user's manual

nx frequency converters

apfiff09
Marine
Application manual
2 • Vacon apfiff09 marine

VACON MARINE APPLICATION MANUAL

INDEX
Document code: ud01059
Software code: APFIFF09V134
Date: 5.4.2013
1. Marine Application - introduction ................................................................................... 7
1.1 General ........................................................................................................................................... 7
1.2 Basic Features ............................................................................................................................... 8
2. Marine Versions compatibility issues .............................................................................. 9
3. Control I/O ................................................................................................................... 10
4. “Terminal To Function” (TTF) programming principle ................................................... 11
4.1 Defining an input/output for a certain function on keypad ....................................................... 11
4.2 Defining a terminal for a certain function with NCDrive programming tool ........................... 12
4.3 Defining unused inputs/outputs ................................................................................................. 13
5. Marine Application – Parameter lists............................................................................ 14
5.1 Monitoring values (Control keypad: menu M1) ......................................................................... 15
5.1.1 Monitoring values 2 (Control keypad: menu M1.24) ...................................................... 16
5.1.2 FieldBus Monitoring values (Control keypad: menu M1.25) ........................................ 17
5.1.3 Master/Follwer Monitoring values (Control keypad: menu M1.26) ............................ 17
5.1.4 PI Control Monitoring values ............................................................................................ 17
5.1.5 Monitoring values .............................................................................................................. 18
5.1.6 Monitoring values 2 ........................................................................................................... 21
5.1.7 FieldBus Monitoring values .............................................................................................. 23
5.1.8 Master / Follower .............................................................................................................. 29
5.1.9 PI Control monitoring ....................................................................................................... 31
5.1.10 Counters ........................................................................................................................ 32
5.1.10.1 Power On Time counter ........................................................................................... 32
5.1.10.2 Energy Meter counter monitoring ........................................................................... 32
5.1.10.3 Energy Trip counter monitoring .............................................................................. 33
5.1.11 Recommended signals for NCDrive ............................................................................ 34
5.2 Basic parameters (Control keypad: Menu M2 G2.1) ............................................................. 35
5.3 Reference Handling..................................................................................................................... 36
5.3.1 Basic Settings .................................................................................................................... 36
5.3.2 Constant Reference .......................................................................................................... 36
5.3.3 Power Reference (Keypad: Menu M2 G2.2.8) ............................................................. 37
5.3.4 Torque Reference.............................................................................................................. 38
5.3.4.1 Torque Reference OL Settings ................................................................................. 38
5.3.5 Prohibit frequency parameters (Control keypad: Menu M2 G2.5) ............................ 39
5.3.6 Motor Potentiometer (Control keypad: Menu M2 G2.5) ............................................. 39
5.3.7 Adjust Reference ............................................................................................................... 39
5.4 Ramp Control ............................................................................................................................... 40
5.4.1 Basic Settings .................................................................................................................... 40
5.4.2 Ramp Control Options....................................................................................................... 40
5.5 Input Signals ................................................................................................................................ 41
5.5.1 Basic Settings .................................................................................................................... 41
5.5.2 Digital inputs (Control keypad: Menu M2 G2.2.4) ....................................................... 42
5.5.3 Analogue input 1 (Control keypad: Menu M2 G2.2.2) ................................................. 43

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5.5.4 Analogue input 2 (Control keypad: Menu M2 G2.2.3) ................................................. 43

5.5.5 Analogue input 3 (Control keypad: Menu M2 G2.2.4) ................................................. 44
5.5.6 Analogue input 4 (Control keypad: Menu M2 G2.2.5) ................................................. 44
5.5.7 Options ............................................................................................................................... 44
5.6 Output Signals ............................................................................................................................. 45
5.6.1 Digital output signals (Control keypad: Menu M2 G2.3.3) ......................................... 45
5.6.2 Analogue output 1 (Control keypad: Menu M2 G2.3.5)............................................... 46
5.6.3 Analogue output 2 (Control keypad: Menu M2 G2.3.6)............................................... 46
5.6.4 Analogue output 3 (Control keypad: Menu M2 G2.3.7)............................................... 47
5.6.5 Analogue output 4 (Control keypad: Menu M2 G2.3.8)............................................... 47
5.6.6 Delayed digital output 1 (Keypad: Menu M2 G2.3.1) ................................................... 48
5.6.7 Delayed digital output 2 (Keypad: Menu M2 G2.3.2) ................................................... 48
5.6.8 Supervision Limits ............................................................................................................ 49
5.7 Limit Settings............................................................................................................................... 50
5.7.1 Current handling ............................................................................................................... 50
5.7.2 Power Handling ................................................................................................................. 50
5.7.3 Torque Handling ................................................................................................................ 51
5.7.3.1 Torque Handling OL Settings ................................................................................... 51
5.7.3.2 Torque Handling CL Settings ................................................................................... 51
5.7.4 Frequency Handling .......................................................................................................... 51
5.7.5 DC-Link Handling .............................................................................................................. 52
5.7.5.1 DC-Link Handling CL Settings ................................................................................. 52
5.7.6 Limit Settings Options ...................................................................................................... 52
5.8 Flux and DC Current handling .................................................................................................... 53
5.8.1 Flux and DC Current handling OL Settings ..................................................................... 53
5.8.2 Flux and DC Current handling CL Settings ..................................................................... 53
5.9 Motor Control............................................................................................................................... 54
5.9.1 Motor Control Basic Settings ........................................................................................... 54
5.9.2 U/f Settings ........................................................................................................................ 54
5.9.3 Closed Loop Control Settings........................................................................................... 54
5.9.3.1 PMSM Control settings............................................................................................. 55
5.9.3.2 Stabilators ................................................................................................................. 55
5.9.3.3 Tuning parameters ................................................................................................... 56
5.9.4 Identification parameters (Control keypad: Menu M2 G2.6.6) ................................... 57
5.9.4.1 Fine tuning parameters ............................................................................................ 57
5.10 Speed Control .............................................................................................................................. 58
5.10.1 Speed Control Basic settings ....................................................................................... 58
5.10.2 Speed Control OL Settings ........................................................................................... 58
5.10.3 Speed Control CL Settings ........................................................................................... 58
5.11 Drive Control ................................................................................................................................ 59
5.12 Master Follower Control Parameters (Control keypad: Menu M2 G2.5) ............................ 60
5.12.1.1 Drive Synch specific parameters ............................................................................. 61
5.13 Protections (Control keypad: Menu M2 G2.7) ....................................................................... 61
5.13.1 Common settings .......................................................................................................... 61
5.13.2 Temperature sensor protections ................................................................................. 61
5.13.3 Stall Protection ............................................................................................................. 62
5.13.4 Speed error monitoring ................................................................................................ 62
5.13.5 Motor thermal protections ........................................................................................... 63
5.13.6 Living Zero monitoring ................................................................................................. 63
5.13.7 Underload protection .................................................................................................... 63
5.13.8 Earth Fault protection .................................................................................................. 64
5.13.9 Cooling protection ......................................................................................................... 64

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5.13.10 Fieldbus protection ....................................................................................................... 64

5.13.11 External Fault................................................................................................................ 64
5.13.12 Encoder Fault ................................................................................................................ 65
5.14 Fieldbus parameters (Control Keypad: Menu M2 G2.9) ........................................................ 65
5.14.1 Value Control (Keypad: Menu M2 G2.2.9) .............................................................. 66
5.14.2 DIN ID Control 1 ............................................................................................................ 66
5.14.3 DIN ID Control 2 ............................................................................................................ 66
5.14.4 DIN ID Control 3 ............................................................................................................ 67
5.14.5 ID Controlled Digital Output 1 ..................................................................................... 67
5.14.6 ID Controlled Digital Output 2 ...................................................................................... 67
5.14.7 Free DIN Delay .............................................................................................................. 67
5.15 Brake Control (Control keypad: Menu M2 G2.15) ................................................................ 68
5.15.1.1 Brake Control Start up torque for CL ..................................................................... 68
5.16 Autorestart parameters (Control keypad: Menu M2 G2.8) .................................................. 69
5.17 PI Control Parameters (Control keypad: Menu M2 G2.15) .................................................. 69
5.18 Keypad control (Control keypad: Menu M3) .............................................................................. 70
5.19 System menu (Control keypad: Menu M6) ................................................................................. 70
5.20 Expander boards (Control keypad: Menu M7) ........................................................................... 70
6. Description of parameters ............................................................................................ 71
6.1 Basic Parameters ........................................................................................................................ 71
6.2 Reference Handling – “Ref Handling” ........................................................................................ 77
6.2.1 Basic Parameters ............................................................................................................. 78
6.2.2 Constant Reference .......................................................................................................... 81
6.2.2.1 Inching function ........................................................................................................ 81
6.2.3 Power Reference ............................................................................................................... 82
6.2.4 Torque Reference.............................................................................................................. 85
6.2.4.1 Torque reference OL settings .................................................................................. 90
6.2.5 Prohibited frequencies ..................................................................................................... 91
6.2.6 Motor potentiometer ......................................................................................................... 92
6.2.7 Adjust Reference ............................................................................................................... 94
6.3 Ramp control ............................................................................................................................... 96
6.3.1 Ramp Options .................................................................................................................... 99
6.4 Input signals .............................................................................................................................. 101
6.4.1 Basic Settings .................................................................................................................. 101
6.4.2 Digital inputs ................................................................................................................... 103
6.4.2.1 Forced control place............................................................................................... 105
6.4.2.2 Inching function ...................................................................................................... 106
6.4.3 Analogue Input 1 & 2 ....................................................................................................... 109
6.4.3.1 Sleep function ......................................................................................................... 113
6.4.4 Analogue input 3 & 4 ....................................................................................................... 114
6.4.4.1 Analogue input to any parameter .......................................................................... 116
6.4.5 Inversion control ............................................................................................................. 117
6.5 Output signlas ............................................................................................................................ 118
6.5.1 Digital output signals ...................................................................................................... 118
6.5.1.1 Brake Control .......................................................................................................... 119
6.5.1.2 Fieldbus digital inputs connection......................................................................... 122
6.5.2 Analogue outputs 1 & 2 & 3 & 4 ..................................................................................... 123
6.5.3 Delayed Digital Output 1 & 2 .......................................................................................... 127
6.5.4 Supervision limits............................................................................................................ 130
6.5.4.1 Analogue input supervision function ..................................................................... 131
6.6 Limit settings ............................................................................................................................. 132

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6.6.1 Current limit handling .................................................................................................... 132

6.6.2 Power limit handling ....................................................................................................... 133
6.6.2.1 Power follower function ......................................................................................... 135
6.6.3 Torque limit handling...................................................................................................... 137
6.6.3.1 Motoring torque limit function ............................................................................... 137
6.6.3.2 Generator torque limit function ............................................................................. 137
6.6.3.3 Torque follower function ........................................................................................ 139
6.6.3.4 Open Loop settings only ......................................................................................... 140
6.6.3.5 Closed Loop settings only ...................................................................................... 140
6.6.4 Frequency limit handling ................................................................................................ 141
6.6.5 DC Link handling ............................................................................................................. 142
6.6.5.1 CL Settigns .............................................................................................................. 144
6.6.6 Limit options .................................................................................................................... 144
6.7 DC current and magnetization handling .................................................................................. 145
6.7.1 Open loop settings .......................................................................................................... 145
6.7.1.1 Flux braking ............................................................................................................ 148
6.7.2 Closed loop settings........................................................................................................ 149
6.7.2.1 Reduced flux function ............................................................................................. 150
6.8 Motor Control............................................................................................................................. 151
6.8.1 U/f Settings ...................................................................................................................... 154
6.8.2 Close Loop Settings ........................................................................................................ 157
6.8.3 Permanent magnet synchronous motor settings ......................................................... 160
6.8.3.1 I/f Control ................................................................................................................ 162
6.8.3.2 Flux current controller ........................................................................................... 163
6.8.3.3 D and Q axis voltage drops ..................................................................................... 164
6.8.4 Stabilization settings....................................................................................................... 165
6.8.4.1 Torque stabiliser ..................................................................................................... 165
6.8.4.2 Flux Circle stabiliser .............................................................................................. 166
6.8.4.3 Flux stabiliser ......................................................................................................... 166
6.8.4.4 Voltage stabiliser .................................................................................................... 167
6.8.5 Tuning settings ............................................................................................................... 168
6.8.6 Identification settings .................................................................................................... 170
6.9 Speed Control settings .............................................................................................................. 172
6.9.1.1 Open Loop Settings ................................................................................................. 174
6.9.1.2 Closed Loop Speed Control Settings ..................................................................... 174
6.9.1.3 Speed controller tuning for different speed areas ............................................... 176
6.9.1.4 Speed controller gain with different loads ........................................................... 177
6.10 Drive Control .............................................................................................................................. 178
6.11 Master Follower ........................................................................................................................ 181
6.11.1 Master Follower: Standard system .......................................................................... 181
6.11.2 Master Follower: DriveSynch system ........................................................................ 182
6.11.2.1 Redundancy............................................................................................................. 182
6.11.3 Master follower configuration.................................................................................... 184
6.11.3.1 Drive Synch Control parameters ........................................................................... 188
6.12 Protections ................................................................................................................................. 189
6.12.1 General settings .......................................................................................................... 189
6.12.2 Temperature sensor protections ............................................................................... 191
6.12.2.1 Individual channel monitoring ............................................................................... 192
6.12.3 Stall protection ............................................................................................................ 193
6.12.4 Speed Error ................................................................................................................. 195
6.12.5 Motor Protection ......................................................................................................... 196
6.12.6 Over Load Protection .................................................................................................. 199

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6.12.7 4mA Protection ........................................................................................................... 200

6.12.8 Underload protection .................................................................................................. 201
6.12.9 Earth Fault................................................................................................................... 203
6.12.10 Cooling protection ....................................................................................................... 203
6.12.11 Fieldbus communication ............................................................................................ 204
6.12.12 External Fault function ............................................................................................... 204
6.12.13 Encoder Fault function ............................................................................................... 205
6.13 Fieldbus settings ....................................................................................................................... 206
6.13.1 General settings .......................................................................................................... 206
6.14 ID Functions ............................................................................................................................... 210
6.14.1 Value Control ............................................................................................................... 210
6.14.2 DIN ID Control ............................................................................................................. 212
6.14.3 ID-controlled DO ......................................................................................................... 213
6.14.4 Free DIN Delay ............................................................................................................ 214
6.15 Brake Control ............................................................................................................................ 215
6.15.1 Run away load protection ........................................................................................... 218
6.15.2 Brake monitoring function ......................................................................................... 219
6.15.3 Closed Loop settings .................................................................................................. 220
6.15.3.1 Start Up torque ....................................................................................................... 220
6.16 Auto Fault Reset ........................................................................................................................ 221
6.17 PI Control ................................................................................................................................... 224
6.18 Keypad control parameters ...................................................................................................... 226
7. Data Logger Trigger Word ...........................................................................................227
8. Identification function for permanent magnet synchronous motor ...............................228
8.1 Identification with absolute encoder. ....................................................................................... 228
8.2 Identification with incremental encoder without Z-pulse input. ............................................ 228
8.3 Identification with incremental encoder with Z-pulse input. ................................................. 229
9. Status and control word in detail .................................................................................230
9.1 Combination 1, ProfiDrive – Standard with Profibus option board ........................................ 231
9.1.1 Control Word Combination 1, ProfiDrive – Standard with profibus option board ...... 231
9.1.2 Status Word Combination 1, ProfiDrive – Standard with profibus option board ........ 231
9.2 Combination 2, ByPass – ProfiDrive ........................................................................................ 232
9.2.1 State Diagram.................................................................................................................. 232
9.2.2 State Machine .................................................................................................................. 233
9.2.2.1 Costing Stop ............................................................................................................ 233
9.2.2.2 Quick stop ................................................................................................................ 233
9.2.2.3 Switch On Inhibit ..................................................................................................... 233
9.2.2.4 Ready to Switch-On, Operate and Running ........................................................... 233
9.2.3 FB Control Word .............................................................................................................. 234
9.2.3.1 Jogging function...................................................................................................... 235
9.2.4 FB Status Word ............................................................................................................... 237
9.3 Combination 3, ByPass – Standard .......................................................................................... 239
9.3.1 Control Word Combination 3, ByPass – Standard ........................................................ 239
9.3.2 Status Word Combination 3, ByPass – Standard .......................................................... 239
10. Fault codes .................................................................................................................240

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apfiff09 marine vacon • 7

1. MARINE APPLICATION - INTRODUCTION

Software APFIFF09, Marine application

Marine application has advanced power handling features, main focus being in different kind
of propulsion systems. Application can be used also for winch control where smooth brake
logic makes it possible to use a multi-motor winch system by just entering few additional
parameter settings that are explained in this manual without forgetting permanent magnet
motors.

1.1 General
This application is not kept backwards compatible. Please read the application change note
or chapter 2: Marine versions compatibility issues, in this manual to see what needs to be
noted when updating the application. See also the updated parameter description in NCDrive
when commissioning.

Help is available in NCDrive through selecting “Variable Text” and pressing “F1”.
Below an example from Identification parameter help text from the NCDrive.

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1.2 Basic Features

The Marine application provides a wide range of parameters for controlling induction motors
and permanent magnet motors. It can be used for various kinds of different processes
where wide flexibility of I/O signals is needed and only simple PI control logic.

The main focus has been how power reference, power limits and torque limits behave in
different situations. The application allows power and torque reference and reference ramp
up rate adjustment to make the operation smooth for ship generators and mechanics.

Flexible ID control possibilities takes the application suitability to different process to a new
level, allowing any input or actual value to be connected to any parameter with a scaling
factor.

Additional functions:

Joystick input dead zone

Different power limits by DI or from Fieldbus. Motoring and generating side.
Master Follower function for steering propeller and double winding motors
Different torque limits for motoring and generating side
Cooling monitor input from heat exchange unit with selectable response.
Brake monitoring input and actual current monitor for immediate brake close.
Separate speed control tuning for different speeds and loads
Inching function with two different references
Possibility to connect FB Process data to any parameter and some monitoring
values
Analogue input 3 and 4 can control any parameter by ID number.
Support for four analogue output
Support for two PT100 board
Power limit ramp up rate adjustment
Torque limit ramp up rate adjustment
Automatic power reduction from DC Voltage
Actual power follower function, power will increase only with allowed rate

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apfiff09 marine vacon • 9

2. MARINE VERSIONS COMPATIBILITY ISSUES

V120
- Temperature measurement board 2 has own response parameter.
V122
- Speed error monitoring status bits are moved from Fault Word 2 to Fault Word 10 B0
and from Warning Word 1 to Warning Word 10 B0
V128
- Earlier version, when operating in Ramp Follower mode, follower brake control
closed the brake after master drive was in stop state. Now brake is closed in this
mode at the same time as master drive is closing the brake.

