MANUAL

PC Software Manual
for Servo Amplifiers (DS, DPC)
and Battery Drives
(BAMOBIL-D, BAMOCAR)

NDrive.3

Hans-Paul-Kaysser-Straße 1 Edition / Version

71397 Leutenbach-Nellmersbach
2020 / V1
Tel: 07195 / 92 83 - 0
[email protected]
www.unitek.eu
 Basic information
Contents
1 Basic information.............................................................................................................. 5
1.1 History ................................................................................................................................ 5
1.2 Further manuals for digital UniTek units ............................................................................ 5
1.3 General ............................................................................................................................... 6
1.4 Safety advice ....................................................................................................................... 6
1.5 Operating system ............................................................................................................... 6
1.6 Software – installation........................................................................................................ 7
1.7 Communication RS232 (COMx) .......................................................................................... 7
2 Start screen ...................................................................................................................... 8
2.1 Description.......................................................................................................................... 8
2.2 Title bar NDrive – version + parameter set name .............................................................. 9
2.3 Operation.......................................................................................................................... 11
2.4 Entry and selection ........................................................................................................... 12
3 Help ............................................................................................................................... 13
4 Saving and Loading of servo parameters.......................................................................... 14
4.1 Saving and Loading in the servo (Eprom) ......................................................................... 14
4.1.1 Saving in the servo (Eprom) ..................................................................................... 14
4.1.2 Loading from the Eprom .......................................................................................... 14
4.2 Saving parameter data on the pc and loading parameter data from the pc ................... 15
4.2.1 Saving of parameter data (.urf) on the pc ............................................................... 15
4.2.2 Loading of parameter data (.urf) from the pc ......................................................... 15
4.2.3 Offline analysis and changes of parameter (.urf) files on the pc ............................. 15
5 Communication with NDrive ........................................................................................... 16
5.1 Establish the communication with NDrive ....................................................................... 16
5.2 Faulty communication with NDrive .................................................................................. 16
5.3 Firmware update .............................................................................................................. 17
6 Communication table...................................................................................................... 18
6.1 Measured values and parameters .................................................................................... 18
7 Basic status information ................................................................................................. 20
7.1 Status information – speed and current .......................................................................... 20
7.2 Status information – inputs and outputs ......................................................................... 20
7.3 Status information – Status display .................................................................................. 21
7.4 Status information – Error(s) ............................................................................................ 22
7.5 Status information – Warning(s) ...................................................................................... 23
7.6 Status information – operating status display on the servo ............................................ 24
8 Enable ............................................................................................................................ 25
8.1 Enable – Hardware input FRG/RUN.................................................................................. 25
8.2 Enable – Enable and Disable function via interfaces (CAN BUS, RS232) .......................... 26
8.3 Safety input RFE (Rotating field enable) ........................................................................... 27
8.3.1 Operation with an external RFE input ..................................................................... 27
8.3.2 Operation without an external RFE input ................................................................ 28
9 Settings .......................................................................................................................... 29
9.1 Settings – Motor ............................................................................................................... 30
9.2 Settings – Feedback (encoder) ......................................................................................... 31

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 Basic information
9.3 Settings – 2. Feedback ...................................................................................................... 34
9.4 Settings – External brake .................................................................................................. 36
9.5 Settings – Rgen circuit ...................................................................................................... 38
9.6 Settings – Motor temperature monitoring ...................................................................... 39
9.7 Settings – Power connection/ dc bus circuit monitoring ................................................. 43
9.8 Settings – Output power stage (igbt) temperature monitoring ....................................... 45
9.9 Settings – Servo ................................................................................................................ 46
9.10 Settings – Servo / PWM pulse frequency ......................................................................... 48
9.11 Settings – Servo / Analog output ...................................................................................... 48
9.12 Settings – Servo / Command value of the command mode............................................. 49
9.13 Settings – Servo / Analog inputs ....................................................................................... 50
9.14 Settings – Speed / Linear ramp function and speed limiting ........................................... 52
9.15 Settings – BTB / RDY ......................................................................................................... 54
10 Communication .............................................................................................................. 55
10.1 Communication – CAN Bus ............................................................................................... 55
10.2 Communication – RS232 .................................................................................................. 56
10.2.1 RS232 Changing the baud rate ................................................................................ 56
10.2.2 Structure of the serial RS232 protocols ................................................................... 56
11 Current control ............................................................................................................... 57
11.1 Current control – Parameters........................................................................................... 57
11.1.1 Additional information of the current controller parameters................................. 58
11.2 Current control – Structure .............................................................................................. 59
11.2.1 Conversion of the current units ............................................................................... 61
11.2.2 Setting of the current controller parameters (Kp ,Ti, TiM) ..................................... 62
12 Current reduction (derating) ........................................................................................... 65
12.1 Current reduction – Parameters and description ............................................................ 65
12.1.1 Current reduction – parameters .............................................................................. 65
12.1.2 Current reduction – description .............................................................................. 67
12.1.3 Current reduction – status messages ...................................................................... 68
13 Speed control ................................................................................................................. 69
13.1 Speed control – Parameters ............................................................................................. 69
13.1.1 Additional information of the speed controller parameters ................................... 70
13.1.2 Additional information of the speed ramps during speed controller operation ..... 71
13.1.3 Additional information of the speed limiting during speed controller operation .. 71
13.2 Speed control – Structure................................................................................................. 72
13.2.1 Setting of the speed controller parameters (Kp ,Ti, TiM) ....................................... 75
14 Torque control ................................................................................................................ 78
14.1 Torque control – Parameters ........................................................................................... 78
14.2 Torque control – General information ............................................................................. 79
14.3 Torque control – Torque cruze control ............................................................................ 79
15 Position control .............................................................................................................. 80
15.1 Position control parameters ............................................................................................. 80
15.2 Position control – Structure ............................................................................................. 82
15.2.1 Position controller settings ...................................................................................... 83
15.2.2 Position controller – Additional information settings ............................................. 84
15.2.3 Position control – Conversion of the units for the position .................................... 85

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15.2.4 Position control – Position scaling ........................................................................... 85
15.3 Position control – Reference run ...................................................................................... 86
15.3.1 Positioncontrol – Reference run structure screen................................................... 86
15.3.2 Position controller – Reference run logic diagrams................................................. 88
16 Field weakening control .................................................................................................. 91
16.1 Field weakening control – Synchronous motor in general ............................................... 91
16.2 Field weakening control – Parameter setting .................................................................. 92
17 Frequency converter operation (ACI v/f) ......................................................................... 94
17.1 Frequency converter – Parameter setting of the FU characteristic curve ....................... 94
17.2 Frequency converter – Motor parameter setting ............................................................ 95
18 Logic............................................................................................................................... 96
18.1 Logic – General overview ................................................................................................. 96
18.2 Logic – Digital inputs ......................................................................................................... 97
18.2.1 Logic – Digital inputs in general ............................................................................... 97
18.2.2 Logic – Digital inputs configuration overview.......................................................... 98
18.3 Logic– Digital outputs ....................................................................................................... 99
18.3.1 Logic – Digital outputs in general............................................................................. 99
18.3.2 Logic – Digital outputs configuration ..................................................................... 100
19 Diagnostics ................................................................................................................... 102
19.1 Diagnostics – General overview ..................................................................................... 102
19.2 Diagnostics – Manual Read/Write .................................................................................. 103
19.3 Diagnostics – Track ......................................................................................................... 103
19.4 Diagnostics – Information............................................................................................... 103
19.5 Diagnostics – Register display ........................................................................................ 104
20 Monitor ........................................................................................................................ 105
20.1 Monitor – General overview .......................................................................................... 105
21 Auto (special functions) ................................................................................................ 106
21.1 Auto – General overview ................................................................................................ 106
21.1.1 Auto – Special functions overview ......................................................................... 106
21.1.2 Auto – Motor-Parameter ....................................................................................... 107
21.2 Special function – [Fn1] Tuning - Still ............................................................................. 108
21.3 Special functions – [Fn2] Tuning - Rotating .................................................................... 108
21.4 Special functions – [Fn3] Phasing - Still .......................................................................... 109
21.5 Special functions – [Fn4] Phasing - Rotating .................................................................. 110
21.6 Special functions – [Fn5] DC-Injection............................................................................ 112
21.7 Special functions – [Fn6] Analog offset .......................................................................... 113
21.8 Special functions – [Fn7] Tacho offset............................................................................ 114
21.9 Special functions – [Fn8] Calc from motor nameplate ................................................... 115
21.10 Special functions – [Fn9] [Fn10] VdcBus compensation............................................. 118
22 Oscilloscope ................................................................................................................. 119
22.1 Oscilloscope – Overview ................................................................................................. 119
22.2 Oscilloscope – Settings and display ................................................................................ 120
22.2.1 Oscilloscope – Signal selection .............................................................................. 120
22.2.2 Oscilloscope – Trigger and capture settings .......................................................... 121
22.2.3 Oscilloscope – Description of the Trigger and Capture settings ............................ 121
22.2.4 Oscilloscope – Activation of the measuring process ............................................. 123

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22.2.5 Oscilloscope – Status display ................................................................................. 123
22.2.6 Oscilloscope – Zoom options ................................................................................. 123
22.2.7 Oscilloscope – Savind and loading of measured data............................................ 124
22.2.8 Oscillocope – Adaption of the oscilloscope window ............................................. 124
22.2.9 Oscilloscope – Measured value display ................................................................. 125
22.2.10 Oscillocope – Parameters on the page Oscilloscope ............................................. 126
23 Test operation .............................................................................................................. 127
23.1 Test operation – Test ...................................................................................................... 127
23.2 Testbetrieb – Step Generator ......................................................................................... 128
24 Parameters ................................................................................................................... 129
24.1 Parameters – Overview .................................................................................................. 129

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 Basic information
1 Basic information
1.1 History
Version Modifications Date
2016 / V1.1 Fax no. / page 68 (lq – complete) 02.08.2016
2017 / V1 Error list / Parameter 14.11.2017
2020 / V1 Complete revision 27.01.2020

Note:
Only use NDrive3xx program for units from firmware FW-350 on (from device serial no. 70000)

1.2 Further manuals for digital UniTek units

1. MANUAL DPC 4xx-AC DSxx, BAMO-D3, BAMOBIL-Dx Hardware description
2. MANUAL DSxx, BAMO-D3, BAMOBL-Dx Commissioning
3. MANUAL CAN BUS system

Use all manuals for the planning, the installation, and the commissioning!

CD version included inside the delivery (UNITEK-DOKU-SOFT).

Online: www.unitek.eu

MANUAL includes warning and safety notes, descriptions to standards and regulations, and
mechanical and electrical installation notes.

The MANUAL must be available at any time for all persons dealing with the unit.

Short symbols/terms
Servo Digital UNITEK motor controller
Unit Digital UNITEK motor controller

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 Basic information
1.3 General
The software NDrive3 is used to set-up and to optimise the UNITEK digital servo amplifiers (DS, DPC) and
motor drives (BAMOBIL-D, BAMOCAR-D).
Basic computer skills and fundamental knowledge of the Windows software are required.
The NDrive3 software and the respective manual are available on CD or via the UniTek homepage.

1.4 Safety advice

The parameters and settings of the controller (servo drive) and
the motor are preset with the NDrive software.
Operating parameters can be preset and changed during
operation. The computer and the PC programs are not
malfunction-proof.
The user must ensure that in case of malfunctions neither
personnel nor machines are endangered and that the drive is
stopped.
Saved data can be changed by third parties. Any imported data record must be checked prior to
re-use.
Any adjustments or optimising work on the running drive must only be carried out by trained
competent personnel with knowledge of drive and control engineering and computer handling.
Further to this, the safety advice for the amplifier and the drive used must be observed.
Any operation not conform to the safety guidelines is not permissible.

1.5 Operating system

NDrive will operate with WINDOWS 2000, WINDOWS NT4, WINDOWS XP, Windows Vista, Windows 8 or
Windows 10.

Min. required PC equipment

Processor 80486 or superior
Graphics WINDOWS compatible
Hard drive, available capacity 3 MB
Floppy disc drive 3.5“
CD drive CD ROM
RAM, min. 8 MB
Interface COM1..COM8 (RS232, USB adapter)
WINDOWS is a registered trademark of Microsoft Corp.

Linux
It is possible to use NDrive via a LINUX operating system by means of a Windows emulator (e.g. Wine).

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 Basic information
1.6 Software – installation
The user software NDrive can be copied.
An installation of the NDrive program is not required. It can be directly executed.
Since NDrive is not a comercial software application, the acceptance of untrusted software must be
selected inside windows at first use when asked to.

Internet:
• Choose www.unitek.eu or www.unitek-industrie-elektronik.de
• Download button → Click NDrive2-Software.zip
• Download and save the file (NDrive2-Software.zip)
• Decompress the file
• Start the program NDrive vXxx.exe
• At first start it is recommended to select the language (Help → Change language…) once and to
restart NDrive in case language files are not pre-selected properly.

1.7 Communication RS232 (COMx)

Software communication between the PC and the servo RS232 PC X10 DSxx/BAxx
amplifier is effected via RS232, (115200 baud rate).
Use an USB-RS232 adapter with PCs with an 1 1
6 6
USB interface. RxD 7 2
7
2 RxD
TxD 8 3 3 TxD
Plug and unplug the connecting cable only when 9
4 8
9
4
GND 5 5 GND
the interface is disconnected.
The interface is galvanically connected to device FM FM
ground (GND). Schirm am Steckergehäuse
Shield at connector housing

Fig. 1-1

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 Start screen
2 Start screen

Fig. 2-1 – 00001

2.1 Description
The program presents a screen consisting of two elements. A constant outer frame (grey) and an
interleaved page area (blue). The pages are accessed by a horizontal tab bar running across the top of the
frame.

Top Title bar, menu bar, page tabs

Left Display of speed, current, inputs and outputs, states, errors, and test
functions
Bottom Connection state, Firmware number, Axis description
UNITEK.EU Link to the Unitek website

• The screen surface switches between pages.

• The tab structure allows for easy access of relevant data and fast switching between the pages.
• The grey frame surface is constantly displayed.
• The selected pages are opened across the complete blue area.
• It is always possible to switch between the pages without a time delay.
• Multi-page parameters are automatically transferred.
• Settings referring to only one page remain unaffected.

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 Start screen
2.2 Title bar NDrive – version + parameter set name
Drop-down menu for window commands

Communication
COM port
Baud rate 115200

Fig. 2-2 - 00013

Fig. 2-3 - 00015

Help
Manual (NDrive_DE.pdf or NDrive_EN.pdf)
Select language via ‘Change Language‘

Fig. 2-4 - 00016

File-Functions:
Load registers… NDrive file*.urf Loading a parameter file from the pc to the unit
Save registers… NDrive file*.urf Saving a parameter from the unit to the pc file
Import register file (*.utd.)… DRIVE file*.utd Loading a parameter file from the pc to the unit
Print register… Print file Printing of all parameters (registers)
Print selection of registers… Print file Printing of selected parameters (registers)
Execute script (for service only) Loading protected parameters to the unit
End Closing NDrive program

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 Start screen
Speed Speed display in rpm and 16 Bit numeric
number (num).
Bar graph 0..100 % speed

Current Current display in Arms and 16 Bit numeric

number (num).
Bar graph 0..200 % nominal rated current

Inputs / Outputs Display of the active inputs and outputs

States Display of the states

Warning Warning messages

Faults Error display

Test Command field at digital control

(speed/torque/position)

- Speed Numerical entry for a test speed value

- Torque Numerical entry for a test torque value
- Position Dest: = numerical entry of the position

P. = Preset entry as actual position value and

command value
Calib. = Start of a reference run

Fig. 2-5 – 00017

Footer

Fig. 2-6 - 00018

Communication Firmware no. Axis designation

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 Start screen
2.3 Operation
The PC user interface has a standard WINDOWS format.
Only use whole numbers and write decimals with a point.
Write positive values without a sign, negative values with a (-) sign.

Online operation

Plug the connecting cable RS232. Switch on the PC and the control unit.
Select the baud rate of 115200.
Select the communication interface with <communication - COM1 to COM8>.

When the connection is successful the message <Drive is online> appears in the bottom frame line.
The active drive parameter data will be imported from the drive to the PC and can be manipulated via the
input fields as required.

All drive parameters shown may be changed during operation via the NDrive surface and downloaded from
the PC directly to the RAM of the drive by clicking the return key (enter).

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 Start screen
2.4 Entry and selection
Click the entry field (left mouse button).
Enter a numerical value and click the return key (enter) to confirm the
value. The changed value is saved in servo RAM.
Fig. 2-7 - 00021
Up-Down value change
Click the input field (left mouse button).
The value can be changed via the mouse wheel.
The values are immediately updated in the servo RAM.

Drop-down menu
Click the arrow button of the list box. The drop-down menu shows the
available options. Scroll up or down by means of the arrow button and
Fig. 2-8 - 00022
select an option by clicking it. Selecting an option will update the
variable and closes the drop-down menu.

Option buttons
Click the selected button. The green button displays the selected
function.

A tick in the selection field shows the selected option.

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 Help
3 Help
Direct help

Hover the mouse cursor over the parameter entry field or setup field and an explanation field opens
(tooltip).

Fig. 3-1 - 00024

Help menu

Click Help
Click Manual
The pdf version of the NDrive manual opens.

Fig. 3-2 - 00016

Change language

Click Help
Click Change Language… and a list box opens
Select the language
Close NDrive and restart it in order for the changes to take effect

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 Saving and Loading of servo parameters
4 Saving and Loading of servo parameters
4.1 Saving and Loading in the servo (Eprom)
When there is an active communication the parameters displayed on the screen are those currently active
inside the RAM of the servo drive. By pressing the return key, the changed value is directly updated to the
servo RAM.

4.1.1 Saving in the servo (Eprom)

Eprom writing (permanent saving of parameter data)

Click „Eprom - STORE 0 or 1“ on the setting page.

The data are written into the selected level 0 or 1 of the Eprom.
The Eprom level 0 contains the current parameter record.
Fig 4-1 – 00025
Each time the 24 V auxiliary voltage is switched on, all parameters of the Eprom
level 0 are loaded into the RAM of the servo drive.
Attention:
If the +24 V auxiliary voltage is switched off, the RAM data will be lost.

4.1.2 Loading from the Eprom

Eprom reading (loading parameters from the Eprom levels)

Click „Eprom - RECALL 0, 1 or 2“ on the setting page.

The parameter data are transferred from the selected level 0, 1, or 2 of the
Eprom to the servo RAM and to the RAM of the PC (if connected).
Fig. 4-2 - 00026
Each time the 24 V auxiliary voltage is switched on, all parameters of the Eprom
level 0 are loaded into the RAM of the servo drive.
Note:
The data of the Eprom level 2 are code protected and contain the default factory parameter set.

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 Saving and Loading of servo parameters
4.2 Saving parameter data on the pc and loading parameter data from the pc
4.2.1 Saving of parameter data (.urf) on the pc

There are two possibilites to save a .urf (unitek register file) parameter file on the pc data medium (hard
disk, etc.) with the contents from the servo RAM.

Via the menu bar:

Select File → Save registers... in the menu bar,
and the Save Register File window will open.
Enter or select file name and save.
Fig. 4-3 - 00027

Via the floppy disk symbol (save key):

Click the floppy disk symbol (save) on the Settings page,
and the Save Register File window will open.
Fig. 4-4 - 00028 Enter or select file name and save.

4.2.2 Loading of parameter data (.urf) from the pc

There are two possibilites to load a .urf (unitek register file) parameter file from a pc data medium (hard
disk, etc.) to the servo RAM.

Via the menu bar:

Select File → Load Registers… in the menu bar,
and the Load Register File window will open.
Select and open the parameter (.urf) file.
Fig. 4-5 - 00027

Via the file symbol (load key):

Click the file symbol (load) on the Settings page,
and the Load Register File window will open.
Fig. 4-6 - 00028 Select and open the parameter (.urf) file.

After being loaded the parameter data are in the servo RAM.
At the same time all parameter fields in NDrive are overwritten with the loaded data.

4.2.3 Offline analysis and changes of parameter (.urf) files on the pc

Loading, changing, and saving of parameter (.urf) files while being in offline mode is possible by selecting
Communication → View File... in the menu bar. After selecting the .urf file in the Load Register File window
all parameters are loaded into NDrive.

The loaded parameters can now be seen and changed.

Select File → Load Registers… in the menu bar and save the changes in the same or in a new parameter
(.urf) file.

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 Communication with NDrive
5 Communication with NDrive
5.1 Establish the communication with NDrive
Make sure that the COM channel for the serial connection is known
before starting the communication.

Click the menu communication to drop down the options.

Select the used COMx interface (COM1..COM8). The checked
COM interface will be used to establish a connection to the servo.

The connection state is displayed in the bottom screen frame.

The connection was successful when the message Drive is online
(COMx, …) is displayed in the bottom state bar.

All parameter fields inside NDrive are updated with the data
from the servo RAM. Fig. 5-1 - 00015

Stop communication
Open the drop down menu communication and click on Offline .
The connection is cut off and the message Drive is offline is displayed in the bottom state bar.

5.2 Faulty communication with NDrive

1. Random scrowling of messages in the warning or error display:
 COM connection faulty or wrong COM port selected.

2. State symbols flash or an additional window with an error message apears:

 Download the newest NDrive from the UniTek homepage (Link).
 Contact the UniTek customer sevice if necessary.

3. All names are displayed incorrectly:

 Select the language via Help → Change Language... and restart NDrive for the changes to take
effect.

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 Communication with NDrive
5.3 Firmware update
Due to update reasons, please use the manual „Firmware update-2020-C2Prog_DE.pdf“ inside the folder
“…\NDrive2-Software\manuals”.

