by parameter 10.09 RUN
ENABLE) and start drive.

Fault tracing
224

Code Alarm Cause What to do

(fieldbus code)

2007 RUN ENABLE No Run enable signal is Check setting of parameter 10.09 RUN
(0xFF54) received. ENABLE. Switch signal on (eg, in the fieldbus
Control Word) or check wiring of selected
source.

2008 ID-RUN Motor identification run is on. This alarm belongs to normal start-up
(0xFF84) procedure. Wait until drive indicates that
motor identification is completed.

Motor identification is required. This alarm belongs to normal start-up

procedure.
Select how motor identification should be
performed, parameter 99.13 IDRUN MODE.
Start identification routines by pressing Start
key.

2009 EMERGENCY STOP Drive has received emergency Check that it is safe to continue operation.
(0xF081) stop command (OFF1/OFF3). Return emergency stop push button to normal
position (or adjust the fieldbus Control Word
accordingly).
Restart drive.

2011 BR OVERHEAT Braking resistor temperature Stop drive. Let resistor cool down.
(0x7112) has exceeded alarm limit Check resistor overload protection function
defined by parameter 48.07 BR settings, parameters 48.0148.05.
TEMP ALARMLIM.
Check alarm limit setting, parameter 48.07.
Check that braking cycle meets allowed
limits.

2012 BC OVERHEAT Braking chopper IGBT Let chopper cool down.

(0x7181) temperature has exceeded Check for excessive ambient temperature.
internal alarm limit.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of the
cabinet.
Check resistor overload protection function
settings, parameters 48.0148.05.
Check that braking cycle meets allowed
limits.
Check that drive supply AC voltage is not
excessive.

2013 DEVICE OVERTEMP Measured drive temperature Check ambient conditions.

(0x4210) has exceeded internal alarm Check air flow and fan operation.
limit.
Check heatsink fins for dust pick-up.
Check motor power against unit power.

Fault tracing
 225

Code Alarm Cause What to do

(fieldbus code)

2014 INTBOARD OVERTEMP Interface board (between power Let drive cool down.
(0x7182) unit and control unit) Check for excessive ambient temperature.
temperature has exceeded
Check for cooling fan failure.
internal alarm limit.
Check for obstructions in the air flow.
Check the dimensioning and cooling of the
cabinet.

2015 BC MOD OVERTEMP Input bridge or braking chopper Let drive cool down.
(0x7183) temperature has exceeded Check for excessive ambient temperature.
internal alarm limit.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of the
cabinet.

2016 IGBT OVERTEMP Drive temperature based on Check ambient conditions.

(0x7184) thermal model has exceeded Check air flow and fan operation.
internal alarm limit.
Check heatsink fins for dust pick-up.
Check motor power against unit power.

2017 FIELDBUS COMM Cyclical communication Check status of fieldbus communication. See
(0x7510) between drive and fieldbus appropriate Users Manual of fieldbus adapter
adapter module or between module.
Programmable fault: 50.02
PLC and fieldbus adapter Check fieldbus parameter settings. See
COMM LOSS FUNC
module is lost. parameter group 50 on page 166.
Check cable connections.
Check if communication master can
communicate.

2018 LOCAL CTRL LOSS Control panel or PC tool Check PC tool or control panel connection.
(0x5300) selected as active control Check control panel connector.
location for drive has ceased
Programmable fault: 46.03 Replace control panel in mounting platform.
communicating.
LOCAL CTRL LOSS

2019 AI SUPERVISION Analogue input AI1 or AI2 signal Check analogue input AI1/2 source and
(0x8110) has reached limit defined by connections.
parameter 13.13 AI SUPERVIS Check analogue input AI1/2 minimum and
Programmable fault: 13.12
ACT. maximum limit settings, parameters 13.02
AI SUPERVISION
and 13.03 / 13.07 and 13.08.

2020 FB PAR CONF The drive does not have a Check PLC programming.
(0x6320) functionality requested by PLC, Check fieldbus parameter settings. See
or requested functionality has parameter group 50 on page 166.
not been activated.

2021 NO MOTOR DATA Parameters in group 99 have Check that all the required parameters in
(0x6381) not been set. group 99 have been set.
Note: It is normal for this alarm to appear
during the start-up until the motor data is
entered.

Fault tracing
226

Code Alarm Cause What to do

(fieldbus code)

2022 ENCODER 1 FAILURE Encoder 1 has been activated Check parameter 90.01 ENCODER 1 SEL
(0x7301) by parameter but the encoder setting corresponds to encoder interface 1
interface (FEN-xx) cannot be (FEN-xx) installed in drive Slot 1/2 (signal
found. 9.20 OPTION SLOT 1 / 9.21 OPTION SLOT
2).
Note: The new setting will only take effect
after parameter 90.10 ENC PAR REFRESH is
used or after the JCU control unit is powered
up the next time.

2023 ENCODER 2 FAILURE Encoder 2 has been activated Check parameter 90.02 ENCODER 2 SEL
(0x7381) by parameter but the encoder setting corresponds to encoder interface 2
interface (FEN-xx) cannot be (FEN-xx) installed in drive Slot 1/2 (signal
found. 9.20 OPTION SLOT 1 / 9.21 OPTION SLOT
2).
Note: The new setting will only take effect
after parameter 90.10 ENC PAR REFRESH is
used or after the JCU control unit is powered
up the next time.

EnDat or SSI encoder is used in If possible, use single position transfer

continuous mode as encoder 2. instead of continuous position transfer (i.e. if
[I.e. 90.02 ENCODER 2 SEL = encoder has incremental sin/cos signals):
(3) FEN-11 ABS - Change parameter 91.25 SSI MODE / 91.30
and ENDAT MODE to value (0) Initial pos..
91.02 ABS ENC INTERF = (2) Otherwise use EnDat/SSI encoder as
EnDat or (4) SSI) encoder 1:
and
- Change parameter 90.01 ENCODER 1 SEL
91.30 ENDAT MODE = (1)
to value (3) FEN-11 ABS and parameter
Continuous (or 91.25 SSI
90.02 ENCODER 2 SEL to value (0) None.
MODE = (1) Continuous).]
Note: The new setting will only take effect
after parameter 90.10 ENC PAR REFRESH is
used or after the JCU control unit is powered
up the next time.

Fault tracing
 227

Code Alarm Cause What to do

(fieldbus code)

2026 ENC EMULATION Encoder emulation error If position value used in emulation is
FAILURE measured by encoder:
(0x7384) - Check that FEN-xx encoder used in
emulation (90.03 EMUL MODE SEL)
corresponds to FEN-xx encoder interface 1 or
(and) 2 activated by parameter 90.01
ENCODER 1 SEL / 90.02 ENCODER 2 SEL.
(Parameter 90.01/90.02 activates the position
calculation of the used FEN-xx input).
If position value used in emulation is
determined by drive software:
- Check that FEN-xx encoder used in
emulation (90.03 EMUL MODE SEL)
corresponds to FEN-xx encoder interface 1 or
(and) 2 activated by parameter 90.01
ENCODER 1 SEL / 90.02 ENCODER 2 SEL
(because position data used in emulation is
written to FEN-xx during encoder data
request). Encoder interface 2 is
recommended.
Note: The new setting will only take effect
after parameter 90.10 ENC PAR REFRESH is
used or after the JCU control unit is powered
up the next time.

2027 FEN TEMP MEAS Error in temperature Check that parameter 45.02 MOT TEMP
FAILURE measurement when SOURCE setting corresponds to encoder
(0x7385) temperature sensor (KTY or interface installation (9.20 OPTION SLOT 1 /
PTC) connected to encoder 9.21 OPTION SLOT 2):
interface FEN-xx is used. If one FEN-xx module is used:
- Parameter 45.02 MOT TEMP SOURCE
setting must be either (2) KTY 1st FEN or (5)
PTC 1st FEN. FEN-xx module can be in
either Slot 1 or Slot 2.
If two FEN-xx modules are used:
- When parameter 45.02 MOT TEMP
SOURCE setting is (2) KTY 1st FEN or (5)
PTC 1st FEN, the encoder installed in drive
Slot 1 is used.
- When parameter 45.02 MOT TEMP
SOURCE setting is (3) KTY 2nd FEN or (6)
PTC 2nd FEN, the encoder installed in drive
Slot 2 is used.

Error in temperature FEN-01 does not support temperature

measurement when KTY measurement with KTY sensor. Use PTC
sensor connected to encoder sensor or other encoder interface module.
interface FEN-01 is used.

Fault tracing
228

Code Alarm Cause What to do

(fieldbus code)

2028 ENC EMUL MAX FREQ TTL pulse frequency used in Decrease parameter 93.21 EMUL PULSE NR
(0x7386) encoder emulation.exceeds value.
maximum allowed limit Note: The new setting will only take effect
(500 kHz). after parameter 90.10 ENC PAR REFRESH is
used or after the JCU control unit is powered
up the next time.

2029 ENC EMUL REF ERROR Encoder emulation has failed Contact your local ABB representative.
(0x7387) due to failure in writing new
(position) reference for
emulation.

2030 RESOLVER AUTOTUNE Resolver autotuning routines, Check cable between resolver and resolver
ERR which are automatically started interface module (FEN-21) and order of
(0x7388) when resolver input is activated connector signal wires at both ends of cable.
for the first time, have failed. Check resolver parameter settings.
For resolver parameters and information, see
parameter group 92 on page 189.
Note: Resolver autotuning routines should
always be performed after resolver cable
connection has been modified. Autotuning
routines can be activated by setting
parameter 92.02 EXC SIGNAL AMPL or
92.03 EXC SIGNAL FREQ, and then setting
parameter 90.10 ENC PAR REFRESH to (1)
Configure.

2031 ENCODER 1 CABLE Encoder 1 cable fault detected. Check cable between FEN-xx interface and
(0x7389) encoder 1. After any modifications in cabling,
re-configure interface by switching drive
power off and on, or by activating parameter
90.10 ENC PAR REFRESH.

2032 ENCODER 2 CABLE Encoder 2 cable fault detected. Check cable between FEN-xx interface and
(0x738A) encoder 2. After any modifications in cabling,
re-configure interface by switching drive
power off and on, or by activating parameter
90.10 ENC PAR REFRESH.

2033 D2D COMMUNICATION On the master drive: The drive Check that all drives that are polled
(0x7520) has not been replied to by an (parameters 57.04 and 57.05) on the drive-to-
activated follower for five drive link are powered, properly connected to
Programmable fault: 57.02
consecutive polling cycles. the link, and have the correct node address.
COMM LOSS FUNC
Check the drive-to-drive link wiring.

On a follower drive: The drive Check the settings of parameters 57.06 and
has not received new reference 57.07 on the master drive.
1 and/or 2 for five consecutive Check the drive-to-drive link wiring.
reference handling cycles.

2034 D2D BUFFER Transmission of drive-to-drive Contact your local ABB representative.
OVERLOAD references failed because of
(0x7520) message buffer overflow.
Programmable fault: 57.02
COMM LOSS FUNC

Fault tracing
 229

Code Alarm Cause What to do

(fieldbus code)

2035 PS COMM Communication errors detected Check the connections between the JCU
(0x5480) between the JCU Control Unit Control Unit and the power unit.
and the power unit of the drive. If the JCU is powered from an external
supply, ensure that parameter 95.01 CTRL
UNIT SUPPLY is set to (1) External 24V.

2036 RESTORE Restoration of backed-up Contact your local ABB representative.

(0x630D) parameters failed.

2037 CUR MEAS Current measurement Informative alarm.

CALIBRATION calibration will occur at next
(0x2280) start.

2038 AUTOPHASING Autophasing will occur at next Informative alarm.

(0x3187) start.

2039 EARTH FAULT Drive has detected load Check that there are no power factor
(0x2330) unbalance typically due to earth correction capacitors or surge absorbers in
fault in motor or motor cable. motor cable.
Programmable fault: 46.05
EARTH FAULT Check that there is no earth fault in motor or
motor cables:
- measure insulation resistances of motor and
motor cable.
If no earth fault can be detected, contact your
local ABB representative.

2041 MOTOR NOM VALUE The motor configuration Check the settings of the motor configuration
(0x6383) parameters are set incorrectly. parameters in group 99.

The drive is not dimensioned Check that the drive is sized correctly for the
correctly. motor.

2042 D2D CONFIG The settings of drive-to-drive Check the settings of the parameters in group
(0x7583) link configuration parameters 57.
(group 57) are incompatible.

2043 STALL Motor is operating in stall region Check motor load and drive ratings.
(0x7121) because of, eg, excessive load Check fault function parameters.
or insufficient motor power.
Programmable fault:
46.09 STALL FUNCTION

2047 SPEED FEEDBACK No speed feedback is received. Check the settings of the parameters in group
(0x8480) 22.
Check encoder installation. See the
description of fault 0039 (ENCODER1) for
more information.
Check encoder cabling. See the descriptions
of alarms 2031 (ENCODER 1 CABLE) and
2032 (ENCODER 2 CABLE) for more
information.

Fault tracing
230

Code Alarm Cause What to do

(fieldbus code)

2048 OPTION COMM LOSS Communication between drive Check that option modules are properly
(0x7000) and option module (FEN-xx connected to Slot 1 and (or) Slot 2.
and/or FIO-xx) is lost. Check that option modules or Slot 1/2
connectors are not damaged. To determine
whether module or connector is damaged:
Test each module individually in Slot 1 and
Slot 2.

2072 DC NOT CHARGED The voltage of the intermediate Wait for the DC voltage to rise.
(0x3250) DC circuit has not yet risen to
operating level.

2073 SPEED CTRL TUNE FAIL Speed controller autotune See parameter 28.16 PI TUNE MODE.
(0x8481) routine did not finish
successfully.

2075 LOW VOLT MODE Low voltage mode has been Check the Low voltage mode parameters in
CONFIG activated but the parameter group 47. See also section Low voltage mode
(0xC015) settings are outside allowable on page 46.
limits.

2079 ENC 1 PULSE Encoder 1 is receiving too high Check encoder settings.
FREQUENCY data flow (pulse frequency). Change parameters 93.03 ENC1 SP
(0x738B) CALCMODE and 93.13 ENC2 SP
CALCMODE to use only one channel pulses/
edges.

2080 ENC 2 PULSE Encoder 2 is receiving too high Check encoder settings.
FREQUENCY data flow (pulse frequency). Change parameters 93.03 ENC1 SP
(0x738C) CALCMODE and 93.13 ENC2 SP
CALCMODE to use only one channel pulses/
edges.

Fault tracing
 231

Fault messages generated by the drive

Code Fault Cause What to do
(fieldbus code)

0001 OVERCURRENT Output current has exceeded Check motor load.

(0x2310) internal fault limit. Check acceleration time. See parameter
group 25 on page 123.
Check motor and motor cable (including
phasing and delta/star connection).
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
correction capacitors or surge absorbers in
motor cable.
Check encoder cable (including phasing).

0002 DC OVERVOLTAGE Excessive intermediate circuit Check that overvoltage controller is on,
(0x3210) DC voltage. parameter 47.01 OVERVOLTAGE CTRL.
Check mains for static or transient
overvoltage.
Check braking chopper and resistor (if used).
Check deceleration time.
Use coast-to-stop function (if applicable).
Retrofit frequency converter with braking
chopper and braking resistor.

0003 DEVICE OVERTEMP Measured drive temperature Check ambient conditions.

(0x4210) has exceeded internal fault limit. Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against unit power.

0004 SHORT CIRCUIT Short-circuit in motor cable(s) or Check motor and motor cable.
(0x2340) motor. Check that there are no power factor
correction capacitors or surge absorbers in
motor cable.
Check the braking chopper cabling.

Extension: 1 Short-circuit in the upper Contact your local ABB representative.

transistor of the U-phase.

Extension: 2 Short-circuit in the lower Contact your local ABB representative.

transistor of the U-phase.

Extension: 4 Short-circuit in the upper Contact your local ABB representative.

transistor of the V-phase.

Extension: 8 Short-circuit in the lower Contact your local ABB representative.

transistor of the V-phase.

Extension: 16 Short-circuit in the upper Contact your local ABB representative.

transistor of the W-phase.

Extension: 32 Short-circuit in the lower Contact your local ABB representative.

transistor of the W-phase.

Fault tracing
232

Code Fault Cause What to do

(fieldbus code)

0005 DC UNDERVOLTAGE Intermediate circuit DC voltage Check mains supply and fuses.
(0x3220) is not sufficient due to missing
mains phase, blown fuse or
rectifier bridge internal fault.

0006 EARTH FAULT Drive has detected load Check that there are no power factor
(0x2330) unbalance typically due to earth correction capacitors or surge absorbers in
fault in motor or motor cable. motor cable.
Programmable fault: 46.05
EARTH FAULT Check that there is no earth fault in motor or
motor cables:
- measure insulation resistances of motor and
motor cable.
If no earth fault can be detected, contact your
local ABB representative.

0007 FAN FAULT Fan is not able to rotate freely or Check fan operation and connection.
(0xFF83) fan is disconnected. Fan
operation is monitored by
measuring fan current.

0008 IGBT OVERTEMP Drive temperature based on Check ambient conditions.

(0x7184) thermal model has exceeded Check air flow and fan operation.
internal fault limit.
Check heatsink fins for dust pick-up.
Check motor power against unit power.

0009 BR SHORT CIRCUIT Braking resistor short circuit or Check braking chopper and braking resistor
(0x7111) braking chopper control fault. connection.
Ensure that the braking resistor is not
damaged.

0010 BR MISSING Braking resistor is missing, Ensure that the braking resistor is connected
(0x7113) damaged or there is a problem and not damaged.
in the resistor cabling. Short
circuit in the braking chopper
IGBT.

0011 BC OVERHEAT Braking chopper IGBT Let chopper cool down.

(0x7181) temperature has exceeded Check for excessive ambient temperature.
internal fault limit.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of the
cabinet.
Check resistor overload protection function
settings, parameters 48.0348.05.
Check that braking cycle meets allowed
limits.
Check that drive supply AC voltage is not
excessive.

Fault tracing
 233

Code Fault Cause What to do

(fieldbus code)

0012 BR OVERHEAT Braking resistor temperature Stop drive. Let resistor cool down.
(0x7112) has exceeded fault limit defined Check resistor overload protection function
by parameter 48.06 BR TEMP settings, parameters 48.0148.05.
FAULTLIM.
Check fault limit setting, parameter 48.06.
Check that braking cycle meets allowed
limits.

0013 CURR MEAS GAIN Difference between output Contact your local ABB representative.
(0x3183) phase U2 and W2 current
measurement gain is too great.

0014 CABLE CROSS CON Incorrect input power and motor Check input power connections. This fault
(0x3181) cable connection (ie, input can be disabled after the drive has been
power cable is connected to commissioned until the input power cable or
Programmable fault: 46.08
drive motor connection). motor cable are disconnected again.
CROSS CONNECTION

0015 SUPPLY PHASE Intermediate circuit DC voltage Check input power line fuses.
(0x3130) is oscillating due to missing Check for input power supply imbalance.
input power line phase or blown
Programmable fault: 46.06
fuse.
SUPPL PHS LOSS

0016 MOTOR PHASE Motor circuit fault due to Connect motor cable.
(0x3182) missing motor connection (all
three phases are not
Programmable fault: 46.04
connected).
MOT PHASE LOSS

Fault tracing
234

Code Fault Cause What to do

(fieldbus code)

0017 ID-RUN FAULT Motor ID run is not completed Check the fault logger for a fault code
(0xFF84) successfully. extension. See appropriate actions for each
extension below.

Extension: 1 The motor ID run cannot be Check setting of parameters 99.06 MOT
completed because the NOM CURRENT and 20.05 MAXIMUM
maximum current setting and/or CURRENT. Make sure that 20.05 MAXIMUM
the internal current limit of the CURRENT > 99.06 MOT NOM CURRENT.
drive is too low. Check that the drive is dimensioned correctly
according to the motor.

Extension: 2 The motor ID run cannot be Check setting of parameters 99.07 MOT
completed because the NOM VOLTAGE, 99.08 MOT NOM FREQ,
maximum speed setting and/or 99.09 MOT NOM SPEED, 20.01 MAXIMUM
calculated field weakening point SPEED and 20.02 MINIMUM SPEED. Make
is too low. sure that
20.01 MAXIMUM SPEED > (0.55 99.09
MOT NOM SPEED) > (0.50 synchronous
speed),
20.02 MINIMUM SPEED < 0, and
supply voltage > (0.66 99.07 MOT NOM
VOLTAGE).

Extension: 3 The motor ID run cannot be Check setting of parameters 99.12 MOT
completed because the NOM TORQUE and 20.06 MAXIMUM
maximum torque setting is too TORQUE. Make sure that 20.06 MAXIMUM
low. TORQUE > 100%.

Extension: 58 Internal error. Contact your local ABB representative.

Extension: 9 Asynchronous motors only: Contact your local ABB representative.

Acceleration did not finish within
reasonable time.

Extension: 10 Asynchronous motors only: Contact your local ABB representative.

Deceleration did not finish
within reasonable time.

Extension: 11 Asynchronous motors only: Contact your local ABB representative.

Speed dropped to zero during
motor ID run.

Extension: 12 Permanent magnet motors only: Contact your local ABB representative.
First acceleration did not finish
within reasonable time.

Extension: 13 Permanent magnet motors only: Contact your local ABB representative.
Second acceleration did not
finish within reasonable time.

Extension: 1416 Internal error. Contact your local ABB representative.

0018 CURR U2 MEAS Measured offset error of U2 Contact your local ABB representative.
(0x3184) output phase current
measurement is too great.
(Offset value is updated during
current calibration.)

Fault tracing
 235

Code Fault Cause What to do

(fieldbus code)

0019 CURR V2 MEAS Measured offset error of V2 Contact your local ABB representative.
(0x3185) output phase current
measurement is too great.
(Offset value is updated during
current calibration.)

0020 CURR W2 MEAS Measured offset error of W2 Contact your local ABB representative.
(0x3186) output phase current
measurement is too great.
(Offset value is updated during
current calibration.)

0021 STO1 LOST Safe Torque Off function is Check safety circuit connections. For more
(0x8182) active, i.e. safety circuit signal 1 information, see the appropriate drive
connected between X6:1 and hardware manual and Application guide -
X6:3 is lost while drive is at Safe torque off function for ACSM1, ACS850
stopped state and parameter and ACQ810 drives (3AFE68929814
46.07 STO DIAGNOSTIC [English]).
setting is (2) Alarm or (3) No.

0022 STO2 LOST Safe Torque Off function is Check safety circuit connections. For more
(0x8183) active, i.e. safety circuit signal 2 information, see the appropriate drive
connected between X6:2 and hardware manual and Application guide -
X6:4 is lost while drive is at Safe torque off function for ACSM1, ACS850
stopped state and parameter and ACQ810 drives (3AFE68929814
46.07 STO DIAGNOSTIC [English]).
setting is (2) Alarm or (3) No.

0024 INTBOARD OVERTEMP Interface board (between power Let drive cool down.
(0x7182) unit and control unit) Check for excessive ambient temperature.
temperature has exceeded
Check for cooling fan failure.
internal fault limit.
Check for obstructions in the air flow.
Check the dimensioning and cooling of the
cabinet.

0025 BC MOD OVERTEMP Input bridge or braking chopper Let drive cool down.
(0x7183) temperature has exceeded Check for excessive ambient temperature.
internal fault limit.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of the
cabinet.

Fault tracing
236

Code Fault Cause What to do

(fieldbus code)

0026 AUTOPHASING Autophasing routi failed Try other autophasing modes (see parameter
(0x3187) because the estimated angle of 11.07 AUTOPHASING MODE) if possible.
the rotor differs too much from In addition, repeat autophasing multiple times
the measured angle of the rotor. and check the value in parameter 97.20 POS
All other reasons for the OFFSET USER between separate runs (see
autophasing fault are explained section Autophasing). The value should not
in section Autophasing on page change between consecutive autophasing
39. runs.
Check that there is no slip in the encoder
connection to the motor axle. Because of the
slip the estimated and measured drive speed
may differ during fast accelerations/
decelerations.

0027 PU LOST Connection between the JCU Check the connections between the JCU
(0x5400) Control Unit and the power unit Control Unit and the power unit.
of the drive is lost. If the JCU is powered from an external
supply, ensure that parameter 95.01 CTRL
UNIT SUPPLY is set to (1) External 24V.

0028 PS COMM Communication errors detected Check the connections between the JCU
(0x5480) between the JCU Control Unit Control Unit and the power unit.
and the power unit of the drive. If the JCU is powered from an external
supply, ensure that parameter 95.01 CTRL
UNIT SUPPLY is set to (1) External 24V.

0029 IN CHOKE TEMP Temperature of internal AC Check cooling fan.

(0xFF81) choke excessive.

0030 EXTERNAL Fault in external device. (This Check external devices for faults.
(0x9000) information is configured Check setting of parameter 46.01 EXTERNAL
through one of programmable FAULT.
digital inputs.)