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3. CONTROL I/O

Reference potentiometer, NXOPTA1

1…10 k Terminal Signal Description
1 +10Vref Reference voltage output Voltage for potentiometer, etc.
2 AI1+ Analogue input 1. Analogue input 1 frequency reference.
Range 0-10V, Ri = 200 Input range selected by jumpers.
Range 0-20 mA Ri = 250 Default range: Voltage 0 – 10 V
3 AI1- I/O Ground Ground for reference and controls
4 AI2+ Analogue input 2. Analogue input 2 frequency reference
5 AI2- Range 0-10V, Ri = 200 Input range selected by jumpers.
Range 0-20 mA Ri = 250 Default range: Current 0 – 20 mA
6 +24V Control voltage output Voltage for switches, etc. max 0.1 A

7 GND I/O ground Ground for reference and controls

8 DIN1 Start forward Contact closed = start forward
Programmable G2.2.7 Programmable start logic P2.2.1
9 DIN2 Start reverse Contact closed = start reverse
Programmable G2.2.7 Programmable logic P2.2.1
10 DIN3 Fault reset Contact open = no fault
Programmable G2.2.7 Contact closed = fault
11 CMA Common for DIN 1—DIN 3 Connect to GND or +24V

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

13 GND I/O ground Ground for reference and controls
14 DIN4 Programmable G2.2.7 No function defined at default

15 DIN5 Programmable G2.2.7 No function defined at default

16 DIN6 Programmable G2.2.7 No function defined at default

17 CMB Common for DIN4—DIN6 Connect to GND or +24V

mA 18 AOA1+ Analogue output 1 Output range selected by jumpers.
19 AOA1- Programmable P2.3.1.2 Range 0—20 mA. RL, max. 500
Range 0—10 V. RL > 1k
20 DOA1 Digital output Programmable
Open collector, I 50mA, U 48 VDC
NXOPTA2
21 RO1 Relay output 1 Switching capacity
22 RO1 Programmable G2.3.3 24 VCD / 8 A
23 RO1 250 VAC / 8 A
125 VDC / 0.4 A
24 RO2 Relay output 2 Programmable
220 25 RO2 Programmable G2.3.3 No function defined at default
VAC 26 RO2
Table 3-1. Marine application default I/O configuration and
connection example.

Note: See Users Manual, chapter Control Connections, for hardware specification and
configuration.

Note: See jumper selections below. Jumper block X3:

More information in Vacon NX User's CMA and CMB grounding
Manual, Chapter 6.2.2.2. CMB connected to GND
CMA connected to GND

CMB isolated from GND

CMA isolated from GND
CMB and CMA
internally connected together,
isolated from GND

= Factory default

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apfiff09 marine vacon • 11

4. “TERMINAL TO FUNCTION” (TTF) PROGRAMMING PRINCIPLE

The programming principle of the input and output signals in the Multipurpose Control
Application NXP as well as in the Pump and Fan Control Application (and partly in the
other applications) is different compared to the conventional method used in other Vacon NX
applications.

In the conventional programming method, Function to Terminal Programming Method (FTT),

you have a fixed input or output that you define a certain function for. The applications
mentioned above, however, use the Terminal to Function Programming method (TTF) in
which the programming process is carried out the other way round: Functions appear as
parameters which the operator defines a certain input/output for. See Warning on page 12.

4.1 Defining an input/output for a certain function on keypad

Connecting a certain input or output with a certain function (parameter) is done by giving the
parameter an appropriate value. The value is formed of the Board slot on the Vacon NX
control board (see Vacon NX User's Manual, Chapter 6.2) and the respective signal number,
see below.

READY
I/O term

Function name AI Ref Faul/Warn

DigOUT:B.1

Slot Terminal number

Terminal type

Example: You want to connect the digital output function Reference fault/warning
(parameter 2.3.3.7) to the digital output DO1 on the basic board NXOPTA1 (see Vacon NX
User's Manual, Chapter 6.2).

First find the parameter 2.3.3.7 on the keypad. Press the Menu button right once to enter the
edit mode. On the value line, you will see the terminal type on the left (DigIN, DigOUT, An.IN,
An.OUT) and on the right, the present input/output the function is connected to (B.3, A.2 etc.),
or if not connected, a value (0.#).
When the value is blinking, hold down the Browser button up or down to find the desired
board slot and signal number. The program will scroll the board slots starting from 0 and
proceeding from A to E and the I/O selection from 1 to 10.
Once you have set the desired value, press the Enter button once to confirm the change.

READY READY READY

I/Oterm I/Oterm I/Oterm

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

DigOUT:0.0 DigOUT:0.0 DigOUT:B.1

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4.2 Defining a terminal for a certain function with NCDrive programming tool
If you use the NCDrive Programming Tool for parametrizing you will have to establish the
connection between the function and input/output in the same way as with the control panel.
Just pick the address code from the drop-down menu in the Value column (see the Figure
below).

Figure 4-1. Screenshot of NCDrive programming tool; Entering the address code

Be ABSOLUTELY sure not to connect two functions to one and same

! output in order to avoid function overruns and to ensure flawless
operation.
WARNING

Note: The inputs, unlike the outputs, cannot be changed in RUN state.

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apfiff09 marine vacon • 13

4.3 Defining unused inputs/outputs

All unused inputs and outputs must be given the board slot value 0 and the value 1 also for
the terminal number. The value 0.1 is also the default value for most of the functions.
However, if you want to use the values of a digital input signal for e.g. testing purposes
only, you can set the board slot value to 0 and the terminal number to any number between
2…10 to place the input to a TRUE state. In other words, the value 1 corresponds to 'open
contact' and values 2 to 10 to 'closed contact'.

In case of analogue inputs, giving the value 1 for the terminal number corresponds to 0%
signal level, value 2 corresponds to 20%, value 3 to 30% and so on. Giving value 10 for the
terminal number corresponds to 100% signal level.

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5. MARINE APPLICATION – PARAMETER LISTS

On the next pages you will find the lists of parameters within the respective parameter
groups. The parameter descriptions are given on pages 71 to 220. Parameter description
includes more than is available in this application see parameter list what is available.

Column explanations:
Code = Location indication on the keypad; Shows the operator the present
parameter number
Parameter = Name of parameter
Min = Minimum value of parameter
Max = Maximum value of parameter
Unit = Unit of parameter value; Given if available
Default = Value preset by factory
Cust = Customer’s own setting
ID = ID number of the parameter
_____ = On parameter code: Parameter value can only be changed after the FC has
been stopped.
_____ = Apply the Terminal to Function method (TTF) to these parameters (see
chapter 4)
_____ = Monitoring value is possible to control from fieldbus by ID number

The manual presents signals that are not normally visible for monitoring. i.e. is not a
parameter or standard monitoring signal. These signals are presented with [Letter]. e.g.
[FW]MotorRegulatorStatus

[V] Normal monitoring signal

[P] Normal parameter in application.
[FW] Firmware signal, Can be monitored with NCDrive when signal type is selected
Firmware
[A] Application signal, can be monitored with NCDrive when signal type is selected
Application.
[R] Reference type parameter on keypad.
[F] Function. Signal is received as a output of function.
[DI] Digital input signal.

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apfiff09 marine vacon • 15

5.1 Monitoring values (Control keypad: menu M1)

The monitoring values are the actual values of parameters and signals as well as statuses
and measurements.

Code Parameter Unit Form. ID Description

V1.1 Output frequency Hz #,## 1 Output frequency to motor
V1.2 Frequency reference Hz #,## 25 Frequency reference to motor control
V1.3 Motor speed rpm # 2 Motor speed in rpm
V1.4 Motor current A Varies 3 1 s linear filtering
V1.5 Motor torque % #,# 4 In % of Motor nominal torque
V1.6 Motor Power % #,# 5
V1.7 Motor voltage V #,# 6 Calculated motor voltage
V1.8 DC link voltage V # 7 Measured DC voltage, filtered.
V1.9 Unit temperature C # 8 Heatsink temperature
V1.10 Motor temperature % # 9 Calculated motor temperature
V1.11 Analogue input 1 % #,## 13 AI1, unfiltered.
V1.12 Analogue input 2 % #,## 14 AI2, unfiltered.
V1.13 Analogue input 3 % #,## 27 AI3, unfiltered.
V1.14 Analogue input 4 % #,## 28 AI4, unfiltered.
V1.15 Analogue Out 1 % #,## 26 AO1
V1.16 Analogue Out 2 % #,## 50 AO2
V1.17 Analogue Out 3 % #,## 51 AO3
V1.18 Analogue Out 4 % #,## 1526
V1.19 DIN1, DIN2, DIN3 15 Digital input statuses
V1.20 DIN4, DIN5, DIN6 16 Digital input statuses
V1.21 Torque reference % #,# 18 Used Torque Reference
V1.22 Power Reference % #,# 1700 Used power reference
Highest temperature of OPTB8 board. 4 s
V1.23 PT-100 Temperature Cº #,# 42
filtering.
Displays three selectable monitoring
G1.23 Multimonitoring items
values
Table 5-1. Monitoring values

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5.1.1 Monitoring values 2 (Control keypad: menu M1.24)

Code Parameter Unit Form. ID Description

V1.25.1 Current A Varies 1113 Unfiltered motor current
V1.25.2 Torque % #,# 1125 Unfiltered motor torque
V1.25.3 DC Voltage V # 44 Unfiltered DC link voltage
Application Status
V1.25.4 43
Word
V1.25.5 Encoder 1 Frequency Hz #,## 1124 Unfiltered
V1.25.6 Output Power kw Varies 1508 Unfiltered electrical power
Measured
V1.25.7
temperature 1
Cº #,# 50 4 s filtering.
Measured
V1.25.8
temperature 2
Cº #,# 51 4 s filtering.
Measured
V1.25.9
temperature 3
Cº #,# 52 4 s filtering.
Measured
V1.25.10
temperature 4
Cº #,# 69 4 s filtering.
Measured
V1.25.11
temperature 5
Cº #,# 70 4 s filtering.
Measured
V1.25.12
temperature 6
Cº #,# 71 4 s filtering.
ABS Encoder
V1.25.13
Revolutions
r # 55
V1.25.14 ABS Encoder Position # 54
Actual Torque Final torque reference from speed
V1.25.15
Reference
% #,#
control and/or torque control
Final Frequency Final reference to speed controller.
V1.25.16 Hz #,## 1131
Reference
V1.25.17 Step response Hz #,## 1132
V1.25.18 CosPhiiActual #,### 68
V1.25.19 Flux Current % #,# 72
V1.25.20 Regulator Status 77
V1.25.21 Frequency Delta 1847
Table 5-2. Monitoring values 2

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apfiff09 marine vacon • 17

5.1.2 FieldBus Monitoring values (Control keypad: menu M1.25)

Code Parameter Unit Form. ID Description

V1.26.1 FB Control Word 1160
V1.26.2 FB Status Word 65
V1.26.3 FB Torque Reference % #,# 1140 Default Control of FB PD 1
V1.26.4 FB Limit Scaling % #,## 46 Default Control of FB PD 2
V1.26.5 FB Adjust Reference % #,## 47 Default Control of FB PD 3
V1.26.6 FB Analog Output % #,## 48 Default Control of FB PD 4
Motor current (drive
V1.26.7 FB Motor Current A #,# 45 independent) given with one
decimal point
V1.26.8 Fault Word 1 1172
V1.26.9 Fault Word 2 1173
V1.26.10 Warning Word 1 1174
V1.26.11 AuxStatusWord 1163
V1.26.12 FB Power Reference 1703
V1.26.13 Last Active Fault 37
V1.26.14 AuxControlWord 1161
V1.26.15 Din Status Word 56
V1.26.16 Din Status Word 2 57
V1.26.17 MC Status 64
V1.26.18 Last Active Warning 74
V1.26.19 Shaft Rounds 1170
V1.26.20 Shaft Angle 1169
V1.26.21 Fault Word 10 1202
V1.26.22 Warning Word 10 1269
Table 5-3. FieldBus Monitoring values

5.1.3 Master/Follwer Monitoring values (Control keypad: menu M1.26)

Code Parameter Unit Form. ID Description

V1.27.1 SB SystemStatus 1601
V1.27.2 Total Current A #,# 80 Sum current of all drives (DS)
Code Parameter Unit ID Description
V1.27.3.1 Motor Current D1 A 1616
V1.27.3.2 Motor Current D2 A 1605
V1.27.3.3 Motor Current D3 A 1606
V1.27.3.4 Motor Current D4 A 1607
Code Parameter Unit ID Description
V1.27.4.1 Status Word D1 1615
V1.27.4.2 Status Word D2 1602
V1.27.4.3 Status Word D3 1603
V1.27.4.4 Status Word D4 1604
Table 5-4. Master/Follower Monitoring values

5.1.4 PI Control Monitoring values

Code Parameter Unit Form. ID Description
V1.28.1 PI Reference 20 Used PI Reference
V1.28.2 PI Actual Value 21 PI Actual value
V1.28.3 PI Output 23 PI Output before scaling
Scaled PI Output
V1.28.3 PI Output Scaled 1807
This is used for ID connection

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5.1.5 Monitoring values

V1.1 Output frequency [#,## Hz] ID1
Output frequency to motor, updated at 10 ms time level.

V1.2 Frequency reference [#,## Hz] ID 25

Frequency reference to motor control, after speed share function. updates at 1
ms time level.

V1.3 Motor speed [ # rpm] ID 2

Motor speed in rpm

V1.4 Motor current [A] ID 3

Open loop:
1 s linear filtering.

Closed Loop:
32 ms filtering

Drive Synch Operation Master drive

This value is the total current of the system divided by number of drives in the
system (SbLastID). SbLastId cannot be changed; it needs to be set according to
how many drives are linked with system bus.

Drive Synch Operation Follower drive

This value is the current of the drive’s own power unit.

Current scaling in different size of units

Note: ID45, usually in Process data OUT 3 is scaled to be with one decimal
always.

Voltage Size Scale

208 – 240 Vac NX0001 – NX0011 100 – 0,01A
208 – 240 Vac NX0012 – NX0420 10 – 0,1A
208 – 240 Vac NX0530 1 – 1A
380 – 500 Vac NX0003 – NX0007 100 – 0,01A
380 – 500 Vac NX0009 – NX0300 10 – 0,1A
380 – 500 Vac NX0385 – NX2643 1 – 1A
525 – 690 Vac NX0004 – NX0013 100 – 0,01A
525 – 690 Vac NX0018 – NX0261 10 – 0,1A
525 – 690 Vac NX0325 – NX1500 1 – 1A

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apfiff09 marine vacon • 19

V1.5 Motor torque % ID 4

In % of Motor nominal torque

Open loop
1 s linear filtering

Closed Loop
32 ms filtering

Drive Synch Operation Follower drive

This value is the torque of the drive’s own power unit related to set motor
nominal current.

V1.6 Motor Power % ID 5

Calculated motor power

V1.7 Motor voltage V ID 6

Calculated motor voltage

V1.8 DC link voltage V ID 7

Measured DC voltage, filtered.

V1.9 Unit temperature •C ID 8

Heatsink temperature

V1.10 Motor temperature % ID 9

Calculated motor temperature
105 % is tripping limit if response is fault.

V1.11 Analogue input 1 % ID 13

V1.12 Analogue input 2 % ID 14
Unfiltered analogue input level.
0 % = 0 mA / 0 V, -100 % = -10 V, 100 % = 20 mA / 10 V.
Monitoring scaling is determined by the option board parameter.

V1.13 Analogue input 3 % ID 27

V1.14 Analogue input 4 % ID 28
It is possible to adjust this input value from fieldbus when the input terminal
selection is 0.1. This way it is possible to adjust the free analogue input from
fieldbus and have all analogue input functions available for fieldbus process
data.

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V1.15 Analogue Out 1 % ID 26

V1.16 Analogue Out 2 % ID 50
V1.17 Analogue Out 3 % ID 51
V1.18 Analogue Out 4 % ID 1526
Analogue Output value 0 % = 0 mA / 0 V, 100 % = 20 mA / 10 V

V1.19 DIN1, DIN2, DIN3 ID 15

V1.20 DIN4, DIN5, DIN6 ID 16
DIN1/DIN2/DIN3 status DIN4/DIN5/DIN6 status
b0 DIN3 DIN6
b1 DIN2 DIN5
b2 DIN1 DIN4

V1.21 Torque reference % ID 18

Torque reference value before load share.

V1.22 Power reference % ID 1700

Power reference monitoring value. If power reference is not selected in the
reference group it can be directly written to this monitoring variable from
fieldbus and only ramping rate function is active from power reference group.

V1.23 PT-100 Temperature Cº ID 42

Highest temperature of OPTB8 board. 4 s filtering.

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apfiff09 marine vacon • 21

5.1.6 Monitoring values 2

V1.25.1 Current A ID 1113
Unfiltered motor current, recommended signal for NCDrive monitoring.

Drive Synch Operation Master drive

This value is the total current of the system divided by number of drives in the
system (SbLastID). SbLastId cannot be changed; it needs to be set according to
how many drives are linked with system bus.

Drive Synch Operation Follower drive

This value is current of drive own power unit.

V1.25.2 Torque % ID 1125

Unfiltered motor torque, recommended signal for NCDrive monitoring.

V1.25.3 DC Voltage V ID 44
Unfiltered DC link voltage, recommended signal for NCDrive monitoring.

V1.25.4 Application Status Word ID 43

Application Status Word combines different drive statuses to one data word.
Recommended signal for NCDrive monitoring.

Application Status Word ID43

FALSE TRUE
b0 Flux not ready Flux ready (>90 %)
b1 Not in Ready state Ready
b2 Not Running Running
b3 No Fault Fault
b4 Direction Forward Direction Reverse
b5 Emergency Stop Active Emergency Stop NOT Active
b6 Run Disabled Run Enable
b7 No Warning Warning
Power negative or Gen torque or current
b8 Power positive
limit active
b9
b10
b11 No DC Brake DC Brake is active
b12 No Run Request Run Request
b13 No Limit Controls Active Limit control Active
b14 External Brake Control OFF External Brake Control ON
b15

V1.25.5 Encoder 1 Frequency Hz ID 1124

Encoder frequency after filter. P2.8.4.6 Encoder1FiltTime.

V1.25.6 Output Power kw ID 1508

Unfiltered electrical drive output power.

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V1.25.7 Measured temperature 1 Cº ID 50

V1.25.8 Measured temperature 2 Cº ID 51
V1.25.9 Measured temperature 3 Cº ID 52
V1.25.10 Measured temperature 4 Cº ID 69
V1.25.11 Measured temperature 5 Cº ID 70
V1.25.12 Measured temperature 6 Cº ID 71
Separate measurement from two PT100 board. The signal has 4 s filtering time.

V1.25.13 ABS Encoder Revolutions ID55

Absolute encoder revolution information.

V1.25.14 ABS Encoder Position ID54

Absolute encoder position within one rotation. See encoder manual for scaling.

V1.25.15 Actual Torque Reference % ID1180

Final torque reference from speed control and torque control. Also includes
torque step and acceleration compensation factors.

V1.25.16 Final Frequency Reference Hz ID 1131

Final reference to speed controller. After ramp generator and after Speed Step
function, used for closed loop speed tuning when used together with Encoder 1
frequency.

V1.25.17 Step response Hz ID 1132

Frequency error. Compares ramp output to actual encoder frequency with 0,001
Hz accuracy. Can be used for speed control tuning in closed loop control.

V1.25.18 CosPhiiActual ID 68
Estimated Cos Phii.

V1.25.19 Flux Current % ID 72

Flux current part or the total current. 100 % = Motor Nominal Current.