Manual:

On the UniTek CD
UNITEK-CD-DOKU-SOFT
File “SOFTWARE\NDrive2-Software\manuals

or download from the UniTek homepage

www.unitek.eu or www.unitek-online.de
Link Download
Download NDrive2-Software.zip Press „NDrive2-Software.zip“ and save
(e.g. downloads)
Unpack NDrive2-Software.zip Press RM + (extract all… / unpack here)
File “…\NDrive2-Software\manuals”

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 Communication table
6 Communication table
6.1 Measured values and parameters
Measured values
Symbol: Function: Range: ID address:

N cmd Speed command value before ramp ±32767 0x31

N cmd Ramp Speed command value after ramp ±32767 0x32
N actual Speed actual value ±32767 0x30
N actual-filter Filtered speed actual value for display ±32767 0xa8
N error Speed command/actual value error ±32767 0x33
I cmd Current command value see table 0x26
I cmd Ramp Current command value after ramp see table 0x22
I actual Actual current(I) see table 0x20
I actual-Filter Filtered current actual value for display see table 0x5F
Pos dest Position target ±2147483647 0x6E
Pos cmd Position command value ±2147483647 0x91
Pos actual Actual position ±2147483647 0x6D
Pos error Position command/actual value error ±32767 0x70
Zero capture 0x74
I_Limit1 Digital input END1 0/1 0xE4
I_Limit2 Digital input END2 0/1 0xE5
I_Din1 Digital input 1 0/1 0xE6
I_Din2 Digital input 2 0/1 0xE7
I_Run (Frg) Digital input control unit enable 0/1 0xE8
O_Dout1 Digital output 1 0/1 0xE0
O_Dout2 Digital output 2 0/1 0xE1
O_Dout3 Digital output 3 0/1 0xE1
O_Dout4 Digital output 4 0/1 0xE1
O_Rdy (BTB) Drive ready message 0/1 0xE2
I_Fault Intern. error message from the power section 0/1 0xE9
I_Regen (Ballast) Ballast circuitry state 0/1 0xEA
I_o´/u´ voltage Over-voltage condition 0/1 0xEB
I_LossOfSignal Resolver signal missing or faulty 0/1 0xEC
O_Go Internal enable 0/1 0xE3
O_Brake Active brake 0/1 0xF2
O_Icns Limited to continuous current 0/1 0xF3
O_Less_NO Speed inferior to 0.1% 0/1 0xF5
O_Toler Within position tolerance range 0/1 0xF4
Rotor Rotor position signals (RST) 1..6 (0 or 7 = error) 0x5C
Var1 Comparison reference value 1 ±32767 0xD1
Var2 Comparison reference value 2 ±32767 0xD2
Var3 Comparison reference value 3 ±32767 0xD3
Var4 Comparison reference value 4 ±32767 0xD4
MPOS_mech Mechanical rotor position 0x42
MPOS_elec Electrical motor position 0x43
Ain1 Analog input Ain1 ±32767 0xD5
Ain2 Analog input Ain2 ±32767 0xD6
I3_adc Current actual value sensor 3 2048 (±2000) 0xA9
I2_adc Current actual value sensor 2 2048 (±2000) 0xAA
I1_actual Current actual value Ph1 s.Tabelle 0x54
I2_actual Current actual value Ph2 s.Tabelle 0x55
I3_actual Current actual value Ph3 s.Tabelle 0x56
Iq_actual Current actual value 0..600 0x27
Id_actual Current actual value 0..600 0x28
Iq_error Current actual value - command/actual val. error 0..600 0x38
Id_error Current actual value - command/actual val. error 0..600 0x39
Id nom Nominal Id magnetizing current in % of the rated motor 0..100 % 0xB2
current (Inom eff)
Id min Minimal Id magnetizing current in % of the rated motor -100..0 % 0xB5
current (Inom eff)
I lim inuse Present current limit 0..600 0x48
DC-BUS Bus voltage 0..32767 0xEB
Vd Present Vd voltage part ±4096 0x2A
Vq Present Vq voltage part ±4096 0x29
V out Output voltage ±4096 0x8A

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 Communication table

Measured values
Symbol: Function: Range: ID address:

V red Field weakening control – voltage reference value in % of V out 0..100 % 0x8B
pwm1 (5/6) Pulse width modulation phase 1 750 (±750) 0xAC
pwm2 (3/4) Pulse width modulation phase 2 750 (±750) 0xAD
pwm3 (1/2) Pulse width modulation phase 3 750 (±750) 0xAE
T_Motor Motor temperature 0..32767 0x49
T_IGBT Output stage temperature 0..32767 0x4A
T_air Air temperature (unit interior) 0..32767 0x4B
Ballast Count Ballast power monitoring 0xA1
Temp-Debug For service only ±32767 0x9A
Logic (Hz) I/O processing frequency 0..32767 0xAB
Time_1us Time pulse 1us 1/0 0x98
*PTR1 only for service ±32767 0xB8
*PTR2 only for service ±32767 0xBA
Unknown Return value In case of unknown ID-Address -1330

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 Basic status information
7 Basic status information
7.1 Status information – speed and current
Speed in rpm (revolutions per minute) and as numerical
value of the measured value from the ID address 0xA8

Current in Aeff (motor current in ampere effective) and

as numerical value of the measured value from the ID
address 0x5F

Fig. 7-1 - 00035

7.2 Status information – inputs and outputs

The LEDs are bright when the positive input voltage is >10 V and the output voltage is positive.

Symbol: Function: ID address:

0xD8
LMT1 Digital input Limit 1 active Bit 0
LMT2 Digital input Limit 2 active Bit 1
IN2 Digital input Din 2 active Bit 2
IN1 Digital input Din 1 active Bit 3
FRG (RUN) Hardware enable active Bit 4
RFE Rotating field enable active Bit 5
Bit 6
Bit 7
OUT1 Digital output Dout 1 on Bit 8
OUT2 Digital output Dout 2 on Bit 9
BTB (Rdy) Hardware relay, output BTB (Rdy) on Bit 10
GO Internal enable GO active Bit 11
OUT3 Digital output Dout 3 on Bit 12
OUT4 Digital output Dout 4 on Bit 13
G-OFF Bit 14
BRK1 Excited brake Bit 15

Fig: 7-2 - 00034

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 Basic status information
7.3 Status information – Status display
The operating states are displayed in the 'Status' field.

Symbol: Function: ID address:

0x40
Ena Drive enable Bit 0
(combination hardware RUN and software)
NcR0 Speed limit to zero Bit 1
(Speed command still active)
Lim+ Limited switch Plus tripped Bit 2
Lim- Limited switch Minus tripped Bit 3
OK Drive okay Bit 4
(no uncontrolled reset)
Icns Current is limited to the continuous current level Bit 5
T-Nlim Speed limited torque mode active Bit 6
P-N Position control active Bit 7
N-I Speed control active Bit 8
<N0 Actual speed less than 0.1 % (standstill) Bit 9
Rsw Reference switch tripped Bit 10
Cal0 Calibration move active Bit 11 Fig. 7-3 - 00033

Cal Calibration move completed (position calibrated) Bit 12

Tol Position within tolerance window Bit 13
Rdy Drive ready (BTB/RDY contact is closed) Bit 14
Brk0 Unexcited brake with motor active Bit 15
SignMag Speed internally inverted Bit 16
Nclip Speed limiting enabled (N-Lim < 90 %) Bit 17
Nclip+ Speed limiting (positive) via input switch enabled Bit 18
Nclip- Speed limiting (negative) via input switch enabled Bit 19
lrd-Dig Current limiting via input switch enabled Bit 20
luse-rchd Actual current limit reached Bit 21
lrd-N Current derating to continuous current via speed Bit 22
limit enabled
Ird-TI Current derating to continuous current due to Bit 23
igbt temperature enabled
Ird-TIR Current derating to continuous current due to Bit 24
igbt temperature active
>10 Hz Current derating to continuous current at Bit 25
rotation frequency less than 10 Hz active
Ird-TM Current derating to continuous current due to Bit 26
motor temperature active
Ird-Ana Current derating due to analog input (if ≤90 %) Bit 27
possible
lwcns Current peak value warning Bit 28
RFEpulse Pulsed RFE - input monitoring active Bit 29
M+d vacant Bit 30
HndWhl Hand-wheel function selected Bit 31

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 Basic status information
7.4 Status information – Error(s)
Display on Error message Function: ID address:
the servo: in NDrive: 0x8FL
NOREPLY-No RS RS232 interface not plugged in or disrupted

0 BADPARAS Defective parameter detected Bit 0

1 POWER FAULT Hardware fault Bit 1
2 RFE Faulty safety circuit (only active for RUN) Bit 2
3 BUS TIMEOUT CAN TimeOut time exceeded Bit 3
4 FEEDBACK Bad or faulty encoder signal Bit 4
5 POWERVOLTAGE No power supply voltage Bit 5
6 MOTORTEMP Motor temperature too high Bit 6
7 DEVICETEMP Device temperature too high Bit 7
8 OVERVOLTAGE Overvoltage > 1.8 x UN is reached Bit 8
9 I_PEAK Over-current or strongly oscillating current detected Bit 9
A RACEAWAY (*) Racing (without command value, incorrect direction) Bit 10
B USER User – error selection Bit 11
C Bit 12
D Bit 13
E HW_ERR Current measuring fault Bit 14
F BALLAST* Ballast circuit overload Bit 15
Flashing decimal point Active processor
Dark decimal point No auxiliary voltage or unit-internal hardware fault

If an error is detected the error information is send to NDrive

via the ID address 0x8FL and displayed in the field „Error(s)“.

Fig. 7-4 - 00031

Note:
• * Error F is a unit-dependant error (without function for BAMOBIL and BAMOCAR servo drives)
• When applying the auxiliary voltage with the enable input set (FRG/RUN X1:7 aktiv) the red LED signals
an error. There is no fault signal displayed in the 7-segment display.
• Error 1 (POWERFAULT) is a summarised error message received by the hardware watchdog.
In addition, it is necessary to check the state of the signal „I_FAULT“.

In case of an error: Illuminated display

• the red LED ‘fault’ lights up and the error no. is displayed at the servo
• the BTB (ready) contact is opened
FAULT

• the software ‚BTB message‘ switches from 1 to 0

• the state message ‚RDY‘ extinguishes
• after switching the enable input to off, the error message will remain

The error message is deleted (no enable):

• when switching on ‚Cancel errors‘ via a digital input
• by means of a ‚Cancel Errors‘ command via CAN or serial
• in case of a positive edge from the enable input (FRG/RUN)

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 Basic status information
7.5 Status information – Warning(s)
Display on Warning message Function: ID address:
the servo: in NDrive: 0x8FH
0 WARNING_0 Inconsistent device identification Bit 16
1 ILLEGAL STATUS Faulty RUN signal, EMI Bit 17
2 WARNING_2 Inactive RFE signal (without RUN input active) Bit 18
3 Bit 19
4 Bit 20
5 POWERVOLTAGE Power supply voltage missing or too low Bit 21
6 MOTORTEMP Motor temperature > (I-red-TM or 93 % of M-Temp) Bit 22
7 DEVICETEMP Device temperature > 87 % of the limit Bit 23
8 Vout_Sat Limit of the existing voltage output reached Bit 24
9 I_PEAK Overcurrent 200 % Bit 25
A RACEWAY Resolution range of the speed measuring exceeded Bit 26
B Bit 27
C Bit 28
D Bit 29
E Bit 30
F BALLAST* Ballast circuit overload > 87 % Bit 31

If a warning is detected, the warning information is send to NDrive

via the ID address 0x8FH and displayed in the field „Warning(s)“.

Fig. 7-5 - 00032

Note:
• * Warning F is a unit-dependant error (without function for BAMOBIL and BAMOCAR servo drives).

In case of a warning the red LED flashes and the seven-segment display shows alternately the warning
status and the warning number.

Example: Warning 5

Illuminated display:
• FAULT LED red - flashing
Fault

POWERVOLTAGE
• The display changes between status (missing power voltage)
and warning no. 5

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 Basic status information
7.6 Status information – operating status display on the servo

Display: Point/ Status: Status in NDrive:

(7-segment LEDs) segment:
flashing Processor active

dark Auxiliary voltage missing or inherent hardware failure

flashing Starting state after reset (aux. voltage 24V off-on). The first enable
stops the flashing display. OK = 0

bright Drive enabled OK = 1, ENA = 1

OK = 1, ENA = 0
dark Drive disabled (not enabled)

bright Speed zero (standstill signal) NO = 1

bright Drive revolves clockwise, N currently positive NO = 0

bright Drive revolves anti-clockwise, N currently negative NO = 0

flashing Motor current reduced to continuous current Icns lwcns = 1

bright Motor current at max. current limit Imax lwcns = 0
dark Normal operation; Motor current within the current limits lwcns = 0

Left segment: A new command (value) was received

bright for 0.1s from the BUS or RS232

Right segment: Digital input changed.

Example: Motor revolving clockwise

Point flashes = Processor active

Bottom segment = Drive enabled
Right segment = Motor revolves clockwise (7-segment LEDs)

Ballast circuit
switching: The direction segment (at the right or left bottom) is switched off when the ballast
circuit is switched on.

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 Enable
8 Enable
8.1 Enable – Hardware input FRG/RUN
Switching on
Voltage across the enable input (X1:7, X1:G FRG/RUN) is between 10..30 V=.
The power stage of the drive is immediately enabled when the drive
enable is switched on. The software control of the power stage is
activated 2 ms later. Commands such as command values, reference
travel, etc. can be sent 5 ms after the drive enable (RUN).
The enable state is indicated in the state field with 'Ena'.

Switching off
Voltage across the enable input (X1:7, X1:G FRG/RUN) < 4 V=.
When the enable function is switched off, the drive is electronically disabled.

Switching off with emergency stop (Coast stop ‚Off‘)

The drive decelerates to standstill before it is disabled.
When the enable function is switched off, the internal speed command
Value of N cmd Ramp is reduced to zero by according to the setting of R-Lim.
The power section is disabled by means of the internal command GO 50 ms
after the axis has come to a standstill or after the ramp time
Fig. 8-1 - 00037
(R-Lim) + 50ms has elapsed. The power stage is disabled after 1.5 s
at the latest.

Switching off without emergency stop (Coast stop ‚On‘)

The power section is immediately disabled when the enable function Fig. 8-2 - 00036
is switched off. The drive decelerates free of torque.

If the free coasting is set to off, set R-Lim in such a way that the drive is braked to a standstill.
50 ms after the switch-off ramp time (R-Lim) has elapsed, the power section is disabled. The drive is free of
torque.

Fig. 8-3

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 Enable
8.2 Enable – Enable and Disable function via interfaces (CAN BUS, RS232)
This is a special method to achieve an enable in case the enable inputs are already set, i.e., the hardware
enable function (FRG/RUN) and the safety input RFE are already switched on.

Disable
By means of the command ENABLE OFF (MODE-BIT 0x51Bit 2 = 1) the internal speed command value
N cmd (ramp) is controlled to zero according to the ramp R-Lim adjusted in the parameter field ‘Speed’.

Enable
By means of the command NOT ENABLE OFF (MODE-BIT 0x51Bit 2 = 0) the servo drive is enabled without
delay.

Software enable of NDrive

The hardware enable (FRG/RUN) input must be switched on!

Switching field “Dis”

grey = Software enable = ON
red = Software enable = OFF

Fig. 8-4 - 00038

Enable for hard-wired RFE and FRG/RUN input

1. First disable the servo by means of the command ENABLE OFF (MODE-BIT 0x51Bit 2 = 1).
2. Then disable the servo by means of the command NOT ENABLE OFF (MODE-BIT 0x51Bit 2 = 0).
The servo drive is immediately enabled without any delay.
→ An enable is only possible in this order.
→ At the same time all saved errors are deleted.

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 Enable
8.3 Safety input RFE (Rotating field enable)
Warning:
If either one of the two inputs enable (FRG/RUN) or rotating field (RFE)
is switched off, the drive is disabled and free of torque.
The drive could move if there is no additional mechanical brake or
block provided.

The motor conductors are not free of voltage. Only the rotating field is
disabled. Prior to any work or maintenance on the motor or servo drive, the
Servo drive must be completely disconnected from the mains power
supply.

8.3.1 Operation with an external RFE input

• Two-channel disable of the enable

via a safety switching device.
• Enable input FRG/RUN + rotating
field enable input RFE
• Contacts of the safety device closed
• Enable FRG/RUN 0.5 s after RFE

Safety switch-off
• Contacts of the safety device open
• There is no FRG/RUN signal in
the 1st disable channel to disable
the PWM pulses in the processor
• There is no RFE signal in the 2nd
disable channel to disable the PWM
pulses at the output of the
processor

Restart
• Release the safety switching device
• Contacts of the safety device closed

The motor can only move after a

enable input (FRG/RUN) is set after the
rotating field input (RFE).
Fig. 8-6 Fig. 8-5

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 Enable
8.3.2 Operation without an external RFE input

The input RFE must be bridged with the logic voltage. i.e.,
the 24 V output is used as input for RFE.

If the logic voltage corresponds to the auxiliary voltage,

the RFE input is bridged with +24 V.

Enable FRG/RUN at least 0.5 s after the RFE signal.

Note:
In case of round or Tyco connectors (BAMOCAR, BAMOBIL)
use the plug no. of the device MANUAL.

Fig. 8-7

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 Settings
9 Settings
Main parameters and data inputs on the page Settings

Fig. 9-1 - 00039

Input fields for motor data, device data (servo), and parameter data.
Buttons for the memory functions.

The settings for the motor and the servo drive can only be made via the Settings window.
The parameter data can also be entered on different NDrive windows.
The changed parameter data are immediately updated on all pages.
See detailed information for the input fields.

Note:
Prior to the first commissioning and any change of the motor type the data displayed in the Settings
windows must be checked with the name plate or the data sheet of the motor.

Please observe the motor specific connection guidelines!

Any changes of the set value during online operation

must only be carried out by competent and qualified
personnel!

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 Settings
9.1 Settings – Motor
Parameters of the rated motor data according to the motor nameplate and the motor data sheet

Symbol: Function: Range: Unit: ID address:

Type Motor type selection (EC servo, FU, FU servo, DC) 0x5ABit 13..12
N nom Motor speed (for FU autotuning) 60..65000 rpm 0x59
F nom Frequency rated motor speed (for FU mode) 20..1200 Hz 0x05
U nom Voltage at rated motor speed (for FU mode) 0..1000 V 0x06
Cos Phi Motor power factor (for FU mode) 0..327,00 % 0x0E
I max eff Motor - max. current 0..1000,0 Arms 0x4D
I nom eff Motor - continuous current 0..1000,0 Arms 0x4E
M-Pole Motor - pole number (2 x pole pairs) 2..96 Num 0x4F
Brake delay - Attraction delay time of the electro-mechanical 0..1000 ms 0xF1
motor brake
- Deceleration when no brake is connected
Coast stop Free coasting (ON) or emergency stop braking (OFF) On / Off 0x5ABit 3
(enable (FRG/RUN) is switched off)
M-Temp Switch-off point due to motor over-temperature 0..32767 Num 0xA3
(Error code 6)
(At 93 % the warning message 6 is set with current
derating Ird-TM activation)

Fig. 9-2 - 00042

Overview of the motor type selection

Motor type:
EC Servo Synchronous servo motor with encoder system
(sensor)
ACI V/f Asynchronous motor frequency converter
without sensor (U/F characteristic curve without
slip compensation)
ACI servo Asynchronous motor AC servo vector control
with speed encoder system (e.g. position
Fig. 9-3 - 0040 encoder A, B channel)
DC DC motor without or with DC tacho encoder

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 Settings
9.2 Settings – Feedback (encoder)
Parameters of the setting fields for the rated feedback encoder data according to the encoder data sheet

Short symbol Function Range Unit ID address

Type Feedback selection 0xA4Bit 4..2
(Rot_Enc_TTL, resolver,…)
FB-Pole Encoder no. of poles 2..12 Num 0xA7
FB-Offset Phase angle correction ±360 Deg 0x44
FB-Incr (Mot) Encoder resolution 1024..8192 Inc/Rev 0xA6
Voltage DC tacho voltage mV/rpm

Inc ext Resolution - 2nd Feedback Inc/Rev 0xCFL

Factor Multiplicator SIN/COS Inc. 4..16 Num 0x7E

Overview of the suitable feedback encoders for the corresponding motor types

Motor type: Suitable feedback type:

EC servo Rot_Enc_TTL, Enc_TTL (restricted)
Resolver
Abs_Enc_SC, Enc_SC, Abs_SC
Rot
ACI V/f SLS, Enc_TTL
ACI servo Enc_TTL
Resolver
Abs_Enc_SC, Enc_SC, Abs_SC
DC Enc_TTL
Resolver
Abs_Enc_SC, Enc_SC, Abs_SC
DC_Tacho
DC_Arm, BL_Arm, DC_Arm_Vir
Fig. 9-4 - 00043

Note:
• UniTek Servo drives can only operate certain types of feedback encorder according to their hardware
congiguration.
• The feedback encoder must be adapted to the hardware configuration of the motor.
• The selected feedback encoder type must correspond to the configuration of the servo for the
respective encoder type, i.e., a digital servo is configured only for a certain type of encoder.

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 Settings
Resolver encoder:

Resolver Resolver encoder with 10 kHz and 2 Vpp

FB-Pole No. of encoder poles 2 to 12
FB-Offset Correction value for the mechanical encoder setting
Rotor angle ±360 degree
Automatic detection of the offset angle = see page AUTO

Incremental encoder:

Rot_Enc_TTL Incremental encoder 5 V TTL with rotor commutation tracks

FB-Offset Correction value for the mechanical encoder setting
Automatic detection of the offset angle = see page AUTO
FB-Inkr (Mot) No. of pulses per revolution
Note: The no. of poles of the rotor position encoder must correspond to the no. of motor poles!

ENC-TTL Incremental encoder 5 V TTL without rotor commutation tracks

FB-Inkr (Mot) No. of pulses per revolution
Only for asynchronous motors or special drives

SINUS/COSINUS encoder:

Abs_Enc_SC 1 Vss-Sin/Cos encoder with Sin/Cos commutation tracks

FB-Offset Correction value for the mechanical encoder setting
FB-Inkr (Mot) No. of pulses per revolution

ENC_SC 1 Vss-Sin/Cos encoder without commutation tracks

FB-Inkr (Mot) No. of pulses per revolution

ABS_SC Sine-Cosine signal per motor pole pair (analog Hall sensors)
M-Pole, No. of motor poles must be equal to the no. of encoder poles (M-Pole = FB-Pole)
FB-Pole

Rotor position encoder 5 V, 15 V:

ROT_TACHO Rotor position encoder with bl-tacho (DC tacho)

FB-Offset Correction value for the mechanical encoder setting

ROT Rotor position encoder without bl-tacho, only rotor signals (3 digital Hall sensors)
FB-Offset Correction value for the mechanical encoder setting

BL-ARM EC/AC_motor without tacho

Note: The no. of poles of the rotor position encoder must correspond to the no. of motor poles!

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 Settings
Feedback for DC motors:

DC_TACHO DC motor with tacho

FB-Offset 120 = connection M1-M3 (0=M2-M3, -120=M1-M2)

DC-ARM DC motor with armature voltage sensor (without tacho)

FB-Offset 120 = M1-M3 (0=M2-M3, -120=M1-M2)

DC_ARM_VIR Sensorless DC motor without tacho, without armature voltage measuring

FB-Offset 120 = connection M1-M3 (0=M2-M3, -120=M1-M2)

Sensorless drives:

SLS Sensorless AC motor without feedback encoder in FU-operation (ACI V/f)

no setting

SLS_SMO not yet available

SLS_Usens not yet available

In case of changing the feedback parameters it is necessary to reset the parameter.

→ Write the parameter set into the EEPROM (Eprom - STORE 0)
→ and re-read the set of parameters (Eprom - RECALL 0)

Fig. 9-5 - 00020

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 Settings
9.3 Settings – 2. Feedback
Parameters for the setting of the X8 connection as 2. Feedback encoder input

Symbol: Function: Range: Unit: ID address:

Type Selection of 2. Feedback encoder input 0xA4Bit 7..5
Inc-ext Resolution of 2nd incremental encoder Inc/Rev 0xCFL
Factor-ext Encoder factor 2nd encoder 4..16 Num 0x7E
Inc-Out Incremental output resolution Inc/Rev 0xCFH
Factor Multiplying factor of the basic no. of pulses 0xA4Bit 14..12
with SinCos (SC) encoder

Type: Selection for the 2. Feedback encoder input (2. Feedback)

--- input switched off
Enc - Position connected as input
Enc - Info connected as output
Enc - Hand. handwheel input
SSI SSI encoder input

Fig. 9-6 - 00044

Example: Setting X8 as input for incremental encoder signals

Type = Enc - Position:

Incremental encoder TTL 5 V A,B,N + push-pull
Bridge between X8:1 and X8:6 (X8 switched as input)

Factor-ext (scale):
Calculate the transmission
1 motor revolution = 65536 num (internal counter)

Factor-ext for the adaption of the 2. Feedback encoder (0x7E)

Encoder_2_Scale = 65536 / encoder pulse of the 2nd encoder per motor revolution * 4

Input with Factor-ext. (0x7E) = Encoder_2_Scale * 16384

Output:
1 motor revolution corresponds to 0.1 encoder revolution
No. of encoder pulses 1000 rpm
Pulses per motor revolution 0,1 * 1000 * 4 = 400

Input with encoder_2_Scale

= 65536 / 400 = 163,840

Input factor-ext. (0x7E)

= 163,840 * 16384 = 2684354

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 Settings
Example: Setting X8 as input for incremental encoder signals

Typ = Enc - Info:

Setting the value of the no. of output pulses per revolution for resolver encoder signals at the X8 ouput
connection.

The encoder signals from the motor (feedback) are output across the sub-D connector X8 as TTL encoder
signals (example CN control).
Signals: channel A, channel /A, channel B, channel /B, Kanal N, channel /N

The encoder output is floating.

The voltage is supplied through the encoder cable of the CNC/PLC control.
Voltage supply +5 V ±0.2 V
The output signal corresponds to RS485.