0031 SAFE TORQUE OFF Safe Torque Off function is Check safety circuit connections. For more
(0xFF7A) active, i.e. safety circuit information, see the appropriate drive
signal(s) connected to hardware manual and Application guide -
Programmable fault: 46.07
connector X6 is lost Safe torque off function for ACSM1, ACS850
STO DIAGNOSTIC
- during drive start or drive run and ACQ810 drives (3AFE68929814
[English]).
or
- while drive is stopped and
parameter 46.07 STO
DIAGNOSTIC setting is (1)
Fault.

0032 OVERSPEED Motor is turning faster than Check minimum/maximum speed settings,
(0x7310) highest allowed speed due to parameters 20.01 MAXIMUM SPEED and
incorrectly set minimum/ 20.02 MINIMUM SPEED.
maximum speed, insufficient Check adequacy of motor braking torque.
braking torque or changes in
Check applicability of torque control.
load when using torque
reference. Check need for braking chopper and
resistor(s).

Fault tracing
 237

Code Fault Cause What to do

(fieldbus code)

0033 BRAKE START TORQUE Mechanical brake fault. Fault is Check brake open torque setting, parameter
(0x7185) activated if required motor 35.06.
starting torque, 35.06 BRAKE Check drive torque and current limits. See
Programmable fault: 35.09
OPEN TORQ, is not achieved. parameter group 20 on page 109.
BRAKE FAULT FUNC

0034 BRAKE NOT CLOSED Mechanical brake control fault. Check mechanical brake connection.
(0x7186) Fault is activated if brake Check mechanical brake settings, parameters
acknowledgement is not as 35.0135.09.
Programmable fault: 35.09
expected during brake closing.
BRAKE FAULT FUNC To determine whether problem is with
acknowledgement signal or brake: Check if
brake is closed or open.

0035 BRAKE NOT OPEN Mechanical brake control fault. Check mechanical brake connection.
(0x7187) Fault is activated if brake Check mechanical brake settings, parameters
acknowledgement is not as 35.0135.08.
Programmable fault: 35.09
expected during brake opening.
BRAKE FAULT FUNC To determine whether problem is with
acknowledgement signal or brake: Check if
brake is closed or open.

0036 LOCAL CTRL LOSS Control panel or PC tool Check PC tool or control panel connection.
(0x5300) selected as active control Check control panel connector.
location for drive has ceased
Programmable fault: 46.03 Replace control panel in mounting platform.
communicating.
LOCAL CTRL LOSS

0037 NVMEMCORRUPTED Drive internal fault Check the fault logger for a fault code
(0x6320) Note: This fault cannot be extension. See appropriate actions for each
reset. extension below.

Fault code extension: 2051 Total number of parameters Move parameters from the firmware groups to
(including unused space the application groups.
between parameters) exceeds Reduce the number of parameters.
firmware maximum.

Fault code extension: Drive internal fault. Contact your local ABB representative.
Other

0038 OPTION COMM LOSS Communication between drive Check that option modules are properly
(0x7000) and option module (FEN-xx connected to Slot 1 and (or) Slot 2.
and/or FIO-xx) is lost. Check that option modules or Slot 1/2
connectors are not damaged. To determine
whether module or connector is damaged:
Test each module individually in Slot 1 and
Slot 2.

Fault tracing
238

Code Fault Cause What to do

(fieldbus code)

0039 ENCODER1 Encoder 1 feedback fault If fault appears during first start-up before
(0x7301) encoder feedback is used:
- Check cable between encoder and encoder
interface module (FEN-xx) and order of
connector signal wires at both ends of cable.
If absolute encoder, EnDat/Hiperface/SSI,
with incremental sin/cos pulses is used,
incorrect wiring can be located as follows:
Disable serial link (zero position) by setting
parameter 91.02 ABS ENC INTERF to (0)
None and test encoder operation:
- If encoder fault is not activated, check serial
link data wiring. Note that zero position is not
taken into account when serial link is
disabled.
- If encoder fault is activated, check serial link
and sin/cos signal wiring.
Note: Because only zero position is
requested through serial link and during run,
position is updated according to sin/cos
pulses.
- Check encoder parameter settings.
If fault appears after encoder feedback has
already been used or during drive run:
- Check that encoder connection wiring or
encoder is not damaged.
- Check that encoder interface module (FEN-
xx) connection or module is not damaged.
- Check earthings (when disturbances are
detected in communication between encoder
interface module and encoder).
Note: The new settings (or fixed wiring) will
only take effect after parameter 90.10 ENC
PAR REFRESH is used or after the JCU
control unit is powered up the next time.
For more information on encoders, see
parameter groups 90 (page 180), 91 (page
184), 92 (page 189) and 93 (page 190).

Fault tracing
 239

Code Fault Cause What to do

(fieldbus code)

0040 ENCODER2 Encoder 2 feedback fault See fault ENCODER1.

(0x7381)
EnDat or SSI encoder is used in If possible, use single position transfer
continuous mode as encoder 2. instead of continuous position transfer (i.e. if
[I.e. 90.02 ENCODER 2 SEL = encoder has incremental sin/cos signals):
(3) FEN-11 ABS - Change parameter 91.25 SSI MODE / 91.30
and ENDAT MODE to value (0) Initial pos..
91.02 ABS ENC INTERF = (2) Otherwise use Endat/SSI encoder as
EnDat or (4) SSI encoder 1:
and
- Change parameter 90.01 ENCODER 1 SEL
91.30 ENDAT MODE = (1)
to value (3) FEN-11 ABS and parameter
Continuous (or 91.25 SSI
90.02 ENCODER 2 SEL to value (0) None.
MODE = (1) Continuous).]
Note: The new setting will only take effect
after parameter 90.10 ENC PAR REFRESH is
used or after the JCU control unit is powered
up the next time.

0045 FIELDBUS COMM Cyclical communication Check status of fieldbus communication. See
(0x7510) between drive and fieldbus appropriate Users Manual of fieldbus adapter
adapter module or between module.
Programmable fault: 50.02
PLC and fieldbus adapter Check fieldbus parameter settings. See
COMM LOSS FUNC
module is lost. parameter group 50 on page 166.
Check cable connections.
Check if communication master can
communicate.

0046 FB MAPPING FILE Drive internal fault Contact your local ABB representative.
(0x6306)

0047 MOTOR OVERTEMP Estimated motor temperature Check motor ratings and load.
(0x4310) (based on motor thermal model) Let motor cool down. Ensure proper motor
has exceeded fault limit defined cooling: Check cooling fan, clean cooling
Programmable fault: 45.01
by parameter 45.04 MOT TEMP surfaces, etc.
MOT TEMP PROT
FLT LIM.
Check value of fault limit.
Check motor thermal model settings,
parameters 45.0645.08 and 45.10 MOT
THERM TIME.

Measured motor temperature Check that actual number of sensors

has exceeded fault limit defined corresponds to value set by parameter 45.02
by parameter 45.04 MOT TEMP MOT TEMP SOURCE.
FLT LIM. Check motor ratings and load.
Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check value of fault limit.

Broken wire in the temperature Check the temperature sensor connection.

sensor.

Fault tracing
240

Code Fault Cause What to do

(fieldbus code)

0049 AI SUPERVISION Analogue input AI1 or AI2 signal Check analogue input AI1/2 source and
(0x8110) has reached limit defined by connections.
parameter 13.13 AI SUPERVIS Check analogue input AI1/2 minimum and
Programmable fault: 13.12
ACT. maximum limit settings, parameters 13.02
AI SUPERVISION
and 13.03 / 13.07 and 13.08.

0050 ENCODER 1 CABLE Encoder 1 cable fault detected. Check cable between FEN-xx interface and
(0x7389) encoder 1. After any modifications in cabling,
re-configure interface by switching drive
Programmable fault: 90.05
power off and on, or by activating parameter
ENC CABLE FAULT
90.10 ENC PAR REFRESH.

0051 ENCODER 2 CABLE Encoder 2 cable fault detected. Check cable between FEN-xx interface and
(0x738A) encoder 2. After any modifications in cabling,
re-configure interface by switching drive
Programmable fault: 90.05
power off and on, or by activating parameter
ENC CABLE FAULT
90.10 ENC PAR REFRESH.

0052 D2D CONFIG Configuration of the drive-to- Contact your local ABB representative.
(0x7583) drive link has failed for a reason
other than those indicated by
alarm 2042, for example start
inhibition is requested but not
granted.

0053 D2D COMM On the master drive: The drive Check that all drives that are polled
(0x7520) has not been replied to by an (parameters 57.04 FOLLOWER MASK 1 and
activated follower for five 57.05 FOLLOWER MASK 2) on the drive-to-
Programmable fault: 57.02
consecutive polling cycles. drive link are powered, properly connected to
COMM LOSS FUNC
the link, and have the correct node address.
Check the drive-to-drive link wiring.

On a follower drive: The drive Check the settings of parameters 57.06 REF
has not received new reference 1 SRC and 57.07 REF 2 SRC on the master
1 and/or 2 for five consecutive drive.
reference handling cycles. Check the drive-to-drive link wiring.

0054 D2D BUF OVLOAD Transmission of drive-to-drive Contact your local ABB representative.
(0x7520) references failed because of
message buffer overflow.
Programmable fault: 57.02
COMM LOSS FUNC

0055 TECH LIB Resettable fault generated by a Refer to the documentation of the technology
(0x6382) technology library. library.

0056 TECH LIB CRITICAL Permanent fault generated by a Refer to the documentation of the technology
(0x6382) technology library. library.

0057 FORCED TRIP Generic Drive Communication Check PLC status.

(0xFF90) Profile trip command.

0058 FIELDBUS PAR ERROR The drive does not have a Check PLC programming.
(0x6320) functionality requested by PLC, Check fieldbus parameter settings. See
or requested functionality has parameter group 50 on page 166.
not been activated.

Fault tracing
 241

Code Fault Cause What to do

(fieldbus code)

0059 STALL Motor is operating in stall region Check motor load and drive ratings.
(0x7121) because of, eg, excessive load Check fault function parameters.
or insufficient motor power.
Programmable fault:
46.09 STALL FUNCTION

0061 SPEED FEEDBACK No speed feedback is received. Check the settings of the parameters in group
(0x8480) 22.
Check encoder installation. See the
description of fault 0039 (ENCODER1) for
more information.
Check encoder cabling. See the descriptions
of faults 0050 (ENCODER1) and 0051
(ENCODER2) for more information.

0062 D2D SLOT COMM Drive-to-drive link is set to use Check the settings of parameters 57.01 LINK
(0x7584) an FMBA module for MODE and 57.15 D2D COMM PORT. Ensure
communication, but no module that the FMBA module has been detected by
is detected in specified slot. checking parameters 9.209.22.
Check that the FMBA module is correctly
wired.
Try installing the FMBA module into another
slot. If the problem persists, contact your local
ABB representative.

0067 FPGA ERROR1 Drive internal fault Contact your local ABB representative.
(0x5401)

0068 FPGA ERROR2 Drive internal fault Contact your local ABB representative.
(0x5402)

0069 ADC ERROR Drive internal fault Contact your local ABB representative.
(0x5403)

0073 ENC 1 PULSE Encoder 1 is receiving too high Check encoder settings.
FREQUENCY data flow (pulse frequency). Change parameters 93.03 ENC1 SP
(0x738B) CALCMODE and 93.13 ENC2 SP
CALCMODE to use only one channel pulses/
edges.

0074 ENC 2 PULSE Encoder 2 is receiving too high Check encoder settings.
FREQUENCY data flow (pulse frequency). Change parameters 93.03 ENC1 SP
(0x738C) CALCMODE and 93.13 ENC2 SP
CALCMODE to use only one channel pulses/
edges.

0201 T2 OVERLOAD Firmware time level 2 overload Contact your local ABB representative.
(0x0201) Note: This fault cannot be
reset.

0202 T3 OVERLOAD Firmware time level 3 overload Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

Fault tracing
242

Code Fault Cause What to do

(fieldbus code)

0203 T4 OVERLOAD Firmware time level 4 overload Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0204 T5 OVERLOAD Firmware time level 5 overload Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0205 A1 OVERLOAD Application time level 1 fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0206 A2 OVERLOAD Application time level 2 fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0207 A1 INIT FAULT Application task creation fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0208 A2 INIT FAULT Application task creation fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0209 STACK ERROR Drive internal fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0210 JMU MISSING JMU Memory Unit is missing or Check that the JMU is properly installed. If the
(0xFF61) broken. problem persists, replace the JMU.

0301 UFF FILE READ File read error Contact your local ABB representative.
(0x6300) Note: This fault cannot be
reset.

0302 APPL DIR CREATION Drive internal fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0303 FPGA CONFIG DIR Drive internal fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0304 PU RATING ID Drive internal fault Contact your local ABB representative.
(0x5483) Note: This fault cannot be
reset.

0305 RATING DATABASE Drive internal fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0306 LICENSING Drive internal fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

Fault tracing
 243

Code Fault Cause What to do

(fieldbus code)

0307 DEFAULT FILE Drive internal fault Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

0308 APPL FILE PAR CONF Corrupted application file Reload application.
(0x6300) Note: This fault cannot be If fault is still active, contact your local ABB
reset. representative.

0309 APPL LOADING Application file incompatible or Check the fault logger for a fault code
(0x6300) corrupted. extension. See appropriate actions for each
Note: This fault cannot be extension below.
reset.

Fault code extension: 8 Template used in the application Change the template of the application in
incompatible with drive DriveSPC.
firmware.

Fault code extension: 10 Parameters defined in the Check the application for conflicting
application conflict with existing parameters.
drive parameters.

Fault code extension: 35 Application memory full. Contact your local ABB representative.

Fault code extension: Corrupted application file Reload application.

Other If fault is still active, contact your local ABB
representative.

0310 USERSET LOAD Loading of user set is not Reload.

(0xFF69) successfully completed
because:
- requested user set does not
exist
- user set is not compatible with
drive program
- drive has been switched off
during loading.

0311 USERSET SAVE User set is not saved because Check the setting of parameter 95.01 CTRL
(0xFF69) of memory corruption. UNIT SUPPLY.
If the fault still occurs, contact your local ABB
representative.

0312 UFF OVERSIZE UFF file is too big. Contact your local ABB representative.
(0x6300)

0313 UFF EOF UFF file structure failure Contact your local ABB representative.
(0x6300)

0314 TECH LIB INTERFACE Incompatible firmware interface Contact your local ABB representative.
(0x6100) Note: This fault cannot be
reset.

Fault tracing
244

Code Fault Cause What to do

(fieldbus code)

0315 RESTORE FILE Restoration of backed-up Contact your local ABB representative.
(0x630D) parameters failed. The fault is reset after a successful
restoration via the control panel or
DriveStudio.

0316 DAPS MISMATCH Mismatch between firmware Contact your local ABB representative.
(0x5484) version (in JMU) and power unit
logic versions.

0317 SOLUTION FAULT Fault generated by function Check the usage of the SOLUTION_FAULT
(0x6200) block SOLUTION_FAULT in the block in the application program.
application program.

0319 APPL LICENCE Drive power unit (JPU) lacks the Assign the correct application licence to the
(0x6300) correct application licence drive power unit using the DriveSPC PC tool
required to use the downloaded or remove the protection from the application
application program. used.
For more information, see section Application
program licensing and protection on page 32.

Fault tracing
 245

Standard function blocks

What this chapter contains

This chapter describes the standard function blocks. The blocks are grouped
according to the grouping in the DriveSPC tool.
The number in brackets in the standard block heading is the block number.
Note: The given execution times may vary depending on the drive application used.
The block execution time describes how much CPU load (1.21 CPU USAGE) the
block reserves. For example, if a block with the execution time of 2.33 s is set to a
1 ms time level, the increase in the CPU load will be 0.23%.

Terms
Data type Description Range

Boolean Boolean 0 or 1

DINT 32-bit integer value (31 bits + sign) -21474836482147483647

INT 16-bit integer value (15 bits + sign) -3276832767

PB Packed Boolean 0 or 1 for each individual bit

REAL 16-bit value 16-bit value (31 bits + sign) -32768,9999832767,9998

= integer value = fractional value

REAL24 8-bit value 24-bit value (31 bits + sign) -128,0127,999

= integer value = fractional value

Standard function blocks

246

Alphabetical index
ABS . . . . . . . . . . . . . . . . . . . . 247 EXPT . . . . . . . . . . . . . . . . . . . 248 OR. . . . . . . . . . . . . . . . . . . . . 252
ADD . . . . . . . . . . . . . . . . . . . . 247 FILT1 . . . . . . . . . . . . . . . . . . . 308 PARRD . . . . . . . . . . . . . . . . . 309
AND . . . . . . . . . . . . . . . . . . . . 251 FIO_01_slot1. . . . . . . . . . . . . 287 PARRDINTR . . . . . . . . . . . . . 310
BGET. . . . . . . . . . . . . . . . . . . 256 FIO_01_slot2. . . . . . . . . . . . . 288 PARRDPTR . . . . . . . . . . . . . 310
BITAND . . . . . . . . . . . . . . . . . 256 FIO_11_AI_slot1 . . . . . . . . . . 289 PARWR. . . . . . . . . . . . . . . . . 311
BITOR . . . . . . . . . . . . . . . . . . 257 FIO_11_AI_slot2 . . . . . . . . . . 291 PID . . . . . . . . . . . . . . . . . . . . 302
BOOL_TO_DINT . . . . . . . . . . 268 FIO_11_AO_slot1 . . . . . . . . . 293 RAMP . . . . . . . . . . . . . . . . . . 304
BOOL_TO_INT . . . . . . . . . . . 269 FIO_11_AO_slot2 . . . . . . . . . 294 REAL_TO_REAL24 . . . . . . . 274
BOP . . . . . . . . . . . . . . . . . . . . 312 FIO_11_DIO_slot1 . . . . . . . . 296 REAL24_TO_REAL . . . . . . . 275
BSET . . . . . . . . . . . . . . . . . . . 257 FIO_11_DIO_slot2 . . . . . . . . 297 REALn_TO_DINT . . . . . . . . . 275
CTD . . . . . . . . . . . . . . . . . . . . 277 FTRIG . . . . . . . . . . . . . . . . . . 284 REALn_TO_DINT_SIMP. . . . 276
CTD_DINT. . . . . . . . . . . . . . . 278 FUNG-1V. . . . . . . . . . . . . . . . 299 REG . . . . . . . . . . . . . . . . . . . 258
CTU . . . . . . . . . . . . . . . . . . . . 279 GE . . . . . . . . . . . . . . . . . . . . . 265 REG-G . . . . . . . . . . . . . . . . . 305
CTU_DINT. . . . . . . . . . . . . . . 280 GetBitPtr . . . . . . . . . . . . . . . . 309 ROL. . . . . . . . . . . . . . . . . . . . 252
CTUD. . . . . . . . . . . . . . . . . . . 280 GetValPtr. . . . . . . . . . . . . . . . 309 ROR . . . . . . . . . . . . . . . . . . . 253
CTUD_DINT . . . . . . . . . . . . . 282 GT . . . . . . . . . . . . . . . . . . . . . 266 RS . . . . . . . . . . . . . . . . . . . . . 284
CYCLET . . . . . . . . . . . . . . . . 298 IF . . . . . . . . . . . . . . . . . . . . . . 313 RTRIG . . . . . . . . . . . . . . . . . . 285
D2D_Conf . . . . . . . . . . . . . . . 260 INT. . . . . . . . . . . . . . . . . . . . . 300 SEL . . . . . . . . . . . . . . . . . . . . 316
D2D_McastToken . . . . . . . . . 261 INT_TO_BOOL . . . . . . . . . . . 273 SHL . . . . . . . . . . . . . . . . . . . . 253
D2D_SendMessage . . . . . . . 261 INT_TO_DINT . . . . . . . . . . . . 274 SHR. . . . . . . . . . . . . . . . . . . . 254
DATA CONTAINER. . . . . . . . 298 LE . . . . . . . . . . . . . . . . . . . . . 266 SOLUTION_FAULT . . . . . . . 307
DEMUX-I . . . . . . . . . . . . . . . . 317 LIMIT . . . . . . . . . . . . . . . . . . . 315 SQRT . . . . . . . . . . . . . . . . . . 250
DEMUX-MI . . . . . . . . . . . . . . 317 LT . . . . . . . . . . . . . . . . . . . . . 267 SR . . . . . . . . . . . . . . . . . . . . . 286
DINT_TO_BOOL . . . . . . . . . . 270 MAX. . . . . . . . . . . . . . . . . . . . 315 SR-D . . . . . . . . . . . . . . . . . . . 259
DINT_TO_INT . . . . . . . . . . . . 271 MIN . . . . . . . . . . . . . . . . . . . . 315 SUB. . . . . . . . . . . . . . . . . . . . 250
DINT_TO_REALn . . . . . . . . . 271 MOD . . . . . . . . . . . . . . . . . . . 248 SWITCH . . . . . . . . . . . . . . . . 318
DINT_TO_REALn_SIMP . . . . 272 MONO . . . . . . . . . . . . . . . . . . 320 SWITCHC . . . . . . . . . . . . . . . 319
DIV. . . . . . . . . . . . . . . . . . . . . 247 MOTPOT . . . . . . . . . . . . . . . . 301 TOF . . . . . . . . . . . . . . . . . . . . 321
DS_ReadLocal . . . . . . . . . . . 263 MOVE . . . . . . . . . . . . . . . . . . 249 TON. . . . . . . . . . . . . . . . . . . . 321
DS_WriteLocal. . . . . . . . . . . . 264 MUL. . . . . . . . . . . . . . . . . . . . 249 TP . . . . . . . . . . . . . . . . . . . . . 322
ELSE . . . . . . . . . . . . . . . . . . . 312 MULDIV. . . . . . . . . . . . . . . . . 249 XOR . . . . . . . . . . . . . . . . . . . 255
ELSEIF . . . . . . . . . . . . . . . . . 312 MUX . . . . . . . . . . . . . . . . . . . 316
ENDIF . . . . . . . . . . . . . . . . . . 313 NE . . . . . . . . . . . . . . . . . . . . . 267
EQ . . . . . . . . . . . . . . . . . . . . . 265 NOT. . . . . . . . . . . . . . . . . . . . 251

Standard function blocks

 247

Arithmetic

ABS
(10001)
Illustration ABS
(DINT) 46
TLA1 1 msec (1)

IN
OUT(46)
OUT

Execution time 0.53 s

Operation The output (OUT) is the absolute value of the input (IN).
OUT = | IN |

Inputs The input data type is selected by the user.

Input (IN): DINT, INT, REAL or REAL24

Outputs Output (OUT): DINT, INT, REAL or REAL24

ADD
(10000)
Illustration ADD
(DINT) 47
TLA1 1 msec (1)

IN1
OUT(47)
OUT
IN2

Execution time 3.36 s (when two inputs are used) + 0.52 s (for every additional input). When all
inputs are used, the execution time is 18.87 s.

Operation The output (OUT) is the sum of the inputs (IN1IN32).

OUT = IN1 + IN2 + + IN32
The output value is limited to the maximum and minimum values defined by the selected
data type range.

Inputs The input data type and the number of the inputs (232) are selected by the user.
Input (IN1IN32): DINT, INT, REAL or REAL24

Outputs Output (OUT): DINT, INT, REAL or REAL24

DIV
(10002)
Illustration DIV
(DINT) 48
TLA1 1 msec (1)

IN1
OUT(48)
OUT
IN2

Execution time 2.55 s

Standard function blocks

248

Operation The output (OUT) is input IN1 divided by input IN2.

OUT = IN1/IN2
The output value is limited to the maximum and minimum values defined by the selected
data type range.
If the divider (IN2) is 0, the output is 0.

Inputs The input data type is selected by the user.

Input (IN1, IN2): INT, DINT, REAL, REAL24

Outputs Output (OUT): INT, DINT, REAL, REAL24

EXPT
(10003)
Illustration EXPT
(REAL) 49
TLA1 1 msec (1)

IN1
OUT(49)
OUT
IN2

Execution time 81.90 s

Operation The output (OUT) is input IN1 raised to the power of the input IN2:
OUT = IN1IN2
If input IN1 is 0, the output is 0.
The output value is limited to the maximum value defined by the selected data type
range.
Note: The execution of the EXPT function is slow.

Inputs The input data type is selected by the user.

Input (IN1): REAL, REAL24
Input (IN2): REAL

Outputs Output (OUT): REAL, REAL24

MOD
(10004)
Illustration MOD
(DINT) 50
TLA1 1 msec (1)

IN1
OUT(50)
OUT
IN2

Execution time 1.67 s

Operation The output (OUT) is the remainder of the division of the inputs IN1 and IN2.
OUT = remainder of IN1/IN2
If input IN2 is zero, the output is zero.

Inputs The input data type is selected by the user.

Input (IN1, IN2): INT, DINT

Outputs Output (OUT): INT, DINT

Standard function blocks

 249

MOVE
(10005)
Illustration MOVE
(BOOL) 51
TLA1 1 msec (1)

IN1
OUT1(51)
OUT1
IN2
OUT2(51)
OUT2

Execution time 2.10 s (when two inputs are used) + 0.42 s (for every additional input). When all
inputs are used, the execution time is 14.55 s.