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apfiff09 marine vacon • 23

5.1.7 FieldBus Monitoring values

V1.26.1 FB Control Word ID1160

Control word used in bypass mode. See P2.13.22 and option board ByPass.

Bit Description
Value = 0 Value = 1
0 OFF ON, Reset after Fault or b1 and b2
1 Emergency stop by coast ON, On normal operation: Keep TRUE
2 Emergency stop by ramp ON, On normal operation: Keep TRUE
3 STOP REQUEST RUN REQUST
4 Force ramp to Zero Enable Ramp,
5 Freeze Ramp Enable Ramp,
6 Force Ref to Zero Enable Ramp,
7 No Action FAULT RESET (0 -> 1)
8 No Action Inching 1
9 No Action Inching 2
10 Disable Profibus control Enable Profibus control
11 Fieldbus DIN1=OFF Fieldbus DIN1=ON (Watchdog pulse)
12 Fieldbus DIN2=OFF Fieldbus DIN2=ON
13 Fieldbus DIN3=OFF Fieldbus DIN3=ON
14 Fieldbus DIN4=OFF Fieldbus DIN4=ON
15 No Action No Action

V1.26.2 FB Status Word ID65

Profibus type status word. Generated in the application level.
Needs to be selected with P2.14.19 GSW to be used. When needed with profibus
board, operation mode needs to be set to ByPass in option board and with
P2.14.22 ProfiBus Mode select: 2 / ProfiDrive.

Bit Description
Value = 0 Value = 1
0 Not ready to switch on Ready to switch on
1 Not ready to operate Ready to operate
2 Not Running Running
3 No Fault Fault
4 Coast stop Active Coast stop not active
5 Quick stop active Quick stop not active
6 Switch not inhibited Switch on inhibit
7 No Warning Warning
8 Speed error Speed At Reference
9 No FB Control request FB Control Active
10 Fout < Fmax Fout > Fmax
11 not used not used
12 not used not used
13 not used not used
14 not used not used
15 Fieldbus DIN1=OFF Fieldbus DIN1=ON (Watchdog pulse)

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V1.26.3 FB Torque Reference % ID 1140

Torque reference value from fieldbus
Default Control of FB PD 1

V1.26.4 FB Limit Scaling % ID 46

Limit scaling input value from fieldbus.
Default Control of FB PD 2.

V1.26.5 FB Adjust Reference % ID 47

Reference adjustment value from fieldbus.
Default Control of FB PD 3.

V1.26.6 FB Analog Output % ID 48

Fieldbus value to control analogue output.
Default Control of FB PD 4.

V1.26.7 FB Motor Current A ID 45

Motor current (drive independent) given with one decimal point.

V1.26.8 Fault Word 1 ID 1172

Different faults are collected to two words that can be read from fieldbus or with
NCDrive PC software.

Fault Word 1 ID1172

Fault Comment
b0 Over Current or IGBT F1, F31, F41
b1 Over Voltage F2
b2 Under Voltage F9
b3 Motor Stalled F15
b4 Earth Fault F3
b5 Motor Under Load F17
b6 Drive over temperature F14
b7 Over Temperature F16, F56, F29
b8 Input Phase F10
F42
b9 Brake resistor over temperature
(Not implemented)
F37, F38, F39, F40, F44, F45
b10 Device Changed
(Not implemented)
b11 Keypad or PCControl F52
b12 FielBus F53
b13 SystemBus F59
b14 Slot F54
b15 4 mA F50

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apfiff09 marine vacon • 25

V1.26.9 Fault Word 2 ID 1173

Fault Word 2 ID1173
Fault Comment
b0 Output phase F11
b1 Charge Switch F5 (Not implemented)
b2 Encoder F43
b3 Inverter F4, F7 (Not implemented)
b4
b5 EEPROM F22 (Not implemented)
b6 External F51
b7 Brake Chopper F12 (Not implemented)
b8 Watch Dog F25 (Not implemented)
b9 IGBT F31, F41
b10 Brake F58
b11 Fan Cooling F32
b12 Application F35 (Not implemented)
b13 Control fault F33, F36, F8 (Not implemented)
b14 Main Switch Open F64 (Not implemented)
b15

V1.26.10 Warning Word 1 ID 1174

Warning Word 1 ID1174
Fault Comment
b0 Motor stalled W15
b1 Motor over temperature W16
b2 Motor under load W17
b3 Input phase loss W10
b4 Output phase loss W11
b5 Safe disable W30 (Not implemented)
b6 FieldBus communication fault in slot D W53 (Not implemented)
b7 FieldBus communication fault in slot E W67 (Not implemented)
b8 Drive over temperature W14
b9 Analogue input < 4mA W50
b10 Not used
b11 Emergency stop W63 (Not implemented)
b12 Run disabled W62 (Not implemented)
b13 Not used
b14 Mechanical Brake W58
b15 Not used

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V1.26.11 AuxStatusWord ID 1163

Aux Status Word ID1163

Fault Comment
b0 Reserved Reserved
Window control active and speed outside of
b1
widow
b2 Reserved Reserved
b3 Reserved Reserved
b4 Reserved Reserved
b5 Reserved Reserved
b6 Reserved Reserved
b7 No Action Ext brake is forced open
b8 Reserved Reserved
b9 Reserved Reserved
b10 Reserved Drive in torque control mode
b11 Reserved Reserved
b12 Reserved Reserved
b13 Reserved Reserved
b14 Reserved Reserved
b15 Reserved Reserved

V1.26.12 FB Power Reference ID1703

Power reference from fieldbus is written to this monitoring signal.

V1.26.13 Fault History ID 37

Fault number of the last active fault.

V1.26.14 AuxControlWord ID 1161

Aux Control Word ID1161
FALSE TRUE
b0 Reserved Reserved
b1 Reserved Reserved
b2 Reserved Reserved
b3 Reserved Reserved
b4 Reserved Reserved
b5 Reserved Reserved
b6 Reserved Reserved
b7 No Action Ext brake is forced open
b8 Reserved Reserved
b9 No Action Reset encoder position
b10 Reserved Reserved
b11 Reserved Reserved
b12 Reserved Reserved
b13 Reserved Reserved
b14 Reserved Reserved
b15 Reserved Reserved

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apfiff09 marine vacon • 27

V1.26.15 Din Status Word ID 56

V1.26.16 Din Status Word 2 ID 57
DIN StatusWord 1 DIN StatusWord 2
b0 DIN: A.1 DIN: C.5
b1 DIN: A.2 DIN: C.6
b2 DIN: A.3 DIN: D.1
b3 DIN: A.4 DIN: D.2
b4 DIN: A.5 DIN: D.3
b5 DIN: A.6 DIN: D.4
b6 DIN: B.1 DIN: D.5
b7 DIN: B.2 DIN: D.6
b8 DIN: B.3 DIN: E.1
b9 DIN: B.4 DIN: E.2
b10 DIN: B.5 DIN: E.3
b11 DIN: B.6 DIN: E.4
b12 DIN: C.1 DIN: E.5
b13 DIN: C.2 DIN: E.6
b14 DIN: C.3
b15 DIN: C.4

V1.26.17 MC Status ID 64
This is the value that is also send to fieldbus on those fieldbus that do not use
own state machine.

Motor Control Status Word

FALSE TRUE
b0 Not in Ready state Ready
b1 Not Running Running
b2 Direction Clockwise Counterclockwise
b3 No Fault Fault
b4 No Warning Warning
b5 At reference speed
b6 At Zero Speed
b7 Flux Ready
b8 TC Speed Limiter Active
b9 Encoder Direction Counterclockwise
b10 Under Voltage Fast stop
b11 No DC brake DC Brake is active
b12
b13 Restart delay active
b14
b15

V1.23.18 Warning ID 74
Last active warning.

V1.26.19 Shaft Rounds ID 1170

Rounds information from incremental encoder. The value is reset when 24 Vdc is
removed from the drive.

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V1.26.20 Shaft Angle ID 1169

Angle information from incremental encoder. The value is reset when 24 Vdc is
removed from the drive.

V1.26.21 Fault Word 10 ID 1202

Fault Word 10 ID1202
Fault Comment
b0 Speed Error F61
b1
b2 Over Load Fault Active F82
b3 No Motor Fault F83
b4 PT100 Fault F56 & F65
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
b15

V1.26.22 Warning Word 10 ID 1269

Warning Word 1 ID1269
Fault Comment
b0 Speed Error W61
b1 Earth fault Warning W3
b2 Over Load Warning Active W82
b3 No Motor Warning W83
b4 PT100 Warning W56 & W65
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
b15

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apfiff09 marine vacon • 29

5.1.8 Master / Follower

V1.27.1 SB SystemStatus ID 1601
System Bus Status Word ID1601
FALSE TRUE
b0 Drive 1 in synch
b1 Drive 1 Ready
b2 Drive 1 Running
b3 Drive 1 Fault
b4 Drive 2 in synch
b5 Drive 2 Ready
b6 Drive 2 Running
b7 Drive 2 Fault
b8 Drive 3 in synch
b9 Drive 3 Ready
b10 Drive 3 Running
b11 Drive 3 Fault
b12 Drive 4 in synch
b13 Drive 4 Ready
b14 Drive 4 Running
b15 Drive 4 Fault

V1.27.2 Total Current A ID 80

Drive Synch Operation Master drive
This value is the current of whole drive synch system.

Drive Synch Operation Follower drive

D1 and D2: This value is the current of whole drive synch system.
D2 and D4:This value is the sum current of the drive’s own power unit and that
of the drives with smaller system bus identification number starting from master
drive.

V1.27.3.1 Motor Current D1 A ID 1616

D1: This value is the current of drive number one power unit.
D2,D3 and D4: Master drive power unit current.

V1.27.3.2 Motor Current D2 A ID 1605

D1:This value is the current of drive number two power unit.
D2,D3 and D4: Not updated.

V1.27.3.3 Motor Current D3 A ID 1606

D1:This value is the current of drive number three power unit.
D2,D3 and D4: Not updated.

V1.27.3.4 Motor Current D4 A ID 1607

D1: This value is the current of drive number four power unit.
D2,D3 and D4: Not updated.

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V1.27.4.1 Status Word D1 ID 1615

V1.27.4.2 Status Word D2 ID 1602
V1.27.4.3 Status Word D3 ID 1603
V1.27.4.4 Status Word D4 ID 1604

Follower Drive staus word

FALSE TRUE
b0 Flux not ready Flux ready (>90 %)
b1 Not in Ready state Ready
b2 Not Running Running
b3 No Fault Fault
b4 ChargeSwState
b5
b6 Run Disabled Run Enable
b7 No Warning Warning
b8
b9
b10 SB Communication OK
b11 No DC Brake DC Brake is active
b12 No Run Request Run Request
b13 No Limit Controls Active Limit control Active
b14 External Brake Control OFF External Brake Control ON
b15 Heard Beat

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apfiff09 marine vacon • 31

5.1.9 PI Control monitoring

This PI control uses ID numbers for input and output signal. See detail in PI Control chapter.

V1.28.1 PI Reference ID20

Used PI Reference, reference is selected by ID number.

V1.28.2 PI Actual Value ID21

PI Actual value. Actual input is selected by ID number.

V1.28.3 PI Output ID23

PI Output before scaling. This value uses PI Out High and Low for limiting.

V1.28.3 PI Output Scaled ID1807

Scaled PI Output.
This is used for ID connection. Scaling function is used to scale value more
suitable for connected signal. e.g. when output is connected to torque limit
actual value need to be -1000 ...+1000 (-100,0 %..+100,0 %) But PI Out High and
Low can be from -30000...+30000 to have more accurate PI control.

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5.1.10 Counters
Below counter values are not visible as a standard monitoring signal but are accessible with
ID numbers from fieldbus.

5.1.10.1 Power On Time counter

This timer is counting when control board is powered (i.e. counting when only 24 Vdc is given
to control board).

ID10 PowerOnTimeTripCounter
Resetable power on time counter.
UINT value. READ only access.
Use ID1050 to define format.
Use ID1051 to reset value

ID1050 PowerOnTripCounterUnit
Read or select power on counter format.
USINT value. WRITE access.
1 = 1 ms
2 = 10 ms
3 = 100 ms
4=1s
5 = 1 min
6 = 1 h (Default)
7=1d

ID1051 ResetOnTimeTripCounter
Reset Power on trip counter, rising edge will reset counter.
BOOL value. WRITE access.
Write INT value 1 to reset if Process Data is used.

5.1.10.2 Energy Meter counter monitoring

ID11 EnergyMeter
Read ID80 and ID81 to see used format.
UINT value. READ only access.

ID82 EnergyMeterFormat
Decimal point place in the value
60 = 6 max number of digits, 0 fractional digits
61 = 6 max number of digits, 1 fractional digits
62 = 6 max number of digits, 2 fractional digits
UINT value. READ only access.

NOTE: Most of the other application use ID number ID80 for this variable.

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apfiff09 marine vacon • 33

ID81 EnergyMeterUnit
Unit for the energy meter
USINT value. READ only access.
1 = kWh
2 = MWh
3 = GWh
4 = TWh

5.1.10.3 Energy Trip counter monitoring

ID12 EnergytripCounter
Energy trip counter, use ID1052 define format.
UINT value. READ only access.
Max. value is 65 535 and after that value is resetted to zero and counting
is restarted.

ID1052 EnergyTripCounterUnit
WRITE access.Unit value can be changed via fieldbus .USINT value.
1 = 0.01 kWh
2 = 0.1 kWh
3 = 1 kWh
4 = 10 kWh
5 = 100 kWh
6 = 1 MWh
7 = 10 MWh
8 = 100 MWh
9 = 1 GWh
10 = 10 GWh

ID1053 ResetMWhTripCounter
Reset energy trip counter, rising edge will reset counter.
BOOL value. Write INT value 1 to reset if Process Data is used.

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5.1.11 Recommended signals for NCDrive

In NCDrive use binary mode to monitor Application Status Word

When contacting Vacon technical support send

*.trn, *.par and Service info (*.txt) with situation description.

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 apfiff09 marine vacon • 35

5.2 Basic parameters (Control keypad: Menu M2 G2.1)

Code Parameter Min Max Unit Default Cust ID Note
P2.1.1 Minimum frequency 0,00 P2.1.2 Hz 0,00 101
NOTE: If fmax > than the
motor synchronous speed,
P2.1.2 Maximum frequency P2.1.1 320,00 Hz 50,00 102
check suitability for motor
and drive system
NX2: 230V Check the rating plate of
Motor nominal
P2.1.3 180 690 V NX5: 400V 110 the motor. Note also used
voltage
NX6: 690V connection Delta/Star
Motor nominal Check the rating plate of
P2.1.4 8,00 320,00 Hz 50,00 111
frequency the motor
The default applies for a 4-
Motor nominal
P2.1.5 24 20 000 rpm 1440 112 pole motor and a nominal
speed
size frequency converter.
Motor nominal Check the rating plate of
P2.1.6 0,1 x IH 2 x IH A IH 113
current the motor.
Check the rating plate of
P2.1.7 Motor cos 0,30 1,00 0,85 120
the motor
Motor Nominal Check the rating plate of
P2.1.8 0,0 3200,0 kW 0,0 116
Power the motor
0,00 A = Drive uses
P2.1.9 Magnetizing current 0,00 100,00 A 0,00 612 estimated value from
motor name plate values
0=No action
1=Identification w/o run
2=Identification with run
3=Encoder ID Run
4=Ident All
P2.1.10 Identification 0 4 0 631
5=Absolute encoder,
locked rotor
NOTE: Set motor control
mode to Freq Control
before identification!
0=Induction Motor
P2.1.11 Motor type 0 1 0 650
1=PMS Motor
Table 5-5. Basic parameters G2.1

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5.3 Reference Handling

5.3.1 Basic Settings
Code Parameter Min Max Unit Default Cust ID Note
0=AI1
1=AI2
2=AI1+AI2
3=AI1-AI2
4=AI2-AI1
5=AI1xAI2
6=AI1 Joystick
7=AI2 Joystick
P2.2.1 I/O Reference 0 16 0 117 8=Keypad
9=Fieldbus
10=Motor potentiometer
11=AI1, AI2 minimum
12=AI1, AI2 maximum
13=Max frequency
14=AI1/AI2 selection
15=Encoder 1
16=Encoder 2
0=AI1
1=AI2
2=AI1+AI2
3=AI1-AI2
Keypad reference 4=AI2-AI1
P2.2.2 0 9 8 121
selector 5=AI1xAI2
6=AI1 Joystick
7=AI2 Joystick
8=Keypad
9=Fieldbus
Fieldbus control
P2.2.3 0 9 9 122 See par. 2.2.2
reference
P2.2.4 I/O Reference 2 0 16 1 131 See ID117 & ID422
P2.2.5 Speed Share -300,00 300,00 % 100,00 1241
P2.2.6 Load Share 0,0 500,0 % 100,0 1248

5.3.2 Constant Reference

Code Parameter Min Max Unit Default Cust ID Note
Jogging speed
P2.2.7.1 0,00 320,00 Hz 5,00 124
reference
P2.2.7.2 Preset speed 1 0,00 320,00 Hz 10,00 105 Multi-step speed 1
P2.2.7.3 Preset speed 2 0,00 320,00 Hz 15,00 106 Multi-step speed 2
P2.2.7.4 Preset speed 3 0,00 320,00 Hz 20,00 126 Multi-step speed 3
P2.2.7.5 Preset speed 4 0,00 320,00 Hz 25,00 127 Multi-step speed 4
P2.2.7.6 Preset speed 5 0,00 320,00 Hz 30,00 128 Multi-step speed 5
P2.2.7.7 Preset speed 6 0,00 320,00 Hz 40,00 129 Multi-step speed 6
P2.2.7.8 Preset speed 7 0,00 320,00 Hz 50,00 130 Multi-step speed 7
P2.2.7.9 Inching reference 1 -320,00 320,00 Hz 2,00 1239
P2.2.7.10 Inching reference 2 -320,00 320,00 Hz -2,00 1240

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 apfiff09 marine vacon • 37

5.3.3 Power Reference (Keypad: Menu M2 G2.2.8)

Code Parameter Min Max Unit Default Cust ID Note
Scaling from 0 to IDxxxx
0=Not used
1=AI1
P2.2.8.1 Power Reference 0 5 0 1620 2=AI2
3=AI3
4=AI4
5=FB Limit Scaling ID46
Maximum Power
P2.2.8.2 0,0 300.0 % 120,0 1621
reference
Power reference
P2.2.8.3 0 10000 %/s 100 1622
Increase Rate
Table 5-6. Power reference input signal selection, G2.2.8

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5.3.4 Torque Reference

Code Parameter Min Max Unit Default Cust ID Note
0=Not used
1=AI1
2=AI2
3=AI3
4=AI4
5=AI1 joystick (-10 – 10
Torque reference V)
P2.2.9.1 0 8 0 641
selection 6=AI2 joystick (-10 – 10
V)
7=Torque reference
from keypad, R3.5
8=FB Torque Reference
9=Master Torque
10=Power Reference
Torque reference
P2.2.9.2 –300,0 300,0 % 100 642
max.
Torque reference
P2.2.9.3 –300,0 300,0 % 0,0 643
min.
Torque reference
P2.2.9.4 0 32000 ms 0 1244
filtering time
Torque Reference
P2.2.9.5 0,0 300,0 % 0,00 1246
Dead Zone
0=Speed Control
1=Maximum freq limit
2=Ramp Output
P2.2.9.6 Torque Select 0 5 2 1278
3=Min
4=Max
5=Window
P2.2.9.7 Window negative 0,00 50,00 Hz 2,00 1305
P2.2.9.8 Window positive 0,00 50,00 Hz 2,00 1304
P2.2.9.9 Window negative off 0,00 P2.10.11 Hz 0,00 1307
P2.2.9.10 Window positive off 0,00 P2.10.12 Hz 0,00 1306

5.3.4.1 Torque Reference OL Settings

Code Parameter Min Max Unit Default Cust ID Note
Open loop torque
P2.2.9.11.1 control minimum 0,00 50,00 Hz 3,00 636
frequency
Open loop torque
P2.2.9.11.2 controller 0 32000 150 639
P gain
Open loop torque
P2.2.9.11.3 controller 0 32000 10 640
I gain

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 apfiff09 marine vacon • 39

5.3.5 Prohibit frequency parameters (Control keypad: Menu M2 G2.5)

Code Parameter Min Max Unit Default Cust ID Note
Prohibit frequency
P2.2.10.1 -1,00 320,00 Hz 0,00 509 0=Not used
range 1 low limit
Prohibit frequency
P2.2.10.2 0,00 320,00 Hz 0,00 510 0=Not used
range 1 high limit
Multiplier of the currently
Selected ramp time
P2.2.10.3 Ramp time factor 0,1 10,0 x 1,0 518
between prohibit
frequency limits.
Table 5-7. Prohibit frequencies (G2.5)

5.3.6 Motor Potentiometer (Control keypad: Menu M2 G2.5)

Code Parameter Min Max Unit Default Cust ID Note
Motor potentiometer Ramp rate for motor
P2.2.11.1 0,10 2000,00 Hz/s 1,00 331
ramp rate potentio meter
Motor potentiometer 0=No reset
P2.2.11.2 frequency reference 0 2 1 367 1=Reset in stop state
memory reset 2=Reset in powered down
0=No copy
Motor potentiometer
P2.2.11.3 0 2 0 366 1=Copy Reference
reference copy
2=Copy output frequency
Table 5-8. Motor potentiomer (G2.5)

5.3.7 Adjust Reference

Code Parameter Min Max Unit Default Cust ID Note
0=Not used
1=AI1
2=AI2
P2.2.12.1 Adjust input 0 5 0 493
3=AI3
4=AI4
5=Fieldbus
Adjust limit to decrease
P2.2.12.1 Adjust minimum 0,0 100,0 % 0,0 494
ref.
Adjust limit to increase
P2.2.12.1 Adjust maximum 0,0 100,0 % 0,0 495
ref.