Option: Internal supply from the servo

(LBR1 + LBR2)

Resolution:
For the –RS and –SC versions the resolution can be programmed.
For –IN the output corresponds to the no. of encoder pulses.
Factor - Mulitplication factor for the basic no. of pulses for SinCos (SC)

Fig. 9-7 - 00045

Pulses per revolution Resolution ID address

0xA4Bit 14..12
256 10 Bit 3 dec
1024 12 Bit 2 dec
4096 14 Bit 1 dec

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 Settings
9.4 Settings – External brake
Setting and controlling of an external brake:

Many motors have an installed brake which must first be activated to be released before letting the motor
revolve. The converter can control this external brake accordingly.

The max. braking power of the motor is applied when the power has been switched off.
According to the electrical brake control the Brake delay corresponds to the respective type.

A brake up to 24 V, 1 A can directly be switched by the digital output. For braking processes with higher
current or voltage values a relay must be used.

The brake output is activated on the page Logic in the parameter field OUTPUT. Click the command
O Break in the drop-down menu at Dout 1, Dout 2 or Dout3 to transfer it to the display field.

Configure the operand = (equal) or != (not equal) in the drop-down menu by selecting it.
The switching function of the output can be selected by entering 0 or 1 into the parameter field
(standard: 0)

The switch-off delay time of the motor brake is configured on the Page Settings at the field Motor in the
parameter field Brake delay (0-500ms, data from the data sheet of the brake).

When the brake is active, the state is displayed as BRK1 in the In-Out field.

Caution:
Connect a recovery diode or a varistor directly to the brake connection across the motor.

Example for the setting of a brake output on the page logic:

Digital outputs: Selection:

Dout1 The brake is disconnected from the power supply when
the enable is switched off.
Set the switch-off delay via the brake delay
Dout2 --Off--
Dout3 --Off--
Dout4 --Off--

Fig 9-8 - 00046

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 Settings
Description of the brake function (control of the external brake):

When the drive enable (FRG/RUN) or the CAN command ENABLE OFF = 1 is deactivated, the internal speed
command value N cmd Ramp will be ramped down to zero at a rate defined by R-Lim. After a fixed delay
time of 50 ms, the Brake parameter will switch from 1 to 0. The braking power rises. After the programmed
time Brake delay has passed, the internal parameter GO is switched to 0 and the servo is disabled
(standstill with no torque applying).

Description of the brake release function (release of the external brake):

If the brake is active and the enable (FRG/RUN) or the CAN ENABLE OFF=0 is activated the command value
is maintained at 0 and the status GO switches immediately to 1.
After 50 % of the delay time (brake-delay) has passed, the brake is switched off, and after the complete
delay time has passed, the command value will increase at a rate defined by N R-Acc.

Fig. 9-9 - 00137

Note:
• The sum of the times R-Lim plus brake delay must be inferior to 1s.
• When the enable is switched-off at 1.1 s the hardware of the output stage is disabled.
• The electric braking is interrupted and the drive decelerates freely. When the R-Lim plus brake
delay is too long and has elapsed, the mechanical brake is triggered and stops the drive.

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 Settings
9.5 Settings – Rgen circuit
• Servo drive units with a DIG (ZW monitor digital) bus circuit setting the regen circuit is directly
controlled by the hardware.
• Servo drive units with a ANA (ZW monitor analog) bus circuit setting the regen circuit is controlled from
the TMS control board.
• With an internal regen resistance the setting parameters of the unit detection is automatically adjusted.
• With an external regen resistance the values for the resistance (Regen-R) and the resistance power
(Regen-P) are entered as parameters.

Regen INT = internal regen resistor

EXT = external regen resistor

Regen-P Enter the resistor power in W

Regen-R Enter the resistor power in Ohm fig. 9-10 - 00047

With an internal ballast resistance the regen power is calculated from the data of the device type.

With an external ballast resistance the regen power is calculated from the entered values of Regen-P and
Regen-R.

The ballast power is displayed as Regen Power (0x45L) on the monitor side.

The dc bus voltage (Vdc bus (filt)), the regen switching pulse (I Regen), and the regen power (Regen Power)
can be measured in the NDrive oscilloscope.

There will be a warning at 87 % of the regen power (regen circuit >87 % overloaded (0x8FBit 15)) and at
100 % the device will be switched off and an error message is displayed (regen circuit overloaded
0x8FBit 15)).

The function of the ballast circuit is displayed on the servo.

The command value directional bar of the 7-segment display (below left or right) is switched off as long as
the ballast circuit is active.

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 Settings
9.6 Settings – Motor temperature monitoring
Parameters for the motor temperature monitoring

Symbol: Range: Unit: ID address:

I-red-TM Triggering point current reduction on the basis of 0..32767 Num 0xA2
the motor temperature
Warning 6 (MOTORTEMP)
M-Temp Switch-off point on the basis of the motor 0..32767 Num 0xA3
temperature
Error 6 (MOTORTEMP)
If motor temperature > 93% of M-Temp
warning 6 (MOTORTEMP) and current reduction
T-motor Present motor temperature 0..32000 Num 0x49

Note:
Due to many different temperature sensors the motor temperature (T-motor) value is displayed as
numerical ADC value. The corresponding curves and thus, the physical temperature must be determined by
means of the appropriate tables.

The monitoring is deactivated by means of the setting the limit 32767.

Current reduction (derating) on the basis of the motor temperature:

If the motor temperature (T-Motor) exceeds the set value of I-red-TM,
• the max. current limit is linearly reduced to continuous current from the triggering point I-red-TM to the
switching-off point of M-Temp
• the message Ird-TM (0x40Bit 26) is displayed in the Status field
• the warning 6 (I-MOTORTEMP) is displayed

Fig. 9-11 - 00049

Switching-off via error messages on the basis of the motor temperature:

If the motor temperature (T-motor) exceeds the set value of M-Temp,
• there will be a switch-off due to an error by the inverter
• the error 6 (MOTORTEMP) is displayed

If the motor temperature (T-motor) exceeds 87 % of the set value of M-Temp,

• the max current limit is reduced to continuous current
• the message Ird-TM (0x40Bit 26) is displayed in the Status field
• the warning 6 (I-MOTORTEMP) is displayed

Fig. 9-12 - 00048

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 Settings
Example: Setting with linear sensor type KTY84

8000
Werte von 0xa2, 0xa3 (Num)

7000
6935

6000
5748
5000

4000

3000

2000

1000

0
-30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140

Motor- Temperatur ( o C)
Fig. 9-13

Warning and current reduction from 100 °C → Setting l-red-TM (0xA2) = 5748 Num
Error message and switch-off at 140 °C → Setting M-Temp (0xA3) = 6935 Num

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 Settings

Example: Setting with linear sensor type PT100

Inaccurate temperature measuring due to a flat characteristic curve and internal

measuring tolerances.
An exact temperature measuring is only possible using a ballast measuring amplifier.

1600
Werte von 0xa2, 0xa3 (Num)

1400

1200

1036
1000
937
800

600

400

200

0
-30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 14

Fig. 9-14
Motor- Temperatur ( o C)

Warning and current reduction from 100 °C → Setting l-red-TM (0xA2) = 937 Num
Error message and switch-off at 140 °C → Setting M-Temp (0xA3) = 1036 Num

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 Settings

Example: Setting with non-linear sensor type thermistor (PTC)

Only error switch-off on the basis of the motor temperature M-TEMP (0xA3)

Note:
A current reduction (derating) on the basis of the motor temperature is not possible with this type of
sensor.

12000
Werte von 0xa3 (Num)

10000

8000

6000

4000

2000

0
-20 0 20 80 100 120 130 140 150 160

Fig. 9-15
Motor- Temperatur ( o C)

Error message and switch-off at 140 °C → Setting M-Temp (0xA3) = 4302 Num

Note:
The set value is increased for several series sensors in the motor.

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 Settings
9.7 Settings – Power connection/ dc bus circuit monitoring
Parameters for the selection of the power connection and the setting of the DC bus monitoring with analog
bus circuit measuring

Symbol: Function: Range: Unit: ID address:

Mains sel Selection of the power voltage AC / DC 0x5ABit 19
Mains Rating of the voltage supply 0..1000 V 0x64
DC-Bus max Max. voltage limit of the DC Bus (software) 0..200 % 0xA5H
DC-Bus min Min. voltage limit of the DC Bus (software) 0..200 % 0xA5L

Selection of the mains power supply (Mains sel):

The selection of the power voltage supply between AC or DC
voltage is device-specific and must only be carried out if precise
knowledge on the basis of the inverter type exists.

Mains power supply (Mains):

This setting value only refers to the voltage value if AC voltage is Fig. 9-16 - 00050
used as power supply voltage.

DC-BUS max:
• Setting limit for the max. software voltage limit with inverters having a analog dc bus circuit measuring.
• Entry of 100 % = 32767 Num
 Calculate 32767 Num / 2 = 16383 Num and compare the value with that of the device voltage.
• Setting value for the ballast circuit and the overvoltage monitoring.
• Warning occurs in case of 1.5 fold rated voltage.
• If this threshold is exceeded there will be an error switch-off, the controller is disabled, and the error 8
(OVERVOLTAGE) is displayed.
• The hardware overvoltage monitoring works independently of the software setting.

DC-Bus min:
• Setting limit for the max. software voltage limit with inverters having a analog dc bus circuit measuring.
• Entry of 100 % = 32767 Num
 Calculate 32767 Num / 2 = 16383 Num and compare the value with that of the device voltage table.
• If the value falls below this threshold value there will be an error switch-off, the controller is disabled,
and the error 5 (POWERVOLTAGE) is displayed.
• The hardware undervoltage monitoring depends on the inverter and works independently of the
software setting.

Note / Important:
• For the determination of the setting values of the limits (min., max) please refer to the hardware device
maual description.
• The setting values of the limits do not refer to the voltage value in „Mains“ but to the inverter-specific
rated supply voltage.

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 Settings
Example: Bamocar 400-400 and Bamocar 700-400
28000
26000
24000
22000
Value of ID 0xEB

20000
18000 BAMOCAR-PG-D3-400
16000
14000
BAMOCAR-PG-D3-700
12000
10000
8000
6000
4000
2000
0
0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900

DC-Bus-Voltage (Battery voltage)

Standardization of the dc bus voltage:

Bamocar 400-400: 1V ≙ 55.12044 (Example: 400 V ≙ 22048 Num (0xEB))
Bamocar 700-400: 1V ≙ 31.58483 (Example: 700 V ≙ 22109 Num (0xEB))

Setting of the DC-Bus Max (0x5AH) and DC-Bus Min (0xA5L) limits:
(The setting values of the limits do not refer to the voltage value in „Mains“ but to the inverter-specific
rated supply voltage)

Entry of 100 % = 32767 Num

 Calculate 32767 Num / 2 = 16363 Num and compare the value with that of the device voltage

Bamocar 400-400: 1 % = 163 Num ≈ 2.985 V

Bamocar 700-400: 1 % = 163 Num ≈ 5.208 V

Settings for BAMOCAR-PG-D3- 400/400

DC Bus max (0xA5H) for threshold voltage Num 0xEB
148 % 440 V 24252
134 % 400 V 22048
DC Bus min (0xA5L) for undervoltage
107 % 320 V 17638
90 % 270 V 14882

Settings for BAMOCAR-PG-D3- 700/400

DC Bus max (0xA5H) for threshold voltage Num 0xEB
144 % 750 V 23688
134 % 700 V 22109
DC Bus min (0xA5L) for undervoltage
115 % 600 V 18950
96 % 500 V 15792

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 Settings
9.8 Settings – Output power stage (igbt) temperature monitoring
Parameters for the setting of the current reduction on the basis of the igbt temperature

Short Function Range Unit ID address

symbol
l-red-TD Start of the current limit reduction 0..32767 Num 0x58
l-red-TE End of the current limit reduction 0..32767 Num 0x4C
T-igbt Measured temperature value of the output stage 0..32767 Num 0x4A

Condition:
• The software monitoring can only be programmed for units with
an analog detection of the igbt temperature.
Fig. 9-17 - 00051
• For the setting values please refer to the hardware device manual.

Bamocar-PG-D3-700-400

l-red-TD:
• Setting value for the start of the current reduction depending on the igbt temperature.
• In case of an increasing igbt temperature the current limit is linearly reduced until the igbt temperature
reaches set endpoint of I-red-TE at which point the current limit is set to the continuous current limit.

l-red-TE:
• Setting value for the endpoint of the igbt temperature at which the current limit is limited to the
continuous current setting.
• If 85 % of the max. igbt temperature is reached the warning 7 (DEVICETEMP) is set.
• The max. igbt temperature is 25200 Num (approx. 83 °C).
• If the output stage temperature (T-igbt) exceeds the value of 25200 there is an error switch-off from the
inverter and the error 7 (DEVICETEMP) is displayed.

The hardware power stage (igbt) temperature monitoring works independently from the software setting.

• For the activation of the derating function via the output stage temperature
o l-red-TD < l-red-TE and
o l-red-TD > 0 is valid.
 The activation of the function is displayed as Ird-TI (0x40Bit 23) inside the Status field.
 If this current derating function is triggered it is displayed as Ird-TIR (0x40Bit 24) inside the Status field.

Note:
If there is a derating function activated on the basis of the output stage temperature, the current limitation
on the basis of the function of T-peak (0xF0) is deactivated.

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 Settings
9.9 Settings – Servo
Parameters on the page Settings in the main section Servo

Symbol: Function: Range: Unit: ID address:

Type Unit type (protected) Nameplate 0x63
S-Nr. Serial unit no. (protected) Nameplate 0x62
Axis Axis designation (freely writable) 4 characters ASCII 0xF8
Mains sel Selection of the power voltage AC / DC 0x5ABit 19
Mains Magnitude of the mains supply voltage 0..1000 V 0x64
DC-Bus max Max. voltage limit of the DC Bus (software) 0..200 % 0xA5H
DC-Bus min Min. voltage limit of the DC Bus (software) 0..200 % 0xA5L
Regen Selection of regen resistor INT / EXT 0x5ABit 1
Regen-P Power value of the external regen resistor Type plate W 0x65L
Regen-R Resistance value of the external regen resistor 5..100 Ohm 0x65H
BTB Power BTB message with or without bus circuit with/without 0x5ABit 6
undervoltage monitoring
PWM freq PWM pulse frequency Selection field 0x5ABit 22..20
Mode Type of the command value presetting for the Selection field 0x36Bit 13..12
(Command) speed and torque commands
Cut-off (dig.) Zero zone with digital command value presetting 0..32767 Num 0x1E
Analog out Output analog voltage in relation to the assigned Selection field 0xDC
variable
Format Selection of the function of the respective analog Selection field 0x36Bit 1..0
inputs 0x36Bit 3..2
Offset Offset compensation of the respective analog ±32767 Num 0x2FL
inputs 0xD7L
Cutoff Zero zone of the respective analog command 0..32767 Num 0x50
value presettings 0x53
Scale Scale factor of the respective analog inputs ±7.999 Num 0x2FH
0xD7H
Filter Filter of the respective analog inputs 0..127.5 Num 0x60
Mode Input level selection of the respective analog Selection field 0x36Bit 5..4
(Analog) inputs 0x36Bit 9..8

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 Settings
Additional overview of the rated servo data

Symbol: Function:
Type The controller type is displayed (changes can only be made
in the factory)
S-Nr. Serial no. is displayed (factory-set)
Axis Axis specification with 4 ASCII letters
((entered by the user)
Mains sel Power supply voltage AC~/DC= is displayed (factory-set)
Mains AC and three-phase current voltage AC (30~ to 480 V~)
Battery voltage or dc mains (12 V= to 560 V=)
DC-Bus Switching point bus circuit overvoltage
max. Error OVERVOLTAGE (overvoltage >1.8UN) 0x8FBit8
DC-Bus Switching point bus circuit under-voltage
min. Error POWERVOLTAGE (missing power voltage) 0x8FBit5
ZW- Selection bus circuit monitoring digital-analog (factory-set)
Monitor
Regen Selection list ballast resistance (internal – external)
Regen-P Enter the power value for an external ballast resistor. Input
in Watt. In case of a ballast resistor overload a warning
message is displayed. Warning BALLAST (ballast circuit
<87 %) 0x8FBit 31
Regen-R Enter the resistance value for an external ballast resistor.
Input in Ohm. Check the min. value.
BTB-Power BTB-Message with or without bus circuit undervoltage.
Selection without (BTB without undervoltage monitoring).
When the enable and the power supply voltage are
Fig. 9-18 - 00052
switched off the RUN/BTB message remains active.
Selection with (BTB with undervoltage monitoring).
When the enable and the power supply voltage are
switched off the RUN/BTB is deactivated.

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 Settings
9.10 Settings – Servo / PWM pulse frequency
The selection of the switching frequency of the output stage
is effected via the parameter PWM freq (0x5ABit 22-20)

Selection (general):
Pulse frequency with constant calculation speed
Values: 8, 12, 16, 20 kHz

Current limit reduction depending on the pulse frequency:

2..8 kHz 100 %
12 kHz 85 % Fig. 9-19 - 00053
16 kHz 70 %
from 20 kHz 20 %

Selection (special):
Pulse frequency (kHz) with a higher calculation speed (Ix).
Values: 2 kHz-l4, 4 kHz-l8, 8 kHz-l16

Modification of the pulse frequency:

• Enable must be deactivated
• Set frequency
• Save the parameter set in the EEPROM on level 0
• Read the parameter set from the EEPROM level 0
• The changed frequency is transferred and the current limits are reduced

Recommendation for the pulse frequency depending on the max. motor speed and no. of motor poles:
For a good FOC control it is recommended to have at least 16 measuring points for each electric angle. The
max. speed for a motor with 20 poles (10 pairs of poles) is:

(16 kHz) 16000 Hz / 16 = 1000 Hz (→ max. electrical rotating frequency)

n_max = (60 * 1000 Hz) / 10 = 6000 rpm (→ recommended max. rotation speed)

(12 kHz) 12000 Hz / 16 = 750 Hz (= fnom_max)

n_max = (60 * 750 Hz) / 10 = 4500 rpm

(8 kHz) 8000 Hz / 16 = 500 Hz (= fnom_max)

n_max = (60 * 500 Hz) / 10 = 3000 rpm

9.11 Settings – Servo / Analog output

The setting for the definition of the analog output voltage
is condifgured via the drop-down selection at Analog out (0xDC).

Output of the analog output voltage:

• The output voltage ±10V corresponds to ±100 %
of the selected signal.
• Digital binary signals supply as output 0 or +10 V. Fig. 9-20 - 00054

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 Settings
9.12 Settings – Servo / Command value of the command mode
Overview of the command mode configuration using the parameter Mode inside the command field.

Symbol: Function: ID address:

0x36Bit13..12
Dig. Commands Speed command value via a digital communication input (CAN-BUS, 0 dec
RS232)
Analog Speed Speed command value via an analog voltage input (AIN1 and AIN2) 2 dec
Analog Torque Torque command value via an analog voltage input (AIN1 and AIN2) 3 dec
Digi+Ana Speed Speed command value via a digital communication input and analog 1 dec
voltage input. The sum of both inputs results in the command value

Dig. Commands:
Presetting of the digital position, speed or current (torque)
command value.
Command value via one of the digital communication interfaces
(CAN; RS232).
On the fly switchover between the different operating states
(position, speed, current) directly after having received the newest Fig. 9-21 - 00055
command value.

Analog speed:
Analog speed command value
Input across the terminal strip X1 → inputs Ain1 and Ain2
Max. input voltage ±11 V corresponds to ±32767 Num
This value corresponds to 100 % of the set 16-Bit resolution of the max. physical speed
in Nmax100% (0xC8)

Analog torque:
Analog current command value (Iq)
Input across the terminal strip X1 → inputs Ain1 and Ain2
Max. input voltage ±11 V corresponds to ±32767 Num
This value corresponds to 100 % of the device peak current I max pk (0xC4)

Digi+Ana speed:
Speed command value via the digital communication interface (CAN; RS232) as well as via the value of the
analog speed command. The final command value is the sum of both commands with an internal limiting of
±32767.
This value corresponds to 100 % of the set 16 Bit resolution of the max. physical speed defined inside
Nmax100% (0xC8).

Tips:
Reversal of the direction of rotation at a unipolar command value with direction signal:
Assign a digital input with N cmd Reverse inside the Logic page. Activation either via a real logic level across
the set input or by modifying the activation conditions (AL / AH) via the digital communication interfaces
(CAN; RS232).

Overwriting the speed command value to 0 rpm:

Same procedure as for the reversal of the rotation direction, but assign instead a digital input with
Speed Ramp 0.

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 Settings
9.13 Settings – Servo / Analog inputs
Parameters for the setting of the analog inputs Ain1 and Ain2

Symbol: Function: Range: Unit: ID address:

Ain1 -
Ain2 -
Format Selection of the function of the rspective Selection field 0x36Bit 1..0
analog inputs 0x36Bit 3..2
Offset Offset compensation of the respective ±32767 Num 0x2FL
analog inputs 0xD7L
Cutoff Zero zone of the respective analog command 0..32767 Num 0x50
value presettings 0x53
Scale Scale factor of the respective analog inputs ±7,999 Num 0x2FH
0xD7H
Filter Filter of the respective analog inputs 0..127,5 Num 0x60
Mode Input level selection of respective analog Selection field 0x36Bit 5..4
(analog) inputs 0x36Bit 9..8

Format:
The function definition of the analog inputs Ain1 and Ain2 is done via the drop-down selection at Format.

Format: Ain1 ID address:

Off Deactivated 0x36Bit 1..0 = 0
Cmd Speed command value 0x36Bit 1..0 = 1
-Cmd Inverted speed command value 0x36Bit 1..0 = 2
sq(Cmd) Square speed command value 0x36Bit 1..0 = 3
N limit Speed limiting 0..100 % via Ain1 0x36Bit 15
(for digital command value presetting (position, speed)). This corresponds to
100 % of the max. physical speed in Nmax100% (0xC8).

Format: Ain2 ID address:

Off Deactivated 0x36Bit 3..2 = 0
Cmd Speed command value Ain2 is added to Ain1 0x36Bit 3..2 = 1
-Cmd Speed command value Ain2 is subtracted from Ain1 0x36Bit 3..2 = 2
*Cmd Speed command value Ain2 is multiplied by Ain1 0x36Bit 3..2 = 3
l limit Current limiting 0..100% via Ain2 0x36Bit 14
(for all command value presettings digital, analog).
This corresponds to 100 % of the device peak current I max pk (0xC4)

Fig. 9-23 - 00057 Fig. 9-22 - 00058

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 Settings
Offset:
Compensation of the command value zero error when the input is analog.
With an applying voltage of 0 V alter the offset value positively or negatively such that the preset command
value is about zero inside Ain scaled.

Cutoff:
Adjustable zero zone for which the unprocessed measured values of Ain1 and Ain2 are set to zero.
A preset command value of 0 is displayed. This helps to cutoff the usual small residual voltage at around 0 V
across the inputs of Ain1 and Ain2.

Special cases:
Zero zone at analog speed command value:
The command value is switched to zero within this zone. The drive is at a standstill, no drift (no position
parameter entered).
For an external torque which is larger than the servo current limit the drive can be turned from the
neutral position

Zero zone at analog speed command value with position hold value
Within the zero zone the drive maintains its zero position by means of an internal position-current-
control.
For an external torque which is larger than the servo current limit the drive can be turned from the
neutral position. When the torque is smaller the drive returns to its zero position..

Note: The parameters must be entered in the parameter field Position.

When an analog command value is provided from a PLC/CNC position control, the value
should be very low or zero.

Scale:
Scaling factor of the respective analog input signals. It allows to adapt the complete range of the input
voltages (±11 V) to the complete range of the final command value presetting (±32767). In the course of
this also the gradient of the command value presetting can be varied. (Input voltages superior to 11 V are
cut).

Mode:
Input range for the analog command values of
-10..+10V Bipolar command value
0..+10V Unipolar command value
4..20mA Current command value
(external resistance 500 Ohm)
+1..+9V Command value with potentiometer monitoring

Fig. 9-24 - 00059

After the scaling the preset command value of Ain1 and Ain2 is displayed as scaled variable Ain1,2 on the
page Speed as Ain1,2 scaled.