Operation Copies the input values (IN132) to the corresponding outputs (OUT132).

Inputs The input data type and number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24, Boolean

Outputs Output (OUT1OUT32): INT, DINT, REAL, REAL24, Boolean

MUL
(10006)
Illustration MUL
(DINT) 52
TLA1 1 msec (1)

IN1
OUT(52)
OUT
IN2

Execution time 3.47 s (when two inputs are used) + 2.28 s (for every additional input). When all
inputs are used, the execution time is 71.73 s.

Operation The output (OUT) is the product of the inputs (IN).

O = IN1 IN2 IN32
The output value is limited to the maximum and minimum values defined by the selected
data type range.

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): INT, DINT, REAL, REAL24

MULDIV
(10007)
Illustration MULDIV
53
TLA1 1 msec (1)

I
O(53)
O
MUL
REM(53)
REM
DIV

Execution time 7.10 s

Standard function blocks

250

Operation The output (O) is the product of input IN and input MUL divided by input DIV.
Output = (I MUL) / DIV
O = whole value. REM = remainder value.
Example: I = 2, MUL = 16 and DIV = 10:
(2 16) / 10 = 3.2, i.e. O = 3 and REM = 2
The output value is limited to the maximum and minimum values defined by the data
type range.

Inputs Input (I): DINT

Multiplier input (MUL): DINT
Divider input (DIV): DINT

Outputs Output (O): DINT

Remainder output (REM): DINT

SQRT
(10008)
Illustration SQRT
(REAL) 54
TLA1 1 msec (1)

IN
OUT(54)
OUT

Execution time 2.09 s

Operation Output (OUT) is the square root of the input (IN).

OUT = sqrt(IN)
Output is 0 if the input value is negative.

Inputs The input data type is selected by the user.

Input (IN): REAL, REAL24

Outputs Output (OUT): REAL, REAL24

SUB -

(10009)
Illustration SUB
(DINT) 55
TLA1 1 msec (1)

IN1
OUT(55)
OUT
IN2

Execution time 2.33 s

Operation Output (OUT) is the difference between the input signals (IN):
OUT = IN1 - IN2
The output value is limited to the maximum and minimum values defined by the selected
data type range.

Inputs The input data type is selected by the user.

Input (IN1, IN2): INT, DINT, REAL, REAL24

Outputs Output (OUT): INT, DINT, REAL, REAL24

Standard function blocks

 251

Bitstring

AND
(10010)
Illustration AND
56
TLA1 1 msec (1)

IN1
OUT(56)
OUT
IN2

Execution time 1.55 s (when two inputs are used) + 0.60 s (for every additional input). When all
inputs are used, the execution time is 19.55 s.

Operation The output (OUT) is 1 if all the connected inputs (IN1IN32) are 1. Otherwise the
output is 0.
Truth table:
IN1 IN2 OUT
0 0 0
0 1 0
1 0 0
1 1 1

The inputs can be inverted.

Inputs The number of inputs is selected by the user.

Input (IN1IN32): Boolean

Outputs Output (OUT): Boolean

NOT
(10011)
Illustration NOT
57
TLA1 1 msec (1)

I
O(57)
O

Execution time 0.32 s

Operation The output (O) is 1 if the input (I) is 0. The output is 0 if the input is 1.

Inputs Input (I): Boolean

Outputs Output (O): Boolean

Standard function blocks

252

OR
(10012)
Illustration OR
58
TLA1 1 msec (1)

IN1
OUT(58)
OUT
IN2

Execution time 1.55 s (when two inputs are used) + 0.60 s (for every additional input). When all
inputs are used, the execution time is 19.55 s.

Operation The output (OUT) is 0, if all connected inputs (IN) are 0. Otherwise the output is 1.
Truth table:
IN1 IN2 OUT
0 0 0
0 1 1
1 0 1
1 1 1
The inputs can be inverted.

Inputs The number of inputs (232) is selected by the user.

Input (IN1IN32): Boolean

Outputs Output (OUT): Boolean

ROL
(10013)
Illustration ROL
(DINT) 59
TLA1 1 msec (1)

BITCNT
O(59)
O
I

Execution time 1.28 s

Operation Input bits (I) are rotated to the left by the number (N) of bits defined by BITCNT. The N
most significant bits (MSB) of the input are stored as the N least significant bits (LSB) of
the output.
Example: If BITCNT = 3
3 MSB

I 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1

O 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 1 1 1

3 LSB
Inputs The input data type is selected by the user.
Number of bits input (BITCNT): INT, DINT
Input (I): INT, DINT

Standard function blocks

 253

Outputs Output (O): INT, DINT

ROR
(10014)
Illustration ROR
(DINT) 60
TLA1 1 msec (1)

BITCNT
O(60)
O
I

Execution time 1.28 s

Operation Input bits (I) are rotated to the right by the number (N) of bits defined by BITCNT. The N
least significant bits (LSB) of the input are stored as the N most significant bits (MSB) of
the output.
Example: If BITCNT = 3
3 LSB

I 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1

O 1 0 1 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0

3 MSB

Inputs The input data type is selected by the user.

Number of bits input (BITCNT): INT, DINT
Input (I): INT, DINT

Outputs Output (O): INT, DINT

SHL
(10015)
Illustration SHL
(DINT) 61
TLA1 1 msec (1)

BITCNT
O(61)
O
I

Execution time 0.80 s

Operation Input bits (I) are rotated to the left by the number (N) of bits defined by BITCNT. The N
most significant bits (MSB) of the input are lost and the N least significant bits (LSB) of
the output are set to 0.
Example: If BITCNT = 3
3 MSB

I 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1

O 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 0 0 0

3 LSB

Standard function blocks

254

Inputs The input data type is selected by the user.

Number of bits (BITCNT): INT; DINT
Input (I): INT, DINT

Outputs Output (O): INT; DINT

SHR
(10016)
Illustration SHR
(DINT) 62
TLA1 1 msec (1)

BITCNT
O(62)
O
I

Execution time 0.80 s

Operation Input bits (I) are rotated to the right by the number (N) of bits defined by BITCNT. The N
least significant bits (LSB) of the input are lost and the N most significant bits (MSB) of
the output are set to 0.
Example: If BITCNT = 3
3 LSB

I 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1

O 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0

3 MSB

Inputs The input data type is selected by the user.

Number of bits (BITCNT): INT; DINT
Input (I): INT, DINT

Outputs Output (O): INT; DINT

Standard function blocks

 255

XOR
(10017)
Illustration XOR
63
TLA1 1 msec (1)

IN1
OUT(63)
OUT
IN2

Execution time 1.24 s (when two inputs are used) + 0.72 s (for every additional input). When all
inputs are used, the execution time is 22.85 s.

Operation The output (OUT) is 1 if one of the connected inputs (IN1IN32) is 1. Output is zero if
all the inputs have the same value.
Example:

IN1 IN2 OUT

0 0 0
0 1 1
1 0 1
1 1 0

The inputs can be inverted.

Inputs The number of inputs (232) is selected by the user.

Input (IN1IN32): Boolean

Outputs Output (OUT): Boolean

Standard function blocks

256

Bitwise

BGET
(10034)
Illustration BGET
(DINT) 64
TLA1 1 msec (1)

BITNR
O(64)
O
I

Execution time 0.88 s

Operation The output (O) is the value of the selected bit (BITNR) of the input (I).
BITNR: Bit number (0 = bit number 0, 31 = bit number 31)
If bit number is not in the range of 031 (for DINT) or 015 (for INT), the output is 0.

Inputs The input data type is selected by the user.

Number of the bit (BITNR): DINT
Input (I): DINT, INT

Outputs Output (O): Boolean

BITAND
(10035)
Illustration BITAND
65
TLA1 1 msec (1)

I1
O(65)
O
I2

Execution time 0.32 s

Operation The output (O) bit value is 1 if the corresponding bit values of the inputs (I1 and I2)
are 1. Otherwise the output bit value is 0.
Example:

I1 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1

I2 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 1 1 1

O 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 1 0 0 1 0 0 1 0 1

Inputs Input (I1, I2): DINT

Outputs Output (O): DINT

Standard function blocks

 257

BITOR
(10036)
Illustration BITOR
66
TLA1 1 msec (1)

I1
O(66)
O
I2

Execution time 0.32 s

Operation The output (O) bit value is 1 if the corresponding bit value of any of the inputs (I1 or I2)
is 1. Otherwise the output bit value is 0.
Example:

I1 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1

I2 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 1 1 1

O 1 1 1 0 0 1 1 1 1 1 1 0 1 1 1 1 1 1 0 1 1 0 1 1 1 0 1 1 1 1 1 1

Input Input (I1, I2): DINT

Output Output (O): DINT

BSET
(10037)
Illustration BSET
(DINT) 67
TLA1 1 msec (1)

EN
O(67)
O
BITNR

BIT

Execution time 1.36 s

Operation The value of a selected bit (BITNR) of the input (I) is set as defined by the bit value input
(BIT). The function must be enabled by the enable input (EN).
BITNR: Bit number (0 = bit number 0, 31 = bit number 31)
If BITNR is not in the range of 031 (for DINT) or 015 (for INT) or if EN is reset to
zero, the input value is stored to the output as it is (i.e. no bit setting occurs).
Example:
EN = 1, BITNR = 3, BIT = 0
IN = 0000 0000 1111 1111
O = 0000 0000 1111 0111

Inputs The input data type is selected by the user.

Enable input (EN): Boolean
Number of the bit (BITNR): DINT
Bit value input (BIT): Boolean
Input (I): INT, DINT

Standard function blocks

258

Outputs Output (O): INT, DINT

REG
(10038)
Illustration REG
(BOOL) 68
TLA1 1 msec (1)

S
O1(68)
O1
>L
O2(68)
O2
R

I1

I2

Execution time 2.27 s (when two inputs are used) + 1.02 s (for every additional input). When all
inputs are used, the execution time is 32.87 s.

Operation The input (I1I32) value is stored to the corresponding output (O1O32) if the load
input (L) is set to 1 or the set input (S) is 1. When the load input is set to 1, the input
value is stored to the output only once. When the set input is 1, the input value is stored
to the output every time the block is executed. The set input overrides the load input.
If the reset input (R) is 1, all connected outputs are 0.
Example:

S R L I O1previous O1
0 0 0 10 15 15
0 0 0->1 20 15 20
0 1 0 30 20 0
0 1 0->1 40 0 0
1 0 0 50 0 50
1 0 0->1 60 50 60
1 1 0 70 60 0
1 1 0->1 80 0 0
O1previous is the previous cycle output value.

Inputs The input data type and number of inputs (132) are selected by the user.
Set input (S): Boolean
Load input (L): Boolean
Reset input (R): Boolean
Input (I1I32): Boolean, INT, DINT, REAL, REAL24

Outputs Output (O1O32): Boolean, INT, DINT, REAL, REAL24

Standard function blocks

 259

SR-D
(10039)
Illustration SR-D
69
TLA1 1 msec (1)

S
O(69)
O
D

>C

Execution time 1.04 s

Operation When clock input (C) is set to 1, the data input (D) value is stored to the output (O).
When reset input (R) is set to 1, the output is set to 0.
If only set (S) and reset (R) inputs are used, SR-D block acts as an SR block:
The output is 1 if the set input (S) is 1. The output will retain the previous output state if
the set input (S) and reset input (R) are 0. The output is 0 if the set input is 0 and the
reset input is 1.
Truth table:

S R D C Oprevious O
0 0 0 0 0 0 (= Previous output value)
0 0 0 0 -> 1 0 0 (= Data input value)
0 0 1 0 0 0 (= Previous output value)
0 0 1 0 -> 1 0 1 (= Data input value)
0 1 0 0 1 0 (Reset)
0 1 0 0 -> 1 0 0 (Reset)
0 1 1 0 0 0 (Reset)
0 1 1 0 -> 1 0 0 (Reset)
1 0 0 0 0 1 (= Set value)
1 0 0 0 -> 1 1 0 (= Data input value) for
one execution cycle, then
changes to 1 according to
the set input (S = 1).
1 0 1 0 1 1 (= Set value)
1 0 1 0 -> 1 1 1 (= Data input value)
1 1 0 0 1 0 (Reset)
1 1 0 0 -> 1 0 0 (Reset)
1 1 1 0 0 0 (Reset)
1 1 1 0 -> 1 0 0 (Reset)
Oprevious is the previous cycle output value.

Inputs Set input (S): Boolean

Data input (D): Boolean
Clock input (C): Boolean
Reset input (R): Boolean

Outputs Output (O): Boolean

Standard function blocks

260

Communication
See also Appendix B Drive-to-drive link (page 343).

D2D_Conf
(10092)
Illustration D2D_Conf
70
TLA1 1 msec (1)

Ref1 Cycle Sel

Error(70)
Error
Ref2 Cycle Sel

Std Mcast Group

Execution time -

Operation Defines handling interval for drive-to-drive references 1 and 2, and the address (group
number) for standard (non-chained) multicast messages.
The values of the Ref1/2 Cycle Sel inputs correspond to the following intervals:

Value Handling interval

0 Default (500 s for reference 1; 2 ms for reference 2)
1 250 s
2 500 s
3 2 ms

Note: Negative value of Ref2 Cycle Sel disables the handling of Ref2 (if disabled in the
master, it must be disabled in all follower drives as well).
Allowable values for the Std Mcast Group input are 0 (= multicasting not used) and
162 (multicast group).
An unconnected input, or an input in an error state, is interpreted as having the value 0.
The error codes indicated by the Error output are as follows:

Bit Description
0 REF1_CYCLE_ERR: Value of input Ref1 Cycle Sel out of range
1 REF2_CYCLE_ERR: Value of input Ref2 Cycle Sel out of range
2 STD_MCAST_ERR: Value of input Std Mcast Group out of range

See also section Examples of using standard function blocks in drive-to-drive

communication starting on page 351.

Inputs Drive-to-drive reference 1 handling interval (Ref1 Cycle Sel): INT

Drive-to-drive reference 2 handling interval (Ref2 Cycle Sel): INT
Standard multicast address (Std Mcast Group): INT

Outputs Error output (Error): PB

Standard function blocks

 261

D2D_McastToken
(10096)
Illustration D2D_McastToken
71
TLA1 1 msec (1)

Target Node
Error(71)
Error
Mcast Cycle

Execution time -

Operation Configures the transmission of token messages sent to a follower. Each token
authorizes the follower to send one message to another follower or group of followers.
For the message types, see the block D2D_SendMessage.
Note: This block is only supported in the master.
The Target Node input defines the node address the master sends the tokens to; the
range is 162.
The Mcast Cycle specifies the interval between token messages in the range of
21000 milliseconds. Setting this input to 0 disables the sending of tokens.
The error codes indicated by the Error output are as follows:

Bit Description
0 D2D_MODE_ERR: Drive is not master
5 TOO_SHORT_CYCLE: Token interval is too short, causing
overloading
6 INVALID_INPUT_VAL: An input value is out of range
7 GENERAL_D2D_ERR: Drive-to-drive communication driver failed to
initialize message

See also section Examples of using standard function blocks in drive-to-drive

communication starting on page 351.

Inputs Token recipient (Target Node): INT

Token interval (Mcast Cycle): INT

Outputs Error output (Error): DINT

D2D_SendMessage
(10095)
Illustration D2D_SendMessage
72
TLA1 1 msec (1)

Msg Type
Sent msg count(72)
Sent msg count
Target Node/Grp
Error(72)
Error
LocalDsNr

RemoteDsNr

Execution time -

Standard function blocks

262

Operation Configures the transmission between the dataset tables of drives.

The Msg Type input defines the message type as follows:

Value Message type

0 Disabled
1 Master P2P:
The master sends the contents of a local dataset (specified by LocalDsNr
input) to the dataset table (dataset number specified by RemoteDsNr input)
of a follower (specified by Target Node/Grp input).
The follower replies by sending the next dataset (RemoteDsNr + 1) to the
master (LocalDsNr + 1).
The node number of a drive is defined by parameter 57.03.
Note: Only supported in the master drive.
2 Read Remote:
The master reads a dataset (specified by RemoteDsNr input) from a follower
(specified by Target Node/Grp input) and stores it into local dataset table
(dataset number specified by LocalDsNr input).
The node number of a drive is defined by parameter 57.03.
Note: Only supported in the master drive.
3 Follower P2P:
The follower sends the contents of a local dataset (specified by LocalDsNr
input) to the dataset table (dataset number specified by RemoteDsNr input)
of another follower (specified by Target Node/Grp input).
The node number of a drive is defined by parameter 57.03.
Note: Only supported in a follower drive. A token from the master drive is
required for the follower to be able to send the message. See the block
D2D_McastToken.
4 Standard Multicast:
The drive sends the contents of a local dataset (specified by LocalDsNr
input) to the dataset table (dataset number specified by RemoteDsNr input)
of a group of followers (specified by Target Node/Grp input).
Which multicast group a drive belongs to is defined by the Std Mcast Group
input of the D2D_Conf block.
A token from the master drive is required for a follower to be able to send the
message. See the block D2D_McastToken.
5 Broadcast:
The drive sends the contents of a local dataset (specified by LocalDsNr
input) to the dataset table (dataset number specified by RemoteDsNr input)
of all followers.
A token from the master drive is required for a follower to be able to send the
message. See the block D2D_McastToken.
Note: With this message type, the Target Node/Grp input must be
connected in DriveSPC even if not used.

See also section Examples of using standard function blocks in drive-to-drive

communication starting on page 351.

Standard function blocks

 263

The Target Node/Grp input specifies the target drive or multicast group of drives
depending on message type. See the message type explanations above.
Note: The input must be connected in DriveSPC even if not used.
The LocalDsNr input specifies the number of the local dataset used as the source or the
target of the message.
The RemoteDsNr input specifies the number of the remote dataset used as the target or
the source of the message.
The Sent msg count output is a wrap-around counter of successfully sent messages.

The error codes indicated by the Error output are as follows:

Bit Description
0 D2D_MODE_ERR: Drive-to-drive communication not activated, or message
type not supported in current drive-to-drive mode (master/follower)
1 LOCAL_DS_ERR: LocalDsNr input out of range (16199)
2 TARGET_NODE_ERR: Target Node/Grp input out of range (162)
3 REMOTE_DS_ERR: Remote dataset number out of range (16199)
4 MSG_TYPE_ERR: Msg Type input out of range (05)
56 Reserved
7 GENERAL_D2D_ERR: Unspecified error in D2D driver
8 RESPONSE_ERR: Syntax error in received response
9 TRA_PENDING: Message has not yet been sent
10 REC_PENDING: Response has not yet been received
11 REC_TIMEOUT: No response received
12 REC_ERROR: Frame error in received message
13 REJECTED: Message has been removed from transmit buffer
14 BUFFER_FULL: Transmit buffer full

Inputs Message type (Msg Type): INT

Target node or multicast group (Target Node/Grp): INT
Local dataset number (LocalDsNr): INT
Remote dataset number (RemoteDsNr): INT

Outputs Successfully sent messages counter (Sent msg count): DINT

Error output (Error): PB

DS_ReadLocal
(10094)
Illustration DS_ReadLocal
73
TLA1 1 msec (1)

LocalDsNr
Data1 16B(73)
Data1 16B
Data2 32B(73)
Data2 32B
Error(73)
Error

Execution time -

Standard function blocks

264

Operation Reads the dataset defined by the LocalDsNr input from the local dataset table. One
dataset contains one 16-bit and one 32-bit word which are directed to the Data1 16B
and Data2 32B outputs respectively.
The LocalDsNr input defines the number of the dataset to be read.
The error codes indicated by the Error output are as follows:

Bit Description
1 LOCAL_DS_ERR: LocalDsNr out of range (16199)

See also section Examples of using standard function blocks in drive-to-drive

communication starting on page 351.

Inputs Local dataset number (LocalDsNr): INT

Outputs Contents of dataset (Data1 16B): INT

Contents of dataset (Data2 32B): DINT
Error output (Error): DINT

DS_WriteLocal
(10093)
Illustration DS_WriteLocal
74
TLA1 1 msec (1)

LocalDsNr
Error(74)
Error
Data1 16B

Data2 32B

Execution time -

Operation Writes data into the local dataset table. Each dataset contains 48 bits; the data is input
through the Data1 16B (16 bits) and Data2 32B (32 bits) inputs. The dataset number is
defined by the LocalDsNr input.
The error codes indicated by the Error output are as follows:

Bit Description
1 LOCAL_DS_ERR: LocalDsNr out of range (16199)

See also section Examples of using standard function blocks in drive-to-drive

communication starting on page 351.

Inputs Local dataset number (LocalDsNr): INT

Contents of dataset (Data1 16B): INT
Contents of dataset (Data2 32B): DINT

Outputs Error output (Error): DINT

Standard function blocks

 265

Comparison

EQ
(10040)
Illustration EQ
(DINT) 75
TLA1 1 msec (1)

IN1
OUT(75)
OUT
IN2

Execution time 0.89 s (when two inputs are used) + 0.43 s (for every additional input). When all
inputs are used, the execution time is 13.87 s.

Operation The output (OUT) is 1 if all the connected input values are equal (IN1 = IN2 = =
IN32). Otherwise the output is 0.

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): Boolean

GE >=

(10041)
Illustration GE
(DINT) 76
TLA1 1 msec (1)

IN1
OUT(76)
OUT
IN2

Execution time 0.89 s (when two inputs are used) + 0.43 s (for every additional input). When all
inputs are used, the execution time is 13.87 s.

Operation The output (OUT) is 1 if (IN1 > IN2) & (IN2 > IN3) & & (IN31 > IN32). Otherwise the
output is 0.

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): Boolean

Standard function blocks

266

GT >

(10042)
Illustration GT
(DINT) 77
TLA1 1 msec (1)

IN1
OUT(77)
OUT
IN2

Execution time 0.89 s (when two inputs are used) + 0.43 s (for every additional input). When all
inputs are used, the execution time is 13.87 s.

Operation The output (OUT) is 1 if (IN1 > IN2) & (IN2 > IN3) & & (IN31 > IN32). Otherwise the
output is 0.

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): Boolean

LE <=

(10043)
Illustration LE
(DINT) 78
TLA1 1 msec (1)

IN1
OUT(78)
OUT
IN2

Execution time 0.89 s (when two inputs are used) + 0.43 s (for every additional input). When all
inputs are used, the execution time is 13.87 s.

Operation Output (OUT) is 1 if (IN1 < IN2) & (IN2 < IN3) & & (IN31 < IN32). Otherwise the
output is 0.

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): Boolean

Standard function blocks

 267

LT <

(10044)
Illustration LT
(DINT) 79
TLA1 1 msec (1)

IN1
OUT(79)
OUT
IN2

Execution time 0.89 s (when two inputs are used) + 0.43 s (for every additional input). When all
inputs are used, the execution time is 13.87 s.

Operation Output (OUT) is 1 if (IN1 < IN2) & (IN2 < IN3) & & (IN31 < IN32). Otherwise the
output is 0.

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): Boolean

NE <>

(10045)
Illustration NE
(DINT) 80
TLA1 1 msec (1)

I1
O(80)
O
I2

Execution time 0.44 s

Operation The output (O) is 1 if I1 <> I2. Otherwise the output is 0.

Inputs The input data type is selected by the user.