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5.4 Ramp Control

5.4.1 Basic Settings
Code Parameter Min Max Unit Default Cust ID Note
0=Ramp
P2.3.1 Start function 0 1 0 505
1=Flying start
0=Coasting
P2.3.2 Stop function 0 1 0 506
1=Ramp
P2.3.3 Acceleration time 1 0,2 3270,0 s 3,0 103 0 Hz to Max frequency
P2.3.4 Deceleration time 1 0,2 3270,0 s 3,0 104 Max frequency to 0 Hz
0=Linear
P2.3.5 Ramp 1 shape 0 100 % 2 500
>0=S-curve ramp time
P2.3.6 Acceleration time 2 0,2 3270,0 s 10,0 502
P2.3.7 Deceleration time 2 0,2 3270,0 s 10,0 503
0=Linear
P2.3.8 Ramp 2 shape 0 100 % 4 501
>0=S-curve ramp time
P2.3.9 Inching Ramp 0,01 320,00 s 1,00 1257
Scales active ramp from
100 % to 10 %.
0=Not used
Reducing of acc./dec. 1=AI1
P2.3.10 0 5 0 401
times 2=AI2
3=AI3
4=AI4
5=Fieldbus
0=Coasting
P2.3.11 IO Quick Stop Mode 0 1 0 1276
1= Ramp

5.4.2 Ramp Control Options

Code Parameter Min Max Unit Default Cust ID Note
P2.3.12.1 Ramp: Skip S2 0 1 0 1900
CL Ramp
P2.3.12.2 Follower Encoder 0 1 0 1902
Frequency
Ramp Input
P2.3.12.3 0 200 ms 10 1184
Interpolator TC

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 apfiff09 marine vacon • 41

5.5 Input Signals

5.5.1 Basic Settings
Code Parameter Min Max Unit Default Cust ID Note
Start Start
signal 1 signal 2
(Default: (Default:
DIN1) DIN2)
0 Start fwd Start rvs
P2.4.1.1 Start/Stop logic 1 Start/Stop Reverse
0 7 0 300
selection 2 Start/Stop Run enable
3 Start pulse Stop pulse
4 Start Mot.Pot UP
5 Start fwd* Start rvs*
6 Start*/Stop Reverse
7 Start*/Stop Run Enable
Table 5-9. Input signals: basic settings, G2.2.1

* = Rising edge required to start

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5.5.2 Digital inputs (Control keypad: Menu M2 G2.2.4)

Code Parameter Min Default Cust ID Note
P2.4.2.1 Start signal 1 0.1 A.1 403 Forward, See ID300
P2.4.2.2 Start signal 2 0.1 A.2 404 Reverse. See ID300
P2.4.2.3 Run enable 0.1 0.2 407 Motor start enabled (cc)
Direction forward (oc)
P2.4.2.4 Reverse 0.1 0.1 412
Direction reverse (cc)
See preset speeds in basing
P2.4.2.5 Preset speed 1 0.1 0.1 419
parameter group G2.1
P2.4.2.6 Preset speed 2 0.1 0.1 420
P2.4.2.7 Preset speed 3 0.1 0.1 421
Motor potentiometer
P2.4.2.8 0.1 0.1 417 Mot.pot. reference decreases (cc)
reference DOWN
Motor potentiometer
P2.4.2.9 0.1 0.1 418 Mot.pot. reference increases (cc)
reference UP
P2.4.2.10 Fault reset 0.1 0.1 414 All faults reset (cc)
P2.4.2.11 External fault (close) 0.1 0.1 405 Ext. fault displayed (cc)
P2.4.2.12 External fault (open) 0.1 0.2 406 Ext. fault displayed (oc)
Acc/Dec time 1 (oc)
P2.4.2.13 Acc/Dec time selection 0.1 0.1 408
Acc/Dec time 2 (cc)
P2.4.2.14 Acc/Dec prohibit 0.1 0.1 415 Acc/Dec prohibited (cc)
P2.4.2.15 DC braking 0.1 0.1 416 DC braking active (cc)
Jogging speed selected for
P2.4.2.16 Jogging speed 0.1 0.1 413
frequency reference (cc)
P2.4.2.17 IO reference 1 / 2 selection 0.1 0.1 422 IO reference selection:14 ID117
Force control place to I/O terminal
P2.4.2.18 Control from I/O terminal 0.1 0.1 409
(cc)
P2.4.2.19 Control from keypad 0.1 0.1 410 Force control place to keypad (cc)
Force control place to fieldbus
P2.4.2.20 Control from fieldbus 0.1 0.1 411
(cc)
Parameter set 1/set 2 Closed cont.=Set 2 is used
P2.4.2.21 0.1 0.1 496
selection Open cont.=Set 1 is used
Closed cont.=Mode 2 is used
P2.4.2.22 Motor control mode 1/2 0.1 0.1 164 Open cont.=Mode 1 is used
See par 2.6.1, 2.6.12
External Brake Monitoring signal from
P2.4.2.23 0.1 0.2 1210
Acknowledge mechanical brake
P2.4.2.24 Cooling Monitor 0.1 0.2 750 Used when water cooled unit
P2.4.2.25 Enable Inching 0.1 0.1 532 Enables Inching function
Inching reference 1 (Default
P2.4.2.26 Inching 1 0.1 0.1 531 Forward 2 Hz. See P2.4.16). This
will start the drive.
Inching reference 2 (Default
P2.4.2.27 Inching 2 0.1 0.1 532 Reverse -2 Hz. See P2.4.17). This
will start the drive.
P2.4.2.28 Motoring Power limit 1 0.1 0.1 1500 Activates power limit 1
P2.4.2.29 Motoring Power limit 2 0.1 0.1 1501 Activates power limit 2
Activates second freq. Limit
P2.4.2.30 2nd frequency Limit 0.1 0.1 1511
P2.2.7.31 2nd Freq Limit
P2.4.2.31 Generator Power Limit 1 0.1 0.1 1506 Activates Gen. power limit 1
P2.4.2.32 Generator Power Limit 2 0.1 0.1 1507 Activates Gen. power limit 2
P2.4.2.33 Reset Position 0.1 0.1 1090
P2.4.2.34 MF Mode 2 0.1 0.1 1092
P2.4.2.35 Emergency Stop 0.1 0.2 1213
P2.4.2.36 Motoring Torque Limit 1 0.1 0.1 1624
P2.4.2.37 Generator Torque Limit 1 0.1 0.1 1626
P2.4.2.38 PID Activation 0.1 0.1 1804
Stores active parameter set to
P2.4.2.38 Store Parameter Set 0.1 0.1 1753
selected parameter set

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 apfiff09 marine vacon • 43

Changes start signals between A

P2.4.2.39 Start Place A/B 0.1 0.1 425
and B places.
P2.4.2.40 Start signal 1B 0.1 A.1 403 Forward, See ID300
P2.4.2.41 Start signal 2B 0.1 A.2 404 Reverse. See ID300
Table 5-10. Digital input signals, G2.2.4

5.5.3 Analogue input 1 (Control keypad: Menu M2 G2.2.2)

Code Parameter Min Max Unit Default Cust ID Note
P2.4.3.1 AI1 signal selection 0.1 E.10 A.1 377 Slot . Board input No.
P2.4.3.2 AI1 filter time 0,000 32,000 s 0,000 324 0=No filtering
0=0…100%*
1=20…100%* 4 mA Fault
P2.4.3.3 AI1 signal range 0 3 0 320
2= -10V…+10V*
3= Custom range*
AI1 custom Custom Range:
P2.4.3.4 -160,00 160,00 % 0,00 321
minimum setting Minimum input
AI1 custom Custom Range:
P2.4.3.5 -160,00 160,00 % 100,00 322
maximum setting Maximum input
AI1 reference Selects the frequency that
P2.4.3.6 scaling, minimum 0,00 320,00 Hz 0,00 303 corresponds to the min.
value reference signal
AI1 reference Selects the frequency that
P2.4.3.7 scaling, maximum 0,00 320,00 Hz 0,00 304 corresponds to the max.
value reference signal
AI1 joystick Dead Dead Zone for joystick
P2.4.3.8 0,00 20,00 % 0,00 384
Zone input
P2.4.3.9 AI1 sleep limit 0,00 100,00 % 0,00 385 Drive goest to stop if input
is below this limit for this
P2.4.3.10 AI1 sleep delay 0,00 320,00 s 0,00 386
time.
Press enter for 1s to set
P2.4.3.11 AI1 joystick offset -100,00 100,00 % 0,00 165
offset
Table 5-11. Analogue input 1 parameters, G2.2.2 *Remember to place jumpers of block X2 accordingly.
See NX User's Manual, chapter 6.2.2.2

5.5.4 Analogue input 2 (Control keypad: Menu M2 G2.2.3)

Code Parameter Min Max Unit Default Cust ID Note
P2.4.4.1 AI2 signal selection 0.1 E.10 A.2 388 Slot . Board input No.
P2.4.4.2 AI2 filter time 0,000 32,000 s 0,000 329 0=No filtering
0=0…100%*
1=20…100%* 4 mA Fault
P2.4.4.3 AI2 signal range 0 3 1 325
2= -10V…+10V*
3= Custom range*
AI2 custom Custom Range:
P2.4.4.4 -160,00 160,00 % 0,00 326
minimum setting Minimum input
AI2 custom Custom Range:
P2.4.4.5 -160,00 160,00 % 100,00 327
maximum setting Maximum input
AI2 reference Selects the frequency that
P2.4.4.6 scaling, minimum 0,00 320,00 Hz 0,00 393 corresponds to the min.
value reference signal
AI2 reference Selects the frequency that
P2.4.4.7 scaling, maximum 0,00 320,00 Hz 0,00 394 corresponds to the max.
value reference signal
AI2 joystick Dead Dead Zone for joystick
P2.4.4.8 0,00 20,00 % 0,00 395
Zone input
P2.4.4.9 AI2 sleep limit 0,00 100,00 % 0,00 396 Drive goest to stop if input
is below this limit for this
P2.4.4.10 AI2 sleep delay 0,00 320,00 s 0,00 397 time.
P2.4.4.11 AI2 joystick offset -100,00 100,00 % 0,00 166 Press enter for 1s to set

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offset
Table 5-12. Analogue input 2 parameters, G2.2.3

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

Code Parameter Min Max Unit Default Cust ID Note
Slot . Board input No.
P2.4.5.1 AI3 signal selection 0.1 E.10 0.1 141 If 0.1 ID27 can be
controlled from FB
P2.4.5.2 AI3 filter time 0,000 32,000 s 0,000 142 0=No filtering
AI3 custom Custom range always
P2.4.5.3 -160,00 160,00 % 0,00 144
minimum setting active. See ID326
AI3 custom Custom range always
P2.4.5.4 -160,00 160,00 % 100,00 145
maximum setting active. See ID327
0=Not inverted
P2.4.5.5 AI3 signal inversion 0 1 0 151
1=Inverted
AI3 reference Selects the value that
P2.4.5.6 scaling, minimum -32000 32000 0 1037 corresponds to the min.
value reference signal
AI3 reference Selects the value that
P2.4.5.7 scaling, maximum -32000 32000 0 1038 corresponds to the max.
value reference signal
Select parameter that
P2.4.5.8 AI3 Controlled ID 0 10000 0 1509 you want to control by ID
number.
Table 5-13. Analogue input 3 parameters, G2.2.4

**Remember to place jumpers of block X2 accordingly.

See NX User's Manual, chapter 6.2.2.2

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

Code Parameter Min Max Unit Default Cust ID Note
Slot . Board input No.
P2.4.6.1 AI4 signal selection 0.1 E.10 0.1 152 If 0.1 ID28 can be
controlled from FB
P2.4.6.2 AI4 filter time 0,000 32,000 s 0,000 153 0=No filtering
AI4 custom minimum Custom range always
P2.4.6.3 -160,00 160,00 % 0,00 155
setting active. See ID326
AI4 custom maximum Custom range always
P2.4.6.4 -160,00 160,00 % 100,00 156
setting active. See ID327
0=Not inverted
P2.4.6.5 AI4 signal inversion 0 1 0 162
1=Inverted
Selects the value that
AI3 reference scaling,
P2.4.6.6 -32000 -32000 0 1039 corresponds to the min.
minimum value
reference signal
Selects the value that
AI3 reference scaling,
P2.4.6.7 -32000 32000 0 1040 corresponds to the max.
maximum value
reference signal
Select parameter that
P2.4.6.8 AI4 Controlled ID 0 10000 0 1510 you want to control by
ID number.
Table 5-14. Analogue input 4 parameters, G2.2.5

5.5.7 Options
Code Parameter Min Max Unit Default Cust ID Note
P2.4.22 Input signal inversion 0 65535 0 1091

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apfiff09 marine vacon • 45

Control

5.6 Output Signals

5.6.1 Digital output signals (Control keypad: Menu M2 G2.3.3)
Code Parameter Min Default Cust ID Note
P2.5.1.1 Ready 0.1 0.1 432 Ready to Run
P2.5.1.2 Run 0.1 0.1 433 Running
P2.5.1.3 Fault 0.1 0.1 434 Drive in fault state
P2.5.1.4 Inverted fault 0.1 0.1 435 Drive not in fault state
P2.5.1.5 Warning 0.1 0.1 436 Warning active
P2.5.1.6 External fault 0.1 0.1 437 External fault active
P2.5.1.7 Reference fault/warning 0.1 0.1 438 4 mA fault active
Over temperature Drive over temperature
P2.5.1.8 0.1 0.1 439
warning active
P2.5.1.9 Reverse 0.1 0.1 440 Output frequency < 0 Hz
Reference <> Output
P2.5.1.10 Unrequested direction 0.1 0.1 441
frequency
Reference = Output
P2.5.1.11 At speed 0.1 0.1 442
frequency
Jogging or preset speed
P2.5.1.12 Jogging speed 0.1 0.1 443
command active
P2.5.1.13 External control place 0.1 0.1 444 IO control active
P2.5.1.14 External brake control 0.1 0.1 445
See explanations on
External brake control,
P2.5.1.15 0.1 0.1 446 chapter Brake Control
inverted
Output frequency limit 1
P2.5.1.16 0.1 0.1 447 See ID315
supervision
Output frequency limit 2
P2.5.1.17 0.1 0.1 448 See ID346
supervision
Reference limit
P2.5.1.18 0.1 0.1 449 See ID350
supervision
Temperature limit Drive temperature
P2.5.1.19 0.1 0.1 450
supervision supervision. See ID354
P2.5.1.20 Torque limit supervision 0.1 0.1 451 See ID348
Thermistor fault or
P2.5.1.21 Motor thermal protection 0.1 0.1 452
warning
Analogue input
P2.5.1.22 0.1 0.1 463 See ID356
supervision limit
Motor regulator One of limit controller is
P2.5.1.23 0.1 0.1 454
activation active
P2.5.1.24 Fieldbus digital input 1 0.1 0.1 455 FB CW B11
Select parameter to
P2.5.1.25 FB Dig 1 Parameter ID0 ID0 891
control
P2.5.1.26 Fieldbus digital input 2 0.1 0.1 456 FB CW B12
Select parameter to
P2.5.1.27 FB Dig 2 Parameter ID0 ID0 892
control
P2.5.1.28 Fieldbus digital input 3 0.1 0.1 457 FB CW B13
Select parameter to
P2.5.1.29 FB Dig 3 Parameter ID0 ID0 893
control
P2.5.1.30 Fieldbus digital input 4 0.1 0.1 169 FB CW B14
Select parameter to
P2.5.1.31 FB Dig 4 Parameter ID0 ID0 894
control
P2.5.1.32 Fieldbus digital input 5 0.1 0.1 170 FB CW B15

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Select parameter to
P2.5.1.33 FB Dig 5 Parameter ID0 ID0 895
control
P2.5.1.34 Safe Disable Active 0.1 0.1 756