Ain1,2 scaled = (Ain1,2 ein + Offset1,2) x Scale1,2

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 Settings
9.14 Settings – Speed / Linear ramp function and speed limiting
Parameters for the setting of the different ramp times (speed, torque and emergency-stop).

Symbol: Function: Range: Unit: ID address:

N R-Acc Speed - acceleration ramp 0..30000 ms 0x35L
N R-Dec Speed - braking ramp 0..30000 ms 0xEDL
M R-Acc Torque - acceleration ramp 1 0..4000 ms 0x35H
M R-Dec Torque - deceleration ramp 1 0..4000 ms 0xEDH
M R-Rcp Torque – recuperation ramp 1,2 0..4000 ms 0xC7H
R-Lim Emergency stop, output switch ramp 0..1000 ms 0xC7L

Nmax100% Physical reference value for the internal resolution 100..50000 rpm 0xC8
of the speed to 16 Bit (±32767)
N-Lim Speed limiting for positive and negative rotation 0..100 % 0x34
direction 3
N-Lim+ Speed limiting for positive rotation direction 0..100 % 0x3F
(if logic input N clip(neg&pos) is activated)
N-Lim- Speed limiting for negative rotation direction 0..-100 % 0x3E
(if logic input N clip(neg&pos) is activated)
1
From FW476 only active if it is a current (torque) presetting
2
From FW476 only active if ID (0xCDBit 4 = 1) is set for digital current (torque) presetting
3
For the current (torque) presetting and N-Lim < 100 % the torque speed control (Tempomat) is activated

• For the speed ramps (N R-Acc, N R-Dec, R-Lim) the reference for the time is
the value for 100 % of the command value of the parameter Nmax100% (0xC8).

• For the torque ramps (M R-Acc, M R-Dec, M R-Rcp) the reference for the
time is the value for 100 % of the command value of the peak device current
of the parameter I max pk (0xC4).

• All ramps are formed linearly and generate a constant acceleration at the
Fig. 9-25 - 00060
speed presetting.
Acc-Ramp, Dec-Ramp 300
Acc-Ramp, Dec-Ramp 400

Sollwert Nmax 100%

100
(%)

80
Speed

N-lim 60%

40

200 400 600 800 1000

konstante Beschleunigung Zeitachse
Fig. 9-26

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 Settings
S-ramp function / not yet active

Speed limit 100%

S-Faktor S-Faktor
groß klein

Speed limit 50%

(%)
Speed

Beschleunigung
lineare Rampe

Beschleunigung
S-Rampe

725ms Zeitachse
Fig. 9-27

S-ramp function
The linear time function is converted into a s-shaped (sine²) function.
The constant acceleration and deceleration alters to steady changing.
Jerks (acceleration/deceleration) and current peaks are considerably reduced.

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 Settings
9.15 Settings – BTB / RDY
BTB/RDY message (relay contact)
The BTB relay contact (solid state relay) is closed when the device is ready (residual resistance 30Ohm). The
BTB contact is opened when an error occurs (resistance >1 MΩ).

Ready for operation BTB

Displayed in the Status field as Rdy (0x40Bit 14).

Not ready for operation BTB (error)

Indicated by the red LED FAULT at the 7-segment LEDs.

BTB and the power supply voltage

When the power supply voltage is switched-off the message status can be selected via BTB power in the
parameter field Servo of the setting window (under-voltage monitoring).

Selection BTB Power - „ without“

BTB without under-voltage monitoring
When the enable and the power supply voltage are switched off, Fig. 9-28 - 00061
the message RUN/BTB remains active.

Selection BTB Power - „with“

BTB with under-voltage monitoring
When the enable and the power supply voltage are switched off,
the message RUN/BTB is deactivated.

Error message and BTB/RDY:

When a system-endangering error X (see list of errors) occurs,
• the BTB signal is switched off.
The drive will immediately be disabled internally and
the output O_GO (0xE3) will be set to low.
• On the servo:
The red LED FAULT at the 7-segment LEDs is activated
The error no. is indicated in the 7-segment display.
FAULT
• Inside NDrive:
The error states are displayed in the field Error(s).

The error messages are reset,

• when the drive enable (FRG/RUN) is switched on
• when the command of the parameter Cancel Error is sent via a communication interface
• when a digital input which is programmed on the page Logik in Cancel Error(s) is triggered

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 Communication
10 Communication
10.1 Communication – CAN Bus
Parameters on the page Bus for the communication interface CAN Bus.

Short symbol Function Range Unit ID address

NBT CAN transfer rate (see list) 0..0xFFFE hex 0x73Bit 11..0
Rx ID CAN ID – receiving address 0..0x7EE hex 0x68
Tx ID CAN ID – sending address 0..0x7EE hex 0x69
T-Out CAN timeout time 0..60000 ms 0xD0

Axis Axis designation (freely writable) 4 characters ASCII 0xF8

Transfer rate NBT: Setting value in NBT (0x73): Max. cable length
1000 kBaud 0x4002 20 m
625 kBaud 0x4014 70 m
500 kBaud 0x4025 (default) 70 m
250 kBaud 0x405C 100 m
125 kBaud 0x4325 100 m
100 kBaud 0x4425 100 m

The addresses for the receive/send ID and the baud rate are set
in the CAN-Bus parameter field.

After changes have been made and saved in the CAN

programming the device must be restarted
→ Switching the auxiliary voltage off and on!

Default settings:
Receiving address Rx ID = 0x201
Sending address Tx ID = 0x181
Transfer rate NBT = 4025 (→ 500 kBaud)
Fig. 10-1 - 00062

Note:
For detailed descriptions/explanations of the CAN communication please download the CAN Manual on the
UniTek Homepage.

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 Communication
10.2 Communication – RS232
10.2.1 RS232 Changing the baud rate

The setting of the RS232 baud rate is effected via the ID address 0x5ABit 15
0x5ABit 15 0 corresponds to 115200 (Default)
0x5ABit 15 1 corresponds to 9600

The baud rate saved in the device is displayed after the firmware version no. when the auxiliary voltage
24 V= is switched on.

bd0 corresponds to 115200

bd1 corresponds to 9600

First, the firmware version no. is displayed (e.g. 4 - 7 – 6)

then the baud rate (e.g. b - d - 0)

10.2.2 Structure of the serial RS232 protocols

Presentation of the structure / protocol of a message via the serial RS232 interface

RS 232 16 Bit
Sending from the pc to the drive Drive response to the pc

Byte 1

Byte 2
Char1

Char2

Char3

Char4

Char5

Char6

Char7

RegID RegID Data Data Data Data Sync Data Data

Bits Bit s Bits Bits Bits Bits "X" Bits Bits
07..04 03..00 15..12 11..08 07..04 03..00 07..04 07..04
ASCII ASCII ASCII ASCII ASCII ASCII ASCII binary binary

RS 232 32 Bit
Sending from the pc to the drive Drive response to the pc
Char10

Char11

Byte 3
Char1

Char2

Char3

Char4

Char5

Char6

Char7

Char8

Char9

Byte1

Byte2

Byte4

RegID RegID Data Data Data Data Data Data Data Data Sync. Data Data Data Data
Bits Bits Bits Bits Bits Bits Bits Bits Bits Bits „X“ Bits Bits Bits Bits
07..04 03..00 31..28 27..24 23..20 19..16 15..12 12..08 07..04 03..00 07..04 07..04 07..04 07..04
ASCII ASCII ASCII ASCII ASCII ASCII ASCII ASCII ASCII ASCII ASCII binary binary binary binary

Example: Requesting the actual speed (0x30)

Sending from the pc to the drive Drive response to the pc
Byte 1

Byte 2
Char1

Char2

Char3

Char4

Char5

Char6

Char7

RegID RegID Data Data Data Data Sync Data Data

Bits Bits Bits Bits Bits Bits "X" Bits Bits
07..04 03..00 15..12 11..08 07..04 03..00 07..04 07..04
3 D 0 0 3 0 X lo hi
RegID read Speed Actual ASCII Value of 0x30
read (0x3D) Actual speed valuet (0x30)

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 Current control
11 Current control
11.1 Current control – Parameters

Parameters for the settings of the current controller, as well as of the

generally permitted current limits of the servo device, and the limits
for the activation of derating functions

Note:
Many of these parameters are also described on the pages Speed
and Oscilloscope

Fig. 11-1 - 00063

Symbol: Function: Range: Unit: ID address:

Kp Proportional amplification 0..200 Num 0x1C
Ti Integration time (integral time constant) 375..10000 ms 0x1D
TiM Max. value of the integral memory Ti 0..300 % 0x2B
xKP2 Proportional amplification in case the actual 0, 100..500 % 0xC9
current is superior to the current limit
Kf Current feed-foreward control 0..167 Num 0xCB
Ramp Ramp setting of current command value 1251..32000 µs 0x25
I max pk Device peak current [A] 0..100 % 0xC4
I con eff Device continuous current [Arms] 0..100 % 0xC5
T-peak2 Permitted overcurrent time above the 1..40 s 0xF0
continuous current limit (reduction 5 times
longer)
I limit (dig)3 Current reduction when the logic input 0..100 % 0x46
I limit (dig.) is activated
I-red-N Current reduction by means of the actual 0..100 % 0x3C
speed
I-red-TD Start of the current reduction by means of the 0..32767 Num 0x58
output stage temperature
I-red-TE End of the current reduction by means of the 0..32767 Num 0x4C
output stage temperature
l-red-TM Start of the current reduction by means of the 0..32767 Num 0xA2
motor temperature
1
Depending on the PWM pulse frequency
2
Only active if the current reduction on the basis of the igbt temperature is not activated (0x40Bit 23 (Ird-TI) = 0)
3
The reference is the max. device peak current (I max pk (0xC4) = 100 %)

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 Current control
11.1.1 Additional information of the current controller parameters

The current controller is a classic PI-controller → Kp * (1 + 1/(Ti * s))

Kp Input for the proportional amplification in the current controller

Note: Input value of 33 (Num) ≙ 1.0 (physical correcting variable of the current)

Kp too low: compensation error, bad dynamics, low-frequency vibrations

Kp too high: strong motor noise, high-frequency vibrations
Recommended1: 10..40 Num

Ti Integration time in the current controller

Note: Ti depending on the proportional amplification Kp

Ti too high: low-frequency vibrations

Ti too low: high-frequency vibrations, strong tendency to vibrate
Recommended1: 700..2500 ms

TiM Max. value from the integral memory Ti

TiM too low: preset speed value is not reached with a high load
Recommended1: 80..100 %

xKp2 New amplification factor (i.e. new Kp) for the attenuation of the current actual value overshoots
above the current limit I lim inuse (0x48)
Note: activate only if demanded by the system

xKp2 too high: danger of current oscillations

Recommended1: 0 (deactivated) or 100..120 %

Kf Feed-foreward control for the compensation of the operating delay in the controller
Note: activate only if demanded by the system

Kf too high: danger of current oscillations

Recommended1: 0 (deactivated) or 10..50 %

Ramp Current increase limiting or ramp increase of the current command value

Ramp too high: danger of long-wave speed oscillation (motor becomes unstable)
Recommended1: 600..2500 µs
1
Guide values on the basis of years of experience,
however, there may be differences depending on the system

The current control parameters can be determined by means of the motor data such as winding inductance
and winding resistance.

Notes:
• The current control parameters must only be modified by trained personal /specialists.
• Improperly set amplification parameters may damage the device or the drive.
• Check all the settings and their effects by using the NDrive oscilloscope.

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 Current control
11.2 Current control – Structure
The structure screen for the current control with entry fields and display windows of the control
parameters is shown for numeric values on the page speed in Current Commands and Current Controller

Fig. 11-2 - 00065

Current Function: ID address:

command values:
I fn(N) Speed controller output (current command value from the speed
controller)
I fn(M) Torque command value after ramp
(Dig. command value presetting of the Iq-Strom (M set(dig.))
Id set (dig.) Dig. command value presetting of the Id-Strom (standardized as 0x21
M set(dig.))
I cmd Current command value (internal) 0x26
I cmd (ramp) Current command value after ramp and limiting (internal) 0x22
Current
controller values:
Iq actual Present active current (Iq) 0x27
Id actual Present reactive current (Id) 0x28
I actual Present sum current (I) 0x20
I act (filt) Present sum current after display filter 0x5F
Iq error Control error Iq-current 0x38
Id error Control error Id-current 0x39
Id ref Reference of the Id-current 0x23
Voltage values:
Vq Present Vq voltage component 0x29
Vd Present Vd voltage compenent 0x2A
Vdc-Bus Measuring value of the dc bus voltage 0xEB
V out Present output voltage 0x8A
V red Field weakening control - voltage reference value in % of V out 0x8B
V kp Field weakening control – proport. amplific. in the voltage controller 0x8C
V-Ti Field weakening control – integral time (integral time constant) 0x8D

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 Current control
Setting field Ramp on the page Speed

Symbol: Function: ID address:

Ramp Current command value ramp setting [µs] 0x25
I max pk Device peak current [A] 0xC4
I con eff Device continuous current [Arms] 0xC5
T-peak Permitted overcurrent time above 0xF0
continuous current limit [s]
I lim dig Current reduction in % if logic input 0x46
I limit (dig.) is activated
Ixt Load 0x45H
I lim inuse Present current limit [Num] 0x48

The current command value (I cmd) is processed in the setting field (Ramp).
The current increase (Ramp), the peak current (I max pk), the continuous
current (I con eff), and the peak current time (T-peak) are set.
The summarized current reductions through speed, current, and Fig. 11-3 - 00066

temperature are displayed at I lim inuse.

At reduced current the LED ‘I reduced’ lights up. The result of the current command value processing is
shown in the display field of the current command value after ramp (I cmd (ramp)).

Setting field - Current Controller on the page Speed

Symbol: Function: ID address:

Kp Proportional amplification [Num] 0x1C
Ti Integration time (integral time constant) [µs] 0x1D
TiM Max. value from the integral memory Ti [%] 0x2B
free Free 0xCC

Setting field - Field control on the page Speed

Symbol: Function: ID address:

Id nom Nominaler Magentisierungsstrom in % vom 0xB2
Motor-Nennstrom [%]
Id min Minimaler Magentisierungsstrom in % vom 0xB5
Motor-Nennstrom [%]
V red Field weakening control – voltage 0x8B Fig. 11-4 - 00067

reference value in % of V out [%]

V kp Amplification field weakening [Num] 0x8C
V-Ti Integration time field weakening [Num] 0x8D

The current actual values (I-Ist1, I-Ist2, I-Ist3) are evaluated as Iq-actual and Id-actual. The displayed current
actual value (I act filt) is obtained from the current actual value (I actual) by means of a filter.
The Iq and Id errors are processed in the current controller by means of the amplification parameters (Kp,
Ti, TiM). The reference value for the Id control is generated via the vector control feedback.

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 Current control
PWM display field on the page Speed

Symbol: Function: ID address:

Vdc-Bus Measured value of the dc bus voltage 0xEB
V out Present output voltage 0x8A
PWM1 PWM output level Phase 1 0xAC
PWM2 PWM output level Phase 2 0xAD
PWM3 PWM output level Phase 3 0xAE

The PWM pulses for the output power stage circuit are generated
from the current controller output signals Vq and Vd.

Fig. 11-5 - 00068

11.2.1 Conversion of the current units

The numeric values for the rated current must be observed for the digital communication via RS232 or
CAN-BUS.
The numeric values are displayed in the track window.

1 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅[0𝑥𝑥𝑥𝑥6]
𝑖𝑖 = 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅[0𝑥𝑥𝑥𝑥𝑥𝑥] ∗ ∗ 𝐴𝐴
5 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅[0𝑥𝑥𝑥𝑥9] 𝑟𝑟𝑟𝑟𝑟𝑟

Note:
- 0xD9 and 0xC6 are fixed and defined and device-dependent values.
- The units of physical values (if existing) are displayed inside the Ndrive oscilloscope in A.

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 Current control
11.2.2 Setting of the current controller parameters (Kp ,Ti, TiM)

Fig. 11-6 - 00139

The setting of the current controller considerably depends on the characteristics of the complete system
and above all on the features of the used and mostly unknown motor.

Generally, the converters are no plug-and-play systems. A close examination of the behavoiur during the
current control is necessary and important for a save and smooth operation.

Conditions:
• Handling of theNDrive oscilloscope (signals „I cmd (ramp)“ and „I actual“ as measuring channel).
• The motor should either be free-running or applying across a constant load.
• A steady RS232 communication in order to preset a digital command value and to keep records by
means of the NDrive oscilloscope.
• The current controller parameters must only be modified by skilled personal.

Note:
The following setting of the current controller focuses on the general first step from the command value to
the actual value. With high speed values near the voltage limits it is possibly necessary to make corrections.

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 Current control
Setting of the Kp value:
• Removing the integral component (TiM = 0 %)
• Fast speed ramp (N R-Acc = 10..100 ms)
• Set the trigger on the NDrive oscilloscope to channel 1 (N cmd (ramp)), Rise > Lev 100
• Start the oscilloscope recording, send a speed command value (example: 10000), stop the motor,
analyze the oscilloscope record

Kp value too small

1. The difference between the current command value (lcmd
(ramp)) and actual current value (lactual) is to large
2. The max. torque is not reached at high speeds

Kp value too high

1. The actual current value overshoots the current command
value
2. Rough operation and high-frequency motor noise

Correct Kp value
1. Actual current value does not oscillate
2. The difference between the current command value and
actual current value is low
(optimal: correction error <5 %)

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 Current control
Setting of the Ti and TiM value:
• Maintain the determined Kp value
• Add the integral component (TiM ≠ 0 %, Ti ≠ 0 µs)
• Fast speed ramps (N R-Acc = 10..100 ms)
• Set the trigger on the NDrive oscilloscope to channel (N cmd (ramp)), Rise > Lev 100
• Start the oscilloscope recording, send a speed command value (example: 10000), stop the motor,
analyze the oscilloscope record

TiM too low

1. Despite a sufficiently high command value current (red) the
command value speed (green) is not reached with a high load.
2. The correcting variable for the output voltage is missing
3. Recommendation: 80..100 %

Ti too high
1. The control error is nearly not or too slowly compensated
2. Long-wave oscillations are possible

Ti too low
1. High and fast overshoot at the first command value step
2. Short-wave oscillations are possible

Note:
As Ti depends on Kp a subsequent adaption of Kp influences the
behaviour of the integral component

Correctly set Kp and Ti value

1. Fast control of the fast command value step without any high
overshoots as well as fast correction in case of command value
changes
2. No long-wave or short-wave oscillations

Note:
• In case of fast load changes or near the voltage limit
the system may become unstable
• The motor type and the EMV influences considerably affect the
control characteristics

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 Current reduction (derating)
12 Current reduction (derating)
12.1 Current reduction – Parameters and description
The permitted current limits of the peak and continuous current during operation are determined on the
basis of the set value of the motor and the servo. However, it must be borne in mind that the respectively
lower value of the peak current values and continuous current values determine the limits during
operation.

Symbol: Function: Range: Unit: ID address:

Motor I max eff Max. motor current 0..1000.0 Arms 0x4D
I nom eff Continuous motor current 0..1000.0 Arms 0x4E
Servo I max pk Device peak current [A] 0..100 % 0xC4
I con eff Device continuous current [Arms] 0..100 % 0xC5

12.1.1 Current reduction – parameters

Parameters of the different adjustable derating options

For the current reduction (derating) from a permitted peak current

to a permitted continuous current there are two options, i.e., the static
(fix value) or dynamic (function) current reduction.

Fig. 12-1 - 00064

Derating: Symbol: Function: Range: Unit: ID address:

Time3 T-peak Over-current time function 1..40 s 0xF0
Digital input1 I lim dig Current reduction in % if a logic input 0..100 % 0x46
I limit (dig.) is activated
Actual speed I-red-N Overcurrent – speed function 0..32767 Num 0x3C
value1
Output stage I-red-TD Start of the reduction to continuous 0..32767 Num 0x58
temperature current by means of the igbt
(start)2 temperature
Output stage I-red-TE End of the reduction to continuous 0..32767 Num 0x4C
temperature current by means of the igbt
(end)2 temperature
Motor I-red-TM Reduction by means of the motor 0..32767 Num 0xA2
temperature2 temperature
Motor M-Temp Reduction at 93 % of M-Temp 0..32767 Num 0xA3
temperature2
n < 10 Hz2 Reduction to continuous current if the
motor speed is inferior to 10 Hz
Analog input1 Ain 2 is set to I limit. Ain 2 determines 0..32767 Num 0xD6H
the permitted peak current
1
Static reduction
2
Dynamic reduction
3
Static reduction with dynamic calculation

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 Current reduction (derating)

Fig. 12-2

Note: Designations may slightly vary.

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 Current reduction (derating)
12.1.2 Current reduction – description

In general there will be a message in the status field 0x40Bit 21 (Iuse-rchd) if the current command value
reaches the presently permitted current limit.

T-peak:
If the current is superior to the permitted continuous current a temporal calculation is started in
dependance of the surpassing’s delta. Thus, the determination is dynamic. If the dynamic temporal
calculation corresponds to the set value of T-peak (0xF0) the current limit is reduced to continuous current.
If the temporal calculation is at 87.5 % of T-peak this is set in the status field 0x40Bit 28 (Iwcns).
If the current is inferior to the permitted continuous current the time memory is removed again. The rest
time is 2 times T-peak.

Note: This current reduction on the basis of the time is only activated if the current reduction on the
basis of the output stage temperature is deactivated (I-red-TD = 0 or I-red-TD ≥ T-red-TE).
o The activation of the function of T-peak is displayed in the Status field 0x40Bit 23 (Ird-TI) = 0.

I lim dig:
On the Logic page a digital input can be programmed at I limit (dig).
If this input is activated or if a CAN command is received for this input, the current limit is reduced to the
parameter value I lim-dig (0x46).
o Derating active: Status field 0x40Bit 20 (Ird-Dig)

I-red-N:
The current limit is linearly reduced from the speed value set in the parameter I-red-N (0x3C).
At rated speed the current limit corresponds to the continuous current..
o Derating active: Status field 0x40Bit 22 (Ird-N)

I-red-TD and l-red-TE:

If the output stage temperature value of I-red-TD (0x58) is exceeded the current limit is linearly reduced.
The message is displayed in the Status field 0x40Bit 24 (Ird-TiR) and the warning 7 (DEVICETEMP) is signalled.
If the value of I-red-TE (0x4C) is reached the current limit is reduced to the permitted continuous current.
o Activation conditions: (l-red-TD < l-red-TE) and (l-red-TD > 0)
o Function active: Status field 0x40Bit 23 (Ird-Ti)
o Derating active: Status field 0x40Bit 24 (Ird-TiR)
If the output stage temperature is superior to 25200 Num (83°C) there will be an emergency stop and the
error 7 (DEVICETEMP) is signalled.

I-red-TM:
If the motor temperature exceeds the value of I-red-TM (0xA2) the current limit is linearly reduced. The
message is displayed in the Status field 0x40Bit26 (Ird-TM) and the warning 6 (MOTORTEMP) is signalled.

If the temperature continues to increase the current limit is further linearly reduced until the value of
M-Temp (0xA3) is reached. Then there will be an emergency stop and the error 6 (MOTORTEMP) is
signalled.

Attention:
The warning messages displayed in the field 'Status' must be observed!
If the current limits are reduced, this might cause failures of the machine or the
installation.

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 Current reduction (derating)
12.1.3 Current reduction – status messages

Signals in the Status field (0x40) for the current reduction functions.