Input (I1, I2): INT, DINT, REAL, REAL24

Outputs Output (O): Boolean

Standard function blocks

268

Conversion

BOOL_TO_DINT
(10018)
Illustration BOOL_TO_DINT
81
TLA1 1 msec (1)

SIGN
OUT(81)
OUT
IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

IN9

IN10

IN11

IN12

IN13

IN14

IN15

IN16

IN17

IN18

IN19

IN20

IN21

IN22

IN23

IN24

IN25

IN26

IN27

IN28

IN29

IN30

IN31

Execution time 13.47 s

Operation The output (OUT) value is a 32-bit integer value formed from the boolean input
(IN1IN31 and SIGN) values. IN1 = bit 0 and IN31 = bit 30.
Example:
IN1 = 1, IN2 = 0, IN3IN31 = 1, SIGN = 1
OUT = 1111 1111 1111 1111 1111 1111 1111 1101
SIGN IN31IN1

Standard function blocks

 269

Input Sign input (SIGN): Boolean

Input (IN1IN31): Boolean

Output Output (OUT): DINT (31 bits + sign)

BOOL_TO_INT
(10019)
Illustration BOOL_TO_INT
82
TLA1 1 msec (1)

IN1
OUT(82)
OUT
IN2

IN3

IN4

IN5

IN6

IN7

IN8

IN9

IN10

IN11

IN12

IN13

IN14

IN15

SIGN

Execution time 5.00 s

Operation The output (OUT) value is a 16-bit integer value formed from the boolean input
(IN1IN15 and SIGN) values. IN1 = bit 0 and IN15 = bit 14.
Example:
IN1IN15 = 1, SIGN = 0
OUT = 0111 1111 1111 1111
SIGN IN15IN1

Inputs Input (IN1IN15): Boolean

Sign input (SIGN): Boolean

Outputs Output (OUT): DINT (15 bits + sign)

Standard function blocks

270

DINT_TO_BOOL
(10020)
Illustration DINT_TO_BOOL
83
TLA1 1 msec (1)

IN
OUT1(83)
OUT1
OUT2(83)
OUT2
OUT3(83)
OUT3
OUT4(83)
OUT4
OUT5(83)
OUT5
OUT6(83)
OUT6
OUT7(83)
OUT7
OUT8(83)
OUT8
OUT9(83)
OUT9
OUT10(83)
OUT10
OUT11(83)
OUT11
OUT12(83)
OUT12
OUT13(83)
OUT13
OUT14(83)
OUT14
OUT15(83)
OUT15
OUT16(83)
OUT16
OUT17(83)
OUT17
OUT18(83)
OUT18
OUT19(83)
OUT19
OUT20(83)
OUT20
OUT21(83)
OUT21
OUT22(83)
OUT22
OUT23(83)
OUT23
OUT24(83)
OUT24
OUT25(83)
OUT25
OUT26(83)
OUT26
OUT27(83)
OUT27
OUT28(83)
OUT28
OUT29(83)
OUT29
OUT30(83)
OUT30
OUT31(83)
OUT31
OUT32(83)
OUT32
SIGN(83)
SIGN

Execution time 11.98 s

Operation The boolean output (OUT1OUT32) values are formed from the 32-bit integer input
(IN) value.
Example:
IN = 0 111 1111 1111 1111 1111 1111 1111 1100
OUT32OUT1
SIGN
Inputs Input (IN): DINT

Outputs Output (OUT1OUT32): Boolean

Sign output (SIGN): Boolean

Standard function blocks

 271

DINT_TO_INT
(10021)
Illustration DINT_TO_INT
84
TLA1 1 msec (1)

I
O(84)
O

Execution time 0.53 s

Operation The output (O) value is a 16-bit integer value of the 32-bit integer input (I) value.
Examples:

I (31 bits + sign) O (15 bits + sign)

2147483647 32767
-2147483648 -32767
0 0

Inputs Input (I): DINT

Outputs Output (O): INT

DINT_TO_REALn
(10023)
Illustration DINT_TO_REALn
(REAL) 85
TLA1 1 msec (1)

IN1
OUT(85)
OUT
IN2

Execution time 7.25 s

Operation The output (OUT) is the REAL/REAL24 equivalent of the input (IN). Input IN1 is the
integer value and input IN2 is the fractional value.
If one (or both) of the input values is negative, the output value is negative.
Example (from DINT to REAL):
When IN1 = 2 and IN2 = 3276, OUT = 2.04999.
The output value is limited to the maximum value of the selected data type range.

Inputs Input (IN1, IN2): DINT

Outputs The output data type is selected by the user.

Output (OUT): REAL, REAL24

Standard function blocks

272

DINT_TO_REALn_SIMP
(10022)
Illustration DINT_TO_REALn_SIMP
(REAL) 86
TLA1 1 msec (1)

I
O(86)
O
SCALE
ERRC(86)
ERRC

Execution time 6.53 s

Operation The output (O) is the REAL/REAL24 equivalent of the input (I) divided by the scale input
(SCALE).
Error codes indicated at the error output (ERRC) are as follows:

Error code Description

0 No error
1001 The calculated REAL/REAL24 value exceeds the minimum value of
the selected data type range. The output is set to the minimum value.
1002 The calculated REAL/REAL24 value exceeds the maximum value of
the selected data type range. The output is set to the maximum
value.
1003 The SCALE input is 0. The output is set to 0.
1004 Incorrect SCALE input, i.e. the scale input is < 0 or is not a factor of
10.

Example (from DINT to REAL24):

When I = 205 and SCALE = 100, I/SCALE = 205 /100 = 2.05 and O = 2.04999.

Inputs Input (I): DINT

Scale input (SCALE): DINT

Outputs The output data type is selected by the user.

Output (O): REAL, REAL24
Error output (ERRC): DINT

Standard function blocks

 273

INT_TO_BOOL
(10024)
Illustration INT_TO_BOOL
87
TLA1 1 msec (1)

IN
OUT1(87)
OUT1
OUT2(87)
OUT2
OUT3(87)
OUT3
OUT4(87)
OUT4
OUT5(87)
OUT5
OUT6(87)
OUT6
OUT7(87)
OUT7
OUT8(87)
OUT8
OUT9(87)
OUT9
OUT10(87)
OUT10
OUT11(87)
OUT11
OUT12(87)
OUT12
OUT13(87)
OUT13
OUT14(87)
OUT14
OUT15(87)
OUT15
OUT16(87)
OUT16
SIGN(87)
SIGN

Execution time 4.31 s

Operation The boolean output (OUT1OUT16) values are formed from the 16-bit integer input
(IN) value.
Example:
IN = 0111 1111 1111 1111
OUT16OUT1
SIGN

Inputs Input (IN): INT

Outputs Output (OUT1OUT16): Boolean

Sign output (SIGN): Boolean

Standard function blocks

274

INT_TO_DINT
(10025)
Illustration INT_TO_DINT
88
TLA1 1 msec (1)

I
O(88)
O

Execution time 0.33 s

Operation The output (O) value is a 32-bit integer value of the 16-bit integer input (I) value.

I O
32767 32767
-32767 -32767
0 0

Inputs Input (I): INT

Outputs Output (O): DINT

REAL_TO_REAL24
(10026)
Illustration REAL_TO_REAL24
89
TLA1 1 msec (1)

I
O(89)
O

Execution time 1.35 s

Operation Output (O) is the REAL24 equivalent of the REAL input (I).
The output value is limited to the maximum value of the data type.
Example:
I = 0000 0000 0010 0110 1111 1111 1111 1111
Integer value Fractional value

O = 0010 0110 1111 1111 1111 1111 0000 0000

Integer value Fractional value

Inputs Input (I): REAL

Outputs Output (O): REAL24

Standard function blocks

 275

REAL24_TO_REAL
(10027)
Illustration REAL24_TO_REAL
90
TLA1 1 msec (1)

I
O(90)
O

Execution time 1.20 s

Operation Output (O) is the REAL equivalent of the REAL24 input (I).
The output value is limited to the maximum value of the data type range.
Example:
I = 0010 0110 1111 1111 1111 1111 0000 0000
Integer value Fractional value

O = 0000 0000 0010 0110 1111 1111 1111 1111

Integer value Fractional value

Inputs Input (I): REAL24

Outputs Output (O): REAL

REALn_TO_DINT
(10029)
Illustration REALn_TO_DINT
(REAL) 91
TLA1 1 msec (1)

I
O1(91)
O1
O2(91)
O2

Execution time 6.45 s

Operation Output (O) is the 32-bit integer equivalent of the REAL/REAL24 input (I). Output O1 is
the integer value and output O2 is the fractional value.
The output value is limited to the maximum value of the data type range.
Example (from REAL to DINT):
When I = 2.04998779297, O1 = 2 and O2 = 3276.

Inputs The input data type is selected by the user.

Input (I): REAL, REAL24

Outputs Output (O1, O2): DINT

Standard function blocks

276

REALn_TO_DINT_SIMP
(10028)
Illustration REALn_TO_DINT_SIMP
(REAL) 92
TLA1 1 msec (1)

I
O(92)
O
SCALE
ERRC(92)
ERRC

Execution time 5.54 s

Operation Output (O) is the 32-bit integer equivalent of the REAL/REAL24 input (I) multiplied by
the scale input (SCALE).
Error codes are indicated by the error output (ERRC) as follows:
Error code Description
0 No error
1001 The calculated integer value exceeds the minimum value. The output
is set to the minimum value.
1002 The calculated integer value exceeds the maximum value. The
output is set to the maximum value.
1003 Scale input is 0. The output is set to 0.
1004 Incorrect scale input, i.e. scale input is < 0 or is not a factor of 10.

Example (from REAL to DINT):

When I = 2.04998779297and SCALE = 100, O = 204.

Inputs The input data type is selected by the user.

Input (I): REAL, REAL24
Scale input (SCALE): DINT

Outputs Output (O): DINT

Error output (ERRC): DINT

Standard function blocks

 277

Counters

CTD
(10047)
Illustration CTD
93
TLA1 1 msec (1)

LD
CV(93)
CV
>CD
Q(93)
Q
PV

Execution time 0.92 s

Operation The counter output (CV) value is decreased by 1 if the counter input (CD) value
changes from 0 -> 1 and the load input (LD) value is 0. If the load input value is 1, the
preset input (PV) value is stored as the counter output (CV) value. If the counter output
has reached its minimum value -32768, the counter output remains unchanged.
The status output (Q) is 1 if the counter output (CV) value < 0.
Example:
LD CD PV Q CVprev CV
0 1 -> 0 10 0 5 5
0 0 -> 1 10 0 5 5-1=4
1 1 -> 0 -2 1 4 -2
1 0 -> 1 1 0 -2 1
0 0 -> 1 5 1 1 1 -1 = 0
1 1 -> 0 -32768 1 0 -32768
0 0 -> 1 10 1 -32768 -32768
CVprev is the previous cycle counter output value.

Inputs Load input (LD): Boolean

Counter input (CD): Boolean
Preset input (PV): INT

Outputs Counter output (CV): INT

Status output (Q): Boolean

Standard function blocks

278

CTD_DINT
(10046)
Illustration CTD_DINT
94
TLA1 1 msec (1)

LD
CV(94)
CV
>CD
Q(94)
Q
PV

Execution time 0.92 s

Operation The counter output (CV) value is decreased by 1 if the counter input (CD) value
changes from 0 -> 1 and the load input (LD) value is 0. If the load input (LD) value is 1,
the preset input (PV) value is stored as the counter output (CV) value. If the counter
output has reached its minimum value -2147483648, the counter output remains
unchanged.
The status output (Q) is 1 if the counter output (CV) value < 0.
Example:
LD CD PV Q CVprev CV
0 1 -> 0 10 0 5 5
0 0 -> 1 10 0 5 5-1=4
1 1 -> 0 -2 1 4 -2
1 0 -> 1 1 0 -2 1
0 0 -> 1 5 1 1 1 -1 = 0
1 1 -> 0 -2147483648 1 0 -2147483648
0 0 -> 1 10 1 -2147483648 -2147483648
CVprev is the previous cycle counter output value.

Inputs Load input (LD): Boolean

Counter input (CD): Boolean
Preset input (PV): DINT

Outputs Counter output (CV): DINT

Status output (Q): Boolean

Standard function blocks

 279

CTU
(10049)
Illustration CTU
95
TLA1 1 msec (1)

>CU
CV(95)
CV
R
Q(95)
Q
PV

Execution time 0.92 s

Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes
from 0 -> 1 and the reset input (R) value is 0. If the counter output has reached its
maximum value 32767, the counter output remains unchanged.
The counter output (CV) is reset to 0 if the reset input (R) is 1.
The status output (Q) is 1 if the counter output (CV) value > preset input (PV) value.
Example:
R CU PV Q CVprev CV
0 1 -> 0 20 0 10 10
0 0 -> 1 11 1 10 10 + 1 = 11
1 1 -> 0 20 0 11 0
1 0 -> 1 5 0 0 0
0 0 -> 1 20 0 0 0+1=1
0 0 -> 1 30 1 32767 32767
CVprev is the previous cycle counter output value.

Inputs Counter input (CU): Boolean

Reset input (R): Boolean
Preset input (PV): INT

Outputs Counter output (CV): INT

Status output (Q): Boolean

Standard function blocks

280

CTU_DINT
(10048)
Illustration CTU_DINT
96
TLA1 1 msec (1)

>CU
CV(96)
CV
R
Q(96)
Q
PV

Execution time 0.92 s

Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes
from 0 -> 1 and the reset input (R) value is 0. If the counter output has reached its
maximum value 2147483647, the counter output remains unchanged.
The counter output (CV) is reset to 0 if the reset input (R) is 1.
The status output (Q) is 1 if the counter output (CV) value > preset input (PV) value.
Example:
R CU PV Q CVprev CV
0 1 -> 0 20 0 10 10
0 0 -> 1 11 1 10 10 + 1 = 11
1 1 -> 0 20 0 11 0
1 0 -> 1 5 0 0 0
0 0 -> 1 20 0 0 0+1=1
0 0 -> 1 30 1 2147483647 2147483647
CVprev is the previous cycle counter output value.

Inputs Counter input (CU): Boolean

Reset input (R): Boolean
Preset input (PV): DINT

Outputs Counter output (CV): DINT

Status output (Q): Boolean

CTUD
(10051)
Illustration CTUD
97
TLA1 1 msec (1)

>CU
CV(97)
CV
>CD
QU(97)
QU
R
QD(97)
QD
LD

PV

Execution time 1.40 s

Standard function blocks

 281

Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes
from 0 -> 1 and the reset input (R) is 0 and the load input (LD) is 0.
The counter output (CV) value is decreased by 1 if the counter input (CD) changes from
0 -> 1 and the load input (LD) is 0 and the reset input (R) is 0.
If the load input (LD) is 1, the preset input (PV) value is stored as the counter output
(CV) value.
The counter output (CV) is reset to 0 if the reset input (R) is 1.
If the counter output has reached its minimum or maximum value, -32768 or +32767,
the counter output remains unchanged until it is reset (R) or until the load input (LD) is
set to 1.
The up counter status output (QU) is 1 if the counter output (CV) value > preset input
(PV) value.
The down counter status output (QD) is 1 if the counter output (CV) value < 0.
Example:

CU CD R LD PV QU QD CVprev CV
0 -> 0 0 -> 0 0 0 2 0 1 0 0
0 -> 0 0 -> 0 0 1 2 1 0 0 2
0 -> 0 0 -> 0 1 0 2 0 1 2 0
0 -> 0 0 -> 0 1 1 2 0 1 0 0
0 -> 0 0 -> 1 0 0 2 0 1 0 0 - 1 = -1
0 -> 0 1 -> 1 0 1 2 1 0 -1 2
0 -> 0 1 -> 1 1 0 2 0 1 2 0
0 -> 0 1 -> 1 1 1 2 0 1 0 0
0 -> 1 1 -> 0 0 0 2 0 0 0 0+1=1
1 -> 1 0 -> 0 0 1 2 1 0 1 2
1 -> 1 0 -> 0 1 0 2 0 1 2 0
1 -> 1 0 -> 0 1 1 2 0 1 0 0
1 -> 1 0 -> 1 0 0 2 0 1 0 0 - 1 = -1
1 -> 1 1 -> 1 0 1 2 1 0 -1 2
1 -> 1 1 -> 1 1 0 2 0 1 2 0
1 -> 1 1 -> 1 1 1 2 0 1 0 0
CVprev is the previous cycle counter output value.

Inputs Up counter input (CU): Boolean

Down counter input (CD): Boolean
Reset input (R): Boolean
Load input (LD): Boolean
Preset input (PV): INT

Outputs Counter output (CV): INT

Up counter status output (QU): Boolean
Down counter status output (QD): Boolean

Standard function blocks

282

CTUD_DINT
(10050)
Illustration CTUD_DINT
98
TLA1 1 msec (1)

>CU
CV(98)
CV
>CD
QU(98)
QU
R
QD(98)
QD
LD

PV

Execution time 1.40 s

Operation The counter output (CV) value is increased by 1 if the counter input (CU) changes from
0 -> 1 and the reset input (R) is 0 and the load input (LD) is 0.
The counter output (CV) value is decreased by 1 if the counter input (CD) changes from
0 -> 1 and the load input (LD) is 0 and the reset input (R) is 0.
If the counter output has reached its minimum or maximum value, -2147483648 or
+2147483647, the counter output remains unchanged until it is reset (R) or until the load
input (LD) is set to 1.
If the load input (LD) value is 1, the preset input (PV) value is stored as the counter
output (CV) value.
The counter output (CV) is reset to 0 if the reset input (R) is 1.
The up counter status output (QU) is 1 if the counter output (CV) value > preset input
(PV) value.
The down counter status output (QD) is 1 if the counter output (CV) value < 0.
Example:
CU CD R LD PV QU QD CVprev CV
0 -> 0 0 -> 0 0 0 2 0 1 0 0
0 -> 0 0 -> 0 0 1 2 1 0 0 2
0 -> 0 0 -> 0 1 0 2 0 1 2 0
0 -> 0 0 -> 0 1 1 2 0 1 0 0
0 -> 0 0 -> 1 0 0 2 0 1 0 0 - 1 = -1
0 -> 0 1 -> 1 0 1 2 1 0 -1 2
0 -> 0 1 -> 1 1 0 2 0 1 2 0
0 -> 0 1 -> 1 1 1 2 0 1 0 0
0 -> 1 1 -> 0 0 0 2 0 0 0 0+1=1
1 -> 1 0 -> 0 0 1 2 1 0 1 2
1 -> 1 0 -> 0 1 0 2 0 1 2 0
1 -> 1 0 -> 0 1 1 2 0 1 0 0
1 -> 1 0 -> 1 0 0 2 0 1 0 0 - 1 = -1
1 -> 1 1 -> 1 0 1 2 1 0 -1 2
1 -> 1 1 -> 1 1 0 2 0 1 2 0
1 -> 1 1 -> 1 1 1 2 0 1 0 0
CVprev is the previous cycle counter output value.

Standard function blocks

 283

Inputs Up counter input (CU): Boolean

Down counter input (CD): Boolean
Reset input (R): Boolean
Load input (LD): Boolean
Preset input (PV): DINT

Outputs Counter output (CV): DINT

Up counter status output (QU): Boolean
Down counter status output (QD): Boolean

Standard function blocks

284

Edge & bistable

FTRIG
(10030)
Illustration FTRIG
99
TLA1 1 msec (1)

>CLK
Q(99)
Q

Execution time 0.38 s

Operation The output (Q) is set to 1 when the clock input (CLK) changes from 1 to 0. The output is
set back to 0 with the next execution of the block. Otherwise the output is 0.

CLKprevious CLK Q
0 0 0
0 1 0
1 0 1 (for one execution cycle time, returns to 0 at the
next execution)
1 1 0
CLKprevious is the previous cycle output value.

Inputs Clock input (CLK): Boolean

Outputs Output (Q): Boolean

RS
(10032)
Illustration RS
46
TLA1 1 msec (1)

S
Q1(46)
Q1
R1

Execution time 0.38 s

Standard function blocks

 285

Operation The output (Q1) is 1 if the set input (S) is 1 and the reset input (R1) is 0. The output will
retain the previous output state if the set input (S) and the reset input (R1) are 0. The
output is 0 if the reset input is 1.
Truth table:

S R1 Q1previous Q1
0 0 0 0
0 0 1 1
0 1 0 0
0 1 1 0
1 0 0 1
1 0 1 1
1 1 0 0
1 1 1 0
Qprevious is the previous cycle output value.

Inputs Set input (S): Boolean

Reset input (R1): Boolean

Outputs Output (Q1): Boolean

RTRIG
(10031)
Illustration RTRIG
47
TLA1 1 msec (1)

>CLK
Q(47)
Q

Execution time 0.38 s

Operation The output (Q) is set to 1 when the clock input (CLK) changes from 0 to 1. The output is
set back to 0 with the next execution of the block. Otherwise the output is 0.

CLKprevious CLK Q
0 0 0
0 1 1
1 0 0
1 1 0
CLKprevious is the previous cycle output value.

Note: The output (Q) is 1 after the first execution of the block after cold restart when the
clock input (CLK) is 1. Otherwise the output is always 0 when the clock input is 1.

Inputs Clock input (CLK): Boolean

Outputs Output (Q): Boolean

Standard function blocks

286

SR
(10033)
Illustration SR
48
TLA1 1 msec (1)

S1
Q1(48)
Q1
R

Execution time 0.38 s

Operation The output (Q1) is 1 if the set input (S1) is 1. The output will retain the previous output
state if the set input (S1) and the reset input (R) are 0. The output is 0 if the set input is
0 and the reset input is 1.
Truth table:

S1 R Q1previous Q1
0 0 0 0
0 0 1 1
0 1 0 0
0 1 1 0
1 0 0 1
1 0 1 1
1 1 0 1
1 1 1 1
Q1previous is the previous cycle output value.

Inputs Set input (S1): Boolean

Reset input (R): Boolean

Outputs Output (Q1): Boolean

Standard function blocks

 287

Extensions

FIO_01_slot1
(10084)
Illustration FIO_01_slot1
49
TLA1 1 msec (1)

DIO1 conf
DI1(49)
DI1
DIO2 conf
DI2(49)
DI2
DIO3 conf
DI3(49)
DI3
DIO4 conf
DI4(49)
DI4
DO1
Error(49)
Error
DO2

DO3

DO4

RO1

RO2

Execution time 8.6 s

Operation The block controls the four digital inputs/outputs (DIO1DIO4) and two relay outputs
(RO1, RO2) of a FIO-01 Digital I/O Extension mounted on slot 1 of the drive control unit.
The state of a DIOx conf input of the block determines whether the corresponding DIO
on the FIO-01 is an input or an output (0 = input, 1 = output). If the DIO is an output, the
DOx input of the block defines its state.
The RO1 and RO2 inputs define the state of the relay outputs of the FIO-01 (0 = not
energised, 1 = energised).
The DIx outputs show the state of the DIOs.

Inputs Digital input/output mode selection (DIO1 conf DIO4 conf): Boolean
Digital output state selection (DO1DO4): Boolean
Relay output state selection (RO1, RO2): Boolean

Outputs Digital input/output state (DI1DI4): Boolean

Error output (Error): DINT (0 = No error; 1 = Application program memory full)

Standard function blocks

288

FIO_01_slot2
(10085)
Illustration FIO_01_slot2
50
TLA1 1 msec (1)

DIO1 conf
DI1(50)
DI1
DIO2 conf
DI2(50)
DI2
DIO3 conf
DI3(50)
DI3
DIO4 conf
DI4(50)
DI4
DO1
Error(50)
Error
DO2

DO3

DO4

RO1

RO2

Execution time 8.6 s

Operation The block controls the four digital inputs/outputs (DIO1DIO4) and two relay outputs
(RO1, RO2) of a FIO-01 Digital I/O Extension mounted on slot 2 of the drive control unit.
The state of a DIOx conf input of the block determines whether the corresponding DIO
on the FIO-01 is an input or an output (0 = input, 1 = output). If the DIO is an output, the
DOx input of the block defines its state.
The RO1 and RO2 inputs define the state of the relay outputs of the FIO-01 (0 = not
energised, 1 = energised).
The DIx outputs show the state of the DIOs.

Inputs Digital input/output mode selection (DIO1 conf DIO4 conf): Boolean
Digital output state selection (DO1DO4): Boolean
Relay output state selection (RO1, RO2): Boolean

Outputs Digital input/output state (DI1DI4): Boolean

Error output (Error): DINT (0 = No error; 1 = Application program memory full)

Standard function blocks

 289

FIO_11_AI_slot1
(10088)
Illustration FIO_11_AI_slot1
51
TLA1 1 msec (1)

AI1 filt gain

AI1 mode(51)
AI1 mode
AI1 Min
AI1(51)
AI1
AI1 Max
AI1 scaled(51)
AI1 scaled
AI1 Min scale
AI2 mode(51)
AI2 mode
AI1 Max scale
AI2(51)
AI2
AI2 filt gain
AI2 scaled(51)
AI2 scaled
AI2 Min
AI3 mode(51)
AI3 mode
AI2 Max
AI3(51)
AI3
AI2 Min scale
AI3 scaled(51)
AI3 scaled
AI2 Max scale
Error(51)
Error
AI3 filt gain

AI3 Min

AI3 Max

AI3 Min scale

AI3 Max scale

Execution time 11.1 s

Operation The block controls the three analogue inputs (AI1AI3) of a FIO-11 Analog I/O
Extension mounted on slot 1 of the drive control unit.
The block outputs both the unscaled (AIx) and scaled (AIx scaled) actual values of each
analogue input. The scaling is based on the relationship between the ranges
AIx min AIx max and AIx min scale AIx max scale.
AIx Min must be smaller than AIx Max; AIx Max Scale can be greater or smaller than AIx
Min Scale.

AIx Min Scale < AIx Max Scale AIx scaled

32768
AIx Max Scale
AIx Min

-11 V or
-22 mA
AIx [V or mA]
11 V or
AIx Max

22 mA

AIx Min Scale

-32768

Standard function blocks

290

AIx Min Scale > AIx Max Scale AIx scaled

32768
AIx Min Scale

AIx Max
11 V or
22 mA
AIx [V or mA]

AIx Min
-11 V or
-22 mA

AIx Max Scale

-32768

The AIx filt gain inputs determine a filtering time for each input as follows:
AIx filt gain Filtering time Notes
0 No filtering
1 125 s Recommended setting
2 250 s
3 500 s
4 1 ms
5 2 ms
6 4 ms
7 7.9375 ms

The AIx mode outputs show whether the corresponding input is voltage (0) or current
(1). The voltage/current selection is made using the hardware switches on the FIO-11.