5.6.2 Analogue output 1 (Control keypad: Menu M2 G2.3.5)

Code Parameter Min Max Unit Default Cust ID Note
Analogue output 1 TTF programming
P2.5.2.1 0.1 E.10 A.1 464
signal selection See chapter 3.1 and 3.2
0=Not used (4 mA / 2 V)
1=Output freq. (0—fmax)
2=Freq. reference (0—fmax)
3=Motor speed (0—Motor
nominal speed)
4=Motor current (0—InMotor)
5=Motor torque (0—TnMotor)
6=Motor power (0—PnMotor)
7=Motor voltage (0-UnMotor)
8=DC-link volt (0—1000V)
9=AI1
Analogue output 1
P2.5.2.2 0 20 1 307 10=AI2
function
11=Output freq. (fmin - fmax)
12=-2xTorque…+2xTorque
13=-2xPower…+2xPower
14=PT100 temperature
15=FB Analog Output
16= -2xSpeed…+2xSpeed
17= Encoder speed (0—
Motor nominal speed)
18=Final Freq.Ref
19= Value Control Out
20=Drive Output Power
Analogue output 1
P2.5.2.3 0,00 10,00 s 1,00 308 0=No filtering
filter time
Analogue output 1 0=Not inverted
P2.5.2.4 0 1 0 309
inversion 1=Inverted
Analogue output 1 0=0 mA (0 %)
P2.5.2.5 0 1 0 310
minimum 1=4 mA (20 %)
Analogue output 1
P2.5.2.6 10 1000 % 100 311
scale
Analogue output 1
P2.5.2.7 -100,00 100,00 % 0,00 375
offset
Table 5-15. Analogue output 1 parameters, G2.3.5

5.6.3 Analogue output 2 (Control keypad: Menu M2 G2.3.6)

Code Parameter Min Max Unit Default Cust ID Note
Analogue output 2 TTF programming
P2.5.3.1 0.1 E.10 0.1 471
signal selection See chapter 3.1 and 3.2
Analogue output 2
P2.5.3.2 0 20 4 472 See P2.5.2.2
function
Analogue output 2
P2.5.3.3 0,00 10,00 s 1,00 473 0=No filtering
filter time
Analogue output 2 0=Not inverted
P2.5.3.4 0 1 0 474
inversion 1=Inverted
Analogue output 2 0=0 mA (0 %)
P2.5.3.5 0 1 0 475
minimum 1=4 mA (20 %)
P2.5.3.6 Analogue output 2 10 1000 % 100 476

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 apfiff09 marine vacon • 47

scale
Analogue output 2
P2.5.3.7 -100,00 100,00 % 0,00 477
offset
Table 5-16. Analogue output 2 parameters, G2.3.6

5.6.4 Analogue output 3 (Control keypad: Menu M2 G2.3.7)

Code Parameter Min Max Unit Default Cust ID Note
Analogue output 3 TTF programming
P2.5.4.1 0.1 E.10 0.1 478
signal selection See chapter 3.1 and 3.2
Analogue output 3
P2.5.4.2 0 20 5 479 See P2.5.2.2
function
Analogue output 3
P2.5.4.3 0,00 10,00 s 1,00 480 0=No filtering
filter time
Analogue output 3 0=Not inverted
P2.5.4.4 0 1 0 481
inversion 1=Inverted
Analogue output 3 0=0 mA (0 %)
P2.5.4.5 0 1 0 482
minimum 1=4 mA (20 %)
Analogue output 3
P2.5.4.6 10 1000 % 100 483
scale
Analogue output 3
P2.5.4.7 -100,00 100,00 % 0,00 484
offset
Table 5-17. Analogue output 3 parameters, G2.3.7

5.6.5 Analogue output 4 (Control keypad: Menu M2 G2.3.8)

Code Parameter Min Max Unit Default Cust ID Note
Analogue output 4 TTF programming
P2.5.5.1 0.1 E.10 0.1 1527
signal selection See chapter 3.1 and 3.2
Analogue output 4
P2.5.5.2 0 20 5 1520 See P2.5.2.2
function
Analogue output 4
P2.5.5.3 0,00 10,00 s 1,00 1521 0=No filtering
filter time
Analogue output 4 0=Not inverted
P2.5.5.4 0 1 0 1522
inversion 1=Inverted
Analogue output 4 0=0 mA (0 %)
P2.5.5.5 0 1 0 1523
minimum 1=4 mA (20 %)
Analogue output 4
P2.5.5.6 10 1000 % 100 1525
scale
Analogue output 4
P2.5.5.7 -100,00 100,00 % 0,00 1524
offset
Table 5-18. Analogue output 4 parameters, G2.3.8

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5.6.6 Delayed digital output 1 (Keypad: Menu M2 G2.3.1)

Code Parameter Min Max Unit Default Cust ID Note
Digital output 1 Posibility to invert by
P2.5.6.1 0.1 E.10 0.1 486
signal selection ID1091 INV Commands
0=Not used
1=Ready
2=Run
3=Fault
4=Fault inverted
5=FC overheat warning
6=Ext. fault or warning
7=Ref. fault or warning
8=Warning
9=Reverse
10=Jogging spd selected
11=At speed
12=Mot. regulator active
13=Freq. limit 1 superv.
Digital output 1 14=Freq. limit 2 superv.
P2.5.6.2 0 28 1 312
function 15=Torque limit superv.
16=Ref. limit supervision
17=External brake control
18=I/O control place act.
19=FC temp. limit superv.
20=Reference inverted
21=Ext. brake control
inverted
22=Therm. fault or warn.
23=On/Off control
24=Fieldbus input data 1
25=Fieldbus input data 2
26=Fieldbus input data 3
27=Warning Set Reset
28=ID.Bit Select
Digital output 1 on
P2.5.6.3 0,00 320,00 s 0,00 487 0,00 = On delay not in use
delay
Digital output 1 off
P2.5.6.4 0,00 320,00 s 0.00 488 0,00 = Off delay not in use
delay
0=Not inverted
P2.5.6.5 Invert delayed DO1 0 1 0 1587
1=Inverted
P2.5.6.6 ID.Bit Free DO 0,00 2000,15 0,00 1217
Table 5-19. Delayed digital output 1 parameters, G2.3.1

5.6.7 Delayed digital output 2 (Keypad: Menu M2 G2.3.2)

Code Parameter Min Max Unit Default Cust ID Note
Digital output 2 Possibility to invert by
P2.5.7.1 0.1 E.10 0.1 489
signal selection ID1091 INV Commands
Digital output 2
P2.5.7.2 0 28 0 490 See P2.5.6.2
function
Digital output 2 on
P2.5.7.3 0,00 320,00 s 0,00 491 0,00 = On delay not in use
delay
Digital output 2 off 0,00 = Off delay not in
P2.5.7.4 0,00 320,00 s 0,00 492
delay use

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 apfiff09 marine vacon • 49

0=Not inverted
P2.5.7.5 Invert delayed DO2 0 1 0 1588
1=Inverted
P2.5.7.6 ID.Bit Free DO 0,00 2000,15 0,00 1385
Table 5-20. Delayed digital output 2 parameters, G2.3.2

5.6.8 Supervision Limits

Code Parameter Min Max Unit Default Cust ID Note
0=No limit
Output frequency
P2.5.8.1 0 2 0 315 1=Low limit supervision
limit 1 supervision
2=High limit supervision
Output frequency
P2.5.8.2 limit 1; 0,00 320,00 Hz 0,00 316
Supervised value
0=No limit
Output frequency
P2.5.8.3 0 2 0 346 1=Low limit supervision
limit 2 supervision
2=High limit supervision
Output frequency
P2.5.8.4 limit 2; 0,00 320,00 Hz 0,00 347
Supervised value
0=Not used
Torque limit
P2.5.8.5 0 2 0 348 1=Low limit supervision
supervision
2=High limit supervision
Torque limit
P2.5.8.6 -300,0 300,0 % 100,0 349
supervision value
Reducing of torque
P2.5.8.7 0 5 0 402
supervision limit
0=Not used
Reference limit
P2.5.8.8 0 2 0 350 1=Low limit
supervision
2=High limit
Reference limit
P2.5.8.9 0,00 100,0 % 0,00 351
supervision value
0=Not used
FC temperature
P2.5.8.10 0 2 0 354 1=Low limit
supervision
2=High limit
FC temperature
P2.5.8.11 –10 100 C 40 355
supervised value
0=Not used
1=AI1
Analogue
P2.5.8.12 0 4 0 356 2=AI2
supervision signal
3=AI3
4=AI4
Analogue
P2.5.8.13 supervision low 0,00 100,00 % 10,00 357 Reset limit
limit
Analogue
P2.5.8.14 supervision high 0,00 100,00 % 90,00 358 Set limit
limit
Table 5-21. Supervision Limit settings, G2.3.4

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5.7 Limit Settings

5.7.1 Current handling
Code Parameter Min Max Unit Default Cust ID Note
Reaching the limit will
P2.6.1 Current limit 0 2 x IH A IL 107
lower output frequency
Scaling from 0 to ID107
0=Not used
1=AI1
Scaling of current
P2.6.2 0 5 0 399 2=AI2
limit
3=AI3
4=AI4
5=FB Limit Scaling ID46

5.7.2 Power Handling

Code Parameter Min Max Unit Default Cust ID Note
P2.6.2.1 Power Limit 0,0 300,0 % 300,0 1722 General power limit
P2.6.2.2 Generator Power Limit 0,0 300,0 % 300,0 1290
P2.6.2.3 Motoring Power Limit 0,0 300,0 % 300,0 1289
Generator Power Limit
P2.6.2.4 0,0 300,0 % 300,0 1513 Power limit activated by DI
1
Generator Power Limit
P2.6.2.5 0,0 300,0 % 300,0 1514 Power limit activated by DI
2
P2.6.2.6 Power Limit 1 0 300,0 % 100,0 1503 Power limit activated by DI
P2.6.2.7 Power Limit 2 0 300,0 % 50,0 1504 Power limit activated by DI
P2.6.2.8 Power limit ramp rate 0 10000 %/s 100 1502
0 = No
P2.6.2.9 Power Follower 0 1 0 1705
1 = Yes
Power follower
P2.6.2.10 0,0 100,0 % 10,0 1529
hysteresis
Scaling Motoring As parameter P2.6.2
P2.6.2.11 0 5 0 179
Power Limit Scaling from 0 to ID1289
Scaling Generator As parameter P2.6.2
P2.6.2.12 0 5 0 1088
Power Limit Scaling from 0 to ID1290
Under Voltage Power
P2.6.2.13 0 1200 V 0 1611
DC Level
Under Voltage Power
P2.6.2.14 -300,0 300,0 % 0 1612
Limit

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 apfiff09 marine vacon • 51

5.7.3 Torque Handling

Code Parameter Min Max Unit Default Cust ID Note
P2.6.3.1 Torque Limit 0,0 300,0 % 300,0 609 General maximum limit
P2.6.3.2 Motoring Torque Limit 0,0 300,0 % 300,0 1287 Motoring side torque limit
Generator Torque
P2.6.3.3 0,0 300,0 % 300,0 1288 Generator side torque limit
Limit
Motoring Torque Limit
P2.6.3.4 0,0 300,0 % 300,0 1625
1
Generator Torque limit
P2.6.3.5 0,0 300,0 % 300,0 1627
1
0 = No
P2.6.3.6 Torque Follower 0 1 0 1706
1 = Yes
Torque limit increase
P2.6.3.7 0 10000 %/s 100 1532
rate
Torque limit follower
P2.6.3.8 0,0 300,0 % 10,0 1533
hysteresis
Scaling from 0 to ID1287
0=Not used
1=AI1
Scaling Motoring
P2.6.3.9 0 5 0 485 2=AI2
Torque limit
3=AI3
4=AI4
5=FB Limit Scaling ID46
P2.6.3.1 Scaling Generator Scaling from 0 to ID1288
0 5 0 1087
0 Torque limit As parameter P2.6.3.9

5.7.3.1 Torque Handling OL Settings

Code Parameter Min Max Unit Default Cust ID Note
Torque limit control
P2.6.3.9.1 0,0 32000 3000 610
P-gain
Torque limit control
P2.6.3.9.2 0,0 32000 200 611
I-gain

5.7.3.2 Torque Handling CL Settings

Code Parameter Min Max Unit Default Cust ID Note
P2.6.3.10.1 SPC Out Limit 0,0 300,0 % 300,0 1382
P2.6.3.22 SPC Pos Limit 0,0 300,0 % 300,0 646
P2.6.3.21 SPC Neg Limit 0,0 300,0 % 300,0 645

5.7.4 Frequency Handling

Code Parameter Min Max Unit Default Cust ID Note
Maximum frequency limit
P2.6.4.1 Max Frequency 2 0,00 320,00 Hz 35,00 1512 that is activated by digital
input.
Negative frequency Alternative limit for negative
P2.6.4.2 -320,00 320,00 Hz -320,00 1286
limit direction
Positive frequency Alternative limit for positive
P2.6.4.3 -320,00 320,00 Hz 320,00 1285
limit direction
Zero Frequency
P2.6.4.4 0,00 320,00 Hz 1,00 1283
limit

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 52 • Vacon apfiff09 marine

5.7.5 DC-Link Handling

Code Parameter Min Max Unit Default Cust ID Note
0=Not used
P2.6.5.1 Overvoltage controller 0 2 1 607 1=Used (no ramping)
2=Used (ramping)
0=High Voltage
Over Voltage
P2.6.5.2 0 2 1 1262 1=Normal Voltage
Reference selector
2=BrakeChopperLevel
0=Disabled
1=Used when running
2=External brake chopper
P2.6.5.3 Brake chopper 0 4 0 504 3=Used when
stopped/running
4=Used when running (no
testing)
500 V unit: 567 Vdc
P2.6.5.4 Brake Chopper Level 0 1267 V Varies 1267
6690 V unit: 836 Vdc
0=Not used
Undervoltage
P2.6.5.5 0 2 1 608 1=Used (no ramping)
controller
2=Used (ramping to zero)

5.7.5.1 DC-Link Handling CL Settings

Code Parameter Min Max Unit Default Cust ID Note
Over voltage
P2.6.5.6.1 107,00 130,00 % 118,00 1528
reference
Over voltage Maximum motoring torque
P2.6.5.6.2 motoring side torque 0,0 300,0 % 10,0 1623 when over voltage controller
limit is active.

5.7.6 Limit Settings Options

Code Parameter Min Max Unit Default Cust ID Note
Limit Total Current In 0=No
P2.6.6.1 0 1 0 1901
Closed Loop 1=Yes

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 apfiff09 marine vacon • 53

5.8 Flux and DC Current handling

5.8.1 Flux and DC Current handling OL Settings

Code Parameter Min Max Unit Default Cust ID Note

P2.7.1.1 DC braking current 0,00 IL A 0,00 507
DC braking time
P2.7.1.2 0,00 600,00 s 0,00 516 0=DC brake is off at start
at start
DC braking time
P2.7.1.3 0,00 600,00 s 0,00 508 0=DC brake is off at stop
at stop
Frequency to start DC
P2.7.1.4 braking during 0,10 10,00 Hz 1,50 515
ramp stop
ID46Scaling from 0 to ID507
0=Not used
1=AI1
Scaling of DC-braking
P2.7.1.5 0 5 0 400 2=AI2
current
3=AI3
4=AI4
5=FB Limit Scaling
DC-Brake Current in
P2.7.1.6 0,00 IL A Varies 1080
Stop
0=Off
P2.7.1.7 Flux brake 0 1 0 520
1=On
P2.7.1.8 Flux braking current 0,00 IL A IH 519

5.8.2 Flux and DC Current handling CL Settings

Code Parameter Min Max Unit Default Cust ID Note
Magnetizing current at
P2.7.2.1 0 IL A 0,00 627
start
Magnetizing time at
P2.7.2.2 0,0 600,0 s 0,0 628
start
P2.7.2.3 Flux Reference 0,0 500,0 % 100,0 1250
P2.7.2.4 Flux Off Delay -1 32000 s 0 1402 -1=forever
P2.7.2.5 Stop State Flux 0,0 150,0 % 100,0 1401
P2.7.2.6 Reduced Flux Level 0,0 500,0 % 100,0 1613
Reduced Flux
P2.7.2.7 0,00 32,00 Hz 0,00 1614
Frequency

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5.9 Motor Control

5.9.1 Motor Control Basic Settings
Code Parameter Min Max Unit Default Cust ID Note
0=Frequency control
1=Speed control
2=Speed/Torque control
P2.8.1 Motor control mode 0 4 0 600
3=Closed loop speed ctrl
4=Closed loop Speed/torque
ctrl
Motor control
P2.8.2 0 4 2 521 See P2.8.1
mode 2

5.9.2 U/f Settings

Code Parameter Min Max Unit Default Cust ID Note
0=Not used
P2.8.3.1 U/f optimisation 0 1 0 109
1=Automatic torque boost
0=Linear
1=Squared
P2.8.3.2 U/f ratio selection 0 3 0 108
2=Programmable
3=Linear with flux optim.
P2.8.3.3 Field weakening point 6,00 320,00 Hz 50,00 602
Voltage at field
P2.8.3.4 10,00 200,00 % 100,00 603 n% x Unmot
weakening point
U/f curve midpoint
P2.8.3.5 0,00 P2.8.3.3 Hz 50,00 604
frequency
n% x Unmot
U/f curve midpoint
P2.8.3.6 0,00 100,00 % 100,00 605 Parameter max. value =
voltage
P2.6.5
Output voltage at zero
P2.8.3.7 0,00 40,00 % 0,00 606 n% x Unmot
frequency

5.9.3 Closed Loop Control Settings

Code Parameter Min Max Unit Default Cust ID Note
Current control
P2.8.4.1 0,00 100,00 % 40,00 617
P gain
Current control
P2.8.4.2 0,0 3200,0 ms 1,5 657
I Time
P2.8.4.3 Slip adjust 0 500 % 75 619
Acceleration
P2.8.4.4 0,00 300,00 s 0,00 626
compensation
P2.8.4.5 Speed Error Filter TC 0 1000 ms 0 1311
P2.8.4.6 Encoder filter time 0 1000 ms 0 618
0=Encoder Input 1
P2.8.4.7 Encoder Selection 0 1 0 1595
1=Encoder Input 2
SC Torque Chain Default 96 after
P2.8.4.8 0 65535 0 1557
Select identification.