Signal: Derating Description of the signal: ID address:

function: 0x40
Icns Current limit is reduced to continuous Bit 5
current
Ird-dig Digital input Current limit is reduced Bit 20
due to I lim dig
Iuse-rchd Current command value has reached Bit 21
the permitted current limit
Ird-N Actual speed Current limit is reduced Bit 22
value due to I-red-N
Ird-Ti Output stage The current reduction function due to Bit 23
temperature the output stage temperature is active
(→ T-peak deactivated) Fig. 12-3 - 00033
Ird-TiR Output stage The current reduction due to the Bit 24
temperature output stage temperature is active
>10Hz Actual speed Current reduction at a rotating field Bit 25
value frequency inferior to 10 Hz
→ Blocking protection1
Ird-TM Motor Current limit is reduced Bit 26
temperature due to I-red-TM or M-Temp (93%)
Ird-Ana Analog input The current limit is reduced due to Bit 27
Ain2 (I limit) inferior to the current
limit
Iwcns Time The dynamic time limit is charged to Bit 28
87.5% of T-peak

Measuring values (monitor) ID address

T-motor Present motor temperature 0x49
T-igbt Present output temperature 0x4A
T-air Present air temperature in the servo 0x4B
I lim inuse Present current limit 0x48

1
Blocking protection:
If the rotating field frequency is inferior to 10 Hz the current limit must be reduced to the permitted servo
continuous current. This is important in order to protect the servo drive from high currents.
On one’s own risk this blocking protection can be deactivated below a rotation field frequency of 10 Hz by
means of an automatic switch-over to a PWM pulse frequency of 4 kHz:
o ID address 0x5ABit 31 = 0 blocking protection activated (current limit is reduced)
o ID address 0x5ABit 31 = 1 blocking protection deactivated (pulse frequency switched over to 4kHz)

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 Speed control
13 Speed control
13.1 Speed control – Parameters

Parameters for the speed controller settings as well as the

general permitted speed limits

Note:
Many of these parameters are also mentioned on the pages Speed
and Oscilloscope

Fig. 13-1 - 00069

Symbol: Function: Range: Unit: ID address:

Kp Proportional amplification 0..200 Num 0x2C
Ti Integration time (integral time constant) 0..10000 ms 0x2D
Td Differential time 0..100 ms 0x2E
TiM Max. value from the integral memory Ti 0..100 % 0x3B
Kacc Proportional amplification - delta acceleration 0..100 % 0x5B
Filter Filter actual speed value 0..10 Num 0x5E

N R-Acc Speed – acceleration ramp 0..30000 ms 0x35L

N R-Dec Speed – braking ramp 0..30000 ms 0xEDL
M R-Acc Torque – acceleration ramp 0..4000 ms 0x35H
M R-Dec Torque – reduction ramp 0..4000 ms 0xEDH
M R-Rcp Torque – recuperation ramp (0xCDBit 4) 0..4000 ms 0xC7H

R-Lim Emergency stop, End switch ramp 0..1000 ms 0xC7L

Nmax100% Physical reference value for the internal 100..50000 rpm 0xC8
resolution of the speed to 16 Bit (±32767)
N-Lim Speed limiting for positive and negative rotation 0..100 % 0x34
direction
N-Lim+ Limiting for the positive rotation direction (if 0..100 % 0x3F
the logic input N clip(neg&pos) is activated)
N-Lim- Limiting for the negative rotation direction (if 0..100 % 0x3E
the logic input N clip(neg&pos) is activated)

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 Speed control
13.1.1 Additional information of the speed controller parameters

Kp Input for the proportional amplification in the current controller

Note: Input value of 33 (Num) ≙ 1.0 (physical correcting variable of the current)

Kp too low: compensation error, bad dynamics, low-frequency vibrations

Kp too high: strong motor noise, high-frequency vibrations
Recommended1: 5..50 Num

Ti Integration time in the current controller

Note: Ti depending on the proportional amplification Kp

Ti too high: low-frequency vibrations, large speed overshoots, very weak

Ti too low: high-frequency vibrations, strong tendency to vibrate
Recommended1: 6..400 ms

TiM Max. value from the integral memory Ti

TiM too low: preset speed value is not reached with a high load
Recommended1: 20..60 %

Td Differential time constant in the speed controller

Note: activate only if demanded by the system

Td too high: high-frequency vibrations, strong tendency to vibrate

Recommended1: 0 (deactivated) or 6..20 ms

Kacc Dynamic acceleration value directly to the current controller

Note: activate only if demanded by the system

Kacc too high: danger of current oscillations

Recommended: 0 (deactivated) or 10..50 %

Filter Filter for the actual speed value (0 ≙ without filter, 10 is the max. filter effect).

Filter value too low: motor noise, high-frequency vibrations, strong tendency to vibrate
Filter value too high: low-frequency vibrations

1
Guide values on the basis of years of experience,
however, there may be differences depending on the system

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 Speed control
13.1.2 Additional information of the speed ramps during speed controller operation

The speed command value of N cmd(int) (0x5D) is adapted according to the ramp settings and is the final
speed command value of N cmd (ramp) (0x32) for the speed controller.

N R-Acc Acceleration ramp for the speed and position command values
Parameter value always corresponds to the time from 0 rpm to the reference of Nmax100%

N R-Dec Braking ramp for the speed and position command values
Parameter value always corresponds to the time from 0 rpm to the reference of Nmax100%
set to < 10ms for position control)

M R-Acc
M R-Dec
M R-Rcp These settings of the current ramps are not active during speed control
They are only active at torque control
During speed control only the current ramp calculation on the basis of the parameter
Ramp (0x25) is active

R-Lim Minimum braking ramp at limit switch and emergency stop

For speed control only active if the free coasting is deactivated
(can be selected for the reference run)

13.1.3 Additional information of the speed limiting during speed controller operation

N max100% Physical reference value for the internal resolution of the speed to 16 Bit (±32767)
Always set this value to max. motor speed
If the speed is to be limited to a lower value please use the parameter N-Lim (0x34)

N-Lim Speed limiting in % for the positive and negative rotation direction in dependance of the
reference value of N max100% (0xC8)
For a current presetting (torque control) and N-Lim < 100 % the torque speed control
(Tempomat) is activated

N-Lim+ Speed limiting in % for positive rotation direction in dependance of the reference value of N
max100% (0xC8)
→ only active if a logic input is set and activated in N clip(neg&pos)
Special function: current limit for automatic recuperation for torque control

N-Lim- Speed limiting in % for negative rotation direction in dependance of the reference value of
N max100% (0xC8)
→ only active if a logic input is set and activated in N clip(neg&pos)
Special function: current limit for automatic recuperation for torque control

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 Speed control
13.2 Speed control – Structure
The structure screen for the current control with entry fields and display windows of the control
parameters is shown for numeric values on the page Speed in Analog, Speed and Speed Controller

Fig. 13-2 - 00070

Speed command Function: ID address:

values:
Ain ein IN1 / IN2 Analog inputs 1 and 2 0xD5L / 0xD6L
Offset IN1 / IN2 Offset compensation of the respective analog inputs 0x2FL / 0xD7L
Cutoff IN1 / IN2 Zero zone for analog command value presetting 0x50 / 0x53
Scale IN1 / IN2 Scale factor of the respective analog inputs 0x2FH / 0xD7H
Ain scaled IN1 / IN2 Analog command value presetting of the inputs Ain1 and 0xD5H / 0xD6H
Ain2
M set (dig.) Digital command value presetting of Iq-current 0x90
N set (dig.) Digital command value presetting of the speed 0x31
Cutoff (dig.) Zero zone for digital command value presetting 0x1E
Filter Filter for actual speed value 0x5E

Speed controller
values:
N cmd (int) Speed command value used (internal) 0x5D
N cmd (ramp) Speed command value after ramp 0x32
N actual Actual speed value signal for the control 0x30
N act (filt) Actual speed value signal for the display 0xA8
N error Control error actual speed value 0x33

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 Speed control
Setting field Analog on the page Speed

Symbol: Function: Input1: Input2:

(Ain1) (Ain2)
Ain ein Analog inputs 1 and 2 0xD5L 0xD6L
Offset Offset compensation of the respective 0x2FL 0x2FL
analog inputs
Zero zone Zero zone for analog command value 0x50 0x53
presetting Fig. 13-3 - 00071
Scale Scale factor of the respective analog inputs 0x2FH 0xD7H
Ain scaled Analog command value presetting of the 0xD5H 0xD6H
inputs Ain1 and Ain2
(Ain scaled = (Ain ON + Offset) x scale)

The measured analog input values of Input1 and Input2 are displayed in Ain in1,2.
These signals are processed by means of the parameters offset 1,2, zero zone1,2 , and scale1,2 . The result is
displayed in Ain scaled1,2.
It is possible to select either the analog or the digital command value by means of the selection switch. If
both switches are closed the digital and the analog command value are added. The sum at N cmd (int) is
internally limited to ±32767.
The digital command values can be entered as digital speed (N set (dig.)), digital torque (M set (dig.)) or
they are provided by the position controller directly via N fn (internal).

Command: Green function:

Ena Enable hardware
GO Internal enable (output stage)
Lim- Limit switch neg.
Lim+ Limit switch pos.
NcRO Command value zero
Brk Brake

Fig. 13-4 - 00072

Setting field speed ramp on the page Speed

Symbol: Function: Range: Unit: ID address:

N R-Acc Speed acceleration ramp 0..30000 ms 0x35L
N R-Dec Speed braking ramp 0..30000 ms 0xEDL
R-Lim Emergency stop, limit switch ramp 0..1000 ms 0xC7L

Setting field command value limits on the page speed

Symbol: Function: Range: Unit: ID address:

N-Lim Speed limiting for the positive and negative 0..100 % 0x34
rotation direction
N-Lim+ Speed limiting for positive rotation direction 0..100 % 0x3F
(if the logic input N clip(neg&pos) is activated)
N-Lim- Speed limiting for negative rotation direction 0..100 % 0x3E
(if the logic input N clip(neg&pos) is activated)

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 Speed control
Control panel 1:
The speed command value will only be processed, if the servo drive is Enabled (Ena) and the internal status
(GO) is shown in a okay state (green). It will then be displayed in the field ‘speed command value‘
(N cmd (int)).

Control panel 2:
When the enable (Ena), the limit switches (Lim-, Lim+), not speed = 0, and not brake are switched (green),
the speed command value (N cmd(int)) in the setting field (ramp) is processed.

Ramp field:
The acceleration ramp (N R-Acc), the deceleration ramp (N R-Dec), the limit switches emergency stop ramp
(R-Lim), and the speed limits (N-Lim, N-Lim+, N-Lim-) are set. The result is shown in the display field ‘speed
command value after ramp’ (N cmd (ramp)).
This processed signal (N cmd (ramp)) is used as input for the speed controller.

Speed controller parameters

Symbol: Function: Range: Unit: ID address:

Kp Proportional amplification 0..200 Num 0x2C
Ti Integration time (integral time constant 0..10000 ms 0x2D
Td Differential time (differential component) 0..100 ms 0x2E
TiM Max. value from the integral memory Ti 0..100 % 0x3B

The filtered actual speed value (N act (filt)) is displayed after the
filter in the field actual speed value (N actual).

At the mixing point the actual speed value is subtracted from the
speed command value.
The result is shown in the display field of the calculated
speed error (N error). Fig. 13-5 - 00073

The speed correction error is processed in the speed controller

(PID amplifier). The proportional amplification (Kp), the integral
component (Ti), the differential component (Td), and the memory
limit for the speed controller are set.

The output of the speed controller is the unprocessed current command value (I fn(N)).

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 Speed control
13.2.1 Setting of the speed controller parameters (Kp ,Ti, TiM)

Fig. 13-6 - 00138

The setting of the speed controller is mainly determined by:

• the characteristics of the complete system (load, the frictional torque, and inertia of the drive).
• the power of the converter and motor used (the motor and the converter must be properly rated for the
complete system).
• the requested control characteristics of the speed (smooth, aggressive, transient response).

Conditions:
• Handling of theNDrive oscilloscope (signals „N cmd (ramp)“ and „N actual“ as measuring channel).
• The motor should either be free-running or applying across a constant load.
• A steady RS232 communication in order to preset a digital command value and to keep records by
means of the NDrive oscilloscope.
• The current controller parameters must only be modified by skilled personal.

Note:
The following setting of the speed controller focuses on the general static complete system. For dynamic
systems it is possibly necessary to make corrections.

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 Speed control
Setting of the Kp value:
• Removing the integral component (TiM = 0 %)
• Set the requested speed ramp (N R-Acc = 10..10000 ms)
• Set the trigger on the NDrive oscilloscope to channel 1 (N cmd (ramp)), Rise > Lev 100
• Start the oscilloscope recording set a speed command value (example: 1000) (test or step generator),
deactivate the converter (FRG = off), analyze the oscilloscope record

Kp value too low

1. The difference between the speed command value (Ncmd
(ramp)) and actual speed value (N actual) is to large
2. The speed command value is not reached and the acceleration
is too slow
3. The drive responds smoothly on command value modifications
and can easily be moved at standstill

Kp value too high

1. The actual speed value considerably overshoots the speed
command value
2. Rough operation, strong tendency to vibrate (also at standstill),
and motor noise

Correct Kp value
1. Actual speed value does not oscillate
2. The difference between the speed command value and th
actual speed value is low (optimal: correction error < 5 %)

The remaining residual error is corrected via the integral

setting.

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 Speed control
Setting of the Ti and TiM values:
• Maintain the determined KP value
• Adding the integral component (TiM = 0 %)
• Set the requested speed ramp (N R-Acc = 10..10000 ms)
• Set the trigger on the NDrive oscilloscope to channel 1 (N cmd (ramp)), Rise > Lev 100
• Start the oscilloscope recording set a speed command value (example: 1000) (test or step generator),
deactivate the converter (FRG = off), analyze the oscilloscope record

Ti too high
1. The control error is nearly not or too slowly compensated
2. Long-wave oscillations are possible

Ti too low
1. High and fast overshoot at the first command value step
2. Short-wave oscillations are possible

Note:
As Ti depends on Kp a subsequent adaption of Kp influences the
behaviour of the integral component

Correct Kp and Ti values

1. Fast control of the fast command value step without any high
overshoots as well as fast correction in case of command value
changes
2. No long-wave or short-wave oscillations

Note:
• In case of fast load changes or near the voltage limit
the system may become unstable
• Reduce the control error (overshooting) to minimum by means
of the parameter TiM . Select the TiM value as small as
possible.

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 Torque control
14 Torque control
14.1 Torque control – Parameters
Parameters for the setting of the general current specifications, of the different ramp times for the speed
and torque ramps and the various limit settings

Symbol: Function: Range: Unit: ID address:

M set (dig.) Digital command value presetting of the Iq- ±32767 Num 0x90
current
→ Dig. torque command
(standardisation: 32767 ≙ I max pk (at 100 %))
I set (dig.) Digital command value presetting of the Id- ±32767 Num 0x21
current
(standardisation: 32767 ≙ I max pk (at 100 %))

N R-Acc Speed – acceleration ramp 0..30000 ms 0x35L

N R-Dec Speed – braking ramp 0..30000 ms 0xEDL
M R-Acc Torque – acceleration ramp 1 0..4000 ms 0x35H
M R-Dec Torque – reduction ramp 1 0..4000 ms 0xEDH
M R-Rcp Torque – recuperation ramp 1,2 0..4000 ms 0xC7H

Nmax100% Physical reference value for the internal 100..50000 rpm 0xC8
resolution of the speed to 16 Bit (±32767)
N-Lim Positive and negative speed limiting 0..100 % 0x34
N-Lim = 100 % → pure torque operation 4
N-Lim < 100 % → torque cruze control active
N-Lim+ Current limit for the recuperating braking current 0..100 % 0x3F
(see function ‚automatic recuperation‘)
N-Lim- Current limit for the recuperating braking current 0..-100 % 0x3E
(see function ‚automatic recuperation‘)

M out Iq current → actual torque value ±32767 Num 0xA0

(standardisation: 32767 ≙ I max pk (at 100 %))
1
From FW476
2
From FW476 only active if 0xCD Bit 4 = 1 is set
3
For current (torque) command and N-Lim < 100 % the torque cruze control is activated
4
The speed is limited only on the basis of the load and the dc bus voltage

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 Torque control
14.2 Torque control – General information
• Actually, the torque control is a current command value presetting. The motor torque is formed on the
basis of the motor constant of kt = Nm / 1 Arms which is generally unknown.
• The current command value can be formed either via the analog torque mode or via a digital command
value presetting by M set (dig.) (0x90). Both methods specify the active current Iq.
• The reference for the current command value range always refers to 100 % of the possible device
current ((±10 V or ±32767) ≙ I max pk (100 %))
• The current command value is directly transferred to the current controller via the torque ramps
(M R-Acc, M R-Dec, M R-Rcp).

Note:
For a digital command value the last received data determines the control mode of either speed control
mode via ‘N set (dig.)’ or a torque control mode via ‘M set(dig.)’. Thus, it is possible to switch directly
between the two different operation modes (example: Hill Hold).

Detailed information of the different setting possibilities for the torque control as well as of the different
special functions such as automatic recuperating braking can be find in the additional manuals
(NDrive folder \ manuals) „Bamocar_FAQ.pdf“ and „Information on special Car applications.pdf“.

14.3 Torque control – Torque cruze control

The torque cruze control is an operating mode at which a current command value is preset, however, the
higher-ranking speed controller operation is still active and the current command value will be reduced in
order to not exceed the configured speed limit. Thus, the torque cruze control mode is similar to a speed
limiter in a vehicle.

N-Lim = 100 % (Torque cruze control deactivated):

• Pure torque (current) operation without intervention of the speed controller.
→ No limiting active.
→ No limiting on the basis of the speed ramps active.
• The speed is limited only on the basis of the applying load and the dc bus voltage.
→ Danger that the actual speed is superior to the 16 Bit resolution of N max100% (0xC8).
• Setting of the speed controller parameters not necessary.

N-Lim < 100 % (Torque cruze control activated):

• Torque (current) operation with intervention of the speed controller on the basis of the max. permitted
speed.
• The setting of the speed ramps (N R-Acc, N R-Dec) is always active and provides for a torque operation
with a specified acceleration.
→ Detailed considerations concerning the great number of different ramp possibilities is necessary.
• Setting of the speed controller parameters necessary.

Recommendation:
• During torque control always activate the torque cruze control logic (N-Lim = 99 %).
Reason: loss of control during a sudden load change and speeding-up of the motor is avoided.
• Set the speed controller smoothly (Kp = 5, Ti = 400) so that the current control is smooth.
• Fast speed ramps (N R-Acc = N R-Dec = 10 ms) so that interventions are reduced to a minimum.

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 Position control
15 Position control
15.1 Position control parameters

Parameters for the setting of the position controller

Note:
Many of these parameters and further ones are described
on the pages Position and oscilloscope

Fig. 15-1 - 00076

Position control parameters:

Symbol: Function: Range: Unit: ID address:

Kp Proportional amplification 0..200 Num 0x6A
determines the slope of the deceleration ramp
Ti Integration time (depending on Kp) 0..10000 ms 0x6B
Td Differential time (differential component) 0..1000 ms 0x6C
TiM Max. value from the integral memory Ti 0..100 % 0x71
The amplified position error forms the speed command value
The position control is deactivated when Kp = 0
The dynamic control amplification Ti is only effective in the target range

Reference run parameters:

Symbol: Function: Range: Unit: ID address:

Speed 1 Speed to the limit switch 0..32000 Num 0x76L
Depending on the speed the limit switch is passed
Speed 2 Reverse speed back to the zero pulse 0..2000 Num 0x77L
(cycle speed)
Reso Edge Expected switching edge 0..65536 Num 0x75
Ref Ramp Selection of the ramp for the reference run DEC / LIM 0x5ABit 5
between N R-Acc and R-Lim
The zero point of the incremental measuring system is determined by the reference run

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 Position control
Positions Parameter:

Symbol: Function: Range: Unit: ID address:

Tol-wind. Position tolerance window 0..2000 Num 0x79
Off.Ref. Mechanic zero point offset Num 0x72
ND-Scale NDrive position display factor 32 Bit - 1 Num 0x7C
ND-Offset NDrive position display offset 32 Bit - 1 Num 0x7D

Pos dest Target position presetting ±32 Bit - 1 Num 0x6E

Pos cmd Used target position (internal) ±32 Bit - 1 Num 0x91

Pos actual Actual position value signal for the control ±32 Bit - 1 Num 0x6D
Pos error Control error actual position value ±32 Bit - 1 Num 0x70
32 Bit - 1 → 232 - 1 = 4.294.967.295
±32 Bit - 1 → ±232-1 - 1 = ±2.147.483.647

Note:
• One motor rotation corresponds to the numeric value of 65536
• The position command values or the parameter values sent from the control via RS232 or CAN are
immediately carried out

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 Position control
15.2 Position control – Structure
The structure screen of the position control with entry and display windows for the controller parameters is
shown on the page Position for numeric values in Position Controller

Fig. 15-2 - 00077

The position actual value (Pos actual) is subtracted from the position target value (Pos dest) at the mixing
point. If the result is inferior to the set tolerance value (Tol-wind) it is signalled by the status signal in the
tolerance window. At enable the position target value (pos dest) proceeds as position command value (pos
cmd). The actual position value (Pos actual) is subtracted from the position command value (pos cmd) at
the mixing point.

The result is shown in the display field 'speed error' (N error). When the messages (Ena, GO), the limit
switches (Lim-, Lim+), and the position controller amplification are not set to zero (PosKp > 0) (green), the
position error (Pos error) is processed in the position controller (Pos -> Speed).

For both controllers the proportional amplification (Kp), the integral components (Ti), the differential
components (Td), and the memory limiting for the integral component (TiM) are set.

The output value of the position controller is the speed command value as internal function
(N fn (internal)).

Fig. 15-3

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 Position control
15.2.1 Position controller settings

The amplified position error forms the speed command value

Proportional control amplification

Kp Proportional amplification position control circuit.
Determines the slope of the deceleration ramp
Attention:
The position control is switched off if no Kp value is entered

Dynamic control amplification

(only effective in target range)
Fig. 15-4 - 00080 Ti Integral component
Td Differential component
TiM Threshold integral component
P R-dec Position target ramp time:
Delay time of max. speed in ms

Diagram travel Setting travel

N R-Acc Determines the acceleration ramp to the speed
limit during a constant run
N-Lim Determines the speed during a constant run
Kp Determines the target ramp depending on the
positions control error
P R-dec Displays the deceleration time of 100 % speed to
the position (speed zero)
• A low Kp amplification results in a long target ramp
• A high Kp amplification creates a short (steep) target ramp
• If the Kp amplification is too high the drive passes over the
target position and vibrates in that position
The optimal target ramp is as long as possible and as short
as necessary

Diagram positioningg Additional positioning

Tol-wind Position tolerance window (numeric value)
At Pos-actual < Tol-wind the output O Toler is set
to 1 and displayed in the status Tol

Note:
• One motor rotation corresponds to the numeric value of
65555
• The position command values or the parameter values
received via the RS232 or CAN are immediately carried out

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 Position control
15.2.2 Position controller – Additional information settings

Acceleration:
N R-Acc Acceleration time tb to max. speed in ms
Acceleration a=V/tb

Constant run:
N-Lim Speed limiting below the max. speed
Max. speed is 100 % (32767 Num)

Delay:
N R-Dec Set <10 ms for position control

Kp The slope of the delay results from the proportional amplification

Delay time:
T-Ramp (tv) from max. speed (32767 Num) to zero, indicated in ms on the page Position

Example for delay:

v = max. speed in m/s, tv = delay time (T Ramp) in s
v = 3 m/s, tv = 0.261 s

Delay a in m/s²:
𝑣𝑣 3 𝑚𝑚 𝑚𝑚
𝑎𝑎 = → 𝑎𝑎 = = 11,5
𝑡𝑡𝑡𝑡 0,261 𝑠𝑠2 𝑠𝑠2

Amplification Kp from available speed and delay:

𝑎𝑎∗2603 11,5∗2603
𝐾𝐾𝐾𝐾 = � → 𝐾𝐾𝐾𝐾 = � % = 99,9 %
𝑣𝑣 3

Ramp target distance:

𝑣𝑣 2 32
𝑠𝑠 = 𝑠𝑠∗𝑎𝑎 → 𝑠𝑠 = 2∗11,5 𝑚𝑚 = 0,391 𝑚𝑚

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 Position control
15.2.3 Position control – Conversion of the units for the position

Pos-act.value range: Resolver: Incremental encoder:

Pulse/rpm 65536 per rpm 65536 per rpm
Max. value ±2147483647
(31Bit-1)
Resolution (lowest value) 16 (65536/4096 (12Bit)) 65536/Ink x 4

Example: Incremental encoder: 2048 Imp/Upm

Spindle drive with slope:: Travel path: Travel path:

5 mm/rpm 1000 mm = 200 rpm 1000 mm = 200 rpm
→ 200 rpm = 13107200 → 200 rpm = 1638400

Resolution: 65536/4096 = 16 Resolution: 65536/8192 = 8

15.2.4 Position control – Position scaling

Scale the display factor for the position values for the NDrive presentation
The display of the values for Pos dest, Pos cmd, and Pos actual is set by means of the parameter
ND-scale (0x7c, Pos-display factor) in the window 'position'.
At zero the display corresponds to the numerical value (1 motor revolution = 65536 num).