Inputs Analogue input filter gain selection (AI1 filt gain AI3 filt gain): INT
Minimum value of input signal (AI1 Min AI3 Min): REAL (> -11 V or -22 mA)
Maximum value of input signal (AI1 Max AI3 Max): REAL (< 11 V or 22 mA)
Minimum value of scaled output signal (AI1 Min scale AI3 Min scale): REAL
Maximum value of scaled output signal (AI1 Max scale AI3 Max scale): REAL

Outputs Analogue input mode (voltage or current) (AI1 mode AI3 mode): Boolean
Value of analogue input (AI1 AI3): REAL
Scaled value of analogue input (AI1 scaled AI3 scaled): REAL
Error output (Error): DINT (0 = No error; 1 = Application program memory full)

Standard function blocks

 291

FIO_11_AI_slot2
(10089)
Illustration FIO_11_AI_slot2
52
TLA1 1 msec (1)

AI1 filt gain

AI1 mode(52)
AI1 mode
AI1 Min
AI1(52)
AI1
AI1 Max
AI1 scaled(52)
AI1 scaled
AI1 Min scale
AI2 mode(52)
AI2 mode
AI1 Max scale
AI2(52)
AI2
AI2 filt gain
AI2 scaled(52)
AI2 scaled
AI2 Min
AI3 mode(52)
AI3 mode
AI2 Max
AI3(52)
AI3
AI2 Min scale
AI3 scaled(52)
AI3 scaled
AI2 Max scale
Error(52)
Error
AI3 filt gain

AI3 Min

AI3 Max

AI3 Min scale

AI3 Max scale

Execution time 11.1 s

Operation The block controls the three analogue inputs (AI1AI3) of a FIO-11 Analog I/O
Extension mounted on slot 2 of the drive control unit.
The block outputs both the unscaled (AIx) and scaled (AIx scaled) actual values of each
analogue input. The scaling is based on the relationship between the ranges
AIx min AIx max and AIx min scale AIx max scale.
AIx Min must be smaller than AIx Max; AIx Max Scale can be greater or smaller than AIx
Min Scale.

AIx Min Scale < AIx Max Scale AIx scaled

32768
AIx Max Scale
AIx Min

-11 V or
-22 mA
AIx [V or mA]
11 V or
AIx Max

22 mA

AIx Min Scale

-32768

Standard function blocks

292

AIx Min Scale > AIx Max Scale AIx scaled

32768
AIx Min Scale

AIx Max
11 V or
22 mA
AIx [V or mA]

AIx Min
-11 V or
-22 mA

AIx Max Scale

-32768

The AIx filt gain inputs determine a filtering time for each input as follows:
AIx filt gain Filtering time Notes
0 No filtering
1 125 s Recommended setting
2 250 s
3 500 s
4 1 ms
5 2 ms
6 4 ms
7 7.9375 ms

The AIx mode outputs show whether the corresponding input is voltage (0) or current
(1). The voltage/current selection is made using the hardware switches on the FIO-11.

Inputs Analogue input filter gain selection (AI1 filt gain AI3 filt gain): INT
Minimum value of input signal (AI1 Min AI3 Min): REAL (> -11 V or -22 mA)
Maximum value of input signal (AI1 Max AI3 Max): REAL (< 11 V or 22 mA)
Minimum value of scaled output signal (AI1 Min scale AI3 Min scale): REAL
Maximum value of scaled output signal (AI1 Max scale AI3 Max scale): REAL

Outputs Analogue input mode (voltage or current) (AI1 mode AI3 mode): Boolean
Value of analogue input (AI1 AI3): REAL
Scaled value of analogue input (AI1 scaled AI3 scaled): REAL
Error output (Error): DINT (0 = No error; 1 = Application program memory full)

Standard function blocks

 293

FIO_11_AO_slot1
(10090)
Illustration FIO_11_AO_slot1
53
TLA1 1 msec (1)

AO Min
AO(53)
AO
AO Max
Error(53)
Error
AO Min Scale

AO Max Scale

AO scaled

Execution time 4.9 s

Operation The block controls the analogue output (AO1) of a FIO-11 Analog I/O Extension
mounted on slot 1 of the drive control unit.
The block converts the input signal (AO scaled) to a 020 mA signal (AO) that drives
the analogue output; the input range AO Min Scale AO Max Scale corresponds to
the current signal range of AO Min AO Max.
AO Min Scale must be smaller than AO Max Scale; AO Max can be greater or smaller
than AO Min.

AO Min < AO Max AO [mA]

20
AO Max

AO Min
0 AO scaled
-32768 0 32768
AO Min Scale

AO Max Scale

Standard function blocks

294

AO Min > AO Max AO [mA]

20
AO Min

AO Max
0 AO scaled
-32768 0 32768

AO Min Scale

AO Max Scale
Inputs Minimum current signal (AO Min): REAL (020 mA)
Maximum current signal (AO Max): REAL (020 mA)
Minimum input signal (AO Min Scale): REAL
Maximum input signal (AO Max Scale): REAL
Input signal (AO scaled): REAL

Outputs Analogue output current value (AO): REAL

Error output (Error): DINT (0 = No error; 1 = Application program memory full)

FIO_11_AO_slot2
(10091)
Illustration FIO_11_AO_slot2
54
TLA1 1 msec (1)

AO Min
AO(54)
AO
AO Max
Error(54)
Error
AO Min Scale

AO Max Scale

AO scaled

Execution time 4.9 s

Standard function blocks

 295

Operation The block controls the analogue output (AO1) of a FIO-11 Analog I/O Extension
mounted on slot 2 of the drive control unit.
The block converts the input signal (AO scaled) to a 020 mA signal (AO) that drives
the analogue output; the input range AO Min Scale AO Max Scale corresponds to
the current signal range of AO Min AO Max.
AO Min Scale must be smaller than AO Max Scale; AO Max can be greater or smaller
than AO Min.

AO Min < AO Max AO [mA]

20
AO Max

AO Min
0 AO scaled
-32768 0 32768

AO Min Scale

AO Max Scale
AO Min > AO Max AO [mA]

20
AO Min

AO Max
0 AO scaled
-32768 0 32768
AO Min Scale

AO Max Scale

Inputs Minimum current signal (AO Min): REAL (020 mA)

Maximum current signal (AO Max): REAL (020 mA)
Minimum input signal (AO Min Scale): REAL
Maximum input signal (AO Max Scale): REAL
Input signal (AO scaled): REAL

Outputs Analogue output current value (AO): REAL

Error output (Error): DINT (0 = No error; 1 = Application program memory full)

Standard function blocks

296

FIO_11_DIO_slot1
(10086)
Illustration FIO_11_DIO_slot1
55
TLA1 1 msec (1)

DIO1 conf
DI1(55)
DI1
DIO2 conf
DI2(55)
DI2
DO1
Error(55)
Error
DO2

DI1 filt gain

DI2 filt gain

Execution time 6.0 s

Operation The block controls the two digital inputs/outputs (DIO1, DIO2) of a FIO-11 Digital I/O
Extension mounted on slot 1 of the drive control unit.
The state of a DIOx conf input of the block determines whether the corresponding DIO
on the FIO-11 is an input or an output (0 = input, 1 = output). If the DIO is an output, the
DOx input of the block defines its state.
The DIx outputs show the state of the DIOs.
The DIx filt gain inputs determine a filtering time for each input as follows:
DIx filt gain Filtering time
0 7.5 s
1 195 s
2 780 s
3 4.680 ms

Inputs Digital input/output mode selection (DIO1 conf, DIO2 conf): Boolean
Digital output state selection (DO1, DO2): Boolean
Digital input filter gain selection (DI1 filt gain, DI2 filt gain): INT

Outputs Digital input/output state (DI1, DI2): Boolean

Error output (Error): DINT (0 = No error; 1 = Application program memory full)

Standard function blocks

 297

FIO_11_DIO_slot2
(10087)
Illustration FIO_11_DIO_slot2
56
TLA1 1 msec (1)

DIO1 conf
DI1(56)
DI1
DIO2 conf
DI2(56)
DI2
DO1
Error(56)
Error
DO2

DI1 filt gain

DI2 filt gain

Execution time 6.0 s

Operation The block controls the two digital inputs/outputs (DIO1, DIO2) of a FIO-11 Digital I/O
Extension mounted on slot 2 of the drive control unit.
The state of a DIOx conf input of the block determines whether the corresponding DIO
on the FIO-11 is an input or an output (0 = input, 1 = output). If the DIO is an output, the
DOx input of the block defines its state.
The DIx outputs show the state of the DIOs.
The DIx filt gain inputs determine a filtering time for each input as follows:
DIx filt gain Filtering time
0 7.5 s
1 195 s
2 780 s
3 4.680 ms

Inputs Digital input/output mode selection (DIO1 conf, DIO2 conf): Boolean
Digital output state selection (DO1, DO2): Boolean
Digital input filter gain selection (DI1 filt gain, DI2 filt gain): INT

Outputs Digital input/output state (DI1, DI2): Boolean

Error output (Error): DINT (0 = No error; 1 = Application program memory full)

Standard function blocks

298

Feedback & algorithms

CYCLET
(10074)
Illustration CYCLET
58
TLA1 1 msec (1)

OUT(58)
OUT

Execution time 0.00 s

Operation Output (OUT) is the time level of the CYCLET function block.

Inputs -

Outputs Output (OUT): DINT. 1 = 1 s

DATA CONTAINER
(10073)
Illustration DATA CONTAINER
(DINT) 59
TLA1 1 msec (1)

OUT(59)
OUT

Execution time 0.00 s

Operation Output (OUT) is an array of data with values 199. The array can be used by the XTAB
and YTAB tables in the block FUNG-1V (page 299). The array is defined by selecting
Define Pin Array Data on the output pin in DriveSPC. Each value in the array must be
on a separate row. Data can also be read from an *.arr file.
Example:

Inputs -

Outputs The output data type and the number of coordinate pairs are selected by the user.
Output (OUT): DINT, INT, REAL or REAL24

Standard function blocks

 299

FUNG-1V
(10072)
Illustration FUNG-1V
(DINT) 60
TLA1 1 msec (1)

BAL
Y(60)
Y
BALREF
BALREFO(60)
BALREFO
X
ERROR(60)
ERROR
XTAB

YTAB

Execution time 9.29 s

Operation The output (Y) at the value of the input (X) is calculated with linear interpolation from
a piecewise linear function.
Y = Yk + (X - Xk)(Yk+1 - Yk) / (Xk+1 - Xk)
The piecewise linear function is defined by the X and Y vector tables (XTAB and YTAB).
For each X-value in the XTAB table, there is a corresponding Y-value in the YTAB table.
The values in XTAB and YTAB must be in ascending order (i.e. from low to high).
XTAB and YTAB values are defined with the DriveSPC tool.

Y4
Y3 X table Y table
Interpolated Y (XTAB) (YTAB)
X1 Y1
Y2
X2 Y2
Y1
X3 Y3

X1 X2 X3 X4 X9 Y9
X
The balancing function (BAL) permits the output signal to track an external reference
and gives a smooth return to the normal operation. If BAL is set to 1, output Y is set to
the value of the balance reference input (BALREF). The X value which corresponds to
this Y value is calculated with linear interpolation and it is indicated by the balance
reference output (BALREFO).
If the X input is outside the range defined by the XTAB table, the output Y is set to the
highest or lowest value in the YTAB table.
If BALREF is outside the range defined by the YTAB table when balancing is activated
(BAL: 0 -> 1), the output Y is set to the value of the BALREF input and the BALREFO
output is set to the highest or lowest value in the XTAB table.
The ERROR output is set to 1 when the number of the XTAB and YTAB inputs are
different. When ERROR is 1, the FUNG-1V block will not function. XTAB and YTAB
tables can be defined in the DATA CONTAINER block (page 298) or the REG-G block
(page 305).

Inputs The input data type is selected by the user.

Balance input (BAL): Boolean
Balance reference input (BALREF): DINT, INT, REAL, REAL24.
X value input (X): DINT, INT, REAL, REAL24
X table input (XTAB): DINT, INT, REAL, REAL24
Y table input (YTAB): DINT, INT, REAL, REAL24

Standard function blocks

300

Outputs Y value output (Y): DINT, INT, REAL, REAL24

Balance reference output (BALREFO): DINT, INT, REAL, REAL24
Error output (ERROR): Boolean

INT
(10065)
Illustration INT
61
TLA1 1 msec (1)

I
O(61)
O
K
O=HL(61)
O=HL
TI
O=LL(61)
O=LL
RINT

BAL

BALREF

OHL

OLL

Execution time 4.73 s

Operation The output (O) is the integrated value of the input (I):
O(t) = K/TI ( I(t) dt)
Where TI is the integration time constant and K is the integration gain.
The step response for the integration is:
O(t) = K I(t) t/TI
The transfer function for the integration is:
G(s) = K 1/sTI
The output value is limited according to the defined minimum and maximum limits (OLL
and OHL). If the value is below the minimum value, output O = LL is set to 1. If the value
exceeds the maximum value, output O = HL is set to 1. The output (O) retains its value
when the input signal I(t) = 0.
The integration time constant is limited to value 2147483 ms. If the time constant is
negative, zero time constant is used.
If the ratio between the cycle time and the integration time constant Ts/TI < 1, Ts/TI is
set to 1.
The integrator is cleared when the reset input (RINT) is set to 1.
If BAL is set to 1, output O is set to the value of the input BALREF. When BAL is set
back to 0, normal integration operation continues.

Inputs Input (I): REAL

Gain input (K): REAL
Integration time constant input (TI): DINT, 02147483 ms
Integrator reset input (RINT): Boolean
Balance input (BAL): Boolean
Balance reference input (BALREF): REAL
Output high limit input (OHL): REAL
Output low limit input (OLL): REAL

Standard function blocks

 301

Outputs Output (O): REAL

High limit output (O=HL): Boolean
Low limit output (O=LL): Boolean

MOTPOT
(10067)
Illustration MOTPOT
62
TLA1 1 msec (1)

ENABLE
OUTPUT(62)
OUTPUT
UP

DOWN

RAMPTIME

MAXVAL

MINVAL

RESETVAL

RESET

Execution time 2.92 s

Operation The motor potentiometer function controls the rate of change of the output from the
minimum to the maximum value and vice versa.
The function is enabled by setting the ENABLE input to 1. If the up input (UP) is 1, the
output reference (OUTPUT) is increased to the maximum value (MAXVAL) with the
defined ramp time (RAMPTIME). If the down input (DOWN) is 1, the output value is
decreased to the minimum value (MINVAL) with the defined ramp time. If the up and
down inputs are activated/deactivated simultaneously, the output value is not increased/
decreased.
If the RESET input is 1, the output will be reset to the value defined by the reset value
input (RESETVAL) or to the value defined by the minimum input (MINVAL), whichever is
higher.
If the ENABLE input is 0, the output is zero.
Digital inputs are normally used as up and down inputs.

Inputs Function enable input (ENABLE): Boolean

Up input (UP): Boolean
Down input (DOWN): Boolean
Ramp time input (RAMPTIME): REAL (seconds) (i.e. the time required for the output to
change from the minimum to the maximum value or from the maximum to the minimum
value)
Maximum reference input (MAXVAL): REAL
Minimum reference input (MINVAL): REAL
Reset value input (RESETVAL): REAL
Reset input (RESET): Boolean

Outputs Output (OUTPUT) REAL

Standard function blocks

302

PID
(10075)
Illustration PID
63
TLA1 1 msec (1)

IN_act
Out(63)
Out
IN_ref
Dev(63)
Dev
P
O=HL(63)
O=HL
tI
O=LL(63)
O=LL
tD
ERROR(63)
ERROR
tC

I_reset

BAL

BAL_ref

OHL

OLL

Execution time 15.75 s

Standard function blocks

 303

Operation The PID controller can be used for closed-loop control systems. The controller includes
anti-windup correction and output limitation.
The PID controller output (Out) before limitation is the sum of the proportional (UP),
integral (UI) and derivative (UD) terms:
Outunlimited (t) = UP(t) + UI(t) + UD(t)
UP(t) = P Dev(t)
UI(t) = P/tI [ Dev()d + tC (Out(t) - Outunlimited(t))]
UD(t) = P tD d(Dev(t))/dt
Integrator:
The integral term can be cleared by setting I_reset to 1. Note that the anti-windup
correction is simultaneously disabled. When I_reset is 1, the controller acts as a PD
controller.
If integration time constant tI is 0, the integral term will not be updated.
Smooth return to normal operation is guaranteed after errors or abrupt input value
changes. This is achieved by adjusting the integral term so that the output will retain its
previous value during these situations.
Limitation:
The output is limited by the defined minimum and maximum values, OLL and OHL:
If the actual value of the output reaches the specified minimum limit, output O=LL is set
to 1.
If the actual value of the output reaches the specified maximum limit, output O=HL is set
to 1.
Smooth return to normal operation after limitation is requested if and only if the
anti-windup correction is not used, i.e. when tI = 0 or tC = 0.
Error codes:
Error codes are indicated by the error output (ERROR) as follows
Error code Description
1 The minimum limit (OLL) exceeds the maximum limit (OHL).
2 Overflow with Up, Ui, or Ud calculation

Balancing:
The balancing function (BAL) permits the output signal to track an external reference
and gives a smooth return to the normal operation. If BAL is set to 1, the output (Out) is
set to the value of the balance reference input (BAL_ref). Balance reference is limited by
the defined minimum and maximum limits (OLL and OHL).
Anti-windup:
Anti-windup correction time constant is defined by input tC, which defines the time after
which the difference between the unlimited and limited outputs is subtracted from the I-
term during limitation. If tC = 0 or tI = 0, anti-windup correction is disabled.

Standard function blocks

304

Inputs Actual input (IN_act): REAL

Reference input (IN_ref): REAL
Proportional gain input (P): REAL
Integration time constant input (tI): REAL. 1 = 1 ms
Derivation time constant input (tD): REAL. 1 = 1 ms
Antiwind-up correction time constant input (tC): IQ6. 1 = 1 ms
Integrator reset input (I_reset): Boolean
Balance input (BAL): Boolean
Balance reference input (BAL_ref): REAL
Output high limit input (OHL): REAL
Output low limit input (OLL): REAL

Outputs Output (Out): REAL

Deviation output (Dev): REAL (= actual -reference = IN_act - IN_ref)
High limit output (O=HL): Boolean
Low limit output (O=LL): Boolean
Error code output (ERROR): INT32

RAMP
(10066)
Illustration RAMP
64
TLA1 1 msec (1)

IN
O(64)
O
STEP+
O=HL(64)
O=HL
STEP-
O=LL(64)
O=LL
SLOPE+

SLOPE-

BAL

BALREF

OHL

OLL

Execution time 4.23 s

Operation Limits the rate of the change of the signal.

The input signal (IN) is connected directly to the output (O) if the input signal does not
exceed the defined step change limits (STEP+ and STEP-). If the input signal change
exceeds these limits, the output signal change is limited by the maximum step change
(STEP+/STEP- depending on the direction of rotation). After this, the output signal is
accelerated/decelerated by the defined ramp value (SLOPE+/SLOPE-) per second until
the input and output signal values are equal.
The output is limited by the defined minimum and maximum values (OLL and OHL). If
the actual value of the output falls below the specified minimum limit (OLL), output O=LL
is set to 1. If the actual value of the output exceeds the specified maximum limit (OHL),
output O=HL is set to 1.
If the balancing input (BAL) is set to 1, the output (O) is set to the value of the balance
reference input (BAL_ref). Balancing reference is also limited by the minimum and
maximum values (OLL and OHL).

Standard function blocks

 305

Inputs Input (IN): REAL

Maximum positive step change input (STEP+): REAL
Maximum negative step change input (STEP-): REAL
Ramp-up value per second input (SLOPE+): REAL
Ramp-down value per second input (SLOPE-): REAL
Balance input (BAL): Boolean
Balance reference input (BALREF): REAL
Output high limit input (OHL): REAL
Output low limit input (OLL): REAL

Outputs Output (O): REAL

High limit output (O=HL): Boolean
Low limit output (O=LL): Boolean

REG-G
(10102)
Illustration REG-G
(BOOL) 65
TLA1 1 msec (1)

S
ERR(65)
ERR
L
O(65)
O
WR

AWR

EXP

I1

I2

Execution time -

Standard function blocks

306

Operation Combines the array (group of variables) (if any) on the EXP input with the values of the
I1I32 pins to produce an output array. The data type of the arrays can be INT, DINT,
REAL16, REAL24 or Boolean. The output array consists of the data from the EXP input
and the values of the I1In (in this order).
When input S is 1, data is continuously assembled into the output array. The element
acts as a latch when input S is 0; the latest data assembled then remains at the output.
If S is 0 and L changes state from 0 to 1, the array from the EXP input and the values of
the I1In inputs are copied to output O during this program cycle. If S or R is 1, L has
no effect.
WR and AWR are used to change individual cells of the output array. AWR indicates the
input whose value is moved to the output array. If AWR is 0, only the array from input
EXP is moved to the output. If AWR is not 0, the corresponding I input is moved to the
output. This is performed when WR goes from 0 to 1.
When input R is 1, the output array is cleared and all further data entry is prevented. R
overrides both S and L. If WR is 1, the address at AWR is checked and if it is illegal
(negative or greater than the number of inputs), the error output (ERR) is set to 2.
Otherwise ERR is 0.
Whenever an error is detected, ERR is set within one cycle. No place in the register is
affected when an error occurs.
Example:

In the diagram, the DATA CONTAINER block includes an array with values [1,2,3,4]. At
start, the output array is [0,0,0,0,0,0,0,0]. When WR changes to 1 and returns to 0, the
AWR value of 0 means that only EXP is moved into the output array, which now reads
[1,2,3,4,0,0,0,0]. After this, AWR is changed to 3, meaning that inputs EXP and I3 are
moved to the output. After a WR switch, the output array is [1,2,3,4,0,0,7,0].

Inputs Set (S): Boolean, INT, DINT, REAL, REAL24

Load (L): Boolean, INT, DINT, REAL, REAL24
Write (WR): Boolean, INT, DINT, REAL, REAL24
Write address (AWR): INT
Reset (R): Boolean
Expander (EXP): IArray
Data input (I1I32): Boolean, INT, DINT, REAL, REAL24

Outputs Error (ERR): INT

Array data output (O): OC1

Standard function blocks

 307

SOLUTION_FAULT
(10097)
Illustration SOLUTION_FAULT
66
TLA1 1 msec (1)

Flt code ext

Enable

Execution time -

Operation When the block is enabled (by setting the Enable input to 1), a fault (F-0317 SOLUTION
FAULT) is generated by the drive. The value of the Flt code ext input is recorded by the
fault logger.

Inputs Fault code extension (Flt code ext): DINT

Generate fault (Enable): Boolean

Outputs -

Standard function blocks

308

Filters

FILT1
(10069)
Illustration FILT1
67
TLA1 1 msec (1)

I
O(67)
O
T1

Execution time 7.59 s

Operation The output (O) is the filtered value of the input (I) value and the previous output value
(Oprev). The FILT1 block acts as 1st order low pass filter.
Note: Filter time constant (T1) must be selected so that T1/Ts < 32767. If the ratio
exceeds 32767, it is considered as 32767. Ts is the cycle time of the program in ms.
If T1 < Ts, the output value is the input value.
The step response for a single pole low pass filter is:
O (t) = I(t) (1 - e-t/T1)
The transfer function for a single pole low pass filter is:
G(s) = 1/ (1 + sT1)

Inputs Input (I): REAL

Filter time constant input (T1): DINT, 1 = 1 ms

Outputs Output (O): REAL

Standard function blocks

 309

Parameters

GetBitPtr
(10099)
Illustration GetBitPtr
70
TLA1 1 msec (1)

Bit ptr
Out(70)
Out

Execution time -

Operation Reads the status of one bit within a parameter value cyclically.
The Bit ptr input specifies the parameter group, index and bit to be read.
The output (Out) provides the value of the bit.

Inputs Parameter group, index and bit (Bit ptr): DINT

Outputs Bit status (Out): DINT

GetValPtr
(10098)
Illustration GetValPtr
(DINT) 71
TLA1 1 msec (1)

Par ptr
Out(71)
Out

Execution time -

Operation Reads the value of a parameter cyclically.

The Par ptr input specifies the parameter group and index to be read.
The output (Out) provides the value of the parameter.

Inputs Parameter group and index (Par ptr): DINT

Outputs Parameter value (Out): DINT

PARRD
(10082)
Illustration PARRD
72
TLA1 1 msec (1)

Group
Output(72)
Output
Index
Error(72)
Error

Execution time 6.00 s

Standard function blocks

310

Operation Reads the scaled value of a parameter (specified by the Group and Index inputs). If the
parameter is a pointer parameter, the Output pin provides the number of the source
parameter instead of its value.
Error codes are indicated by the error output (Error) as follows:
Error code Description
0 No error
<> 0 Error

See also blocks PARRDINTR and PARRDPTR.