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 apfiff09 marine vacon • 55

5.9.3.1 PMSM Control settings

Code Parameter Min Max Unit Default Cust ID Note
PMSM Shaft
P2.8.5.1 0 65535 0 649
Position
P2.8.5.2 0=Automatic
Start Angle 1=Forced
0 10 0 1691
Identification mode 2=After Power Up
3=Disabled
P2.8.5.3 Start Angle
Identification DC 0,0 150,0 % 0,0 1756
Current
P2.8.5.4 Polarity Pulse
-10,0 200,0 % 0,0 1566
Current
P2.8.5.5 Start Angle ID Time 0 32000 ms 0 1755
P2.8.5.6 I/f Current 0,0 150,0 % 50,0 1693
P2.8.5.7 I/f Control Limit 0,0 300,0 % 10,0 1790
P2.8.5.8 Flux Current Kp 0 32000 5000 651
P2.8.5.9 Flux Current Ti 0 1000 25 652
P2.8.5.10 External Id
-150,0 150,0 % 0,0 1730
Reference
P2.8.5.11 Enable Rs 0=No
0 1 1 654
Identification 1=Yes
P2.8.5.12 Lsd Voltage Drop -32000 32000 0 1757
P2.8.5.13 Lsq Voltage Drop -32000 32000 0 1758

5.9.3.2 Stabilators
Code Parameter Min Max Unit Default Cust ID Note
Torque Stabilator
P2.8.6.1 0 1000 100 1412
Gain
P2.8.6.2 Torque Stabilator
0 1000 800 1413 With PMSM use 980
Damping
P2.8.6.3 Torque Stabilator
0 1000 50 1414
Gain in FWP
P2.8.6.4 Torque Stabilator
0 1500 150 1720
Limit
P2.8.6.5 Flux Circle Stabilator
0 32767 10000 1550
Gain
P2.8.6.6 Flux Circle Stabilator
0 32700 900 1551
TC
P2.8.6.7 Flux Stabilator Gain 0 32000 500 1797
P2.8.6.8 Flux Stab Coeff -30000 30000 1796
P2.8.6.9 Voltage Stabilator
0 100,0 % 10,0 1738
Gain
P2.8.6.10 Voltage Stabilator TC 0 1000 900 1552
P2.8.6.11 Voltage Stabilator
0 320,00 Hz 1,50 1553
Limit

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5.9.3.3 Tuning parameters

Code Parameter Min Max Unit Default Cust ID Note
P2.8.7.1 Fly Start Options 0 65535 0 1610
P2.8.7.2 MC Options 0 65535 0 1740
P2.8.7.3 Resonance Damping
0 200 0,00 1760
Select
P2.8.7.4 Damping Frequency 0 320,00 Hz 0 1763
P2.8.7.5 Damping Gain 0 32000 0 1764
P2.8.8.6 Damping Phase 0 360 0,00 1765
P2.8.7.7 Damping Activation
0 320,00 % 0 1770
Frequency
P2.8.7.8 Damping Filter Time
0 32700 105 1771
Constant
P2.8.7.9 Over Modulation If you have sini filter in use
50 120 % 105 1515
Limit set this to 101 %
P2.8.7.10 Modulator Index
0 200 % 100 655
Limit
P2.8.7.11 DC Voltage Filter 0,0 500,0 0,0 1591

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 apfiff09 marine vacon • 57

5.9.4 Identification parameters (Control keypad: Menu M2 G2.6.6)

Code Parameter Min Max Unit Default Cust ID Note
P2.8.8.1 Flux 10 % 0 2500 % 10 1355
P2.8.8.2 Flux 20 % 0 2500 % 20 1356
P2.8.8.3 Flux 30 % 0 2500 % 30 1357
P2.8.8.4 Flux 40 % 0 2500 % 40 1358
P2.8.8.5 Flux 50 % 0 2500 % 50 1359
P2.8.8.6 Flux 60 % 0 2500 % 60 1360
P2.8.8.7 Flux 70 % 0 2500 % 70 1361
P2.8.8.8 Flux 80 % 0 2500 % 80 1362
P2.8.8.9 Flux 90 % 0 2500 % 90 1363
P2.8.8.10 Flux 100 % 0 2500 % 100 1364
P2.8.8.11 Flux 110 % 0 2500 % 110 1365
P2.8.8.12 Flux 120 % 0 2500 % 120 1366
P2.8.8.13 Flux 130 % 0 2500 % 130 1367
P2.8.8.14 Flux 140 % 0 2500 % 140 1368
P2.8.8.15 Flux 150 % 0 2500 % 150 1369
P2.8.8.16 Used for torque
Rs voltage drop 0 30000 Varies 662
calculation in open loop
P2.8.8.17 Ir add zero point
0 30000 Varies 664
voltage
P2.8.8.18 Ir add generator
0 30000 Varies 665
scale
P2.8.8.19 Ir add motoring
0 30000 Varies 667
scale
P2.8.8.20 Ls Voltage
0 3000 0 673
Dropp
P2.8.8.21 Motor BEM
0,00 320,00 % 0 674
Voltage
P2.8.8.22 Iu Offset -32000 32000 0 668
P2.8.8.23 Iv Offset -32000 32000 0 669
P2.8.8.24 Iw Offset -32000 32000 0 670
P2.8.8.25 Estimator Kp 0 32000 1781
P2.8.8.26 Speed step -50,0 50,0 0,0 0,0 1252 NCDrive speed tuning
P2.8.8.27 Torque step -100,0 100,0 0,0 0,0 1253 NCDrive torque tuning
Table 5-22. Identification parameters, G2.6.4

5.9.4.1 Fine tuning parameters

Code Parameter Min Max Unit Default Cust ID Note
P 2.8.9.1 DeadTimeComp. 1751
P 2.8.9.2 DeadTieContCurL 1752
P 2.8.9.3 DeadTHWCompDisab 1750
P 2.8.9.4 MakeFluxTime 660
P 2.8.9.5 CurrMeasFCompTC 1554
P 2.8.9.6 TCDunDampGain 1576
P 2.8.9.7 TCDynDampTC 1577
P 2.8.9.8 CurrLimOptions 1702
P 2.8.9.9 AdConvStartShift 1701
P 2.8.9.10 VoltageCorr. Kp 1783
P 2.8.9.11 VoltageCorr. Ki 1784
P 2.8.9.12 GearRatioMultipl 1558
P 2.8.9.13 GearRatioDivider 1559
Table 5-23. Fine tuning parameters

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5.10 Speed Control

5.10.1 Speed Control Basic settings
Code Parameter Min Max Unit Default Cust ID Note
P2.9.1 Load drooping 0,00 100,00 % 0,00 620
P2.9.2 Load Drooping Time 0 32000 ms 0 656 For dynamic changes
0=Normal
Load Drooping
P2.9.3 0 2 0 1534 1= At zero Freq Lim
Removal
2=Linear zero to Fnom
Table 5-24. Speed control basic settings

5.10.2 Speed Control OL Settings

Code Parameter Min Max Unit Default Cust ID Note
Speed controller
P2.9.4.1 0 32767 3000 637
P gain (open loop)
Speed controller
P2.9.4.2 0 32767 300 638
I gain (open loop)
Table 5-25. Speed control OL settings

5.10.3 Speed Control CL Settings

Code Parameter Min Max Unit Default Cust ID Note
Speed control P
P2.9.5.1 0 1000 30 613
gain
Speed control I Negative value uses 0,1 ms
P2.9.5.2 -32000 32000 ms 100 614
time format instead of 1 ms
0-speed time at
P2.9.5.3 0 32000 ms 100 615
start
0-speed time at
P2.9.5.4 0 32000 ms 100 616
stop
P2.9.5.5 SPC f1 Point 0,00 320,00 Hz 0,00 1301
P2.9.5.6 SPC f0 Point 0,00 320,00 Hz 0,00 1300
P2.9.5.7 SPC Kp f0 0 1000 % 100 1299
P2.9.5.8 SPC Kp FWP 0 1000 % 100 1298
SPC Torque
P2.9.5.9 0 400,0 % 0,0 1296
minimum
SPC Torque
P2.9.5.10 0 1000 % 100 1295
minimum Kp
SPC Kp TC
P2.9.5.11 0 1000 ms 0 1297
Torque
Table 5-26.Speed control CL settings

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 apfiff09 marine vacon • 59

5.11 Drive Control

Code Parameter Min Max Unit Default Cust ID Note
P2.10.1 Switching frequency 1,0 Varies kHz Varies 601
P2.10.2 Modulator Type 0 3 0 1516
P2.10.3 Control Options 0 65535 64 1084
P2.10.4 Control Options 2 0 65535 0 1798
P2.10.5 Advanced Options 1 0 65535 0 1560
P2.10.6 Advanced Options 2 0 65535 0 1561
P2.10.7 Advanced Options 4 0 65535 0 1563
P2.10.8 Advanced Options 5 0 65535 0 1564
P2.10.9 Advanced Options 6 0 65535 0 1565
P2.10.10 Restart Delay 0 65535 s Varies 1424
P2.10.11 Restart Delay CL 0 60,000 s Varies 672 CL and Flying Start
Table 5-27.Drive control

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5.12 Master Follower Control Parameters (Control keypad: Menu M2 G2.5)

Code Parameter Min Max Unit Default Cust ID Note
0=Not Used
1=Master
Master Follower
P2.11.1 0 4 0 1324 2=Follower
Mode
3=Drive Synch Master
4=Drive Synch Follower
0=AI1
1=AI2
2=AI1+AI2
3=AI1-AI2
4=AI2-AI1
5=AI1xAI2
6=AI1 Joystick
7=AI2 Joystick
8=Keypad
Follower Speed
P2.11.2 0 18 17 1081 9=Fieldbus
Reference Select
10=Motor potentiometer
11=AI1, AI2 minimum
12=AI1, AI2 maximum
13=Max frequency
14=AI1/AI2 selection
15=Encoder 1
16=Encoder 2
17=Master Reference
18=Master Ramp Out
0=Not used
1=AI1
2=AI2
3=AI3
4=AI4
Follower Torque 5=AI1 joystick
P2.11.3 0 10 10 1083
Reference Select 6=AI2 joystick
7=Torque reference from
keypad, R3.5
8=FB Torque Reference
9=Master Torque OL
10=Master Torque CL
0=Coasting
Follower Stop
P2.11.4 0 2 2 1089 1=Ramping
Function
2=As Master
Not used when Ramp
follower or in drive sync
mode
0=Master or Own
P2.11.5 MF Brake Logic 0 2 0 1326
1=Own
2=Master & Own, Master
monitors also follower
brake status.
P2.11.6 MF Mode 2 0 4 0 1093 P2.11.1
0=No response
1=Warning
P2.11.7 System Bus Fault 0 3 1 1082
2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
System Bus Fault
P2.11.8 0,00 320,00 s 3,00 1352
Delay
P2.11.8 Follower Fault 0 3 1 1536 See P2.11.6
Table 5-28. Master Follower Control parameters, G2.11

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 apfiff09 marine vacon • 61

5.12.1.1 Drive Synch specific parameters

Code Parameter Min Max Unit Default Cust ID Note
Drive Synch Follower
2.11.10.1 0 2 1531
fault
2.11.10.2 Follower phase shift 0,0 360,0 Dec 0,0 1518
DC Voltage Blance
2.11.10.3 0 1000 100 1519
Gain
2.11.10.4 SB Last ID 2nd 0 64 0 1799
Table 5-29. Drive Synch specific parameters

5.13 Protections (Control keypad: Menu M2 G2.7)

5.13.1 Common settings
Code Parameter Min Max Unit Default Cust ID Note
0=No response
Input phase 1=Warning
P2.12.1.1 0 3 0 730
supervision 2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
Response to 0=Fault stored in history
P2.12.1.2 0 1 0 727
undervoltage fault 1=Fault not stored
Output phase
P2.12.1.3 0 3 2 702 See P2.12.1.1
supervision
Response to slot
P2.12.1.4 0 3 2 734 See P2.12.1.1
fault
Safe Disable
P2.12.1.5 0 2 1 755 See P2.12.1.1
Response
0=No response
P2.12.1.6 No Motor Response 0 2 1 1841 1=Warning
2=Fault,stop acc. to 2.3.2
Table 5-30. Common settings

5.13.2 Temperature sensor protections

Code Parameter Min Max Unit Default Cust ID Note
0=Not used (ID Write)
1 = Sensor 1 in use
No. of used inputs 2 = Sensor 1 & 2 in use
P2.12.2.1 0 5 0 739
on board 1 3 = Sensor 1 & 2 & 3 in use
4 = Sensor 2 & 3 in use
5 = Sensor 3 in use
0=No response
Response to 1=Warning
P2.12.2.2 0 3 2 740
temperature fault 2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
Board 1 warning
P2.12.2.3 –30,0 200,0 Cº 120,0 741
limit
P2.12.2.4 Board 1 fault limit –30,0 200,0 Cº 130,0 742
0=Not used (ID Write)
1 = Sensor 1 in use
No. of uses inputs 2 = Sensor 1 & 2 in use
P2.12.2.5 0 5 0 743
on board 2 3 = Sensor 1 & 2 & 3 in use
4 = Sensor 2 & 3 in use
5 = Sensor 3 in use
Response to 0=No response
P2.12.2.6 0 3 2 766
temperature fault 1=Warning

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2=Fault,stop acc. to 2.3.2

3=Fault,stop by coasting
Board 2 warning
P2.12.2.7 –30,0 200,0 Cº 120,0 745
limit
P2.12.2.8 Board 2 fault limit –30,0 200,0 Cº 130,0 746
P2.12.2.9.1 Channel 1B Warn -30,0 200,0 Cº 0,0 764
P2.12.2.9.2 Channel 1B Fault -30,0 200,0 Cº 0,0 765
P2.12.2.9.3 Channel 1C Warn -30,0 200,0 Cº 0,0 768
P2.12.2.9.4 Channel 1C Fault -30,0 200,0 Cº 0,0 769
P2.12.2.9.5 Channel 2B Warn -30,0 200,0 Cº 0,0 770
P2.12.2.9.6 Channel 2B Fault -30,0 200,0 Cº 0,0 771
P2.12.2.9.7 Channel 2C Warn -30,0 200,0 Cº 0,0 772
P2.12.2.9.8 Channel 2C Fault -30,0 200,0 Cº 0,0 773
Table 5-31. PT-100 protections

5.13.3 Stall Protection

Code Parameter Min Max Unit Default Cust ID Note
0=No response
1=Warning
P2.12.3.1 Stall protection 0 3 0 709
2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
P2.12.3.2 Stall current 0,1 2 x IH A IH 710
P2.12.3.3 Stall time limit 1,00 120,00 s 15,00 711
P2.12.3.4 Stall frequency limit 1,0 P2.1.2 Hz 25,0 712
Table 5-32. Stall protection

5.13.4 Speed error monitoring

Code Parameter Min Max Unit Default Cust ID Note
0=No response
1=Warning
P2.12.4.1 Speed Error Mode 0 3 0 752
2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
P2.12.4.2 Speed Error Limit 0,0 100,0 % 5,0 753
P2.12.4.3 Speed Fault Delay 0,00 100,00 S 0,1 754
Table 5-33. Speed error monitoring

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5.13.5 Motor thermal protections

Code Parameter Min Max Unit Default Cust ID Note
0=No response
Thermal protection 1=Warning
P2.12.5.1 0 3 2 704
of the motor 2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
Motor ambient –
P2.12.5.2 100,0 % 0,0 705
temperature factor 100,0
Motor cooling factor
P2.12.5.3 0,0 150,0 % 40,0 706
at zero speed
Motor thermal time
P2.12.5.4 1 200 min 45 707
constant
P2.12.5.5 Motor duty cycle 0 100 % 100 708
Response to
P2.12.5.6 0 3 2 732 See P2.12.5.1
thermistor fault
0=No response
P2.12.5.7 Over Load Response 0 2 1 1838 1=Warning
2=Fault
0=Not Used
1=Current
P2.12.5.8 Over Load Signal 0 2 0 1837
2=Torque
3=Power
Over Load Maximum
P2.12.5.9 0,0 300,0 % 150,0 1839
Input
Over Load
P2.12.5.9 0 10000 200 1840
maximum Step
Table 5-34. Motor thermal protections

5.13.6 Living Zero monitoring

Code Parameter Min Max Unit Default Cust ID Note
0=No response
1=Warning
Response to 4mA 2=Warning+Previous Freq.
P2.12.6.1 0 5 0 700
reference fault 3=Wrng+PresetFreq 2.12.6.2
4=Fault,stop acc. to 2.3.2
5=Fault,stop by coasting
4mA reference fault
P2.12.6.2 0,00 P2.1.2 Hz 0,00 728
frequency
Table 5-35. Living zero monitoring

5.13.7 Underload protection

Code Parameter Min Max Unit Default Cust ID Note
0=No response
1=Warning
P2.12.7.1 Underload protection 0 3 0 713
2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
Field weakening area
P2.12.7.2 10,0 150,0 % 50,0 714
load
P2.12.7.3 Zero frequency load 5,0 150,0 % 10,0 715
Underload
P2.12.7.4 2,00 600,00 s 20,00 716
protection time limit
Table 5-36. Underload protection

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5.13.8 Earth Fault protection

Code Parameter Min Max Unit Default Cust ID Note
0=No response
1=Warning
P2.12.8.1 Earth fault protection 0 3 2 703
2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
Eart fault current
P2.12.8.2 0,0 100,0 % 50,0 1333
limit
Table 5-37.Earth fault protection

5.13.9 Cooling protection

Code Parameter Min Max Unit Default Cust ID Note
0= No Action, Warning
Cooling Fault 1= Warning, Warning
P2.12.9.1 1 2 2 762
Response 2= Warning, Fault
3= No Action, Fault
P2.12.9.2 Cooling Fault delay 0,00 7,00 s 2,00 751
Table 5-38.Cooling protection

5.13.10 Fieldbus protection

Code Parameter Min Max Unit Default Cust ID Note
0=No Action
Fieldbus 1=Warning
P2.12.10.1 Communication 0 3 2 733 2= Fault
response 3= Fault,stop by coasting
4=Warning; Prev Freq
Delay to fault when FB
P2.12.10.2 FB Fault Delay 0,00 60,00 s 0,50 1850
Response is 4
Delay when WD pulse is
P2.12.10.3 FB Watchdog Delay 0,00 30,00 s 0,00 1354
missing. 0,00 s = Disabled
Table 5-39. Fieldbus protection

5.13.11 External Fault

Code Parameter Min Max Unit Default Cust ID Note
0=No response
Response to external 1=Warning
P2.12.11.1 0 3 2 701
fault 1 2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
0=No response
Response to external 1=Warning
P2.12.11.2 0 3 2 747
fault 2 2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting

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5.13.12 Encoder Fault

Code Parameter Min Max Unit Default Cust ID Note
Encoder Fast Hz
P2.12.12.1 0,00 320,00 Hz 1801
Limit
P2.12.12.2 Fast Time Limit 0,00 32,00 s 1805
P2.12.12.3 Iq Fault Limit 0 300 % 1800

5.14 Fieldbus parameters (Control Keypad: Menu M2 G2.9)

Code Parameter Min Max Unit Default Cust ID Note
P2.13.1 Fieldbus min scale 0,00 320,00 Hz 0,00 850
P2.13.2 Fieldbus max scale 0,00 320,00 Hz 0,00 851
Choose monitoring data
Fieldbus process
P2.13.3 0 10000 1 852 with parameter ID
data out 1 selection
Def: Output Frequency
Choose monitoring data
Fieldbus process
P2.13.4 0 10000 2 853 with parameter ID
data out 2 selection
Def: Motor Speed
Choose monitoring data
Fieldbus process
P2.13.5 0 10000 3 854 with parameter ID
data out 3 selection
Def: Motor Current to FB
Choose monitoring data
Fieldbus process
P2.13.6 0 10000 4 855 with parameter ID
data out 4 selection
Def: Motor Torque
Choose monitoring data
Fieldbus process
P2.13.7 0 10000 5 856 with parameter ID
data out 5 selection
Def: Motor Power
Choose monitoring data
Fieldbus process
P2.13.8 0 10000 6 857 with parameter ID
data out 6 selection
Def: Motor Voltage
Choose monitoring data
Fieldbus process
P2.13.9 0 10000 7 858 with parameter ID
data out 7 selection
Def: DC-Link Voltage
Choose monitoring data
Fieldbus process
P2.13.10 0 10000 37 859 with parameter ID
data out 8 selection
Def: Last Active Fault
Choose controlled data with
Fieldbus process
P2.13.11 0 10000 1140 876 parameter ID.
data in 1 selection
Def: FB Torque Reference
Choose controlled data with
Fieldbus process
P2.13.12 0 10000 46 877 parameter ID.
data in 2 selection
Def: FB Limit Scaling
Choose controlled data with
Fieldbus process
P2.13.13 0 10000 47 878 parameter ID.
data in 3 selection
Def: FB Adjust Reference
Choose controlled data with
Fieldbus process
P2.13.14 0 10000 48 879 parameter ID.
data in 4 selection
Def: FB Analogue Output.
Fieldbus process Choose controlled data with
P2.13.15 0 10000 0 880
data in 5 selection parameter ID
Fieldbus process Choose controlled data with
P2.13.16 0 10000 0 881
data in 6 selection parameter ID
Fieldbus process Choose controlled data with
P2.13.17 0 10000 0 882
data in 7 selection parameter ID
Fieldbus process Choose controlled data with
P2.13.18 0 10000 0 883
data in 8 selection parameter ID
General Status Word Choose monitoring data in
P2.13.19 0 10000 67 897
ID General Status Word