Adaption of the display to the feed value

Calculate the conversion factor necessary for converting the feed distance to motor revolutions.
For the display this factor must be multiplied by the constant 65536.000 (≙ 1.000 mm/rev).

Example 1: distance in mm
Displayed value in mm for Pos dest, Pos cmd, and
Pos actual
Spindle slope = 5 mm
Gear i = 20

Conversion factor for one revolution 1/5 *20 = 4

Position display factor 65536.000* 4 = 262144.000
NDrive scale = 262144.000

Example 2: angle in degree

Displayed value in degree for Pos dest, Pos cmd, and
Pos actual
Transmission: 1 degree = 10 motor revolutions

Conversion factor for one revolution = 10 Fig. 15-5 - 00082

Position display factor 65536.000* 10 = 655360.000
NDrive scale = 655360.000

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 Position control
15.3 Position control – Reference run
15.3.1 Positioncontrol – Reference run structure screen

The structure screen with entry and display windows of the controller parameters for the reference run for
position control is shown on the page Position for numeric values in Calibration run

The reference run determines the zero point of the incremental measuring system

Fig. 15-6 - 00078

Symbol: Function: Range: Unit: ID address:

Speed 1 Speed to the limit switch 0..32000 Num 0x76L
Depending on the speed the limit switch is passed
Speed 2 Reverse speed back to the zero pulse 0..2000 Num 0x77L
(cycle speed)
Reso Edge Expected swiching edge 0..65536 Num 0x75
N R-Dec Speed braking ramp 0..30000 ms 0xEDL
R-Lim Emergency stop, limit switch ramp 0..1000 ms 0xC7L

The reference switches are selected in the parameter field ‘digital inputs‘. After the machine and the enable (RUN) are
switched on the reference run (Start Ref Drive) is started via a digital input ( Din1, Din2 ) or the interface (CAN-BUS,
RS232 via the ID address 0x78 ≠ 0).

Note:
Driving commands such as Start Ref drive, N cmd (int), etc. are recognized only after 5 ms after the enable.
Close or send the enable first, then send the driving commands.

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 Position control
Reference run
The drive runs to the limit switch with ‘Speed 1’, passes the limit switch at loop speed ‘Speed 2’ and returns. With a
reference switch the drive runs in a positive direction loop, and for a negative direction in a double loop. The device
position zero point is set after the limit switch rising edge at the incremental encoder zero signal.
For the resolver the absolute value of the position (within half a motor revolution) is saved at the limit switch rising
edge (Zero Capture).

The mechanical zero point can be shifted in positive or negative direction by means of the parameter ‘Off. ref.’.

Overview of the reference switches to specify a digital input:

Input selection: Function:

Ref. & Limit Plus Limit switch - positive rotation direction is the reference switch
Ref. & Limit Minus Limit switch - negative rotation direction is the reference switch
Ref. Plus The switch rising edge in positive rotation direction is the reference switch
independently from the limit switches

Fig. 15-7 - 00079

Via the selection window (parameter field servo) the delay is switched from R-Lim to N R-Dec when changing from
Speed 1 to Speed 2.

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 Position control
15.3.2 Position controller – Reference run logic diagrams

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 Position control

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 Position control

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 Field weakening control
16 Field weakening control
16.1 Field weakening control – Synchronous motor in general
The field weakening mode at synchronous motors with surface magnets is only possible within a small
range (max factor 1.2) and thus, economically not viable.

For synchronous motors with integrated magnets (salient-pole machines) it is possible to achieve speed
ranges up to the factor 4. At optimal rating the motor and the servo can in this case be dimensioned
smaller.

Caution:
If the field weakening (power supply switch-off, error switch-off, etc.) fails at maximum speeds, the motor
can generate high induced voltages.
For devices connected to the power supply the threshold voltage is 400 V or 800 V.

For battery-driven devices the counter EMC voltage must always be inferior to the battery voltage.
If the devices or batteries have no external protective circuit they may be destroyed in case of motor
overvoltages.

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 Field weakening control
16.2 Field weakening control – Parameter setting
Parameters for the field weakening control

Symbol: Function: Range: Unit: ID address:

Id nom Nominal Id-magnetizing current in % of the rated motor 0..100 % 0xB2
current (I nom eff)
Recommended: 0 % at PMSM
Id min Min. magnetizing current in % of the rated motor -100..0 % 0xB5
current (I nom eff)
Recommended: -50..-30 %
V red Voltage reference value in % of V out 0..100 % 0x8B
(V red ≠ 0, 100 % → activation field weakening control)
Recommended: 60..80 %
V kp Proportional amplification of the field weakening 0..65535 Num 0x8C
control
Recommended: 500..4000
V-Ti Integral time of the field weakening control 0..65535 Num 0x8D
Recommended: 300..5000
Attention: tendency to vibrate

Fig. 16-1 - 00075

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Without field weakening:

The speed (n_actual) does not reached the preset speed value
(n_cmd) at max. possible output voltage (V out).

As usual with PMSM, the Id-current (Id_actual) is constantly

controlled to 0 A.

First the lq-current (Iq_actual) provides a respective torque

for the acceleration and then drops to the max. possible
value.

With field weakening :

The speed (n_actual) reaches the preset speed value (n_cmd)

at max. possible output voltage (V out)).

The ld-current (Id_actual) is compensated during the field

weakening to the value Id_ref which is preset by the field
weakening controller.

For motors with surface magnets a high Id current flows for

only a small increase in speed.

Here again the lq-current (Iq_actual) provides a respective

torque for the acceleration and then drops to the necessary
resp. still available value.

Attention:
The field weakening control is no patent solution for a poorly rated system.

Although the speed can be increased the torque is reduced to a very low value due to the physical
characteristics of a PMS motor. That is, the motor is less powerful during field weakening operation despite
a high current consumption.

The additional provided reactive current (Id_actual) leads to strong heating of the motor and, despite a
very low active current (Iq ≙ torque), the current consumption is very high due to the additional current
component.
Meaning that for a system with a HV battery (e.g. vehicle) the battery capacity will be reduced much faster
(and thus, the range).

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 Frequency converter operation (ACI v/f)
17 Frequency converter operation (ACI v/f)
17.1 Frequency converter – Parameter setting of the FU characteristic curve
Parameters of the frequency converter characteristic curve of FU Start

Symbol: Function: Range: Unit: ID address:

FU start
T dc Pre-magnetizing time 10..2000 ms 0x07L
Delay between the switching-on and the starting of the
frequency
U dc Pre-magnetization dc voltage value 0..20 % 0x08L
U min Minimal voltage (boost) at motor standstill 0..100 % 0x0AL
→ U/F Kennlinie wird angehoben
Recommended: U min = U dc
F min Minimal frequency at motor standstill 0..100,0 Hz 0x0BL
V corner Maximal output voltage at base freuquency 0..100,0 % 0x0CL
F corner Base frequency for max. output voltage 1..1000,0 Hz 0x0DL
F-sh Characteristic curve shape (linear, semi-square, square)

Fig. 17-2 - 00085

Fig. 17-1 - 00133

Note:
Currently in NDrive only the parameter field FU start of the characteristic curve for the frequency converter
is in use. The characteristic curve for FU stop is the same as for FU start.

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 Frequency converter operation (ACI v/f)
17.2 Frequency converter – Motor parameter setting
A frequency control without a feedback encoder can be
configured via the setting field for the frequency converter
in the field ‘motor’.

For standard motors with mains operation the data for 50/60 Hz
operation and star-delta circuit are often written on the type plate.
These data are internationally standardized.
For motors with converter mode the rated operating point is at a
fixed frequency usually above the 50/60 Hz power supply
frequency. Fig. 17-3 - 00083
Further data are not always completely indicated by the
manufacturers.

Partly the rated speed at the rated operating point (rated frequency, rated load) is not indicated or the data
for cosphi is not indicated. Partly the values are unclearly specified, e.g. voltage refered to phase to phase
(terminal voltage) or the phase voltage (terminal to star point) or dc bus voltage. Please check the
manufacturer data and dimensions carefully (V, VAC, VDC, A, Arms, etc.).

Rated data: Symbol: Motor example 50Hz: Motor example 60Hz: Unit:
Mains frequency F nom 50 60 Hz
Rated voltage U nom 220-240, 360-420 255-275, 440-486 V
Rated current I nom eff 2.33-2.25, 1.35-1.30 2.26-2.18, 1.30-1.26 A rms
Rated speed N nom 2820 3385 rpm
Cosphi Cos Phi 0.85 0.85

It is possible to determine further values for the motor model by

means of the drive internal function ’calc from motplate’ and
using the above mentioned rated data (→ page Auto).

The updating of the display in NDrive is effected by the offline-

online process (that is, switching off and on again the RS232
communication).

Fig. 17-4 - 00084

Activation of the frequency converter operation:

1. Select „ACI V/f“ as motor type on the page ‚settings‘.

2. Select „SLS“ as feedback type.

Note:
At frequency converter operation there is no slip compensation during the control of an AS motor without
encoder response.

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 Logic
18 Logic
18.1 Logic – General overview
Entry field for the digital inpits (INPUT) and the digital outputs (OUTPUT) in NDrive on the page Logic

Fig. 18-1 00087

INPUT:
Limit1 Programmable digital input, preferably as output stage switch and reference switch
Limit2 Programmable digital input, preferably as output stage switch and reference switch
Din1 Programmable digital input
Din2 Programmable digital input

OUTPUT:
Dout1 Programmable digital output (operant and comparison variable)
Dout2 Programmable digital output (operant and comparison variable)
Dout3 Programmable digital output (operant and comparison variable)
Dout4 Programmable digital output (operant and comparison variable)
(Dout4 is not available for all units)
Var1 bis Var4 Comparison variable

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 Logic
18.2 Logic – Digital inputs
18.2.1 Logic – Digital inputs in general

In general it is possible to read the applied logic level

of each digital input.

In addition it is possible to assign a great variety of special

functions to each individual digital input.

The selection of the special functions is carried out via the

respective pull-down menu.

These special functions are triggered by the logic level of

the digital input in dependence on the configuration
conditions (AL / AH). Fig. 18-2 - 00088

The setting of the activation conditions for the special

functions is effected via the switches AL = active low and
AH = active high.

The functions are written to the RAM and carried out by means of the return key.
By saving the data on the Eprom level 0 the settings are permanently saved and they are applied after a
restart.

The output stage switches Limit1, Limit2 are displayed in the status field with Lim+ and Lim-.
They can also be configured for other functions.

Example:

INPUT: Selection: Function: Acv. Logic:

Limit1 Ref. & Limit Plus Output stage switch positive directionis the reference switch AL
Limit2 Limit Minus Output stage switch negative AL
Din1 [Start]Ref. Drive Start reference run AH

Note:
All digital inputs have an internal pull-down resistance and thus, it is not necessary to connect them to a
ground if not used.

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 Logic
18.2.2 Logic – Digital inputs configuration overview

Overview of the configuration possibilities resp. of the special functions of a digital input (INPUT)

INPUT: Function:
Ref. & Limit Plus Limit switch positive direction is also the reference switch
Ref. & Limit Minus Limit switch negative direction is also the reference switch
Ref. Plus Reference switch positive direction
Limit Plus Limit switch positive direction
Limit Minus Limit switch negative direction
Limit Plus &.Minus Limit switch positive and negative direction
Cancel Error(s) Delete error memory
[Start]Ref. Drive Start reference run
Speed Ramp 0 Speed command value internally switched to 0 (during speed 0 active)
[Start] Dest > Var1 Position variable1 is started
[Start] Dest > Var2 Position variable2 is started
N cmd Reverse Command value polarity is switched over
[Preset] Pos = Var3 Actual position value is set to variable3
[Capture] Var3 = Pos Sets the variable 3 as position (target) and travels to the position
[Capture] Var4 = Pos Sets the variable 4 as position (target) and travels to the position
[Switch] Spd = !Ain1/Ain2 Switching-over command ‘command value Ain1 or Ain2‘
[Switch] Spd = !Var1 Switching-over command ‘command value Var1 or Var2‘
/Var2
I limit (dig.) Current limiting to the parameter setting of I limit dig
N clip (neg. & pos.) Speed limiting to the parameter setting of N-lim+ and N-lim-
[Switch] Cmd = !Dig/Ana Switch-over command digital + analog command value setting
(command mode digi + ana speed)
Speed Ramp 0 + Pos Positioning to a position within a motor rotation
(pos = Reso Edge)
Handrad Incremental command value from the hand-wheel encoder (2nd counter input)
Brake Car 1 Regenerative braking function #1
Current setting at N-Lim+ and N-Lim-
recu_disab Regenerative braking function is switched off
rising bank1, falling bank2 PARA_UPDATE
[Start] Dest = Var1,2,3,4 Position command value resulting from the variable sum of var1 to var2 is started
[Start] cw = Var1,2,3,4 Cw_kombi
Brake Car #2 1 Regenerative braking function #2
Consideration of the delta deviation of the analog input for the braking
power
1
see „Information on special car applications.pdf”

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 Logic
18.3 Logic– Digital outputs
18.3.1 Logic – Digital outputs in general

In general it is possible to configure the logic level of each digital

output in many ways

A known measured variable is used as reference for the

configuration (1st column)). It can be compared in many ways
with the user-defined variables by means of operands (2nd column)
in order to output the correspondingly requested logic level.

The selection of the measuring value as reference, the operands,

and the comparison variables is carried out via the respective
pull-down menu. Fig. 18-3 - 00089

The value of the comparison variables is carried out via the entry in the respective entry field for Var1,
Var2, Var3, and Var4.

The logic result is output across the digital output as low (< 1 V) or high (> 10 V).

The functions are written to the RAM and carried out by means of the return key.
By saving the data on the Eprom level 0 the settings are permanently saved and they are applied after a
restart.

Note:
Switched inductances (Relays, brakes, etc.) must always be provided with a connected overvoltage
protection by means of recovery diodes or varistors. The output driver is switched off in case of
overvoltage.

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 Logic
18.3.2 Logic – Digital outputs configuration

Configuration posibilities of a digital output

OUTPUT: Function: ID address:

I cmd Current (I) command value (Speed controller output) 0x26
I actual Current(I) actual value 0x20
N cmd (ramp) Speed command value 0x32
N actual Speed actual value 0x30
Pos cmd Position command value 0x6E
Pos actual Position actual value 0x6D
N error Speed error 0x33
Pos error Position error 0x70
T Motor Motor temperature 0x49
… … …
All parameters of the list ‘measured value selection' can be assigned to the respective outputs

Operand: Function: Variable: Function: ID address:

Off always off 0 Logic signal 0
On always on 1 Logic signal 1
1Hz pulsed with f = 1 Hz Var1 Numerical value of the 0xD1
= equal Var2 entered variable fields 0xD2
!= not equal Var3 0xD3
> superior to Var4 0xD4
< inferior to Ain1 Numerical value of the
abs > absolut value superior to Ain2 voltages across the analog
abs < absolut value inferior to inputs
tol > tolerance input TOL-wind
Tol < tolerance input TOL-wind
>= superior or equal to
<= inferior or equal to
hyst >= hysteresis at >=
Hyst <= hysteresis at <=
window tolerance window +/-25 %

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 Logic

Fig. 18-4 - 00090

Example 1: Configuration of the error „missing power supply voltage“ to a digital output

The aim is:

The output Dout1 should output a high (> 10 V) logic level when the power supply voltage is switched on or
if no error 5 (POWERVOLTAGE, power supply voltage missing) is applying.

• Assign the signal (Warn-Err map) to the ouput Dout1 via the pull-down menu.
• Set the operand to (!=)
• (Var1) is selected as comparison variable
• Enter the decimal value 32 in the entry field for Var1 for the query of error 5 of the error information
(0x8FBit 5). It is also possible to send a query to a combination of several bits.

Example 2: Configuration of the Status information „Ena“ to a digital output

The aim is:

The output Dout2 should output a high (> 10 V) logic level when the converter is active.
If a voltage via the motor lines is actively output by the PWMs the status information Ena (0x40Bit 0) is set.

• Assign the signal (Status map) to the ouput Dout2 via the pull-down menu.
• Set the operand to (=) (inverted to (!=))
• (Var2) is selected as comparison variable
• Enter the decimal value 1 in the entry field for Var2 for the query the status information Ena (0x40Bit 0).
It is also possible to send a query to a combination of several bits.

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 Diagnostics
19 Diagnostics
19.1 Diagnostics – General overview
The page Diagnostics in NDrive is an information window for the display and the manual reading of signals
and the setting of parameters

Fig. 19-1 - 00096

Overview of the windows on the page Diagnostics

Manual Read / Write Direct reading or writing of the parameter values to specified ID
addresses
Track Display of the numeric values of the selected parameters
Information Information about transfer errors
Show all registers List of all registers
Show selected registers List of selected registers
Auto-Reso not yet installed
Auto-optimize not yet installed
Error history not yet installed
Script not yet installed

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 Diagnostics
19.2 Diagnostics – Manual Read/Write
Direct reading and writing of parameter values (Note: only for service!)

Writing of parameters:
• Enter the ID address into the input field ID register.
• Enter the value for the selected ID address in the input
field value (numeric or as hex value).
• Click the Enter key or on the Write button.
The new values are immediately updated.

Reading of parameters:
• Enter the ID address into the input field ID register
• Click the Enter key or on the Read button.
The contents of the ID register is displayed in the
field ‘value’ (numeric or as hex value). Fig. 19-2 - 00091

19.3 Diagnostics – Track

Display of the automatic periodical reading of up to 8 different
selected measuring or parameter values.
(Note: only for service!)

The respective variable is selected via the pull-down menu.

All values are displayed numerically and as hex-values (0x..).

Note:
All measured values can also be displayed inside the oscilloscope.

Fig 19-3 - 00092

19.4 Diagnostics – Information

Display field for current states of special signals

Symbol: Function:
Logik Freq. Speed of the foreground program
Info Intr Actual speed value error
fpga 1. error First recorded error code of the Ecode signal
fpga status Current error code of the Ecode signal
Mode Mode bit setting (0x51)

Fig 19-4 - 00093

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 Diagnostics
19.5 Diagnostics – Register display
List display of all or only selected no. of variables
(no periodical update, only one-time update)

Fig. 19-5 - 00094

Options for register display field:

Selection: Function:
Show all registers All 255 registers are shown in a table.
The register contents cannot be modified.
Show selected registers Only the registers which are important for the user are display in a table.
The registers can be selected via the textfile “reglist.txt”.
→ ‘…\NDrive2-Software\settings\reglist.txt‘
The register contents cannot be modified.

Selection of the options in the footer:

Selection: Function:
Close Display field is closed.
Update The parameter values are read again from the servo.
Save all/selected registers All / the selected registers are written into a file.
Print all/selected registers All / the selected registers are printed.

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 Monitor
20 Monitor
20.1 Monitor – General overview
Overview of the displayed signals on the page Monitor

Fig. 20-1 - 00095

Symbol: Function: Range: Unit: ID address:

N cmd (ramp) Speed command value after ramp and limit 0..32767 Num 0x32
N actual Actual speed value 0..32767 Num 0x30
I cmd Current command value (internal) 0..600 Num 0x26
I act (filt) Present sum current after display filter 0..600 Num 0x5F
Id actual Present reactive current (Id) 0..600 Num 0x28
Iq actual Present active current (Iq) 0..600 Num 0x27
Ixt Capacity Ixt 0..4000 Num 0x45L
Power Motor power (DO NOT USE!) 0..4000 Num 0xF6
Vdc-Bus (dir) Bus circuit voltage 0..32767 Num 0xEB
Regen Power Ballast power 0..4000 Num 0x45H
T-motor Present motor temperature 0..32767 Num 0x49
T-igbt Present output stage temperature 0..32767 Num 0x4A
T-air Present air temperature in the servo 0..32767 Num 0x4B
l lim inuse Present current limit 0..600 Num 0x48
V out Present output voltage 0..4000 Num 0x8A

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 Auto (special functions)
21 Auto (special functions)
21.1 Auto – General overview
Overview of the page Auto in NDrive with the parameters for the motor-specific parameters and the menu
for the activation of special functions

Fig. 21-1 - 00101

21.1.1 Auto – Special functions overview

Special function: Description: ID address:

0x85
Idle Idle state 0 dec
[Fn1] Tuning - Still not used 1 dec
[Fn2] Tuning - Rotating not used 2 dec
[Fn3] Phasing - Still not used 3 dec
[Fn4] Phasing - Rotating Automatic reading of the rotor offset angle Offset) for 4 dec
synchronous motors (FB-Offset)
[Fn5] DC-Injection Fixed current feed angle of the phases U, V, W with 5 dec
rated motor current
[Fn6] Analog offset Automatic setting of the analog inputs 6 dec
[Fn7] Tacho offset Automatic setting of the segment offset at bl-Tacho 7 dec
[Fn8] Calc. from motor Calculation of the motor data acc. to the nameplate 8 dec
nameplate
[Fn9] VdcBus zero 1st step measured value correction dc bus voltage 9 dec
compensation → Adjustment for measuring point at 0 V
[Fn10] VdcBus voltage 2nd step measured value correction dc bus voltage 10 dec
compensation → Adjustment for measuring point at reference voltage

Fig. 21-2 - 00102

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 Auto (special functions)
21.1.2 Auto – Motor-Parameter

Overview of the Motor-Parameter field on the page Auto

Symbol: Function: Range: Unit: ID address:

L sigma-q q-component of the stator leakage 0..32.767 mH 0xB1
inductance (for ACIM Lsd = Lsq)
L sigma-d d- component of the stator leakage 0..32.767 mH 0xBB
R stator Stator resistance 1 mOhm 0xBC
TC stator Stator time constant (Ls/Rs) 2 ms 0xB6
L magnet. Main inductance mH 0xB3
R rotor Rotor resistance 1 mOhm 0xB4
TC rotor Rotor time constant (Lm/Rr) 2 ms 0xBD
FB-Offset Encoder offset angle Deg 0x44
1
Entry without comma
2
Internal calculation

Overview of the Motor-Nameplate field on the page Auto

Symbol: Function: Range: Unit: ID address:

Type Motor type selection (EC servo, FU , FU servo, DC) 0x5ABit 13..12
N nom Motor speed (for FU autotuning) 60..65000 rpm 0x59
F nom Frequency rated motor speed (for FU mode) 20..1200 Hz 0x05
V nom Voltage at rated motor speed (for FU mode) 0..1000 V 0x06
Cos Phi Motor power factor (for FU mode) 0..327,00 % 0x0E
I max eff Max. motor current 0..1000.0 Arms 0x4D
I nom eff Continuous motor current 0..1000.0 Arms 0x4E
M-Pole No. of motor poles (2 x pole pairs) 2..96 Num 0x4F
Id nom Nominal Id-magnetising current in % of the rated 0..100 % 0xB2
motor current (I nom eff)
Id min Min. magnetising current in % of the rated motor -100..0 % 0xB5
current (I nom eff)

Fig. 21-4 - 00103 Fig. 21-3 - 00104

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 Auto (special functions)
21.2 Special function – [Fn1] Tuning - Still
Function not yet activated!

Activation:
1. Selection [Fn1] Tuning - Still
2. Message to the ID address 0x85 = 1

Fig. 21-5 - 00106

21.3 Special functions – [Fn2] Tuning - Rotating

Function not yet activated!