Inputs Parameter group input (Group): DINT

Parameter index input (Index): DINT

Outputs Output (Output): DINT

Error output (Error): DINT

PARRDINTR
(10101)
Illustration PARRDINTR
(BOOL) 73
TLA1 1 msec (1)

Group
Output(73)
Output
Index
Error(73)
Error

Execution time -

Operation Reads the internal (non-scaled) value of a parameter (specified by the Group and Index
inputs). The value is provided by the Output pin.
Error codes are indicated by the error output (Error) as follows:
Error code Description
0 No error or busy
<> 0 Error

Note: Using this block may cause incompatibility issues when upgrading the application
to another firmware version.

Inputs Parameter group (Group): DINT

Parameter index (Index): DINT

Outputs Output (Output): Boolean, INT, DINT, REAL, REAL24

Error output (Error): DINT

PARRDPTR
(10100)
Illustration PARRDPTR
(BOOL) 74
TLA1 1 msec (1)

Group
Output(74)
Output
Index
Error(74)
Error

Execution time -

Standard function blocks

 311

Operation Reads the internal (non-scaled) value of the source of a pointer parameter. The pointer
parameter is specified using the Group and Index inputs.
The value of the source selected by the pointer parameter is provided by the Output pin.
Error codes are indicated by the error output (Error) as follows:
Error code Description
0 No error or busy
<> 0 Error

Inputs Parameter group (Group): DINT

Parameter index (Index): DINT

Outputs Output (Output): Boolean, INT, DINT, REAL, REAL24

Error output (Error): DINT

PARWR
(10080)
Illustration PARWR
75
TLA1 1 msec (1)

IN
Error(75)
Error
Group

Index

Store

Execution time 14.50 s

Operation The input value (IN) is written to the defined parameter (Group and Index).
The new parameter value is stored to the flash memory if the store input (Store) is 1.
Note: Cyclic parameter value storing can damage the memory unit. Parameter values
should be stored only when necessary.
Error codes are indicated by the error output (Error) as follows:

Error code Description

0 No error
<> 0 Error

Inputs Input (IN): DINT

Parameter group input (Group): DINT
Parameter index input (Index): DINT
Store input (Store): Boolean

Outputs Error output (Error): DINT

Standard function blocks

312

Program structure

BOP
(10105)
Illustration BOP
(BOOL) 46
TLA2 10 msec (1)

B_Output1
Output(46)
Output
B_Output2

Execution time -

Operation The BOP (Bundle OutPut) block collects the outputs of several different sources. The
sources are connected to the B_Output pins. The B_Output pin that changed last is
relayed to the Output pin.
The block is intended for use with conditional IF-ENDIF structures. See the example
under the IF block.

Inputs Values from different conditional branches (B_Output1B_OutputN): INT, DINT,

Boolean, REAL, REAL24

Outputs Output from currently active branch of a IF-ELSEIF structure or latest updated input
value (Output): INT, DINT, Boolean, REAL, REAL24

ELSE
Illustration

Execution time -

Operation See description of IF block.

Inputs -

Outputs -

ELSEIF
Illustration

Execution time -

Operation See description of IF block.

Inputs Input (COND): Boolean

Outputs -

Standard function blocks

 313

ENDIF
Illustration

Execution time -

Operation See description of IF block.

Inputs -

Outputs -

IF
(10103)
Illustration

Execution time -

Standard function blocks

314

Operation The IF, ELSE, ELSEIF and ENDIF blocks define, by Boolean logic, which parts of the
application program are executed.
If the condition input (COND) is true, the blocks between the IF block and the next
ELSEIF, ELSE or ENDIF block (in execution order) are run. If the condition input
(COND) is false, the blocks between the IF block and the next ELSEIF, ELSE or ENDIF
block are skipped.
The outputs of the branches are collected and selected by using the BOP block.
Example:
Bit 4 of 2.01 DI STATUS (digital input DI5) controls the branching of the application
program. If the input is 0, the blocks between the IF and ELSE blocks are skipped but
the blocks between ELSE and ENDIF are run. If the input is 1, the blocks between IF
and ELSE are run. The program execution then jumps to the block that follows ENDIF,
which is a BOP. The BOP block outputs the value from the branch that was executed. If
the digital input is 0, the BOP block output is 2; if the digital input is 1, the BOP block
output is 1.

Inputs Input (COND): Boolean

Outputs -

Standard function blocks

 315

Selection

LIMIT
(10052)
Illustration LIMIT
(DINT) 76
TLA1 1 msec (1)

MN
OUT(76)
OUT
IN

MX

Execution time 0.53 s

Operation The output (OUT) is the limited input (IN) value. Input is limited according to the
minimum (MN) and maximum (MX) values.

Inputs The input data type is selected by the user.

Minimum input limit (MN): INT, DINT, REAL, REAL24
Input (IN): INT, DINT, REAL, REAL24
Maximum input limit (MX): INT, DINT, REAL, REAL24

Outputs Output (OUT): INT, DINT, REAL, REAL24

MAX
(10053)
Illustration MAX
(DINT) 77
TLA1 1 msec (1)

IN1
OUT(77)
OUT
IN2

Execution time 0.81 s (when two inputs are used) + 0.53 s (for every additional input). When all
inputs are used, the execution time is 16.73 s.

Operation The output (OUT) is the highest input value (IN).

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): INT, DINT, REAL, REAL24

MIN
(10054)
Illustration MIN
(DINT) 78
TLA1 1 msec (1)

IN1
OUT(78)
OUT
IN2

Execution time 0.81 s (when two inputs are used) + 0.52 s (for every additional input). When all
inputs are used, the execution time is 16.50 s.

Standard function blocks

316

Operation The output (OUT) is the lowest input value (IN).

Inputs The input data type and the number of inputs (232) are selected by the user.
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): INT, DINT, REAL, REAL24

MUX
(10055)
Illustration MUX
(DINT) 79
TLA1 1 msec (1)

K
OUT(79)
OUT
IN1

IN2

Execution time 0.70 s

Operation The value of an input (IN) selected by the address input (K) is stored to the output
(OUT).
If the address input is 0, negative or exceeds the number of the inputs, the output is 0.

Inputs The input data type and number of inputs (232) are selected by the user.
Address input (K): DINT
Input (IN1IN32): INT, DINT, REAL, REAL24

Outputs Output (OUT): INT, DINT, REAL, REAL24

SEL
(10056)
Illustration SEL
(BOOL) 80
TLA1 1 msec (1)

G
OUT(80)
OUT
IN A

IN B

Execution time 1.53 s

Operation The output (OUT) is the value of the input (IN) selected by the selection input (G).
If G = 0: OUT = IN A.
If G = 1: OUT = IN B.

Inputs The input data type is selected by the user.

Selection input (G): Boolean
Input (IN A, IN B): Boolean, INT, DINT, REAL, REAL24

Outputs Output (OUT): Boolean, INT, DINT, REAL, REAL24

Standard function blocks

 317

Switch & Demux

DEMUX-I
(10061)
Illustration DEMUX-I
(BOOL) 81
TLA1 1 msec (1)

A
OA1(81)
OA1
I
OA2(81)
OA2

Execution time 1.38 s (when two outputs are used) + 0.30 s (for every additional output). When all
outputs are used, the execution time is 10.38 s.

Operation Input (I) value is stored to the output (OA1OA32) selected by the address input (A).
All other outputs are 0.
If the address input is 0, negative or exceeds the number of the outputs, all outputs are
0.

Inputs The input data type is selected by the user.

Address input (A): DINT
Input (I): INT, DINT, Boolean, REAL, REAL24

Outputs The number of the output channels (132) is selected by the user.
Output (OA1OA32): INT, DINT, REAL, REAL24, Boolean

DEMUX-MI
(10062)
Illustration DEMUX-MI
(BOOL) 82
TLA1 1 msec (1)

A
OA1(82)
OA1
R
OA2(82)
OA2
L

Execution time 0.99 s (when two outputs are used) + 0.25 s (for every additional output). When all
outputs are used, the execution time is 8.4 s.

Standard function blocks

318

Operation The input (I) value is stored to the output (OA1OA32) selected by the address input
(A) if the load input (L) or the set input (S) is 1. When the load input is set to 1, the input
(I) value is stored to the output only once. When the set input is set to 1, the input (I)
value is stored to the output every time the block is executed. The set input overrides
the load input.
If the reset input (R) is 1, all connected outputs are 0.
If the address input is 0, negative or exceeds the number of the outputs, all outputs
are 0.
Example:
S L R A I OA1 OA2 OA3 OA4
1 0 0 2 150 0 150 0 0
0 0 0 2 120 0 150 0 0
0 1 0 3 100 0 150 100 0
1 0 0 1 200 200 150 100 0
1 1 0 4 250 200 150 100 250
1 1 1 2 300 0 0 0 0

Inputs The input data type is selected by the user.

Address input (A): DINT
Reset input (R): Boolean
Load input (L): Boolean
Set input (S): Boolean
Input (I): DINT, INT, REAL, REAL24, Boolean

Outputs The number of the output channels (132) is selected by the user.
Output (OA1OA32): DINT, INT, REAL, REAL24, Boolean

SWITCH
(10063)
Illustration SWITCH
(BOOL) 83
TLA1 1 msec (1)

ACT
OUT1(83)
OUT1
IN1
OUT2(83)
OUT2
IN2

Execution time 0.68 s (when two inputs are used) + 0.50 s (for every additional input). When all
inputs are used, the execution time is 15.80 s.

Operation The output (OUT) is equal to the corresponding input (IN) if the activate input (ACT) is 1.
Otherwise the output is 0.

Inputs The input data type and the number of inputs (132) are selected by the user.
Activate input (ACT): Boolean
Input (IN1IN32): INT, DINT, REAL, REAL24, Boolean

Outputs Output (OUT1OUT32): INT, DINT, REAL, REAL24, Boolean

Standard function blocks

 319

SWITCHC
(10064)
Illustration SWITCHC
(BOOL) 84
TLA1 1 msec (1)

ACT
OUT1(84)
OUT1
CH A1
OUT2(84)
OUT2
CH A2

CH B1

CH B2

Execution time 1.53 s (when two inputs are used) + 0.73 s (for every additional input). When all
inputs are used, the execution time is 23.31 s.

Operation The output (OUT) is equal to the corresponding channel A input (CH A132) if the
activate input (ACT) is 0. The output is equal to the corresponding channel B input (CH
B132) if the activate input (ACT) is 1.

Inputs The input data type and the number of inputs (132) are selected by the user.
Activate input (ACT): Boolean
Input (CH A1CH A32, CH B1CH B32): INT, DINT, REAL, REAL24, Boolean

Outputs Output (OUT1OUT32): INT, DINT, REAL, REAL24, Boolean

Standard function blocks

320

Timers

MONO
(10057)
Illustration MONO
85
TLA1 1 msec (1)

RTG
O(85)
O
TP
TE(85)
TE
I

Execution time 1.46 s

Operation The output (O) is set to 1 and the timer is started, if the input (I) is set to 1. The output is
reset to 0 when the time defined by the time pulse input (TP) has elapsed. Elapsed time
(TE) count starts when the output is set to 1 and stops when the output is set to 0.
If RTG is 0, a new input pulse during the time defined by TP has no effect on the
function. The function can be restarted only after the time defined by TP has elapsed.
If RTG is 1, a new input pulse during the time defined by TP restarts the timer and sets
the elapsed time (TE) to 0.
Example 1: MONO is not re-triggable, i.e. RTG = 0.
RTG = 0, TP = 4 s

O
4s 4s
t/s
0 1 2 3 4 5 6 7 8 9 10
TE = 0 s TE = 0 s TE = 4 s
TE = 0 s TE = 4 s
Example 2: MONO is re-triggable, i.e. RTG = 1.
RTG = 1, TP = 2 s

O
2s
t/s
0 1 2 3 4 5 6 7 8 9 10

* * * *
TE = 0 s * TE is set to 0. TE = 2 s

Inputs Re-trigger input (RTG): Boolean

Time pulse input (TP): DINT (1 = s)
Input (I): Boolean

Outputs Output (O): Boolean

Time elapsed output (TE): DINT (1 = 1 s)

Standard function blocks

 321

TOF
(10058)
Illustration TOF
86
TLA1 1 msec (1)

IN
ET(86)
ET
PT
Q(86)
Q

Execution time 1.10 s

Operation The output (Q) is set to 1, when the input (IN) is set to 1. The output is reset to zero
when the input has been 0 for a time defined by the pulse time input (PT).
Elapsed time count (ET) starts when the input is set to 0 and stops when the input is set
to 1.
Example:

IN

ET ET ET
Q

PT PT

Inputs Input (IN): Boolean

Pulse time input (PT): DINT (1 = 1 s)

Outputs Elapsed time output (ET): DINT (1 = 1 s)

Output (Q): Boolean

TON
(10059)
Illustration TON
87
TLA1 1 msec (1)

IN
ET(87)
ET
PT
Q(87)
Q

Execution time 1.22 s

Standard function blocks

322

Operation The output (Q) is set to 1 when the input (IN) has been 1 for a time defined by the pulse
time input (PT). The output is set to 0, when the input is set to 0.
Elapsed time count (ET) starts when the input is set to 1 and stops when the input is set
to 0.
Example:

IN

ET ET ET

Q
PT PT

Inputs Input (IN): Boolean

Pulse time input (PT): DINT (1 = 1 s)

Outputs Elapsed time output (ET): DINT (1 = 1 s)

Output (Q): Boolean

TP
(10060)
Illustration TP
88
TLA1 1 msec (1)

PT
Q(88)
Q
>IN
ET(88)
ET

Execution time 1.46 s

Operation The output (Q) is set to 1 when the input (IN) is set to 1. The output is set to 0, when it
has been 1 for a time defined by the pulse time input (PT).
Elapsed time count (ET) starts when the input is set to 1 and stops when the input is set
to 0.

IN

PT
ET

PT PT

Inputs Pulse time input (PT): DINT (1 = 1 s)

Input (IN): Boolean

Outputs Output (Q): Boolean

Elapsed time output (ET): DINT (1 = 1 s)

Standard function blocks

 323

Application program template

What this chapter contains

This chapter presents the application program template as displayed by the
DriveSPC tool after empty template upload (Drive - Upload Template from Drive).

Application program template

 324

Application program template

ACTUAL VALUES 8
MISC_6 2 msec (1)

1.02 -100000
1.03 FREQUENCY
1.04 CURRENT
1.05 CURRENT PERC
1.06 TORQUE
1.07 DC-VOLTAGE
1.14 SPEED ESTIMATED
1.15 TEMP INVERTER
1.16 TEMP BC
1.20 BRAKE RES LOAD
1.22 INVERTER POWER
1.26 ON TIME COUNTER
1.27 RUN TIME COUNTER
1.28 FAN ON-TIME
1.31 MECH TIME CONST
1.38 TEMP INT BOARD

POS FEEDBACK 36
POSCTR 500 sec (1)

1.12 POS ACT

1.13 POS 2ND ENC

Page 1 Signals Based on Prepared Title Doc. des.

FWA compatibility level = 1.51 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date
 DI DIO1
16 18
TLF7 2 msec (1) TLF7 2 msec (3)

2.03
2.01 DI STATUS 2.03 DIO STATUS Bit 0

(Drive value) (Drive value)

12.13 DI INVERT MASK 12.01 DIO1 CONF
(Drive value)
< 12.04 DIO1 OUT PTR

DIO2
19
TLF7 2 msec (4)

2.03
2.03 DIO STATUS Bit 1
2.10 DIO2 FREQ IN

(Drive value)
12.02 DIO2 CONF
(Drive value)
< 12.05 DIO2 OUT PTR
(Drive value)
12.14 DIO2 F MAX
(Drive value)
12.15 DIO2 F MIN
(Drive value)
12.16 DIO2 F MAX SCALE
(Drive value)
12.17 DIO2 F MIN SCALE

DIO3
20
TLF7 2 msec (5)

2.03
2.03 DIO STATUS Bit 2
2.11 DIO3 FREQ OUT

(Drive value)
12.03 DIO3 CONF
(Drive value)
< 12.06 DIO3 OUT PTR
[ SPEED ACT ]
(7 / 1.01)
< 12.07 DIO3 F OUT PTR
(Drive value)
12.08 DIO3 F MAX
(Drive value)
12.09 DIO3 F MIN
(Drive value)
12.10 DIO3 F MAX SCALE
(Drive value)
12.11 DIO3 F MIN SCALE

RO
17
TLF7 2 msec (2)

2.02 RO STATUS

(Drive value)
< 12.12 RO1 OUT PTR

Page 2 Digital I/O Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
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Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date

Application program template

325
 326
AI1 AO1
23 25
TLF7 2 msec (6) TLF7 2 msec (8)

2.04 AI1 2.08 AO1

2.05 AI1 SCALED [ CURRENT PERC ]
(1 / 1.05)
< 15.01 AO1 PTR
(Drive value) (Drive value)
13.01 AI1 FILT TIME 15.02 AO1 FILT TIME
(Drive value) (Drive value)
13.02 AI1 MAX 15.03 AO1 MAX
(Drive value) (Drive value)
13.03 AI1 MIN 15.04 AO1 MIN
(Drive value) (Drive value)
13.04 AI1 MAX SCALE 15.05 AO1 MAX SCALE
(Drive value) (Drive value)
13.05 AI1 MIN SCALE 15.06 AO1 MIN SCALE

Application program template

AO2
26
TLF7 2 msec (9)

AI2
24 2.09 AO2
TLF7 2 msec (7)
[ SPEED ACT PERC ]
(1 / 1.02)
< 15.07 AO2 PTR
2.06 AI2 (Drive value)
15.08 AO2 FILT TIME
2.07 AI2 SCALED (Drive value)
15.09 AO2 MAX
(Drive value) (Drive value)
13.06 AI2 FILT TIME 15.10 AO2 MIN
(Drive value) (Drive value)
13.07 AI2 MAX 15.11 AO2 MAX SCALE
(Drive value) (Drive value)
13.08 AI2 MIN 15.12 AO2 MIN SCALE
(Drive value)
13.09 AI2 MAX SCALE
(Drive value)
13.10 AI2 MIN SCALE

Page 3 Analog I/O Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date
 FIELDBUS DRIVE LOGIC D2D COMMUNICATION
36 21 44
TLF9 500 sec (1) TLF10 2 msec (3) TLF9 500 sec (2)

2.12 FBA MAIN CW 2.18 D2D FOLLOWER CW 2.17 D2D MAIN CW

2.13 FBA MAIN SW 6.01 STATUS WORD 1 2.19 D2D REF1
2.14 FBA MAIN REF1 6.02 STATUS WORD 2 2.20 D2D REF2
2.15 FBA MAIN REF2 6.03 SPEED CTRL STAT (Drive value)
57.01 LINK MODE
(Drive value) 6.05 LIMIT WORD 1 (Drive value)
50.01 FBA ENABLE 57.02 COMM LOSS FUNC
(Drive value) 6.07 TORQ LIM STATUS (Drive value)
50.02 COMM LOSS FUNC 57.03 NODE ADDRESS
(Drive value) 6.09 POS CTRL STATUS (Drive value)
50.03 COMM LOSS T OUT 57.04 FOLLOWER MASK 1
(Drive value) 6.10 POS CTRL STATUS2 (Drive value)
50.04 FBA REF1 MODESEL 57.05 FOLLOWER MASK 2
(Drive value) 6.11 POS CORR STATUS [ SPEEDREF RAMPED ]
50.05 FBA REF2 MODESEL (6 / 3.04)
< 57.06 REF 1 SRC
[ SPEED ACT ] (Drive value) [ TORQ REF TO TC ]
(7 / 1.01)
< 50.06 FBA ACT1 TR SRC 10.01 EXT1 START FUNC (8 / 3.13)
< 57.07 REF 2 SRC
[ TORQUE ] (Drive value) [ D2D FOLLOWER CW ]
(1 / 1.06)
< 50.07 FBA ACT2 TR SRC < 10.02 EXT1 START IN1 (4 / 2.18)
< 57.08 FOLLOWER CW SRC
(Drive value) (Drive value) (Drive value)
< 50.08 FBA SW B12 SRC < 10.03 EXT1 START IN2 57.09 KERNEL SYNC MODE
(Drive value) (Drive value) (Drive value)
< 50.09 FBA SW B13 SRC 10.04 EXT2 START FUNC 57.10 KERNEL SYNC OFFS
(Drive value) (Drive value) (Drive value)
< 50.10 FBA SW B14 SRC < 10.05 EXT2 START IN1 57.11 REF 1 MSG TYPE
(Drive value) (Drive value) (Drive value)
< 50.11 FBA SW B15 SRC < 10.06 EXT2 START IN2 57.12 REF1 MC GROUP
(Drive value) (Drive value) (Drive value)
50.12 FBA CYCLE TIME < 10.07 JOG1 START 57.13 NEXT REF1 MC GRP
(Drive value) (Drive value) (Drive value)
50.20 FB MAIN SW FUNC < 10.08 FAULT RESET SEL 57.14 NR REF1 MC GRPS
(Drive value)
< 10.09 RUN ENABLE
(Drive value)
< 10.10 EM STOP OFF3
(Drive value)
START/STOP MODE < 10.11 EM STOP OFF1
22
(Drive value)
TLF10 2 msec (4) 10.12 START INHIBIT
(Drive value) [ FBA MAIN CW ]
11.01 START MODE (4 / 2.12)
< 10.13 FB CW USED
(Drive value) (Drive value)
11.02 DC MAGN TIME < 10.14 JOG2 START
(Drive value) (Drive value)
11.03 STOP MODE < 10.15 JOG ENABLE
(Drive value) [ D2D MAIN CW ]
11.04 DC HOLD SPEED (4 / 2.17)
< 10.16 D2D CW USED
(Drive value) (Drive value)
11.05 DC HOLD CUR REF < 10.17 START ENABLE
(Drive value)
< 11.06 DC HOLD
(Drive value)
11.07 AUTOPHASING MODE

MECH BRAKE CTRL

30
TLF10 2 msec (2)

3.14 BRAKE TORQ MEM

3.15 BRAKE COMMAND

(Drive value)
35.01 BRAKE CONTROL
(Drive value)
< 35.02 BRAKE ACKNOWL
(Drive value)
35.03 BRAKE OPEN DELAY
(Drive value)
35.04 BRAKE CLOSE DLY
(Drive value)
35.05 BRAKE CLOSE SPD
(Drive value)
35.06 BRAKE OPEN TORQ
(Drive value)
< 35.07 BRAKE CLOSE REQ
(Drive value)
< 35.08 BRAKE OPEN HOLD
(Drive value)
35.09 BRAKE FAULT FUNC

Page 4 Drive Logic Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date

Application program template

327
 328

BRAKE CHOPPER
35
TLF10 2 msec (11)
(Drive value)
48.01 BC ENABLE

Application program template

(Drive value)
< 48.02 BC RUN-TIME ENA
(Drive value)
48.03 BRTHERMTIMECONST
(Drive value)
48.04 BR POWER MAX CNT
(Drive value)
48.05 R BR
(Drive value)
48.06 BR TEMP FAULTLIM
(Drive value)
48.07 BR TEMP ALARMLIM

VOLTAGE CTRL
34
TLF11 10 msec (1)

1.19 USED SUPPLY VOLT

(Drive value)
47.01 OVERVOLTAGE CTRL
(Drive value)
47.02 UNDERVOLT CTRL
(Drive value)
47.03 SUPPLVOLTAUTO-ID
(Drive value)
47.04 SUPPLY VOLTAGE
(Drive value)
< 47.05 LOW VOLT MOD ENA
(Drive value)
47.06 LOW VOLT DC MIN
(Drive value)
47.07 LOW VOLT DC MAX
(Drive value)
< 47.08 EXT PU SUPPLY

Page 5 Drive Control Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date
 SPEED REF SEL
3
TLF2 500 sec (1)

3.01 SPEED REF1

3.02 SPEED REF2

(Drive value)
24.01 SPEED REF1 SEL
(Drive value)
24.02 SPEED REF2 SEL

SPEED REF MOD

4
TLF2 500 sec (2)

3.03 SPEEDREF RAMP IN

[ SPEED REF1 ]
(6 / 3.01)
< 24.03 SPEED REF1 IN
[ SPEED REF2 ]
(6 / 3.02)
< 24.04 SPEED REF2 IN
(Drive value)
< 24.05 SPEED REF 1/2SEL
(Drive value)
24.06 SPEED SHARE
(Drive value)
< 24.07 SPEEDREF NEG ENA
(Drive value)
24.08 CONST SPEED
(Drive value)
< 24.09 CONST SPEED ENA
(Drive value)
24.10 SPEED REF JOG1
(Drive value)
24.11 SPEED REF JOG2
(Drive value)
24.12 SPEED REFMIN ABS