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FB Actual Speed
P2.13.20 0 1 0 1741 0=Calculated 1=Actual
Mode
0=All 4=Slot D
P2.13.21 Control Slot Selector 0 8 0 1440
5=Slot E
1 = Standard
P2.13.22 State Machine 1 2 1 896
2 = ProfiDrive
FB Speed Reference
P2.13.23 FB Custom Minimum -32000 +32000 0 898
Minimum scaling
FB Custom FB Speed Rederence
P2.13.24 -32000 +32000 +10000 899
Maximum Maximum Scaling
Table 5-40. Fieldbus parameters

5.14.1 Value Control (Keypad: Menu M2 G2.2.9)

Code Parameter Min Max Unit Default Cust ID Note
Control Input Signal
P2.14.1.1 0 10000 ID 0 1580
ID
Control Input Off
P2.14.1.2 -32000 32000 0 1581
Limit
Control Input On
P2.14.1.3 -32000 32000 0 1582
Limit
Control Output Off
P2.14.1.4 -32000 32000 0 1583
Value
Control Output On
P2.14.1.5 -32000 32000 0 1584
Value
Control Output Signal
P2.14.1.6 0 10000 ID 0 1585
ID
0=SR ABS
1=Scale ABS
2=Scale INV ABS
P2.14.1.7 Control Mode 0 5 0 1586
3=SR
4=Scale
5=Scale INV
Control Output
P2.14.1.8 0,000 32,000 s 0,000 1721
Filtering rime
Table 5-41. Power reference input signal selection, G2.2.8

5.14.2 DIN ID Control 1

Code Parameter Min Max Unit Default Cust ID Note
P2.14.2.1 ID Control DIN 0.1 E.10 0.1 1570 Slot . Board input No.
Select ID that is
P2.14.2.2 Controlled ID 0 10000 ID 0 1571
controlled by digital input
P2.14.2.3 False value -32000 32000 0 1572 Value when DI is low
P2.14.2.4 True value -32000 32000 0 1573 Value when DI is high
Table 5-42. DIN ID Control parameters

5.14.3 DIN ID Control 2

Code Parameter Min Max Unit Default Cust ID Note
P2.14.3.1 ID Control DIN 0.1 E.10 0.1 1590 Slot . Board input No.
Select ID that is
P2.14.3.2 Controlled ID 0 10000 ID 0 1575
controlled by digital input
P2.14.3.3 False value -32000 32000 0 1592 Value when DI is low
P2.14.3.4 True value -32000 32000 0 1593 Value when DI is high
Table 5-43. DIN ID Control parameters

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5.14.4 DIN ID Control 3

Code Parameter Min Max Unit Default Cust ID Note
P2.14.4.1 ID Control DIN 0.1 E.10 0.1 1578 Slot . Board input No.
Select ID that is
P2.14.4.2 Controlled ID 0 10000 ID 0 1579
controlled by digital input
P2.14.4.3 False value -32000 32000 0 1594 Value when DI is low
P2.14.4.4 True value -32000 32000 0 1596 Value when DI is high
Table 5-44. DIN ID Control parameters

5.14.5 ID Controlled Digital Output 1

Code Parameter Min Max Unit Default Cust ID Note
P2.14.5.1 ID.Bit Free DO 0,00 2000,15 ID.Bit 0,00 1216
P2.14.5.2 Free DO Sel 0,1 E.10 0,1 1574
Table 5-45. ID Controlled Digital Output parameters, G2.3.10

5.14.6 ID Controlled Digital Output 2

Code Parameter Min Max Unit Default Cust ID Note
P2.14.6.1 ID.Bit Free DO 0,00 2000,15 ID.Bit 0,00 1386
P2.14.6.2 Free DO Sel 0,1 E.10 0,1 1574
Table 5-46. ID Controlled Digital Output parameters, G2.3.10

5.14.7 Free DIN Delay

Code Parameter Min Max Unit Default Cust ID Note
P2.14.7.1 ID.Bit Free DIN 0,00 2000,15 ID.Bit 0,00 1832
P2.14.7.2 On Delay 0,00 320,00 s 0,00 1833
P2.14.7.3 Off Delay 0,00 320,00 s 0,00 1834
P2.14.7.4 Mono Time 0,00 320,00 s 0,00 1836
P2.14.7.5 Control Out ID 0 10000 0 1835
Table 5-47. ID Controlled Digital Output parameters, G2.3.10

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5.15 Brake Control (Control keypad: Menu M2 G2.15)

Code Parameter Min Max Unit Default Cust ID Note
Time that is required to
P2.15.1 BrakeMechDelay 0,00 320,00 s 0,00 1544
open the brake
Opening limit and
Brake OFF FreqLim maximum reference
P2.15.2 0,00 320,00 Hz 1,50 1535
Open Loop limit when brake is
closed.
Opening limit and
Brake OFF FreqLim maximum reference
P2.15.3 0,00 320,00 Hz 0,00 1555
Closed Loop limit when brake is
closed.
Close frequency from
P2.15.4 Brake ON FreqLim + 0,00 320,00 Hz 1,00 1539
positive direction
Close frequency from
P2.15.5 Brake ON FreqLim - 0,00 320,00 Hz 1,50 1540
negative direction
Brake is closed
Brake On/Off
P2.15.6 0,00 320,00 A 0,00 1085 immediately id current
Current Limit
goes below this value.
Function disabled when
Generator Torque
zero. Point where
P2.15.7 limit increase speed 0,00 320,00 Hz 0,00 1547
Generator torque limit
level
stars to increase.
Generator Torque Point where torque
limit increase value of ID1549 is added
P2.15.8 0,00 320,00 Hz 100,00 1548
maximum speed to base generator torque
limit limit.
Generator Torque
P2.15.9 limit increase 0,0 300,0 % 300,0 1549
maximum addition
1=Warning
P2.15.10 Brake Fault Action 1 3 1 1316 2=Fault,stop acc. to 2.3.2
3=Fault,stop by coasting
P2.15.11 Brake Fault Delay 0,00 320,00 s 0,20 1317
Table 5-48. Brake control parameters, G2.3.9

5.15.1.1 Brake Control Start up torque for CL

Code Parameter Min Max Unit Default Cust ID Note
0=Not used
1=Torque memory
P2.15.12.1 Start-up torque 0 3 0 621
2=Torque reference
3=Start-up torque fwd/rev
P2.15.12.2 Start-up torque FWD –300,0 300,0 s 0,0 633
P2.15.12.3 Start-up torque REV –300,0 300,0 s 0,0 634
P2.15.12.4 Start Up Torque Time -1 10000 ms -1 1371 -1 = Automatic

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 apfiff09 marine vacon • 69

5.16 Autorestart parameters (Control keypad: Menu M2 G2.8)

Code Parameter Min Max Unit Default Cust ID Note
P2.16.1 Wait time 0,10 10,00 s 0,50 717
P2.16.2 Trial time 0,00 60,00 s 0,10 718
0=Ramp
1=Flying start
P2.16.3 Start function 0 2 2 719
2=According to Stop
Function
Number of tries after
P2.16.4 0 10 0 720
undervoltage trip
Number of tries after
P2.16.5 0 10 0 721
overvoltage trip
Number of tries after
P2.16.6 0 3 0 722
overcurrent trip
Number of tries after
P2.16.7 0 10 0 723
reference trip
Number of tries after
P2.16.8 motor temperature 0 10 0 726
fault trip
Number of tries after
P2.16.9 0 10 0 725
external fault trip
Number of tries after
P2.16.10 0 10 0 738
underload fault trip
P2.16.11 Fault Simulation 0 65535 0 1569
Table 5-49. Autorestart parameters, G2.16

5.17 PI Control Parameters (Control keypad: Menu M2 G2.15)

Code Parameter Min Max Unit Step Default ID Note
P2.17.1 PI controller gain 0,0 1000,0 % 100,0 118
PI controller I-
P2.17.2 0,00 320,00 s 1,00 119
time
P2.17.3 PI Reference -32000 32000 0 167
PI controller
P2.17.4 reference signal 0 10000 167 332 Default P2.17.3
ID
P2.17.5 PI Actual value ID 0 10000 0 333
PI Controller
P2.17.6 0 10000 0 1802
output ID
>= 1 = No inversion
PI Controller
P2.17.7 -32000 32000 1 340 <=-1 = Inverted
Scale
0 = Illegal value
P2.17.8 PI Low limit -32000 32000 359
P2.17.9 PI High limit -32000 32000 10000 360
PI Controller
P2.17.10 -3200,0 3200,0 % 100,0 1803
Output scale
P2.17.11 PI Stop state value -32000 32000 0 1806
Table 50. PI Controller parameters, G2.15

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5.18 Keypad control (Control keypad: Menu M3)

The parameters for the selection of control place and direction on the keypad are listed
below. See the Keypad control menu in the Vacon NX User's Manual.

Code Parameter Min Max Unit Default Cust ID Note

0=PC Control
1=I/O terminal
P3.1 Control place 1 3 2 125
2=Keypad
3=Fieldbus
R3.2 Keypad reference P2.1.1 P2.1.2 Hz 0,00
Direction (on 0=Forward
P3.3 0 1 0 123
keypad) 1=Reverse
0=Limited function of Stop
button
P3.4 Stop button 0 1 1 114
1=Stop button always
enabled
R3.5 Torque reference 0,0 100,0 % 0,0
Table 5-51. Keypad control parameters, M3

5.19 System menu (Control keypad: Menu M6)

For parameters and functions related to the general use of the frequency converter, such as
application and language selection, customised parameter sets or information about the
hardware and software, see Chapter 7.3.6 in the Vacon NX User's Manual.

5.20 Expander boards (Control keypad: Menu M7)

The M7 menu shows the expander and option boards attached to the control board and
board-related information. For more information, see Chapter 7.3.7 in the Vacon NX User's
Manual.

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6. DESCRIPTION OF PARAMETERS

6.1 Basic Parameters

P2.1.1 Minimum frequency ID101 “Min Frequency”

Defines minimum frequency of any adjustable reference input (i.e. reference is not a
parameter). Minimum frequency is bypassed when jogging speed, preset speed or
inching reference is used.

P2.1.2 Maximum frequency ID102 “Max Frequency”

Defines maximum frequency limit both negative and positive directions.
Direction dependent frequency limits can be given in “G: Limit Settings \ Frequency
Handling”.

Note: Do not change this parameter to lower value that current output frequency if
changed during running. The change will be executed without ramp.

Drive Synch operation

The maximum recommended frequency is 100 Hz.

P2.1.3 Motor Nominal Voltage ID110 “Motor Nom Voltg”

Find this value Un on the rating plate of the motor.

P2.1.4 Motor Nominal Frequency ID111 “Motor Nom Freq”

Find this value fn on the rating plate of the motor. This parameter sets the field
weakening point to the same value in “G: Motor Control \ U/f Settings”.

P2.1.5 Motor nominal speed ID112 “Motor Nom Speed”

Find this value nn on the rating plate of the motor. Note also nominal frequency.

Some cases motor nominal speed is shown with one decimal. In this case the practice is
to give nearest integer number and adjust motor nominal frequency so that drive will
calculate correct [FW]PolePairNumber.

P2.1.6 Motor nominal current ID113 “Motor Nom Currnt”

Find this value In on the rating plate of the motor. If magnetization current is provided set
also Magnetization current P2.1.9 before identification run.

DriveSynch Operation
Motor Nominal current from the motor name plate / Number of drives in parallel using
Vacon Drive Synch.

P2.1.7 Motor cos phi ID120 “Motor Cos Phi”

Find this value “cos phi” on the rating plate of the motor.

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P2.1.8 Motor Nominal Power ID116 “Motor Nom Power”

Find this value on the rating plate of the motor.

Drive Synch Operation

Motor Nominal power from the motor name plate / Number of drives in parallel using
Vacon Drive Synch.

6
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P2.1.9 Magnetizing current ID612 “MagnCurrent”

Set here the motor magnetizing current (no-load current).
Can be measured by running motor without load at 2/3 of nominal speed.

When value is zero the magnetization current is calculated from motor nominal
parameters

1
=

( ) 1
=
( )

( ( )> ( )
[ ] = ,
( )

If given before identification run this is used as reference for U/f tuning when making
identification without rotating the motor.

DriveSynch Operation
Motor Nominal magnetization current / Number of drives in parallel using Vacon Drive
Synch.

P2.1.10 Identification ID631 “Identification”

Identification Run is a part of tuning the motor and the drive specific parameters. It is a
tool for commissioning and service of the drive with the aim to find as good parameter
values as possible for most drives. The automatic motor identification calculates or
measures the motor parameters that are needed for optimum motor and speed control.
NOTE: Set motor control mode to Frequency Control before identification!
NOTE: During identification drive will not open mechanical brake for safety reasons. If
motor rotation requires that brake is opened this needs to be achieved externally.
NOTE: During identification run torque and power limits should be above 100 %. Also
current limit should be above motor nominal current.
NOTE: During identification run acceleration time should be below 20 second.
NOTE: If switching frequency is changed after identification it’s recommended to do
identification run again.
NOTE: Small motor with long motor cabled may require reduction of switching
frequency if identification is not successful.

0 = “No Action” No action

No identification requested.

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1 = “ID No Run” - Identification without rotating the motor

Current is applied to the motor but shaft will not be rotated. U/f settings are identified.
This identification is minimum requirement if motor is only to be used in open loop
control. it is however recommended to make always identification with rotating motor if
need for closed loop control comes after mechanics are connected to shaft.

Example of behaviour

2 = “ID With Run” - Identification with motor rotating

Shaft is rotated during identification.

This identification must be run without load on motor shaft. U/f settings and
magnetization current are identified. This identification should be run regardless of the
final operation mode (closed loop or open loop) to get the best performance from the
motor. When identification with motor rotation is successfully finished the drive starts to
use internal slip estimator to compensate the motor temperature changed.
SCTorqueChainSelect B5 & B6.

Example of behaviour

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3 = “Enc. ID Run” - Encoder identification run

The motor shaft is rotated during identification.
IM: If performed for induction motor encoder pulse number and direction are identified.
Can be used if the is no encoder information available, correct result can be achieved
only when motor in unloaded.
PMSM: This selection is used for PMS motor if automatic angle identification is not
suitable for used motor (angle is identified automatically in every start if PMSM Shaft
Position parameter is zero).
This identification run will update PMSM Shaft Position parameter based on absolute
position of the encoder or Z pulse position of incremental type encoder.
Note: Identification needs to be remade if encoder position related to motor is changed
e.g. due maintenance.

4 = “Ident All” - Identified All

Shaft is rotated during identification.
All the above identification selections are made in sequence.

5 = “Enc.ABS.Lock” – Absolute encoder when locked rotor

Absolute encoder zero position identification when rotor is locked while using permanent
magnet motor.
It’s recommended to have shaft locked during this identification mode.

10 = “ID Run Fails” - Identification failed

Identification failed in last attempt.

The basic motor name plate data has to be set correctly before performing the identifi-
cation run:
- P2.1.3 – P2.1.8. Motor basic data.
- P2.1.9 Magnetization current can also be given if available if given before
identification without rotating motor; U/f curve will be tuned according to given
magnetization current.
- P2.1.11 Motor Type.

When in closed loop and with an encoder installed, also the parameter for pulses /
revolutions (in Menu M7) has to be set.
The automatic identification is activated by setting this parameter to the appropriate
value followed by a start command in the requested direction. The start command to the
drive has to be given within 20 s. If no start command is given within 20 s the identifi-
cation run is cancelled and the parameter will be reset to its default setting. The iden-
tification run can be stopped any time with normal stop command and the parameter is
reset to its default setting. In case identification run detects fault or other problems, the
identification run is completed if possible. After the identification is finished, warning will
be given is not all requested identification types has been completed successfully.
During Identification Run, the brake control is disabled.

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Note: After identification is made drive requires rising edge of start command.
Note: Marine application has all identified values stored to parameters, no need to redo
identification if previous parameters are loaded back to the dive if e.g. control board is
changed.

DriveSynch operation: Activate identification only from the master drive:

P2.1.11 Motor Type ID650 “Motor Type”

Select used motor type with this parameter

0 “Induction” - Induction motor

-Asynchronous motor

1 “PMSM” - Permanent magnet synchronous motor

- Contact factory before using with externally magnetized motor.

See related parameter in “G2.8.6: Motor Control \ PMSM Control”.

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6.2 Reference Handling – “Ref Handling”

Priority order of Marine application speed reference chain.

Speed reference chain before ramp control

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6.2.1 Basic Parameters

P2.2.1 I/O frequency reference selection 1 ID117 “I/O Reference”
Defines which frequency reference source is used when control place is I/O terminal
P3.1 Control Place

0=”AI1” - Analogue Input 1.

Signal scaling in “G2.4.2: Input Signals \ Analogue Input 1”
1=”AI2” - Analogue Input 2.
Signal scaling in “G2.4.3: Input Signals \ Analogue Input 2”
2=”AI1+AI2” - Analogue Input 1 + Analogue Input 2.
With alternative reference scaling in Analogue Input group 100 % input values can be
set to correspond 25 Hz thus when both are at 100 % final reference will be 50 Hz.
3=”AI1-AI2”
Analogue Input 1 - Analogue Input 2.
4=”AI2-AI1”
Analogue Input 2 - Analogue Input 1.
5=”AI1xAI2”
Analogue Input 1 x Analogue Input 2
6=”AI1 Joystick”
Analogue input 1, -10 Vdc... +10 Vdc
7=”AI2 Joystick”
Analogue input 2, -10 Vdc... +10 Vdc
8=”Keypad Ref”
Reference from keypad R3.2
9=”Fieldbus”
Reference is taken from Fieldbus, alternative scaling can be selected in “G: Fieldbus”
10=”Motor Pot” - Motor potentiometer.
Reference handled with two digital input “G: Input Signals \ Digital Inputs” (increase
and decrease). Behaviour adjusted in “G: Ref Handling \ Motor Poten.mete”.
11=”AI1, AI2 min”
The minimum of Analogue Input 1 and Analogue Input 2 is used as reference.
12=”AI1, AI2 max”
The maximum from Analogue Input 1 and Analogue Input 2 is used as reference.
13=”Max Freq” – Maximum Frequency
P2.1.2 Max Frequency is used as reference.
14=”AI1/AI2 Sel” – AI1/AI2 Selection
Digital Input “I/O Ref 1/2” is used to select between Analogue Input 1 and Analogue
Input 2 reference. “I/O Ref 1/2” is sued to elect between “I/O Reference” and “I/O
Reference 2” if selection is different than 14 (this one).
15=”Encoder 1”
Reference is read from encoder input 1.
16=”Encoder 2”
Reference is read from encoder input 2. This selection is usable with double encoder
boards. Could be used e.g. for speed synchronization where two motor needs to run
at same speed but not necessarily same angle.