Activation:
1. Selection [Fn2] Tuning - Rotating
2. Message to the ID address 0x85 = 2

Fig. 21-6 - 00107

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 Auto (special functions)
21.4 Special functions – [Fn3] Phasing - Still
Function not yet activated!

Activation:
1. Selection [Fn3] Phasing - Still
2. Message to the ID address 0x85 = 3

Fig. 21-7 - 00108

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 Auto (special functions)
21.5 Special functions – [Fn4] Phasing - Rotating
Aims:
• Checking the correct connections of the motor lines (U, V, W).
• Checking the entered no. of motor poles (M-Pole).
• Determination of the encoder phase angle (FB-offset).

Preparation hardware:
• The motor must be free-running or connected to a small load.
• The motor must not represent a hazard in case of an
uncontrolled acceleration.
• Supply the device with a power voltage (mains/HV)
(For devices with HV DC voltage it is recommended to apply
a low DC voltage (12..48 V).
Fig. 21-8 - 00109
Preparation parameter:
• The no. of motor poles M-Pole (0x4F) and no. of encoder poles FB-Pole (0xA7) must be correctly
set.
• Set the reduction of the permitted current I max pk to 10 %.
• Set the rotating speed for the phasing process to 3 % of the rated speed via Speed 2
(Example: 120)

Fig. 21-9 - 00110

Description of the start and the process:

1. Selection [Fn3] Phasing - Rotating
2. Activation of the function → press START button
(or message to the ID address 0x85 = 4)
3. After having pressed START there are 10 s in order to activate the enable input (FRG/RUN)
(in NDrive: Waiting for Enable = 1).
4. The current ramp provides the set current and the motor moves with a jerk between two of its
electric poles.
5. Then the motor rotates in clockwise direction by exactly 360° from pole to pole depending on the
specified no. of motor poles (may jump with a jerk from pole to pole).
6. After a short time the current ramp is reduced again.
Then the enable input (FRG/RUN) must be deactivated (in NDrive: Waiting for Enable = 0).

Conclusions:
• The correct order of the connections U, V, W is confirmed by the slow clockwise rotation.
• The correct specification of the no. of motor poles (0x4F) is confirmed by the rotation of 360°.
• The determined phase angle is displayed in the right of the two fields (grey) (here: -59.8 deg). After
the successful phasing process the new value must be entered in the left field (yellow) and saved
permanently on the page ‘settings’ on the Eprom level 0.

Fig. 21-10 - 00111

Note:
• The FB-offset must only be determined once and not after each restart.
• The accuracy of this method is physically limited to ±2 %. However, this is sufficient for a general
operation.

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 Auto (special functions)
Errors:
• The motor does not rotate
o U,V,W connection is not correct → modification unknown
o Current limit possibly too low or applyied load too high
o The value of Speed 2 is too low or too high

• The motor rotates anti-clockwise

o U,V,W connections are not correct → exchange the connections U and W

• The motor rotates less or more than 360°

o Incorrect specification of the no. of motor poles M-Pole (0x4F) → correction necessary

Process:

Function: Message in NDrive: 7-segment

display:
Select function [Fn4] Phasing - rotating
and click START
Switch on the enable within 10sec Waiting for RUN = 1 (enable) 40
Enable closed Current ramp 41
Current built up (rotation starts) Rated value reached 42
Pole angle and detection of the no. of Output of the rotation field 43
motor poles carried out
Correct end End 49
End, waiting for RUN = 0 (switch off FRG)

Termination in case of errors:

Function: Message in NDrive: 7-segment

display:
Enable is switched off during the Error 47
measuring process
Time out, measuring time exceeded 48

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 Auto (special functions)
21.6 Special functions – [Fn5] DC-Injection
When a current feed angle is preset (angle) the rotor (motor
shaft) is moved into this angle and held (no rotating field)

Description of the start and the process:

1. Selection [Fn5] DC-Injection
2. Reduce the current limit for the rated current l nom eff to 30%
3. Preset the requested electric angle via FB-Offset (0x44)
4. Apply the power supply voltage across the device (Mains/HV)
5. Activate the function → press START button
(or message to the ID address 0x85 = 5)
6. Activate the enable input (FRG/RUN)

Fig. 21-11 - 00112

Conclusions:
• The motor shaft rotates to the preset angle by means of the max. possible current and stops at the
angle.
• As long as the enable input is closed, a new angle can be preset for FB-Offset (0x44) on the left
(yellow field).
• When switching off the enable input (FRG/RUN), the function is stopped.

Attention:
For further motor operation the correct value for FB-Offset must be entered and saved
(level 0).

If the FB-Offset value is incorrect, the drive may rotate or move uncontrolled!

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 Auto (special functions)
21.7 Special functions – [Fn6] Analog offset
Function not yet activated!

Activation:
1. Selection [Fn6] Analog offset
2. Message to the ID address 0x85 = 6

For the time being the leakage of the analog inputs must be adapted
via the settings of the analog parameters (offset, zero zone, and scale).

Fig. 21-12 - 00113

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 Auto (special functions)
21.8 Special functions – [Fn7] Tacho offset
Adjustment of segment offset errors for brushless tacho systems

Description of the start and the process:

1. Selection [Fn7] Tacho offset
2. Activate the function → press START button
(or message to the ID address 0x85 = 7)
3. Switch on enable input (FRG/RUN)
4. After the tacho offset was successful the internally determined
value must be permanently saved on the page ‘settings’ on the
Eprom level 0

Process:
Fig. 21-13 - 00114
Function: Message in NDrive: 7-segment
display:
Click function ‘start tacho 70
offset‘
Switch on enable 79

Termination in case of errors:

Function: Message in NDrive: 7-segment

display:
Enable switched on during the 76
measuring process
Movement on the rotor 77
detected
No tacho connected 78

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 Auto (special functions)
21.9 Special functions – [Fn8] Calc from motor nameplate
Calculation of the motor data for asynchronous motors

Description of the start and the process:

1. Enter the motor data in the window Motor-Parameter into
the left (yellow) fields
2. Selection of [Fn8] Calc from motor nameplate
3. Activate the function → press START button
(or message to the ID address 0x85 = 8)

After the calculation is finished the calculated values are displayed

in the right column (grey).

For a permanent saving the data must be permanently saved on the Fig. 21-14 - 00115
page ‘settings’ on the Eprom level 0.

Motor-Parameter field on the page Auto

Symbol: Function: Range: Unit: ID address:

L sigma-q q-component of the stator leakage inductance 0..32.767 mH 0xB1
(for ACIM Lsd = Lsq)
L sigma-d d-component of the stator leakage 0..32.767 mH 0xBB
R stator Stator resistance 1 mOhm 0xBC
TC Stator Stator time constant (Ls/Rs) 2 ms 0xB6
L magnet. Main inductance mH 0xB3
R rotor Rotor resistance 1 mOhm 0xB4
TC Rotor Rotor time constant (Lm/Rr) 2 ms 0xBD
FB-Offset Encoder offset angle Deg 0x44
1
Entry without comma
2
Internal calculation

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 Auto (special functions)
General information
Various literatures display motor models which are identical in principle. Abbreviations used in the
diagrams may vary. Differences can only be found concerning physically measurable quantities (T-model) or
further abstraction for simplified calculation models (inverse gamma model).

Some manufacturers provide additional data such as no. of poles, idle current for a specified idle voltage
(= magnetization current), ohmic resistance of the stator winding, stator impedance for a specified
frequency, as well as values referring to rotor quantities.

These manufacturer data are usually correct and helpful. The real, physical quantities can be measured
through direct measuring for stator values and through indirect measuring for rotor values, i.e. by
measuring the retroactive effect on the stator.
The graphic presentation of the motor models does partly not refer to the real, physical quantity but to
converted quantities.

Rs Stator resistor
ir Current in rotor
Lm Main inductance
Lrσ Rotor leakage induct.
im Magnetization current

Rr Rotor resistance
Lsσ Stator leakage induct.
iμ Current through Lm
σ Complete leakage fact

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 Auto (special functions)
Basic procedure
During an operating mode FU (page setting ‘type‘) for new or unknown motors it is possible to check the
following assignment first: positive speed command value = clockwise rotating field U, V, W = clockwise
rotation = positive actual speed value. Set the values on the page ‘settings’ FU left field after
U/f-characteristic. Operation in the rated point without load approx. results in the magnetization current.

Optimization procedure
Connect a load machine with aprox. 20 to 50 % rated torque.
Presetting of a corresponding torque in NDrive via the test panel (below left).
Thus, a stationary speed is set.

The Lm or Rr value can be changed when the machine rotates (T-rotor = Lm/Rr).
The result is immediately effective in the control. The target is to optimize the T-rotor to a higher speed at
the same load. During operation this results in a lower current consumption at the same load torque.
The value of the T-rotor (in ms) is not updated by NDrive until the offline-online process.

At a second stage Idnom (NDrive page ‘speed‘) can be varied, field weakening not active (Vred = 0). This can
be noticed during standstill (current = magnetization current). When the machine rotates this value is also
immediately effective. The target is a higher speed at the same load. During operation this results in a
higher final speed when reaching the voltage limit (max. modulation).
Compare the values achieved from the tests with existing manufacturer values. Save them and reset the
servo (off-on) . Check the values and functions again.

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 Auto (special functions)
21.10 Special functions – [Fn9] [Fn10] VdcBus compensation
Calibration of the analog VdcBus bus voltage measuring (device-dependent) from firmware 466

The calibration takes two step, i.e., the zero point is determind ([Fn9] VdcBus zero comensation) and the
respective reference point is determinded ([Fn10] VdcBus voltage compensation)
In general, all devices are already calibrated in the factory.
If a component is exchanged a new calibration must be carried out.

Step 1: [Fn9] VdcBus zero compensation

Description of the start and the process:

1. For the automatic adjustment the command mode
must be set to ‘Dig. Commands’
2. Selection of [Fn9] VdcBus zero compensation
3. Do not apply any voltage across the connections
VdcBus U+ and U-
(For Bamobil device U+ and U- must be short-circuited)
4. Activate the function → press START button
(or message to the ID address 0x85 = 9)
5. After approx. 4 s the successful VdcBus zero adjustment is
displayed as ‘end’ message Fig. 21-15 - 00116

Step 2: [Fn10] VdcBus voltage compensation

Description of the start and the process:

1. For the automatic adjustment the command mode
must be set to ‘Dig. Commands’
2. Selection of [Fn10] VdcBus voltage compensation
3. A constant dc voltage of at least 2/3 of the rated device
voltage must be applied across the connections VdcBus
U+ and U-
4. Measure the bus circuit voltage by means of a voltmeter
5. The measured voltage value must be entered as reference
in the parameter field Calibr. (0x1A)
6. Activate the function → press START button Fig. 21-16 - 00117
(or message to the ID address 0x85 = 10)
7. After approx. 4s the successful VdcBus reference point
adjustment is displayed as ‘end’ message

Finally, the internally calculated calibration points must be

permanently saved on the page ‘Settings’ on the Eprom levels 0
and 1.

Fig. 21-17 - 00105

Note:
If the calibration points vary too much, the standard default
values will be used instead.

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 Oscilloscope
22 Oscilloscope
22.1 Oscilloscope – Overview
Overview of the page oscilloscope in NDrive showing a compact parameter overview for converter-specific
parameters, for the step generator, and the menu for the oscilloscope configuration settings

Fig.g 22-1 - 00118

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 Oscilloscope
22.2 Oscilloscope – Settings and display
22.2.1 Oscilloscope – Signal selection

Overview of the selection possibilities of up to 8 channels (signals) and description of the individual fields

Fig. 22-2 - 00121

Field: Function:
Value Values at the first cursor line (numeric or physical (if existing))
Time Time from the trigger line to the first cursor line
Delta Value Differential values from the first to the second cursor
Delta (Time) Differential time from the first to the second cursor
Channel Selection of the signal to be measured and thus, assignment of the channel no.
The channel is switched off at „Off“
Pos Shifting of the zero line for this channel in positive or negative direction.
The entry of 100 corresponds to a vertical shifting of the signal by one grid.
The ratio is depends on the measured value.
U/Div Numeric units for the setting of the vertical grid line

I.e., when U/Div = 10000 with N cmd (ramp) the numeric value of 10000 corresponds
to a horizontal line
The reference always complies with the numeric value and not with the physical one
Switch cabinet The display of the channel is switched on and off
The switched off channel remains in the background and is also saved
Channel colours The colour of the measuring signal on the oscilloscope screen can be changed via the
colour selection window by clicking the colour key C
The trigger line is the line for which triggering was defined
The first cursor line is the line which is set by clicking the left mouse button
The second cursor line is the line at which the mouse pointer is

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 Oscilloscope
22.2.2 Oscilloscope – Trigger and capture settings

Overview of the trigger and capture settings

Trigger Function
On Selection of the signal for the trigger function
Edge Selection of the trigger function with reference to the
selection in the field On
Level Setting of the trigger level (numeric) depending on the
trigger function and the selected signal

Capture Function
Buf Resolution or no. of measuring points divided over all
channels used
Run Selection trigger switching function
Timescale Time unit per horizontal grid line
Pre trig Horizontal shifting of the trigger line Fig. 22-3 - 00120
Possible display of the measured value in front of the
trigger line

The no. of measuring points in the NDrive software oscilloscope is the same as for a real oscilloscope, that
is, depending on the settings of the time base (Timescale). Thus, the distances between the measuring
points are also depending on these settings. Meaning that it is no data logger.
This means that it is not possible to show a more detailed view of the measuring points within a shorter
time range by subsequent zooming with a long time scale. It is necessary to be sure in advance on which
time base the measuring is to be carried out.

22.2.3 Oscilloscope – Description of the Trigger and Capture settings

On:
The signal for the trigger function is selected via the pull-down menu.
This can either be a certain channel (1..8) or a signal which is listed in the pull-down menu even if it is not
specified in one of the channels.

Edge:
Symbol: Trigger description: (always with regard to the value in Level)
Rise > Lev The signal moves from a low to a higher value of a set Level → positive edge
Rise < Lev The signal moves from a high to a lower value of a set Level → negative edge
Rise or Fall The signal moves either through a positive or negative edge of the set Level value
=Lev The signal is equal to the set Level value
!= Lev The signal is unequal to gleich the set Level value
> Lev The signal is higher than the set Level value
< Lev The signal is lower than the set Level value

Level:
The numeric value is the reference for the selection of the trigger function in Edge.

Note:
Modifictions are only updated if the activation function of a measuring process (run/stop) is set to ‘stop’.

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 Oscilloscope
Buf:
The no. of measuring points of 250, 500, 1000 or 2000 for all 8 channels. At the same time this defines the
measuring detail.
For a Buf setting of 2000 and only 2 activated channels, each channel is provided with 1000 measuring
points.
Recommendation: 2000

Run:
Symbol: Function:
Auto Continuous measuring without any trigger function to be detected
Single If a trigger function is detected a measuring is carried out
After this, the activation function (run/stop) is automatically set to stop
Normal Each time a trigger function is detected ther will be a measuring process

Timescale:
The time unit per horizontal division defines the time unit of the display on the oscilloscope screen and also
it defines the sample rate at which a channel measuring point is measured. In general, valid is that a
channel has 50 measuring points between each division of a horizontal line.
I.e., for a time scale setting of 500 ms the delta of a measuring point is 10 ms
(measuring point Delta = Time scale / 50 = 500 ms / 50 = 10 ms).

Pre Trig:
The Tre trig shifts the trigger function according to the respective setting depending on the time scale
setting. Thus, it is possible to look at events prior to the triggering.

Note:
• It is possible to activate a “force trigger” with a single recording by means of the trigger function
(Edge: != Lev) on the signal I_actual and the capture setting (run: single).

• If the Pre trig is superior to 0 % there might be overlappings in the display of the oscilloscope screen.
This might occur if a new trigger is detected during the transfer time, especially when the setting
Run = Auto. Then, it is recommended to use a Pre trig of 0%.

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 Oscilloscope
22.2.4 Oscilloscope – Activation of the measuring process

Measuring activation function for the oscilloscope

Run / Stop: Symbol: Function:

Run The oscilloscope recording is focused via the key Run
The recording is started by means of the next trigger signal
Stop The recording is stopped and deleted by means of the key Stop
The current display is held

22.2.5 Oscilloscope – Status display

Status display for the oscilloscope

Status: Colour: Function:

waiting (0) red Measuring is activated (Run), waiting for a new trigger event
waiting (xx) green Measuring triggered, data are buffered in the servo
reading blue Measuring terminated, data are sent from the servo to the pc
drawing Presentation of the data on the oscilloscope screen
idle white Measuring is deactivated (Stop)

22.2.6 Oscilloscope – Zoom options

Zoom options for a measuring process on the oscilloscope screen

Zoom: Symbol: Function:

Zoom (+) The measuring results on the oscilloscope are enlarged
Zoom (-) The measuring results on the oscilloscope are minimized

Note:
Only the display is enlarged. The no. of measuring points depends on the time scale setting and remains the
same regardless of the zoom setting.

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 Oscilloscope
22.2.7 Oscilloscope – Savind and loading of measured data

Saving and loading options for an oscilloscope measuring process

File *.uof Symbol: Function:

Loading Loading of a measured UniTek oscilloscope file (.uof)
.uof Datei
Saving Saving the measured data as UniTek oscilloscope file (.uof)
.uof Datei
Saving Saving the measured data as excel file (.csv)
.csv Datei

Note:
• Measured data in .uof format can be loaded, modified, and saved again by means of the NDrive
oscilloscope (even during offline mode).

• Measured data in .csv format cannot subsequently be loaded and looked at on the NDrive oscilloscope
(i.e., not usable for analyses at a later time).

22.2.8 Oscillocope – Adaption of the oscilloscope window

Overview of the possible settings for the oscilloscope window as well as special presentation modes for a
measuring process

Options: Function:
Join Connect measuring points (interpolated)
Over Display remains and will be overwritten
Zero Zero line visible
Units Display num or real values (if existing)
Trig Trigger line visible
Label Channel designation visible
AbsDelta

Symbol: Setting of:

B Background colour
K Grid line colour
Z Cursor line colour
T Trigger line colour Fig. 22-4 - 00119

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 Oscilloscope
22.2.9 Oscilloscope – Measured value display

Fig. 22-5 - 00123

The recording of measured data is displayed in the chosen colours.

The first vertical trigger line is tagged with an arrow at the upper and lower edge of the screen.
The second vertical line is the first cursor line.
The active second cursor is shown as horizontal and vertical crossline.

The measured values of the first verical cursor line are displayed at Value and saved.
The measured values of the second cursor (crossline) are displayed in the field Delta Value. They are the
differential values to the values at the first cursor.

The elapsed time from the trigger line to the first cursor line is displayed in Time.
The elapsed time from the first cursor line to the second cursor line is displayed in Delta Time.

If the box Units is ticked the displayed values are transformed from numeric to real values if the convertion
for the measured signal is available.

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 Oscilloscope
22.2.10 Oscillocope – Parameters on the page Oscilloscope

On the page Oscilloscope there is a compact selection of important parameters for a direct modification
during an oscilloscope measuring process.

The modifications are updated in the current set of parameters of the RAM.

Fig. 22-6 - 00125

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 Test operation
23 Test operation
23.1 Test operation – Test
Note :
This field is only for the test function.

Fig. 23-1 - 00126

Via the Test field it is possible to directly send a digital command value for speed, (Iq) torque or position
control. Thus, it is very suitable for general test operations.

In order to use the functions of the Test field, the operating mode Command Mode must be set to
Dig. Commands.

Test operation command value presetting of the speed or (lq) torque

• The speed or (Iq) torque command value is defined via the respective selection in the pull-down menu.
• The numeric command value is entered in the left field (range: ±32767).
• The entered command value is immediately send to the drive by clicking the (+) or (-) key.
The command value ‚zero‘ is send when clicking the ‘stop’ key (O).

Test operation command value presetting of the position and the reference cycle
• Enter the numeric position command value in the left field (range: ±2147483647).
• When pressing the key (Dest.) the drive immediately travels at the speed selected at N max to the set
position command value.
• When pressing the key (…) the servo drive performs a reference cycle.
• When pressing the key (P.) the entered numeric position is updated as actual position and command
value position.

Dis Software enable (only when the hardware enable is active).

When pressing the button Dis the internal enable function is then disabled (red) and again enabled
(grey).

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 Test operation
23.2 Testbetrieb – Step Generator
Step Generator for the output of up to 3 cyclically repeating command values

Presetting: Function: Range:

(Id) Id current command (Id set (dig.)) ±32767
Magnetization
(Iq) Iq current command (active current) ±32767
Torque (M_set (dig.))
Speed Speed command (n_cmd) ±32767
Position Position target command (Pos dest) ±2147483647

2 step Selection 2 or 3 steps

Presetting: Function: Range:

Step1 Value 1 (current, speed, or position) see presetting
Time1 Time for value 1 0..32767
Step2 Value 2 (current, speed, or position) see presetting
Time2 Time for value 2 0..32767 Fig. 23-2 - 00122

Step 3 Value 3 (current, speed, or position) see presetting

Time 3 Time for value 3 0..32767

Start Starts or stops the generator function

Stop

Note:
The time inputs (time) may vary acc. to the pc for values >2000.

Command value step functions are preset by means of the step generator. The ramps are determined via
the parameter settings for the current and speed controller.

When the enable input (RUN/Frg) is active, the drive is started by clicking the Start button and it is stopped
by clicking the Stop button. The functions can be selected as current, torque, speed, or position command
values. The value for ‘stop’ at current, torque, and speed should be 0 for standstill.

Particular attention:
If the travel distance is limited it has to be ensured that the travel distance of the
test settings is within the machine limits.
At the test setting (Id) magnetization and (Iq) torque the drive may rotate at max.
speed.
Over-speed may be achieved at field weakening operation.