SPEED REF RAMP

28
TLF3 250 sec (1)

3.04 SPEEDREF RAMPED

[ SPEEDREF RAMP IN ]
(6 / 3.03)
< 25.01 SPEED RAMP IN
(Drive value)
25.02 SPEED SCALING
(Drive value)
25.03 ACC TIME
(Drive value)
25.04 DEC TIME
(Drive value)
25.05 SHAPE TIME ACC1
(Drive value)
25.06 SHAPE TIME ACC2
(Drive value)
25.07 SHAPE TIME DEC1
(Drive value)
25.08 SHAPE TIME DEC2
(Drive value)
25.09 ACC TIME JOGGING
(Drive value)
25.10 DEC TIME JOGGING
(Drive value)
25.11 EM STOP TIME
(Drive value)
25.12 SPEEDREF BAL
(Drive value)
< 25.13 SPEEDREF BAL ENA

Page 6 Speed Ref Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
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Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date

Application program template

329
 SPEED FEEDBACK
5 330
TLF8 250 sec (2)

1.01 SPEED ACT

(Drive value)
22.01 SPEED FB SEL
(Drive value)
22.02 SPEED ACT FTIME
(Drive value)
22.03 MOTOR GEAR MUL
(Drive value)
22.04 MOTOR GEAR DIV
(Drive value)
22.05 ZERO SPEED LIMIT
(Drive value)
22.06 ZERO SPEED DELAY
(Drive value)
22.07 ABOVE SPEED LIM
(Drive value)
22.08 SPEED TRIPMARGIN
(Drive value)
22.09 SPEED FB FAULT

Application program template

SPEED ERROR
6
TLF3 250 sec (2)

3.05 SPEEDREF USED

3.06 SPEED ERROR FILT
3.07 ACC COMP TORQ

SPEED ACT
(7 / 1.01)
< 26.01 SPEED ACT NCTRL
SPEEDREF RAMPED
(6 / 3.04)
< 26.02 SPEED REF NCTRL
SPEED REF POS
(11 / 4.01)
< 26.03 SPEED REF PCTRL
SPEED FEED FWD
(11 / 4.20)
< 26.04 SPEED FEED PCTRL
(Drive value)
26.05 SPEED STEP
(Drive value)
26.06 SPEED ERR FTIME
(Drive value)
26.07 SPEED WINDOW
(Drive value)
26.08 ACC COMP DERTIME
(Drive value)
26.09 ACC COMP FTIME SPEED CONTROL
7
(Drive value)
26.10 SPEED WIN FUNC TLF3 250 sec (3)
(Drive value)
26.11 SPEED WIN HI
(Drive value) 3.08 TORQ REF SP CTRL
26.12 SPEED WIN LO
SPEED ERROR FILT
(7 / 3.06)
< 28.01 SPEED ERR NCTRL
(Drive value)
28.02 PROPORT GAIN
(Drive value)
28.03 INTEGRATION TIME
(Drive value)
28.04 DERIVATION TIME
(Drive value)
28.05 DERIV FILT TIME
ACC COMP TORQ
(7 / 3.07)
< 28.06 ACC COMPENSATION
(Drive value)
28.07 DROOPING RATE
(Drive value)
28.08 BAL REFERENCE
(Drive value)
< 28.09 SPEEDCTRL BAL EN
(Drive value)
28.10 MIN TORQ SP CTRL
(Drive value)
28.11 MAX TORQ SP CTRL
(Drive value)
28.12 PI ADAPT MAX SPD
(Drive value)
28.13 PI ADAPT MIN SPD
(Drive value)
28.14 P GAIN ADPT COEF
(Drive value)
28.15 I TIME ADPT COEF

Page 7 Speed Ctrl Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date
 TORQ REF SEL
1
TLF1 500 sec (1)

3.09 TORQ REF1

3.12 TORQUE REF ADD

(Drive value)
32.01 TORQ REF1 SEL
(Drive value)
32.02 TORQ REF ADD SEL

TORQ REF MOD

2
TLF1 500 sec (2)

3.10 TORQ REF RAMPED

3.11 TORQ REF RUSHLIM

[ TORQ REF1 ]
(8 / 3.09)
< 32.03 TORQ REF IN
(Drive value)
32.04 MAXIMUM TORQ REF
(Drive value)
32.05 MINIMUM TORQ REF
(Drive value)
32.06 LOAD SHARE
(Drive value)
32.07 TORQ RAMP UP
(Drive value)
32.08 TORQ RAMP DOWN
(Drive value)
32.09 RUSH CTRL GAIN
(Drive value)
32.10 RUSH CTRL TI

REFERENCE CTRL
29
TLF8 250 sec (3)

3.13 TORQ REF TO TC

6.12 OP MODE ACK

(Drive value)
< 34.01 EXT1/EXT2 SEL
(Drive value)
< 34.02 EXT1 MODE 1/2SEL
(Drive value)
34.03 EXT1 CTRL MODE1
(Drive value)
34.04 EXT1 CTRL MODE2
(Drive value)
34.05 EXT2 CTRL MODE1
(Drive value)
34.07 LOCAL CTRL MODE
TORQ REF SP CTRL
(7 / 3.08)
< 34.08 TREF SPEED SRC
TORQ REF RUSHLIM
(8 / 3.11)
< 34.09 TREF TORQ SRC
[ TORQUE REF ADD ]
(8 / 3.12)
< 34.10 TORQ REF ADD SRC

Page 8 Torque Ref Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date

Application program template

331
 332
ENCODER
15
TLF8 250 sec (1)

1.08 ENCODER 1 SPEED

1.09 ENCODER 1 POS
1.10 ENCODER 2 SPEED
1.11 ENCODER 2 POS
2.16 FEN DI STATUS

(Drive value)
90.01 ENCODER 1 SEL
(Drive value)
90.02 ENCODER 2 SEL
(Drive value)
90.03 EMUL MODE SEL

Application program template

(Drive value)
90.04 TTL ECHO SEL
(Drive value)
90.05 ENC CABLE FAULT
(Drive value)
90.10 ENC PAR REFRESH
(Drive value)
93.21 EMUL PULSE NR
[ POS REF LIMITED ]
(11 / 4.17)
< 93.22 EMUL POS REF

PULSE ENC CONF ABSOL ENC CONF RESOLVER CONF

43 42 40
TLF11 10 msec (4) TLF11 10 msec (2) TLF11 10 msec (3)
(Drive value) (Drive value) (Drive value)
93.01 ENC1 PULSE NR 91.01 SINE COSINE NR 92.01 RESOLV POLEPAIRS
(Drive value) (Drive value) (Drive value)
93.02 ENC1 TYPE 91.02 ABS ENC INTERF 92.02 EXC SIGNAL AMPL
(Drive value) (Drive value) (Drive value)
93.03 ENC1 SP CALCMODE 91.03 REV COUNT BITS 92.03 EXC SIGNAL FREQ
(Drive value) (Drive value)
93.04 ENC1 POS EST ENA 91.04 POS DATA BITS
(Drive value) (Drive value)
93.05 ENC1 SP EST ENA 91.05 REFMARK ENA
(Drive value) (Drive value)
93.06 ENC1 OSC LIM 91.06 ABS POS TRACKING
(Drive value) (Drive value)
93.11 ENC2 PULSE NR 91.10 HIPERFACE PARITY
(Drive value) (Drive value)
93.12 ENC2 TYPE 91.11 HIPERF BAUDRATE
(Drive value) (Drive value)
93.13 ENC2 SP CALCMODE 91.12 HIPERF NODE ADDR
(Drive value) (Drive value)
93.14 ENC2 POS EST ENA 91.20 SSI CLOCK CYCLES
(Drive value) (Drive value)
93.15 ENC2 SP EST ENA 91.21 SSI POSITION MSB
(Drive value) (Drive value)
93.16 ENC2 OSC LIM 91.22 SSI REVOL MSB
(Drive value)
91.23 SSI DATA FORMAT
(Drive value)
91.24 SSI BAUD RATE
(Drive value)
91.25 SSI MODE
(Drive value)
91.26 SSI TRANSMIT CYC
(Drive value)
91.27 SSI ZERO PHASE
(Drive value)
91.30 ENDAT MODE
(Drive value)
91.31 ENDAT MAX CALC

Page 12 Encoder Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date
 MOTOR CONTROL
31
TLF10 2 msec (9)

3.16 FLUX REF USED

3.17 TORQUE REF USED

(Drive value)
40.01 FLUX REF
(Drive value)
40.02 SF REF
(Drive value)
40.03 SLIP GAIN
(Drive value)
40.04 VOLTAGE RESERVE
(Drive value)
40.05 FLUX OPT
(Drive value)
40.06 FORCE OPEN LOOP
(Drive value)
40.07 IR COMPENSATION
(Drive value)
40.10 FLUX BRAKING

Page 13 Motor Ctrl Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date

Application program template

333
 LIMITS
27
MOT THERM PROT
32
FAULT FUNCTIONS
33 334
TLF10 2 msec (5) TLF11 10 msec (5) TLF10 2 msec (10)

3.20 MAX SPEED REF 1.17 MOTOR TEMP 8.01 ACTIVE FAULT
3.21 MIN SPEED REF 1.18 MOTOR TEMP EST 8.02 LAST FAULT

(Drive value) (Drive value) 8.03 FAULT TIME HI

20.01 MAXIMUM SPEED 45.01 MOT TEMP PROT
(Drive value) (Drive value) 8.04 FAULT TIME LO
20.02 MINIMUM SPEED 45.02 MOT TEMP SOURCE
(Drive value) (Drive value) 8.05 ALARM LOGGER 1
< 20.03 POS SPEED ENA 45.03 MOT TEMP ALM LIM
(Drive value) (Drive value) 8.06 ALARM LOGGER 2
< 20.04 NEG SPEED ENA 45.04 MOT TEMP FLT LIM
(Drive value) (Drive value) 8.07 ALARM LOGGER 3
20.05 MAXIMUM CURRENT 45.05 AMBIENT TEMP
(Drive value) (Drive value) 8.08 ALARM LOGGER 4
20.06 MAXIMUM TORQUE 45.06 MOT LOAD CURVE
(Drive value) (Drive value) 8.09 ALARM LOGGER 5
20.07 MINIMUM TORQUE 45.07 ZERO SPEED LOAD
(Drive value) 8.10 ALARM LOGGER 6
45.08 BREAK POINT

Application program template

(Drive value) 8.15 ALARM WORD 1
45.09 MOTNOM TEMP RISE
(Drive value) 8.16 ALARM WORD 2
45.10 MOT THERM TIME
8.17 ALARM WORD 3
8.18 ALARM WORD 4

(Drive value)
22.10 SPD SUPERV EST
(Drive value)
22.11 SPD SUPERV ENC
(Drive value)
22.12 SPD SUPERV FILT
(Drive value)
< 46.01 EXTERNAL FAULT
(Drive value)
46.02 SPEED REF SAFE
(Drive value)
46.03 LOCAL CTRL LOSS
(Drive value)
46.04 MOT PHASE LOSS
(Drive value)
46.05 EARTH FAULT
(Drive value)
46.06 SUPPL PHS LOSS
(Drive value)
SUPERVISION 46.07 STO DIAGNOSTIC
45
(Drive value)
TLF11 10 msec (6) 46.08 CROSS CONNECTION
(Drive value)
46.09 STALL FUNCTION
6.14 SUPERV STATUS (Drive value)
46.10 STALL CURR LIM
(Drive value) (Drive value)
33.01 SUPERV1 FUNC 46.11 STALL FREQ HI
[ SPEED ACT ] (Drive value)
(7 / 1.01)
< 33.02 SUPERV1 ACT 46.12 STALL TIME
(Drive value)
33.03 SUPERV1 LIM HI
(Drive value)
33.04 SUPERV1 LIM LO
(Drive value)
33.05 SUPERV2 FUNC
[ CURRENT ]
(1 / 1.04)
< 33.06 SUPERV2 ACT
(Drive value)
33.07 SUPERV2 LIM HI
(Drive value)
33.08 SUPERV2 LIM LO
(Drive value)
33.09 SUPERV3 FUNC
[ TORQUE ]
(1 / 1.06)
< 33.10 SUPERV3 ACT
(Drive value)
33.11 SUPERV3 LIM HI
(Drive value)
33.12 SUPERV3 LIM LO

Page 14 Protections Based on Prepared Title Doc. des.

FWA compatibility level = 1.70 Customer Approved
Firmware Library ID = 1, ver = 1.0 Project name Resp. dept.
Standard Library ID = 10000, ver = 1.1 Cust. Doc. No. Doc. No.
Date
 335

Appendix A Fieldbus control

What this chapter contains

The chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) through an optional fieldbus adapter module.

System overview
The drive can be connected to an external control system via a fieldbus adapter
module. The adapter module is installed into drive Slot 3.
Drive

Fieldbus
controller

Fieldbus

Other
devices

Slot 3
Fieldbus
adapter
Fxxx
Data Flow
Control Word (CW)
References
Process I/O (cyclic)
Status Word (SW)
Actual values

Parameter R/W requests/responses Process I/O (cyclic) or

Service messages (acyclic)

The drive can be set to receive all of its control information through the fieldbus
interface, or the control can be distributed between the fieldbus interface and other
available sources, for example, digital and analogue inputs.
Fieldbus adapters are available for various serial communication protocols, for
example:
PROFIBUS DP (FPBA-xx adapter)
CANopen (FCAN-xx adapter)
DeviceNet (FDNA-xx adapter)
Modbus/RTU (FSCA-xx adapter)
Modbus/TCP, EtherNet/IP, PROFINET IO (FENA-xx adapter)

Appendix A Fieldbus control

336

EtherCAT (FECA-xx adapter)

MACRO (FMAC-xx adapter)
ControlNet (FCNA-xx adapter)
EthernetPOWERLINK (FEPL-xx adapter)
Sercos II (FSEA-xx adapter).

Setting up communication through a fieldbus adapter module

Before configuring the drive for fieldbus control, the adapter module must be
mechanically and electrically installed according to the instructions given in the
Users Manual of the appropriate fieldbus adapter module.
The communication between the drive and the fieldbus adapter module is activated
by setting parameter 50.01 FBA ENABLE to (1) Enable. The adapter-specific
parameters must also be set. See the table below.
Setting for
Parameter Function/Information
fieldbus control

COMMUNICATION INITIALISATION AND SUPERVISION

50.01 FBA ENABLE (1) Enable Initialises communication between drive and fieldbus adapter module.
50.02 COMM LOSS (0) No Selects how the drive reacts upon a fieldbus communication break.
FUNC (1) Fault
(2) Spd ref Safe
(3) Last speed
50.03 COMM LOSS T 0.36553.5 s Defines the time between communication break detection and the
OUT action selected with parameter 50.02 COMM LOSS FUNC.
50.04 FBA REF1 (0) Raw data Defines the fieldbus reference scaling.
MODESEL and 50.05 (1) Torque When (0) Raw data is selected, see also parameters 50.0650.11.
FBA REF2 MODESEL (2) Speed
When both parameters are set to (5) Auto, the scalings for fieldbus
(5) Auto
references are set automatically according to parameter 34.03 EXT1
CTRL MODE1 as follows:
FBA REF1 = Speed, FBA REF2 = Torque

ADAPTER MODULE CONFIGURATION

51.01 FBA TYPE Displays the type of the fieldbus adapter module.
51.02 FBA PAR2 These parameters are adapter module-specific. For more information, see the Users Manual
of the fieldbus adapter module. Note that not all of these parameters are necessarily used.
51.26 FBA PAR26
51.27 FBA PAR (0) DONE Validates any changed adapter module configuration parameter
REFRESH (1) REFRESH settings.
51.28 PAR TABLE Displays the parameter table revision of the fieldbus adapter module
VER mapping file stored in the memory of the drive.
51.29 DRIVE TYPE Displays the drive type code of the fieldbus adapter module mapping
CODE file stored in the memory of the drive.
51.30 MAPPING FILE Displays the fieldbus adapter module mapping file revision stored in the
VER memory of the drive.
51.31 D2FBA COMM Displays the status of the fieldbus adapter module communication.
STA

Appendix A Fieldbus control

 337

Setting for
Parameter Function/Information
fieldbus control
51.32 FBA COMM SW Displays the common program revision of the adapter module.
VER
51.33 FBA APPL SW Displays the application program revision of the adapter module.
VER
Note: In the Users Manual of the fieldbus adapter module, the parameter group number is 1 or A for parameters
51.0151.26.

TRANSMITTED DATA SELECTION

52.01 FBA DATA IN1 0 Defines the data transmitted from drive to fieldbus controller.
52.12 FBA DATA 46 Note: If the selected data is 32 bits long, two parameters are reserved
IN12 1416 for the transmission.
1019999
53.01 FBA DATA 0 Defines the data transmitted from fieldbus controller to drive.
OUT1 53.12 FBA 13 Note: If the selected data is 32 bits long, two parameters are reserved
DATA OUT12 1113 for the transmission.
10019999
Note: In the Users Manual of the fieldbus adapter module, the parameter group number is 2 or B for parameters
52.0152.12 and 3 or C for parameters 53.0153.12.

After the module configuration parameters have been set, the drive control
parameters (see section Setting the drive control parameters below) must be
checked and adjusted when necessary.
The new settings will take effect when the drive is powered up the next time, or when
parameter 51.27 FBA PAR REFRESH is activated.

Appendix A Fieldbus control

338

Setting the drive control parameters

The Setting for fieldbus control column gives the value to use when the fieldbus
interface is the desired source or destination for that particular signal. The Function/
Information column gives a description of the parameter.
Setting for
Parameter Function/Information
fieldbus control

CONTROL COMMAND SOURCE SELECTION

10.01 EXT1 START (3) FBA Selects fieldbus as the source for the start and stop commands when
FUNC EXT1 is selected as the active control location.
10.04 EXT2 START (3) FBA Selects fieldbus as the source for the start and stop commands when
FUNC EXT2 is selected as the active control location.
24.01 SPEED REF1 SEL (3) FBA REF1 Fieldbus reference REF1 or REF2 is used as speed reference 1.
(4) FBA REF2
24.02 SPEED REF2 SEL (3) FBA REF1 Fieldbus reference REF1 or REF2 is used as speed reference 2.
(4) FBA REF2
32.01 TORQ REF1 SEL (3) FBA REF1 Fieldbus reference REF1 or REF2 is used as torque reference 1.
(4) FBA REF2
32.02 TORQ REF ADD (3) FBA REF1 Fieldbus reference REF1 or REF2 is used for torque reference
SEL (4) FBA REF2 addition.

SYSTEM CONTROL INPUTS

16.07 PARAM SAVE (0) Done Saves parameter value changes (including those made through
(1) Save fieldbus control) to permanent memory.

Appendix A Fieldbus control

 339

Basics of the fieldbus adapter interface

The cyclic communication between a fieldbus system and the drive consists of 16/
32-bit input and output data words. The drive supports at the maximum the use of 12
data words (16 bits) in each direction.
Data transmitted from the drive to the fieldbus controller is defined by parameters
52.01 FBA DATA IN152.12 FBA DATA IN12 and data transmitted from the fieldbus
controller to the drive is defined by parameters 53.01 FBA DATA OUT153.12 FBA
DATA OUT12.
Fieldbus network
1)

Fieldbus adapter module EXT1/2

FBA profile Start func
DATA Profile
OUT 2) selection 4) 2.12 FBA MAIN CW
4)
1 2.14 FBA MAIN REF1
DATA OUT 2.15 FBA MAIN REF2
2 selection
3 10.01/10.04
3)

12 Par. 10.0199.13 REF1 Sel
Fieldbus-
specific
interface DATA Profile Group 53
IN 2) selection 2.13 FBA MAIN SW
5) 5)
FBA ACT1
1 24.01/32.01/
DATA IN FBA ACT2 32.02
2
3 selection
3)

12 Par. 01.0199.13 REF2 Sel

Cyclic communication Group 52

24.02/32.01/
32.02
Acyclic communication
See the manual of the fieldbus
adapter module.
Parameter
table

1) See also other parameters which can be controlled by the fieldbus.

2) The maximum number of used data words is protocol-dependent.
3) Profile/instance selection parameters. Fieldbus module specific parameters. For more information, see the
Users Manual of the appropriate fieldbus adapter module.
4) With DeviceNet, the control part is transmitted directly.
5) With DeviceNet, the actual value part is transmitted directly.

Control Word and Status Word

The Control Word (CW) is the principal means of controlling the drive from a fieldbus
system. The Control Word is sent by the fieldbus controller to the drive. The drive

Appendix A Fieldbus control

340

switches between its states according to the bit-coded instructions of the Control
Word.
The Status Word (SW) is a word containing status information, sent by the drive to
the fieldbus controller.

Actual values
Actual values (ACT) are 16/32-bit words containing information on selected
operations of the drive.

FBA communication profile

The FBA communication profile is a state machine model which describes the
general states and state transitions of the drive. The State diagram on page 341
presents the most important states (including the FBA profile state names). The FBA
Control Word (2.12 FBA MAIN CW, page 67) commands the transitions between
these states and the FBA Status Word (2.13 FBA MAIN SW, page 69) indicates the
status of the drive.
Fieldbus adapter module profile (selected by adapter module parameter) defines
how the control word and status word are transmitted in a system which consists of
fieldbus controller, fieldbus adapter module and drive. With transparent modes,
control word and status word are transmitted without any conversion between the
fieldbus controller and the drive. With other profiles (eg, PROFIdrive for FPBA-01,
AC/DC drive for FDNA-01, DS-402 for FCAN-01 and ABB Drives profile for all
fieldbus adapter modules) fieldbus adapter module converts the fieldbus-specific
control word to the FBA communication profile and status word from FBA
communication profile to the fieldbus-specific status word.
For descriptions of other profiles, see the Users Manual of the appropriate fieldbus
adapter module.

Fieldbus references
References (FBA REF) are 16/32-bit signed integers. A negative reference is formed
by calculating the twos complement from the corresponding positive reference
value. The contents of each reference word can be used as speed or torque
reference.
When torque or speed reference scaling is selected (by parameter 50.04 FBA REF1
MODESEL / 50.05 FBA REF2 MODESEL), the fieldbus references are 32-bit
integers. The value consists of a 16-bit integer value and a 16-bit fractional value.
The speed/torque reference scaling is as follows:
Reference Scaling Notes
Torque reference FBA REF / 65536 Final reference is limited by parameters 20.06 MAXIMUM
(value in %) TORQUE and 20.07 MINIMUM TORQUE.
Speed reference FBA REF / 65536 Final reference is limited by parameters 20.01 MAXIMUM
(value in rpm) SPEED, 20.02 MINIMUM SPEED and 24.12 SPEED
REFMIN ABS.

Appendix A Fieldbus control

 341

State diagram
The following presents the state diagram for the FBA communication profile. For
other profiles, see the Users Manual of the appropriate fieldbus adapter module.

from any state from any state FBA

Fault (FBA CW Bits 7 = 1) Communication
FAULT (FBA SW Bit 16 = 1) RUN (FBA SW Bit 1 = 0)
Profile
DISABLE
FBA CW = Fieldbus Control Word
(FBA CW Bit 8 = 1) (FBA CW Bit 7 = 0) FBA SW = Fieldbus Status Word
n = Speed
I = Input Current
RFG = Ramp Function Generator
Par. 10.12 = 1 f = Frequency

(FBA CW Bit 16 = 1) from any state

Par. 10.12 = 0
OFF1 (FBA CW Bit 4 = 1
and FBA CW Bit 0 = 1)
START
INHIBITED (FBA SW Bit 6 = 1)
OFF1
ACTIVE
(FBA CW Bit 0 = 1)
MAINS OFF

n(f)=0 / I=0
Power ON

READY TO
(FBA SW Bit 0 = 1) from any state
START
B C D E Emergency OFF
(FBA CW = xxxx xxxx xxxx xxx0 xxxx 1xxx 1xxx xx10) OFF2 (FBA CW Bit 2 = 1
and FBA CW Bit 0 = 1)
(FBA CW Bit 12 = 0)
OFF2
(FBA SW Bit 4 = 1)
ACTIVE
C D RUNNING (FBA SW Bit 3 = 1)

A
(FBA CW Bit 13 = 0) (FBA CW = xxxx xxxx xxxx xxx0 xxx0 1xxx 1xxx xx10)

D RFG: OUTPUT
ENABLED from any state
B Emergency Stop
OFF3 (FBA CW Bit 3 = 1
(FBA CW Bit 14 = 0) (FBA CW = xxxx xxxx xxxx xxx0 xx00 1xxx 1xxx xx10) and FBA CW Bit 0 = 1)

OFF3
RFG: ACCELERATOR ACTIVE (FBA SW Bit 5 = 1)
ENABLED
C
n(f)=0 / I=0
(FBA CW = xxxx xxxx xxxx xxx0 x000 1xxx 1xxx xx10)

OPERATING (FBA SW Bit 8 = 1)

Appendix A Fieldbus control

342

Appendix A Fieldbus control

 343

Appendix B Drive-to-drive link

What this chapter contains

This chapter describes the wiring of, and available communication methods on the
drive-to-drive link. Examples of using standard function blocks in the communication
are also given starting on page 351.