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 Parameters
24 Parameters
24.1 Parameters – Overview
Motor parameters

Symbol: Function: Range: Unit: ID address:

Type Motor type selection (EC servo, FU, FU servo, DC) 0x5ABit 13..12
N nom Motor speed (for FU autotuning) 60..65000 rpm 0x59
F nom Frequency rated motor speed (for FU mode) 20..1200 Hz 0x05
U nom Voltage at rated motor speed (for FU mode) 0..1000 V 0x06
Cos Phi Motor power factor (for FU mode) 0..327,00 % 0x0E
I max eff Max. motor current 0..1000,0 Arms 0x4D
I nom eff Continuous motor current 0..1000,0 Arms 0x4E
M-pole No. of motor poles (2 x pole pairs) 2..96 Num 0x4F
Brake - Attraction delay time of the electro-mechanical 0..1000 ms 0xF1
delay motor brake
- Deceleration when no brake is connected
Free Free coasting (ON) or emergency stop braking (OFF) On / Off 0x5ABit 3
coasting when the enable (FRG/RUN) is switched off
M-temp Switching-off point for the motor over-temperature 0..32767 Num 0xA3
(Error code 6)
(At 93% there will be a warning message 6 with
current derating Ird-TM activation)

1
Parameters – Motor type

Symbol: Function: ID address:

Type 0x5ABit 13..12
EC servo Synchronous servo motor with encoder system (sensor) 0 dec
ACI V/f Asynchronous motor frequency converter without sensor 1 dec
(U/F characteristic curve without slip compensation)
ACI servo Asynchronous motor AC servo vector control with speed encoder 2 dec
system (e.g. position encoder A, B channel)
DC DC motor without or with DC tacho encoder 3 dec

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 Parameters
Parameters – Feedback encoder

Symbol: Function: Range: Unit: ID address:

Type 2 Feedback selection 0xA4Bit 4..0
(Rot_Enc_TTL, resolver,…)
FB-Pole Encoder no. of poles 2..12 Num 0xA7
FB-Offset Phase angle correction ±360 Grad 0x44
FB-Ink. (Mot) Encoder resolution 1024..8192 Inc/Rev 0xA6
Voltage DC tacho voltage mV/rpm

Inc ext Resolution - 2nd Feedback Inc/Rev 0xCFL

Factor Multiplicator SIN/COS Inc. 4..16 Num 0x7E

2
Parameters – Feedback encoder type

Symbol: Function: ID address:

Type 0xA4Bit 4..0
Rot_Enc_TTL Incremental encoder TTL 5 V with rotor position tracks 0 dec
Resolver Resolver 1 dec
Abs_Enc_SC Incremental encoder Sin/Cos 1Vss with commutation track 2 dec
Rot_Tacho Rotor position encoder with brushlesss tacho 3 dec
Rot Rotor position encoder (without tacho) 4 dec
DC_Tacho DC tacho generator 5 dec
DC_Arm Armature voltage (internal) 6 dec
BL_Arm EC AC motor without tacho 7 dec
Enc_TTL Incremental encoder TTL 5 V (without rotor position) 8 dec
Enc_SC Incremental encoder Sin/Cos 1Vss without commutation track 9 dec
Abs_SC Incremental encoder Sin/Cos 1Vss per motor pole pairs 10 dec
DC_Arm_Vir Sensorless (DC motor without tacho, without armature voltage 11 dec
measuring
SLS Sensorless (only for ACI V/f operation) 12 dec
SLS_SMO not activated 13 dec
SLS_Usens not activated 14 dec
Ana_In1_calc not activated 15 dec
Ana_In2_calc not activated 16 dec
Panasonic not activated 17 dec
DC_Bus not activated 18 dec

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 Parameters
Parameters – 2. Feedback encoder

Symbol: Function: Range: Unit: ID address:

Type 3 Selection of 2. Feedback encoder input 0xA4Bit 7..5
Inc-ext Resolution of 2nd incremental encoder Inc/Rev 0xCFL
Faktor-ext Encoder factor 2nd encoder 4..16 Num 0x7E
Inc-Out Incremental output resolution Inc/Rev 0xCFH
Factor Multiplying factor of the basic no. of pulses 0xA4Bit 14..12
with SinCos (SC)

3
Parameter – 2. Feedback encoder Type

Symbol: Function: ID address:

Type 0xA4Bit 7..5
Off 0 dec
INC-IN X8 as position input 1 dec
INC-OUT X8 only display 2 dec
HAND X8 as handwheel input 3 dec

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 Parameters
Parameters – Servo

Symbol: Function: Range: Unit: ID address:

Type Unit type (protected) Nameplate 0x63
S-Nr. Serial unit no. (protected) Nameplate 0x62
Axis Axis designation (freely writable) 4 characters ASCII 0xF8
Mains sel Selection of the power voltage AC / DC 0x5ABit 19
Mains Magnitude of the mains supply voltage 0..1000 V 0x64
DC-Bus max Max. voltage limit of the DC Bus (software) 0..200 % 0xA5H
DC-Bus min Min. voltage limit of the DC Bus (software) 0..200 % 0xA5L
Regen Selection of regen resistor INT / EXT 0x5ABit 1
Regen-P Power value of the external regen resistor Type plate W 0x65L
Regen-R Resistance value of the external regen resistor 5..100 Ohm 0x65H
BTB Power BTB message with or without bus circuit with/without 0x5ABit 6
undervoltage monitoring
PWM freq PWM pulse frequency Selection field 0x5ABit 22..20
Mode Type of the command value presetting for the Selection field 0x36Bit 13..12
(Command) speed and torque commands
Cut-off (dig.) Zero zone with digital command value 0..32767 Num 0x1E
presetting

4
Parameters – Servo PWM freq

Symbol: Function: ID address:

PWM freq 0xA4Bit 22..20
8kHz 0 dec
24kHz 1 dec
20kHz 2 dec
16kHz 3 dec
12kHz 4 dec
8kHz I16 internal 16 kHz 5 dec
4kHz I8 internal 8 kHz 6 dec
2kHz I4 internal 4 kHz 7 dec

5
Parameters – Servo command mode

Symbol: Function: ID address:

Mode 0x36Bit 13..12
Digital Speed Digital speed command value from RS232 or CAN-BUS 0 dec
Analog Speed Analog speed command value 1 dec
Analog Torque Analog torque command value 2 dec
Digi + Ana Speed Digital plus analog command value 3 dec

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 Parameters
Parameters – Overview Analog (Ain1 + Ain2)

Symbol: Function: Range: Unit: ID address:

Ain1 -
Ain2 -
Format 6 Selection of the function of the respective Selection field 0x36Bit 1..0
analog inputs 0x36Bit 3..2
Offset Offset compensation of the respective ±32767 Num 0x2FL
analog inputs 0xD7L
Zero zone Zero zone of the respective analog 0..32767 Num 0x50
command value presettings 0x53
Scale Scale factor of the respective analog inputs ±7.999 Num 0x2FH
0xD7H
Filter Filter of the respective analog inputs 0..127.5 Num 0x60
Mode 7 Input level selection of the respective Selection field 0x36Bit 5..4
(analog) analog inputs 0x36Bit 9..8

6
Parameters – Analog command format (Ain1 + Ain2)

Format: Ain1 ID-Adresse:

Off Deactivated 0x36Bit 1..0 = 0
Cmd Speed command value 0x36Bit 1..0 = 1
-Cmd Inverted speed command value 0x36Bit 1..0 = 2
sq(Cmd) Square speed command value 0x36Bit 1..0 = 3
N limit Speed limiting 0..100 % via Ain1 0x36Bit 15
(for digital command value presetting (position, speed)). This corresponds to
100 % of the max. physical speed in Nmax100% (0xC8).

Format: Ain2 ID-Adresse:

Off Deactivated 0x36Bit 3..2 = 0
Cmd Speed command value Ain2 is added to Ain1 0x36Bit 3..2 = 1
-Cmd Speed command value Ain2 is subtracted from Ain1 0x36Bit 3..2 = 2
*Cmd Speed command value Ain2 is multiplied by Ain1 0x36Bit 3..2 = 3
l limit Current limiting 0..100% via Ain2 0x36Bit 14
(for all command value presettings digital, analog).
This corresponds to 100 % of the device peak current I max pk (0xC4)

7
Parameters – Analog mode (Ain1 + Ain2)

Symbol: Function: ID address:

Typ 0x36Bit 5..4
-10..+10V Command value plus-minus max. 10 V 0 dec
0..+10V Command value plus max. 10 V 1 dec
4..20mA Command value 4 to 20 mA to 500 Ohm 2 dec
+1..+9V Command value 1 to max. 9 V 3 dec

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 Parameters
Parameters – Current controller

Symbol: Function: Range: Unit: ID address:

Kp Proportional amplification 0..200 Num 0x1C
Ti Integration time (integral time constant) 375..10000 ms 0x1D
TiM Max. value of the integral memory Ti 0..300 % 0x2B
xKP2 Proportional amplification in case the 0, 100..500 % 0xC9
actual current is superior to the current
limit
Kf Current feed-foreward control 0..167 Num 0xCB
1
Ramp Ramp setting of current command value 125 ..32000 µs 0x25

Parameters – Current limits

Symbol: Function: Range: Unit: ID address:

I max pk Device peak current [A] 0..100 % 0xC4
I con eff Device continuous current [Arms] 0..100 % 0xC5
T-peak2 Permitted overcurrent time above the 1..40 s 0xF0
continuous current limit (reduction 5 times
longer)
I limit (dig)3 Current reduction when the logic input 0..100 % 0x46
I limit (dig.) is activated
I-red-N Current reduction by means of the actual 0..100 % 0x3C
speed
I-red-TD Start of the current reduction by means of 0..32767 Num 0x58
the output stage temperature
I-red-TE End of the current reduction by means of 0..32767 Num 0x4C
the output stage temperature
l-red-TM Start of the current reduction by means of 0..32767 Num 0xA2
the motor temperature
l lim inuse Present current limit 0..32767 Num 0x48
2
Only active if the current reduction on the basis of the output stage temperature is not activated (0x40Bit 23 (Ird-TI) = 0)
3
The reference is the max. device peak current (I max pk (0xC4) = 100 %)

Parameters – Voltage output stage

Symbol: Function: Range: Unit: ID address:

Vq Present Vq voltage component ±4096 Num 0x29
Vd Present Vd voltage component ±4096 Num 0x2A
V out Present output voltage ±4096 Num 0x8A
V red Field weakening control - voltage reference 0..100 % 0x8B
value in % of V out
(V red ≠ 0, 100 % → activation field weakening)
Recommendation: 60..80 %
V kp Field weakening control – proport. amplific. in 0..65535 Num 0x8C
the voltage controller
V-Ti Field weakening control – integral time (integral 0..65535 Num 0x8D
time constant)
Vdc-Bus Measuring value of the dc bus voltage 0..32767 Num 0xEB

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 Parameters
Parameters – Speed command value presetting and actual speed value

Symbol: Function: Range: Unit: ID address:

Ain 1 scaled Analog command value presetting – input Ain1 ±32767 Num 0xD5H
Ain 2 scaled Analog command value presetting – input Ain2 ±32767 Num 0xD6H
N set (dig.) Digital speed command value presetting ±32767 Num 0x31
M set (dig.) Digital command value presetting of Iq-current ±32767 Num 0x90
N cmd (int) Speed command value used (internal) ±32767 Num 0x5D
N cmd (ramp) Speed command value after ramp ±32767 Num 0x32
N actual Actual speed value signal for the control ±32767 Num 0x30
N act (filt) Actual speed value signal for the display ±32767 Num 0xA8
N error Control error actual speed value ±32767 Num 0x33

Parameters – Limiting, ramps for the speed and torque presetting

Symbol: Function: Range: Unit: ID address:

N R-Acc Speed – acceleration ramp 0..30000 ms 0x35L
N R-Dec Speed – braking ramp 0..30000 ms 0xEDL
M R-Acc Torque – acceleration ramp 0..4000 ms 0x35H
M R-Dec Torque – reduction ramp 0..4000 ms 0xEDH
M R-Rcp Torque – recuperation ramp (0xCDBit 4) 0..4000 ms 0xC7H
R-Lim Emergency stop, ramp limit switch 0..1000 ms 0xC7L
Nmax100% Physical reference value for the internal 100..50000 rpm 0xC8
resolution of the speed to 16 Bit (±32767)
N-Lim Speed limiting for positive and negative rotation 0..100 % 0x34
direction
N-Lim+ Limiting for the positive rotation direction (if 0..100 % 0x3F
the logic input N clip(neg&pos) is activated)
N-Lim- Limiting for the negative rotation direction (if 0..100 % 0x3E
the logic input N clip(neg&pos) is activated)
Filter Actual speed value filter 0..10 Num 0x5E

Parameters – Speed controller

Symbol: Function: Range: Unit: ID address:

Kp Proportional amplification 0..200 Num 0x2C
Ti Integration time (integral time constant) 0..10000 ms 0x2D
Td Differential time 0..100 ms 0x2E
TiM Max. value from the integral memory Ti 0..100 % 0x3B

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 Parameters
Parameters – Position controller reference run

Symbol: Function: Range: Unit: ID address:

Speed 1 Speed to the limit switch 0..32000 Num 0x76L
Depending on the speed the limit switch is
passed
Speed 2 Reverse speed back to the zero pulse 0..2000 Num 0x77L
(cycle speed)
Reso Edge Expected switching edge 0..65536 Num 0x75
Ref Ramp Selection of the ramp for the reference run DEC / LIM 0x5ABit 5
between N R-Acc and R-Lim
The zero point of the incremental measuring system is determined by the reference run

Parameters – Position controller (Pos->Speed)

Symbol: Function: Range: Unit: ID address:

Kp Proportional amplification 0..200 Num 0x6A
determines the slope of the deceleration ramp
Ti Integration time (depending on Kp) 0..10000 ms 0x6B
Td Differential time (differential component) 0..1000 ms 0x6C
TiM Max. value from the integral memory Ti 0..100 % 0x71
The amplified position error forms the speed command value
The position control is deactivated when Kp = 0
The dynamic control amplification Ti is only effective in the target range

Parameters – Position parameters

Symbol: Function: Range: Unit: ID address:

Tol-wind. Position tolerance window 0..2000 Num 0x79
Off.Ref. Mechanic zero point offset Num 0x72
ND-Scale NDrive position display factor 32 Bit - 1 Num 0x7C
ND-Offset NDrive position display offset 32 Bit - 1 Num 0x7D

Pos dest Target position presetting ±32 Bit - 1 Num 0x6E

Pos cmd Used target position (internal) ±32 Bit - 1 Num 0x91

Pos actual Actual position value signal for the control ±32 Bit - 1 Num 0x6D
Pos error Control error actual position value ±32 Bit - 1 Num 0x70

Inc-Out Incremental output Inc/Rev 0xCFH

Inc-ext Incremental 2nd feedback Inc/Rev 0xCFL
Factor-ext Factor 2nd feedback Num 0x7E
32 Bit - 1 → 232 - 1 = 4.294.967.295
±32 Bit - 1 → ±232-1 - 1 = ±2.147.483.647

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 Parameters
Parameters – Frequency converter parameter setting for the FU characteristic curve

Symbol: Function: Range: Unit: ID address:

FU start
T dc Pre-magnetizing time 10..2000 ms 0x07L
Delay between the switching-on and the starting of
the frequency
U dc Pre-magnetization dc voltage value 0..20 % 0x08L
U min Minimal voltage (boost) at motor standstill. 0..100 % 0x0AL
→ U/F Kennlinie wird angehoben
Recommended: U min = U dc
F min Minimal frequency at motor standstill 0..100,0 Hz 0x0BL
V corner Maximal output voltage at base freuquency 0..100,0 % 0x0CL
F corner Base frequency for max. output voltage 1..1000,0 Hz 0x0DL
F-sh 8 Characteristic curve shape (linear, semi-square, 0..3 Num 0x0FBit 2..1
square)

8
Parameters – F-sh (FU start)

Symbol: Function: ID address:

0xA4Bit 2..1
Linear (at the moment only Linear option avaiblable) 0 dec
quad/2 1 dec
quad 2 dec
opt 3 dec

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 Parameters
Parameter – Logic Bit

Symbol: Function: ID address:

0xD8
LMT1 Digital input limit 1 active Bit 0
LMT2 Digital input limit 2 active Bit 1
IN2 Digital input Din 2 active Bit 2
IN1 Digital input Din 1 active Bit 3
FRG (RUN) Hardware enable active Bit 4
RFE Rotating field enable active Bit 5
Bit 6
Bit 7
OUT1 Digital output Dout 1 on Bit 8
OUT2 Digital output Dout 2 on Bit 9
BTB (Rdy) Hardware relay, output BTB (Rdy) on Bit 10
GO Internal enable GO active Bit 11
OUT3 Digital output Dout 3 on Bit 12
OUT4 Digital output Dout 4 on Bit 13
G-OFF Bit 14
BRK1 Excited brake Bit 15

Parameters – Logic output comparison variable

Symbol: Function: Range: Unit: ID address:

0 Logic signal zero 1/0 Logic
1 Logic signal one 1/0 Logic
Var1 0xD1
Var2 0xD2
Numeric value of the entered variable fields ±32767 Num
Var3 0xD3
Var4 0xD4
Ain1 Analog value input Ain1 ±32767 Num
Ain2 Analog value input Ain2 ±32767 Num

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 Parameters
Parameters – CAN Bus interface

Symbol: Function: Range: Unit: ID address:

NBT CAN transfer rate (see list) 0..0xFFFE hex 0x73Bit 11..0
Rx ID CAN ID – receiving address 0..0x7EE hex 0x68
Tx ID CAN ID – sending address 0..0x7EE hex 0x69
T-Out CAN Timeout time 0..60000 ms 0xD0

Achse Axis designation (freely writable) 4 Zeichen ASCII 0xF8

Parameters – CAN Bus NBT possibilities

Baud rate NBT: Setting value in NBT (0x73): Line length max.
1000 kBaud 0x4002 20 m
625 kBaud 0x4014 70 m
500 kBaud 0x4025 (Default) 70 m
250 kBaud 0x405C 100 m
125 kBaud 0x4325 100 m
100 kBaud 0x4425 100 m

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 Parameters
Parameters – Error mask

Display on Error message Description: ID address:

the servo: in NDrive: 0x8FL
NOREPLY-No RS RS232 interface not plugged in or disrupted

0 BADPARAS Defective parameter Bit 0

1 POWER FAULT Hardware fault Bit 1
2 RFE Faulty safety circuit (only active for RUN) Bit 2
3 BUS TIMEOUT CAN TimeOut time exceeded Bit 3
4 FEEDBACK Bad or faulty encoder signal Bit 4
5 POWERVOLTAGE No power supply voltage Bit 5
6 MOTORTEMP Motor temperature too high Bit 6
7 DEVICETEMP Device temperature too high Bit 7
8 OVERVOLTAGE Overvoltage >1.8 x UN is reached Bit 8
9 I_PEAK Over-current or strongly oscillating current detected Bit 9
A RACEAWAY (*) Racing (without command value, incorrect direction) Bit 10
B USER User – error selection Bit 11
C Bit 12
D Bit 13
E HW_ERR Current measuring fault Bit 14
F BALLAST* Ballast circuit overload Bit 15
* Error F is a unit-dependant error (without function for BAMOBIL and BAMOCAR)

Parameters – Warning mask

Display on Warning message Description: ID address:

the servo: in NDrive: 0x8FH
0 WARNING_0 Inconsistent device identification Bit 16
1 ILLEGAL STATUS Faulty RUN signal, EMI Bit 17
2 WARNING_2 Inactive RFE signal (without RUN input active) Bit 18
3 Bit 19
4 Bit 20
5 POWERVOLTAGE Power voltage missing or too low Bit 21
6 MOTORTEMP Motor temperature > (I-red-TM or 93% of M-temp) Bit 22
7 DEVICETEMP Device temperature > 87 % of the limit Bit 23
8 Vout_Sat Limit of the existing voltage output reached Bit 24
9 I_PEAK Overcurrent 200 % Bit 25
A RACEWAY Resolution range of the speed measuring exceeded Bit 26
B Bit 27
C Bit 28
D Bit 29
E Bit 30
F BALLAST* Ballast circuit overload > 87 % Bit 31
* Warning F is a unit-dependant error (without function for BAMOBIL and BAMOCAR)

Edition 2020 / V1 Page: 140 Software – Manual N-Drive 3xx

 Parameters
Parameters – Status display

Symbol: Function: ID address:

0x40
Ena Drive enable (combination hardware RUN and software) Bit 0
NcR0 Speed limit to zero (Speed command still active) Bit 1
Lim+ Limited switch Plus tripped Bit 2
Lim- Limited switch Minus tripped Bit 3
OK Drive okay (no uncontrolled reset) Bit 4
Icns Current is limited to the continuous current level Bit 5
T-Nlim Speed limited torque mode active Bit 6
P-N Position control active Bit 7
N-I Speed control active Bit 8
<N0 Actual speed less than 0.1 % (standstill) Bit 9
Rsw Reference switch tripped Bit 10
Cal0 Calibration move active Bit 11
Cal Calibration move completed (position calibrated) Bit 12
Tol Position within tolerance window Bit 13
Rdy Drive ready (BTB/RDY contact is closed) Bit 14
Brk0 Unexcited brake with motor active Bit 15
SignMag Speed internally inverted Bit 16
Nclip Speed limiting enabled (N-Lim < 90 %) Bit 17
Nclip+ Speed limiting (positive) via input switch enabled Bit 18
Nclip- Speed limiting (negative) via input switch enabled Bit 19
lrd-Dig Current limiting via input switch enabled Bit 20
luse-rchd Actual current limit reached Bit 21
lrd-N Current derating to continuous current via speed limit enabled Bit 22
Ird-TI Current derating to continuous current due to igbt temperature enabled Bit 23
Ird-TIR Current derating to continuous current due to igbt temperature active Bit 24
>10 Hz Current derating to continuous current at rotation frequency less than 10 Bit 25
Hz active
Ird-TM Current limiting due to motor temperature reached Bit 26
Ird-Ana Current derating due to analog input (if ≤90 %) possible Bit 27
lwcns Current peak value warning Bit 28
RFEpulse Pulsed RFE - input monitoring active Bit 29
M+d vacant Bit 30
HndWhl Hand-wheel function selected Bit 31

Edition 2020 / V1 Page: 141 Software – Manual N-Drive 3xx

 Parameters
Parameters – Switch settings for special functions (mode bits)

Symbol: Function: ID address:

0x51Bit 9..0
Reserve Bit 0
SPEED = 0 Drive stop, speed command value = 0 Bit 1
ENABLE OFF Drive disabled, enable internally switch off Bit 2
CANCEL CAL-CYCLE Reference run stopped Bit 3
d(status)->CAN Bit 4
I-clip on Current limit in % of the type current active Bit 5
N-clip on Speed limiting (positive and negative) Bit 6
Mix ana on Speed command value digital plus analog Bit 7
Allow sync Bit 8
HndWhl 2nd feedback as handwheel Bit 9

Parameters – Parameters on the page ‚Monitor‘

Symbol: Function: Range: Unit: ID address:

N cmd (ramp) Speed command value after ramp and limit 0..32767 Num 0x32
N actual Actual speed value 0..32767 Num 0x30
I cmd Current command value (internal) 0..600 Num 0x26
I act (filt) Present sum current after display filter 0..600 Num 0x5F
Id actual Present reactive current (Id) 0..600 Num 0x28
Iq actual Present active current (Iq) 0..600 Num 0x27
Ixt Capacity Ixt 0..4000 Num 0x45L
Power Motor power (DO NOT USE!) 0..4000 Num 0xF6
Vdc-Bus (dir) Bus circuit voltage 0..32767 Num 0xEB
Regen Power Ballast power 0..4000 Num 0x45H
T-motor Present motor temperature 0..32767 Num 0x49
T-igbt Present output stage temperature 0..32767 Num 0x4A
T-air Present air temperature in the servo 0..32767 Num 0x4B
l lim inuse Present current limit 0..600 Num 0x48
V out Present output voltage 0..4000 Num 0x8A

Edition 2020 / V1 Page: 142 Software – Manual N-Drive 3xx

 Parameters
Parameters – Core options (Do not modify!)

Symbol: Function: ID address:

0x5A
Vdc comp Analoge Zwischenkreismesswert beeinflusst Uout Bit 0
Rregen-ext External ballast resistance Bit 1
TJ spec Activation encoder monitoring Bit 2
Coast Free coasting (do not use an emergency stop ramp) Bit 3
lact inv Inverted actual current value polarity Bit 4
(factory setting active for DS450, BAMO-D3)
Ref soft Reversal ramp for reference run from Limit to „Dec“ set Bit 5
Rdy - Run BTB signal even for undervoltage error message Bit 6
Vdc ana Analog bus circuit mesuring Bit 7
Rdy del Current measuring of I1 activated Bit 8
Hall inv Inverted order of the Hall signals Bit 9
H.2 inv Hall signal 2 inverted Bit 10
OL comp Over Loop current limit or slip compensation enable Bit 11
MotorType: .0 Motor selection Bit 13..12
.1
ana Oup Measuring range of the Vdc Bus voltage across the processor Bit 14
pin (1 = 0..5V) or (0 = 2.5..5V)
low baud Interface RS232 uses 9600 Baud Bit 15
s-ramp Selection S-ramp active Bit 16
4-ramp Selection 4 ramps active Bit 17
mot brk Selection with brake active Bit 18
ad dc AC or DC power supply Bit 19
PWM freq: .0 Setting PWM pulse frequency Bit 22..20
.1
.2
ntc IGBT NTC Temperature Sensor Bit 23
star-del Motor phase delta Bit 24
dc 1Q DC 1-quadrant, direct voltage supply PWM Bit 25
dc field DC field control Bit 26
dead x2 Deadband *2 Bit 27
block Block current at feedback RED Bit 28
dc 1Qmv DC 1-quadrant, min. switching losses Bit 29
dc 1Q3p DC 1-quadrant, no high-side , -UB switch parallel Bit 30
Frd<10Hz Switching to 4 kHz with n < 10 Hz (no derating) Bit 31

Edition 2020 / V1 Page: 143 Software – Manual N-Drive 3xx