General
The drive-to-drive link is a daisy-chained RS-485 transmission line, constructed by
connecting the X5 terminal blocks of the JCU Control Units of several drives. It is
also possible to use an FMBA Modbus extension module installed into an option slot
on the JCU. The firmware supports up to 63 nodes on the link.
The link has one master drive; the rest of the drives are followers. By default, the
master broadcasts control commands as well as speed and torque references for all
followers. The master can send 8 messages per millisecond at 100/150-
microsecond intervals. Sending one message takes approximately 15
microseconds, which results in a theoretical link capacity of roughly 6 messages per
100 microseconds.
Multicasting the control data and reference 1 to a pre-defined group of drives is
possible, as is chained multicast messaging. Reference 2 is always broadcast by the
master to all followers. See parameters 57.1157.14.

Wiring
Shielded twisted-pair cable (~100 ohm, eg, PROFIBUS-compatible cable) must be
used for the wiring. The maximum length of the link is 50 metres (164 ft).
The JCU Control Unit has a jumper (J3, T) next to the X5 terminal block for bus
termination. Termination must be ON on the drives at the ends of the drive-to-drive
link; on intermediate drives, termination must be OFF.
Instead of the X5 connector, an FMBA Modbus extension module can be used.
For best immunity, high quality cable is recommended. The cable should be kept as
short as possible. Unnecessary loops and running the cable near power cables
(such as motor cables) must be avoided.

Note: The cable shields are to be grounded to the control cable clamp plate on the
drive. Follow the instructions given in the Hardware Manual of the drive.

Appendix B Drive-to-drive link

344

The following diagram shows the wiring of the drive-to-drive link.

B 1

A 2

BGND 3

B 1

A 2

BGND 3

B 1

A 2

BGND 3
T

T
X5:D2D X5:D2D X5:D2D
...
J3

J3

J3
Termination ON Termination OFF Termination ON

JCU JCU JCU

Drive 1 Drive 2 Drive n

Datasets
Drive-to-drive communication uses DDCS (Distributed Drives Communication
System) messages and dataset tables for data transfer. Each drive has a dataset
table of 256 datasets, numbered 0255. Each dataset contains 48 data bits.
By default, datasets 015 and 200255 are reserved for the drive firmware;
datasets 16199 are available for the user application program.
The contents of the two firmware communication datasets can be configured freely
with pointer parameters and/or application programming with the DriveSPC tool. The
16-bit control word and 32-bit drive-to-drive reference 1 are transmitted from one
dataset on a 500-microsecond (by default) time level; drive-to-drive reference 2 (32
bits) is transmitted from the other dataset on a 2-millisecond (by default) time level.
Depending on the drive control mode, the followers can be configured to use the
drive-to-drive commands and references with the following parameters:
Setting for drive-to-drive
Control data Parameter
communication
10.01 EXT1 START FUNC
Start/Stop commands (4) D2D
10.04 EXT2 START FUNC
24.01 SPEED REF1 SEL (5) D2D REF1 or
Speed reference
24.02 SPEED REF2 SEL (6) D2D REF2
32.01 TORQ REF1 SEL (5) D2D REF1 or
Torque reference
32.02 TORQ REF ADD SEL (6) D2D REF2

The communication status of the followers can be supervised by a periodic

supervision message from the master to the individual followers (see parameters
57.04 FOLLOWER MASK 1 and 57.05 FOLLOWER MASK 2).
Drive-to-drive function blocks can be used in the DriveSPC tool to enable additional
communication methods (such as follower-to-follower messaging) and to modify the

Appendix B Drive-to-drive link

 345

use of datasets between the drives. See the function blocks under Communication
(page 260).

Types of messaging
Each drive on the link has a unique node address allowing point-to-point
communication between two drives. The node address 0 is automatically assigned
to the master drive; on other drives, the node address is defined by parameter 57.03
NODE ADDRESS.
Multicast addressing is supported, allowing the composition of groups of drives. Data
sent to a multicast address is received by all drives that have that address. A
multicast group can consist of 162 drives.
In broadcast messaging, data can be sent to all drives (actually, all followers) on the
link.
Both master-to-follower(s) and follower-to-follower(s) communication is supported. A
follower can send one message to another follower (or a group of followers) after
receiving a token message from the master.
Type of messaging Note
Point-to-point Master point-to-point Supported only at master
Read remote Supported only at master
Follower point-to-point Supported only at followers
Standard multicast For both master and followers
Broadcast For both master and followers
Token message for follower-to-follower communication
Chained multicast Supported only for drive-to-drive reference 1
and control word

Appendix B Drive-to-drive link

346

Master point-to-point messaging

In this type of messaging, the master sends one dataset (LocalDsNr) from its own
dataset table to the followers. TargetNode stands for the node address of the
follower; RemoteDsNr specifies the target dataset number.
The follower responds by returning the contents of the next dataset. The response is
stored into dataset LocalDsNr+1 in the master.
Note: Master point-to-point messaging is only supported at the master because the
response is always sent to node address 0 (the master).

Master Follower

Dataset table Dataset table

(LocalDsNr) TargetNode = X
(LocalDsNr+1)

(RemoteDsNr)
(RemoteDsNr+1)

57.03 NODE ADDRESS = X

Read remote messaging

The master can read a dataset (RemoteDsNr) from a follower specified by
TargetNode. The follower returns the contents of the requested dataset to the
master. The response is stored at dataset LocalDsNr in the master.
Note: Read remote messaging is only supported at the master because the
response is always sent to node address 0 (the master).

Master Follower

Dataset table Dataset table

TargetNode = X
(LocalDsNr)

(RemoteDsNr)

57.03 NODE ADDRESS = X

Appendix B Drive-to-drive link

 347

Follower point-to-point messaging

This type of messaging is for point-to-point communication between followers. After
receiving a token from the master, a follower can send one dataset to another
follower with a follower point-to-point message. The target drive is specified using
the node address.
Note: The data is not sent to the master.

Token
Master Follower Follower

Dataset table Dataset table Dataset table

TargetNode = X
(LocalDsNr)

(RemoteDsNr)

57.03 NODE ADDRESS = X

Standard multicast messaging

In standard multicast messaging, one dataset can be sent to a group of drives
having the same standard multicast group address. The target group is defined by
the D2D_Conf standard function block (see page 260).
The sending drive can either be the master, or a follower after receiving a token from
the master.
Note: The master does not receive the sent data even if it is a member of the target
multicast group.
Master-to-follower(s) multicasting

Master Follower Follower

Dataset table Dataset table Dataset table

Target Grp = X
(LocalDsNr)

(RemoteDsNr) (RemoteDsNr)

Std Mcast Group = X Std Mcast Group = X

Appendix B Drive-to-drive link

348

Follower-to-follower(s) multicasting

Token
Master Follower Follower Follower

Dataset table Dataset table Dataset table Dataset table

Target Grp = X
(LocalDsNr)

(RemoteDsNr) (RemoteDsNr)

Std Mcast Group = X Std Mcast Group = X

Broadcast messaging
In broadcasting, the master sends one dataset to all followers, or a follower sends
one dataset to all other followers (after receiving a token from the master).
The target (Target Grp) is automatically set to 255 denoting all followers.
Note: The master does not receive any data broadcast by the followers.
Master-to-follower(s) broadcasting

Master Follower Follower

Dataset table Dataset table Dataset table

Target Grp = 255
(LocalDsNr)

(RemoteDsNr) (RemoteDsNr)

Appendix B Drive-to-drive link

 349

Follower-to-follower(s) broadcasting

Token
Master Follower Follower Follower

Dataset table Dataset table Dataset table Dataset table

Target Grp = 255

(LocalDsNr)

(RemoteDsNr) (RemoteDsNr)

Chained multicast messaging

Chained multicasting is supported only for drive-to-drive reference 1 by the firmware.
The message chain is always started by the master. The target group is defined by
parameter 57.13 NEXT REF1 MC GRP. The message is received by all followers
that have parameter 57.12 REF1 MC GROUP set to the same value as parameter
57.13 NEXT REF1 MC GRP in the master.
If a follower has parameters 57.03 NODE ADDRESS and 57.12 REF1 MC GROUP
set to the same value, it becomes a submaster. Immediately after a submaster
receives the multicast message, it sends its own message to the next multicast
group defined by parameter 57.13 NEXT REF1 MC GRP.
The duration of the entire message chain is approximately 15 microseconds
multiplied by the number of links in the chain (defined by parameter 57.14 NR REF1
MC GRPS in the master).

Appendix B Drive-to-drive link

350

Master Follower Follower Follower

2.17 D2D MAIN CW 2.17 D2D MAIN CW 2.17 D2D MAIN CW

2.19 D2D REF1 2.19 D2D REF1 2.19 D2D REF1
(57.08 FOLLOWER CW (57.08 FOLLOWER CW (57.08 FOLLOWER CW (57.08 FOLLOWER CW
SRC) SRC) SRC) SRC)
(57.06 REF 1 SRC) (57.06 REF 1 SRC) (57.06 REF 1 SRC) (57.06 REF 1 SRC)

57.01 LINK MODE = 57.01 LINK MODE = 57.01 LINK MODE = 57.01 LINK MODE =
(2) Master (1) Follower (1) Follower (1) Follower
57.03 NODE ADDRESS = 57.03 NODE ADDRESS = 57.03 NODE ADDRESS = 57.03 NODE ADDRESS =
dont care 2 4 5*
57.11 REF 1 MSG TYPE = 57.11 REF 1 MSG TYPE = 57.11 REF 1 MSG TYPE = 57.11 REF 1 MSG TYPE =
(1) Ref1 MC Grps (1) Ref1 MC Grps (1) Ref1 MC Grps (0) Broadcast *
57.12 REF1 MC GROUP 57.12 REF1 MC GROUP 57.12 REF1 MC GROUP 57.12 REF1 MC GROUP
= dont care =2 =4 =5*
57.13 NEXT REF1 MC 57.13 NEXT REF1 MC 57.13 NEXT REF1 MC 57.13 NEXT REF1 MC
GRP = 2 GRP = 4 GRP = 5 GRP = dont care
57.14 NR REF1 MC 57.14 NR REF1 MC 57.14 NR REF1 MC 57.14 NR REF1 MC
GRPS = 3 GRPS = dont care GRPS = dont care GRPS = dont care

Follower Follower

2.17 D2D MAIN CW 2.17 D2D MAIN CW

2.19 D2D REF1 2.19 D2D REF1

57.01 LINK MODE = 57.01 LINK MODE =

(1) Follower (1) Follower
57.03 NODE ADDRESS = 57.03 NODE ADDRESS =
1 3
57.11 REF 1 MSG TYPE = 57.11 REF 1 MSG TYPE =
dont care dont care
57.12 REF1 MC GROUP 57.12 REF1 MC GROUP
=2 =4
57.13 NEXT REF1 MC 57.13 NEXT REF1 MC
GRP = dont care GRP = dont care
57.14 NR REF1 MC 57.14 NR REF1 MC
GRPS = dont care GRPS = dont care

* Acknowledgement from last follower to master can be prevented by setting parameter 57.11 REF 1 MSG TYPE to (0) Broadcast
(required because parameters 57.03 NODE ADDRESS and 57.12 REF1 MC GROUP are set to the same value). Alternatively,
node/group addresses (parameters 57.03 NODE ADDRESS and 57.12 REF1 MC GROUP) could be set to non-equal values.

Appendix B Drive-to-drive link

 351

Examples of using standard function blocks in drive-to-drive

communication
See also the descriptions of the drive-to-drive function blocks starting on page 260.

Example of master point-to-point messaging

Master Follower (node 1)

1. The master sends a constant (1) and the value of

the message counter into follower dataset 20. Data
is prepared to and sent from dataset 16.
2. The follower sends the received counter value and
a constant (21) as a reply to the master.
3. The master calculates the difference of the latest
message number and received data.

Appendix B Drive-to-drive link

352

Example of read remote messaging

Master Follower (node 1)

1. The master reads the contents of the follower dataset 22

into its own dataset 18. Data is accessed using the
DS_ReadLocal block.
2. In the follower, constant data is prepared into dataset 22.

Releasing tokens for follower-to-follower communication

Master

1. This drive-to-drive link consists of three drives (master

and two followers).
2. The master operates as a chairman. Follower 1 (node
1) is allowed to send one message every 3 milliseconds.
Follower 2 (node 2) is allowed to send one message
every 6 milliseconds.

Appendix B Drive-to-drive link

 353

Example of follower point-to-point messaging

Follower 1 (node 1) Follower 2 (node 2)

1. Follower 1 writes local dataset 24 to follower 2 dataset 30 (3 ms interval).

2. Follower 2 writes local dataset 33 to follower 1 dataset 28 (6 ms interval).
3. In addition, both followers read received data from local datasets.

Appendix B Drive-to-drive link

354

Example of standard master-to-follower(s) multicast messaging

Master Follower(s) in Std Mcast Group 10

1. The master sends a constant (9876) and the value of the message counter to all followers in standard multicast group
10. The data is prepared into and sent from master dataset 19 to follower dataset 23.
2. Received data is read from dataset 23 of the receiving followers.
Note: The example application shown for Master above also applies to the sending follower in standard follower-to-
follower multicasting.

Example of broadcast messaging

Master Follower(s)

1. The master sends a constant (9876) and the value of the message counter to all followers. The data is prepared into
and sent from master dataset 19 to follower dataset 23.
2. Received data is read from dataset 23 of the followers.
Note: The example application shown for Master above also applies to the sending follower in follower-to-follower
broadcasting.

Appendix B Drive-to-drive link

 355

Appendix C Control chain and drive logic

diagrams

What this chapter contains

This chapter presents the drive control chain and logic.

Appendix C Control chain and drive logic diagrams

 Speed control chain

356
SPEED REF MOD SPEED REF RAMP
06.02 STATUS WORD 2
20.03 POS SPEED ENA
bit 14 RAMP OUT 0
0
25.13 SPEEDREF BAL ENA

24.01 SPEED 24.09 CONST SPEED ENA 06.02 STATUS WORD 2 bit 13
20.01 MAXIMUM SPEED RAMP HOLD
REF1 SEL
24.08 CONST SPEED
ZERO 06.01 STATUS WORD 1 Ramp & Shape
AI1 3.01 SPEED REF1 bit 9 LOCAL FB
AI2 03.03 SPEEDREF RAMP IN
FBA REF1 3.02 SPEED REF2
FBA REF2 2.14 FBA MAIN REF1
D2D REF1
24.05 SPEED REF 1/2 SEL 0
D2D REF2 Local speed reference 25.02 SPEED SCALING
ENC1 SPEED 24.06 SPEED SHARE 0
ENC2 SPEED 06.01 STATUS WORD 1 bit 11 25.12 SPEEDREF BAL
LOCAL PANEL
1 46.02 SPEED REF SAFE 25.04 DEC TIME
24.02 SPEED SAFE SPEED COMMAND
-1 25.10 DEC TIME JOGGING
REF2 SEL
24.07 SPEEDREF NEG ENA 24.12 SPEED REF MIN ABS 06.02 STATUS WORD 2
ZERO
AI1 bit 5 JOGGING
24.10 SPEED REF JOG1 0
AI2 25.11 EM STOP TIME
FBA REF1
FBA REF2 24.11 SPEED REF JOG2 20.02 MINIMUM SPEED
D2D REF1 25.03 ACC TIME
D2D REF2 10.13 FB CW USED 20.04 NEG SPEED ENA
ENC1 SPEED bit 10 JOGGING 25.09 ACC TIME JOGGING
06.02 STATUS WORD 2
ENC2 SPEED 06.02 STATUS WORD 2
bit 12 RAMP IN 0
bit 5 JOGGING
06.01 STATUS WORD 1 OR
bit 5 EM STOP

25.05 SHAPE TIME ACC1

25.06 SHAPE TIME ACC2
0

Appendix C Control chain and drive logic diagrams

25.07 SHAPE TIME DEC1
25.08 SHAPE TIME DEC2
0

SPEED ERROR 26.11 SPEED WIN HI SPEED CONTROL

OPMODE = 26.08 ACC COMP DER TIME 28.11 MAX TORQ SP CTRL
POSITION SYNCRON
26.09 ACC COMP FTIME
3.07 ACC COMP TORQ
26.04 SPEED FEED PCTRL
d 28.04 DERIVATION TIME
dt
TAccCom
28.05 DERIV FILT TIME
20.01 MAXIMUM SPEED
28.02 PROPORT GAIN
6.12 OP d
Td 06.05 LIMIT WORD 1
MODE ACK dt bit 2 SPD CTL TLIM MAX
03.04 SPEED REF RAMPED SPEED
POSITION + + 3.06 SPEED ERROR FILT Kp
SYNCHRON
+ + 3.08 TORQ REF SP CTRL
4.01 SPEED REF POS
-
HOMING
PROF VEL 28.03 INTEGRATION TIME
26.05 SPEED STEP 06.05 LIMIT WORD 1
+ Ti dt bit 1 SPD CTL TLIM MIN
SPEED FEEDBACK 0 06.05 SPEED CTRL STAT
bit 4 BAL ACTIVE
22.02 SPEED ACT FTIME 06.02 STATUS WORD 28.08 BAL REFERENCE
2 bit 14 RAMP OUT 0
28.12 PI ADAPT MAX SPD 28.09 SPEEDCTRL BAL EN
22.03 MOTOR GEAR MUL 06.02 STATUS WORD
2 bit 12 RAMP IN 0 28.14 P GAIN ADPT COEF 28.10 MIN TORQ SP CTRL
1.08 ENCODER 1 SPEED
20.02 MINIMUM SPEED
1.01 SPEED ACT F(x)
1.10 ENCODER 2 SPEED
x 1.01 SPEED ACT
Kp x
y 28.15 I TIME ADPT COEF

26.06 SPD ERR FTIME 28.13 PI ADAPT MIN SPD

1.14 SPEED ESTIMATED 28.07 DROOPING RATE
26.10 SPEED WIN FUNC
26.12 SPEED WIN LO
22.01 SPEED FB SEL

22.04 MOTOR GEAR DIV

 Torque control chain

REFERENCE CTRL
34.01 EXT1 CTRL
MODE1

SPEED
TORQUE
MIN
MAX
ADD
POSITION
SYNCHRON 34.02 EXT1
HOMING MODE 1/2SEL
PROF VEL

TORQ REF MOD 34.01 EXT1 CTRL

MODE2
32.10 RUSH CTRL TI
SPEED
22.08 SPEED TRIP MARGIN TORQUE
34.01 EXT1/EXT2 SEL
MIN
1.01 SPEED ACT MAX
ADD
32.07 TORQ RAMP UP POSITION
32.04 MAXIMUM TORQ REF SYNCHRON
HOMING
32.06 LOAD SHARE PROF VEL

34.05 EXT2 CTRL

32.01 TORQ MODE1
REF1 SEL
SPEED
ZERO TORQUE
AI1 3.09 TORQ REF1 MIN CONTROL LOCATION
AI2 RUSHCTRL MAX
FBA REF1 ADD
FBA REF2 JOGGING 0 = STOPPED
POSITION 1 = SPEED
D2D REF1 SYNCHRON FIELDBUS 2 = TORQUE
D2D REF2 3 = MIN, 4 = MAX, 5 = ADD
HOMING 6 = POSITION
PROF VEL EXT1/EXT2 7 = SYNCHRON
LOCAL CONTROL REF 8 = HOMING
LOCAL 9 = PROF VEL
LOCAL CONTROL 10 = SCALAR
34.07 LOCAL CTRL 11 = FORCED MAGN
32.05 MINIMUM TORQ REF MODE

32.08 TORQ RAMP DOWN SPEED STATUS WORD 1

TORQUE
20.01 MAXIMUM SPEED POSITION
20.02 MINIMUM SPEED 6.12 OP MODE ACK

32.09 RUSH CTRL GAIN

1= SPEED (B)
3.11 TORQ REF RUSHLIM A
2=TORQUE (A)
06.05 LIMIT WORD 1 06.05 LIMIT WORD 1
bit 3 TORQ REF MAX bit 5 TLIM MAX SPEED
bit 4 TORQ REF MIN bit 6 TLIM MIN SPEED 3=MIN (A/B) + 3.13 TORQ REF TO TC

4=MAX(A/B)
3.08 TORQ REF SP CTRL B
5=ADD (A+B)
32.02 TORQ REF
ADD SEL 99.05 MOTOR CTRL MODE

ZERO
AI1 3.12 TORQUE REF ADD
AI2
FBA REF1
FBA REF2
D2D REF1
D2D REF2

Appendix C Control chain and drive logic diagrams

357
 Drive logic 1

358

10.01 EXT1 DRIVE LOGIC 10.09 RUN ENABLE

START FUNC
LOCAL MODE
IN1 PC / Panel
3-WIRE
FBA * EXT START
LOC START
D2D
IN1F IN2R
IN1S IN2DIR 10.07 JOG START 1

STATE MACHINE 06.01 STATUS WORD 1

10.14 JOG START 2

10.04 EXT2 06.02 STATUS WORD 2

10.15 JOG ENABLE DISABLE
START FUNC
02.18 D2D FOLLOWER CW
IN1
3-WIRE EM STOP
FBA * OFF1/OFF2/
STOPPED
D2D 10.11 EM STOP OFF1 OFF3
OR
IN1F IN2R 10.10 EM STOP OFF3
IN1S IN2DIR

RUNNING

NORMAL
STOP RAMP/
34.01 EXT1/EXT2 SEL EXT STOP COAST FAULTED

11.03 STOP MODE

Appendix C Control chain and drive logic diagrams

11.01 START MODE
10.12 START INHIBIT
10.08 FAULT RESET
* SEE FBA PICTURE 10.17 START ENABLE

D2D COMMUNICATION

57.01 LINK MODE

COMMON SETTINGS
57.03 NODE ADDR

57.02 COMM LOSS FUNC MASTER FOLLOWERS

57.04 FOLLOWER MASK1

57.05 FOLLOWER MASK2

57.06 REF1 SRC 2.19 D2D REF1
57.07 REF2 SRC 2.20 D2D REF2
57.08 FOLLOWER CW SRC 2.17 D2D MAIN CW

57.09 KERNEL SYNC MODE KERNEL SYNC

57.10 KERNEL SYNC OFFS

57.11 REF1 MSG TYPE MULTICAST / CHAIN COMM

57.12 REF1 MC GRP
57.13 NEXT REF1 MC GRP
57.14 NR REF1 MC GRPS
 Drive logic 2 (Fieldbus interface)

DRIVE LOGIC FBA

10.09 RUN ENABLE
AND

JOG ENA + JOG 1/2 START

LOCAL MODE
02.12 FBA MAIN CW PC / Panel

B0 Stop START LOC START

B1 Start
B2 Stpmode EM OFF
B3 Stpmode EM STOP 10.07 JOG START 1
B4 Stpmode OFF1 STATE MACHINE
B5 Stpmode RAMP 10.14 JOG START 2 06.01 Status word1
B6 Stpmode COAST
DISABLE
B7 Run Enable 06.02 Status word2
10.15 JOG ENABLE
B9 Jogging 1
B10 Jogging 2 02.24 FBA main sw
B11 Remote CMD * EM STOP
AND OFF1 OFF1/OFF2/ STOPPED 02.31 D2D follower cw
OFF2 OFF3
AND
02.37 EFB main sw
AND OFF3
RUNNING

NORMAL
STOP STOP RAMP /
COAST FAULTED

11.03 STOP MODE

11.01 START MODE

10.12 START INHIBIT
10.08 FAULT RESET
* Remote CMD needs 10.17 START ENABLE
to be activated first.

Appendix C Control chain and drive logic diagrams

359
 DTC motor control

360
ACSM1
40.04 VOLTAGE RESERVE HW
40.05 FLUX OPT

Flux Flux Field

optimisation braking weakening
40.01 FLUX REF

40.10 FLUX BRAKING

01.07 DC-VOLTAGE

01.04 CURRENT

11.01 START MODE

Start control
11.02 DC MAGN TIME
Fast
11.07 AUTOPHASING MODE Automatic 01.05 CURRENT PERC
99.13 ID RUN MODE Const time

99.05 MOTOR CTRL MODE

40.07 IR COMPENSATION

Appendix C Control chain and drive logic diagrams

DTC core Gate signals
DC voltage Torque 03.16 FLUX REF USED
limiter limiter
03.13 TORQ REF TO TC 03.17 TORQUE REF USED

06.07 TORQ LIM STATUS

47.01 OVERVOLTAGE CTRL 20.05 MAXIMUM CURRENT

47.02 UNDERVOLT CTRL 20.08 THERM CUR LIM 01.06 TORQUE

20.06 MAXIMUM TORQUE 95.02 EXTERNAL CHOKE

Motor model
LOAD
01.14 SPEED ESTIMATED
20.07 MINIMUM TORQUE
40.06 FORCE OPEN LOOP
01.22 INVERTER POWER
40.03 SLIP GAIN
97 USER MOTOR PAR
99 START-UP DATA

ENCORED SPEED/POS 1
1.08 and1.09 E

ENCORED SPEED/POS 2
1.10 and 1.11
E
Further information
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Contact us

3AFE68848261 REV H / EN 2012-11-26

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