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P2.2.2 Keypad frequency reference selection ID121 “Keypad Ref Sel”

Defines which frequency reference source is used when control place is keypad P3.1
Control Place

0=”AI1” - Analogue Input 1.

Signal scaling in “G2.4.3: Input Signals \ Analogue Input 1”
1=”AI2” - Analogue Input 2.
Signal scaling in “G2.4.4: Input Signals \ Analogue Input 2”
2=”AI1+AI2” - Analogue Input 1 + Analogue Input 2.
With alternative reference scaling in Analogue Input group 100 % input values can be
set to correspond 25 Hz. That is, when both are at 100 % final reference will be 50 Hz.
3=”AI1-AI2”
Analogue Input 1 - Analogue Input 2.
4=”AI2-AI1”
Analogue Input 2 - Analogue Input 1.
5=”AI1xAI2”
Analogue Input 1 x Analogue Input 2
6=”AI1 Joystick”
Analogue input 1, -10 Vdc... +10 Vdc
7=”AI2 Joystick”
Analogue input 2, -10 Vdc... +10 Vdc
8=”Keypad Ref”
Reference from keypad R3.2
9=”Fieldbus”
Reference is taken from Fieldbus, alternative scaling can select in “G: Fieldbus”

P2.2.3 Fieldbus frequency reference selection ID122 “Fielbus Ctr Ref”

Defines which frequency reference source is selected when control place is Fieldbus
P3.1. Control Place

0=”AI1” - Analogue Input 1.

Signal scaling in “G2.4.3: Input Signals \ Analogue Input 1”
1=”AI2” - Analogue Input 2.
Signal scaling in “G2.4.4: Input Signals \ Analogue Input 2”
2=”AI1+AI2” - Analogue Input 1 + Analogue Input 2.
With alternative reference scaling in Analogue Input group 100 % input values can be
set to correspond 25 Hz thus when both are at 100 % final reference will be 50 Hz.
3=”AI1-AI2”
Analogue Input 1 - Analogue Input 2.
4=”AI2-AI1”
Analogue Input 2 - Analogue Input 1.
5=”AI1xAI2”
Analogue Input 1 x Analogue Input 2
6=”AI1 Joystick”
Analogue input 1, -10 Vdc... +10 Vdc
7=”AI2 Joystick”
Analogue input 2, -10 Vdc... +10 Vdc
8=”Keypad Ref”
Reference from keypad R3.2
9=”Fieldbus”
Reference is taken from Fieldbus, alternative scaling can select in “G: Fieldbus”

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P2.2.4 I/O frequency reference selection 2 ID131 “I/O Reference 2”

This parameter is used to select different reference input location with digital input
P2.4.2.17 I/O Ref. 2. Selections for this are the same as for the I/O frequency reference
selection 1.

Other parameters related to function

- Digital input P2.4.2.17 I/0 Ref. 1/2

P2.2.5 Speed share ID1241 “Speed Share”

Defines the speed reference percentage ratio after final reference location but before
ramp control. Monitoring value “FreqReference” shows the reference after speed share
function. Used to adjust reference ration e.g. in line drive that PLC can give same
reference to all drives while speed share compensate gear ratio affect to the line speed.

P2.2.6 Load Share ID1248 “Load Share”

Defines the percentage for final torque reference after final torque reference location
selection but before the torque reference step function, torque reference dead zone and
reference filtering.

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6.2.2 Constant Reference

P2.2.7.1 Jogging speed reference ID124 “Jog Speed Ref”
Defines the jogging speed reference when activated by a digital input. This reference will
follow the reverse command if given. Jogging speed has a higher priority than preset
speed references.
Related parameters
- Digital Input P2.4.2.16 Jogging Speed

P2.2.7.2 Preset speed 1 ID105 “Preset Speed 1”

P2.2.7.3 Preset speed 2 ID106 “Preset Speed 2”
P2.2.7.4 Preset speed 3 ID126 “Preset Speed 3”
P2.2.7.5 Preset speed 4 ID127 “Preset Speed 4”
P2.2.7.6 Preset speed 5 ID128 “Preset Speed 5”
P2.2.7.7 Preset speed 6 ID129 “Preset Speed 6”
P2.2.7.8 Preset speed 7 ID130 “Preset Speed 7”

Parameter values define the Preset speeds references activated by digital inputs. These
references will follow reverse command if given.

Digital Input Digital Input Digital Input

Speed
Preset speed 1 Preset speed 2 Preset speed 3
Basic speed 0 0 0
Preset Speed 1 1 0 0
Preset Speed 2 0 1 0
Preset Speed 3 1 1 0
Preset Speed 4 0 0 1
Preset Speed 5 1 0 1
Preset Speed 6 0 1 1
Preset Speed 7 1 1 1
Table 6-1. Preset speeds 1 to 7

Related parameters
Digital inputs P2.4.2.5-7 Preset Speed 1-3

6.2.2.1 Inching function

Inching function will start the drive to reference without additional start command regardless of
control place. Inching function requires enabling from digital input before command is accepted.
Inching is also disabled if there is start command active from active control place.

P2.2.7.9 Inching reference 1 ID1239 “Inching Ref 1”

P2.2.7.10 Inching reference 2 ID1240 “Inching Ref 2”

These parameters define the reference for the inching function. The references are bidirectional and
the reverse command does not affect the direction of the inching reference.

Other parameters for inching function

- Digital input selection: Enable Inching

- Digital input selection: Inching 1
- Digital input selection: Inching 2
- Parameter: Inching Ramp

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6.2.3 Power Reference

The Power reference mode allows the motor to operate at constant power while speed and torque
are changing giving steady load for the generators in changing conditions.
This also gives a fast response for thrusters as torque is increased rapidly after increase of power
reference thus making speed of the thrusters to speed up fast to new reference.
Pure speed control where ramp times are tuned slow to limit fast power changes on higher speeds
makes response slow especially when starting from zero speed where thrusters do not create
thrust.

The change between power reference mode and speed controller mode is made by changing motor
control modes between speed and torque control.

Note: Do not change between open loop and closed loop control modes while the drive is run state.

- P2.8.1 Motor Control Mode; Speed control modes

- P2.8.2 Motor Control Mode 2; Torque control modes
- DI Motor Control mode 1/2; Selection between speed and power control mode
- P2.2.9.1 Torque reference select “10 / Power Ref”

In power reference mode the drive is operating in torque control mode. Therefore, the torque
reference selector needs to be set to value 10 (Power reference) where given power reference is
converted to torque reference for the motor control.

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P2.2.8.1 Power Reference Selection ID1620 “Power Ref. Sel”

With this parameter the input source for Power Reference is selected. If this value is set
to zero but Torque reference selection is “10= Power Ref” power reference value can be
written directly to Power Reference monitoring value from Fieldbus or with analogue ID
writing function.

0=”Not Used”
1=”AI1” - Analogue Input 1.
Signal scaling in “G2.4.3: Input Signals \ Analogue Input 1”

2=”AI2” - Analogue Input 2.

Signal scaling in “G2.4.4: Input Signals \ Analogue Input 2”
3=”AI3”
Signal scaling in “G2.4.5: Input Signals \ Analogue Input 3”
4=”AI4”
Signal scaling in “G2.4.6: Input Signals \ Analogue Input 4”
5=”AI1 Joystick”
Analogue input 1, -10 Vdc... +10 Vdc
6=”AI2 Joystick”
Analogue input 2, -10 Vdc... +10 Vdc
7=”Keypad Ref”
Torque reference from keypad R3.6
8=”Fieldbus”
Monitoring variable FB Power Reference ID1703

P2.2.8.2 Maximum Power Reference ID1621 “Power Ref. Max”

Scaling factor for power reference input. Scaling is not used when Power reference
selection is 7 or 8.

P2.2.8.3 Power reference increase rate ID1621 “PowerRefInc.Rate”

Ramp up rate for power reference. Ramping rate does not have an effect when reference
is decreased. When ramp rate is set to zero ramping is bypassed.

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6.2.4 Torque Reference

Motor torque is controlled which allows the motor speed to change depending on the actual load on
the motor shaft. Speed limit behaviour is controlled by P2.2.9.6 TorqSpeedLimit parameter.

For joystick inputs maximum negative reference is negated “Torq Ref Max”. The minimum is used
only for analogue input selections 1 to 4. Also the maximum negative torque reference maximum is
negated “Torq Ref Max”.

P2.2.9.1 Torque reference selection ID641 “Torq Ref Select”

0=”Not Used”
1=”AI1” - Analogue Input 1.
Signal scaling in “G: Input Signals \ Analogue Input 1”
2=”AI2” - Analogue Input 2.
Signal scaling in “G: Input Signals \ Analogue Input 2”
3=”AI3”
4=”AI4”
5=”AI1 Joystick”
Analogue input 1, -10 Vdc... +10 Vdc. For joystick inputs the maximum negative
reference is negated “Torq Ref Max”.
6=”AI2 Joystick”
Analogue input 2, -10 Vdc... +10 Vdc For joystick inputs the maximum negative
reference is negated “Torq Ref Max”.
7=”Keypad Ref”
Torque reference from keypad R3.5.
8=”Fieldbus”
Reference is taken from Fieldbus. Alternative scaling can be selected in “G: Fieldbus”
9=”Master Torque”
Reference is taken from Master drive when using Master Follower function.
10=”Power Ref.”
Reference is taken from Power reference function. This selection converts given
power reference to torque reference for motor control.

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P2.2.9.2 Torque reference scaling, maximum value ID641 “Torq Ref Max”
Maximum allowed torque reference for positive and negative values. This is also used for
joystick input for negative maximum limit.

P2.2.9.3 Torque reference scaling, minimum value ID642 “Torq Ref Min”
Minimum torque reference for analogue input reference selections 1-4.

P2.2.9.4 Torque reference filtering time ID1244 “TorqRefFilterTC”

Defines the filtering time for torque reference. Filtering is after load share function and
before torque step function.

P2.2.9.5 Torque reference dead zone ID1246 “TorqRefDeadZone”

The small values of the torque reference around zero can be ignored by setting this value
greater than zero. When reference is between zero to plus/minus this parameter, the
reference is forced to zero.

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P2.2.9.6 Torque Select ID1278 “Torque Select”

This parameter defines the speed limiting mode in torque control mode. This parameter
can be used as single motor control mode selection when no change is made between
open loop and closed loop controls.

0= “SpeedControl” - Speed control mode

The drive is forced to operate in speed control mode while the motor control mode
parameter is set to torque control mode thus allowing selection of speed control and
torque control mode with single parameter e.g. from Fieldbus.

1=”MaxFreqLimit” - Positive and negative frequency limits

Speed is not limited by speed reference, only maximum frequency or Positive and
Negative frequency limit if set lower than maximum frequency parameter.

2=”RampOutput” – Ramp output for both directions

Speed is limited by reference after ramp generator, thus speed will increase with set
ramp time until actual torque is equal to reference torque. If speed is below reference
when load is removed from the shaft the speed will increase without ramp.

This is the default selection. For master follower system it is recommended to use
selection that allows a little higher reference for torque follower that load will be
balanced equally e.g. window control.

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3=”Min” – Minimum from speed reference and torque reference.

The minimum of the speed controller output and the torque reference is selected as final
torque reference.

4=”Max” – Maximum from speed reference and torque reference

The maximum of the speed controller output and the torque reference is selected as
final torque reference.

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5=”Window” – Window control

Speed is limited within window from speed reference.
Speed control activation limit is different from the speed limit. Speed needs, therefore, to
go first to “Window Pos” or “Window Neg” limit before the speed controller activates,
when speed controller is active speed will be restricted to limit defined by “Window Pos
Off” and “Windows Neg Off” from the “FinalFreqRef”

P2.2.9.7 Window negative ID1305 “Window Neg”

Defines the size of window to negative direction from the final speed reference. If both
windows off limits are zero this parameter is also the speed limit from the
“FinalFreqRef”. Otherwise this is the speed control activation limit.

P2.2.9.8 Window positive ID1304 “Window Pos”

Defines the size of window to positive direction from the final speed reference. If both
windows off limits are zero this parameter is also the speed limit from the
“FinalFreqRef”. Otherwise this is the speed control activation limit.

P2.2.9.9 Window negative Off limit ID1307 “Window Neg Off”

Defines the speed controller negative off limit when the speed controller brings the
speed back to window.

P2.2.9.10 Window positive Off limit ID1306 “Window Pos Off”

Defines speed controller positive off limit when speed controller brings speed back to
window.

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6.2.4.1 Torque reference OL settings

P2.2.9.11.1 Open loop torque control minimum frequency ID636 “OL TC Min Freq”
Defines the frequency limit below which the frequency converter operates in frequency
control mode.

P2.2.9.11.2 Open loop torque controller P gain ID639 “OL TorqCtrl P”

Defines the gain for open loop torque control.

P2.2.9.11.3 Open loop torque controller I gain ID640 “OL TorqCtrl I”

Defines the integration gain for open loop torque control.

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6.2.5 Prohibited frequencies

In some systems it may be necessary to avoid certain frequencies because of mechanical resonance
problems. With these parameters it is possible to set limits for the prohibited frequency region and
ramp rate factor to use when frequency is going above this area. When the input reference is
increased the internal reference is kept at the low limit until the input reference is above the high
limit.

P2.2.10.1 Prohibit frequency area 1; Low limit ID509 “Range 1 Low Lim”
P2.2.10.2 Prohibit frequency area 1; High limit ID510 “Range 1 High Lim”
Range definition where a different ramp time defined by “RampTimeFactor” is used.

P2.2.10.3 Ramp time factor for prohibited range ID518 “RampTimeFactor”

Multiplier of the currently selected ramp time between prohibit frequency limits.

Figure 6-1. Ramp rate scaling between prohibit frequencies

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6.2.6 Motor potentiometer

Motor potentiometer is used to control the reference with two digital inputs, one increasing the
reference and the other decreasing the reference. The reference change rate can be set by
parameter [Hz/s]. Motor potentiometer reference is available in I/O control only. It can be changed
only when the drive is in running state.

Speed Ref
[RPM]

Max
Speed

Motor Potentiometer
Ramp Rate

Min
Speed

Time
[s]

Motor Potentiometer
UP

Motor Potentiometer
DOWN

P2.2.11.1 Motor potentiometer ramp rate ID331 “MotPot Ramp Rate”

Defines the rate of change of the motor potentiometer reference value in Hz/s. Normal
ramp times are still active and determine how fast the actual output frequency
increases.

P2.2.11.2 Motor potentiometer reference reset ID367 “MotPotRef Reset”

0 “No reset”
Reference is kept past the stop state and stored to memory in case of a powerdown.
1 “Stop State”
Reference is set to zero when the drive is in stop state. This selection includes
powerdown situations.
2 “Power Down”
Reference is reset only in a powerdown situation.

Other parameters related to function

- P2.4.2.8 Motor potentiometer DOWN ID417 “Mot Pot Ref Down”
- P2.4.2.9 Motor potentiometer UP ID418 “Mot Pot Ref Up”

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P2.2.11.3 Motor potentiometer reference copy ID366 “MotPotRefCopy”

This parameter defines how reference is handled when reference input is changed to
motor potentiometer in I/O control.

0 “No copy”
Reference is not copied. Depending on “MotPot Reset” function, the drive may start
from minimum frequency or from reference that was last used when the drive was
run with motor potentiometer.
1 “Reference”
The drive’s active reference is copied. If the drive is ramping when the value of motor
potentiometer is changed the drive will continue ramping after the change.
This allows the reference copy in stop state unless the “MotPot Reset” function
overruns it (e.g. reset in stop state is not selected).
2 “Freq. Output”
Speed at the time of change is copied to reference. If the drive is ramping when the
change is made the drive will stop ramping and keep the present speed.

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6.2.7 Adjust Reference

Adjust reference function is used to fine tune the main reference. Adjust reference is added to main
reference after “SpeedShare” function.

P2.2.12.1 Adjust input ID493 “Adjust Input”

With this parameter you can select the signal according to which the frequency
reference to the motor is fine adjusted.

0 Not used
1 Analogue input 1
2 Analogue input 2
3 Analogue input 3
4 Analogue input 4
5 FB Adjust Reference ID47 Monitoring Signal

P2.2.12.2 Adjust minimum ID494 “Adjust minimum”

Percentage that is subtracted from the main reference when adjust input is at minimum.

P2.2.12.3 Adjust maximum ID495 “Adjust Maximum”

These parameters define the minimum and maximum of adjusted signals.

If minimum and maximum are not equal to zero adjustment is not at the middlepoint of analogue
input or at zero point if -10...+10 Vdc input is used. Below picture minimum is 20 % and maximum 10
%.

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6.3 Ramp control

P2.3.1 Start function ID505 “Start Function”

Ramp:
0 The frequency converter starts from 0 Hz and accelerates to the set reference
frequency within the set acceleration time.

Flying start:
1 The frequency converter is able to start with motor running by applying
current to motor and searching for the frequency corresponding to the speed
the motor is running at. Searching starts from the maximum frequency
towards the zero frequency until the correct value is detected.

Use this mode if the motor is coasting when the start command is given. With
the flying start it is possible to start motor form actual speed without forcing
the speed to zero before ramping to reference.

Closed loop control will always start like flying start because exact speed of the motor is
known from encoder feedback.

P2.3.2 Stop function ID506 “Stop Function”

Coasting:
0 Drive stops controlling the motor immediately and let’s motor rotate freely.

Ramp:
1 After the Stop command, the speed of the motor is decelerated according to
the set deceleration parameters to zero speed. DI “Run Enable” will make
coasting stop regardless of selected stop function.

P2.3.3 Acceleration time 1 ID103 “Accel Time 1”

This parameter defines the time required for the output frequency to increase from the
zero frequency to maximum frequency.

P2.3.4 Deceleration time 1 ID104 “Decel Time 1”

This parameter defines the time required for the output frequency to decrease from the
maximum frequency to zero frequency.

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P2.3.5 Acceleration/Deceleration ramp 1 shape ID500 “Ramp 1 Shape”

The start and end of acceleration and deceleration ramps can be smoothed with these
parameters. Setting value 0 gives a linear ramp shape which causes acceleration and
deceleration to act immediately to the changes in the reference signal. Setting value
1…100 % for this parameter produces an S-shaped acceleration/deceleration.

Used to reduce mechanical erosion and current spikes when reference is changed.
60

50

40

30 0%S

20 10 % S

10

0
0
0,59
1,18
1,77
2,36
2,95
3,54
4,13
4,72
5,31
5,9
6,49
7,08
7,67
8,26
8,85
9,44
Figure 6-2. 10 % S ramp with 3 s ramp time compared to without S ramp

40
35
30
25
20 10 % S
15 0%S
10
5
0
0,00
0,40
0,80
1,20
1,60
2,00
2,40
2,80
3,20
3,60
4,00
4,40
4,80
5,20
5,60
6,00

Figure 6-3. 10 % S ramp with 3 s ramp time when reference set to zero at 25 Hz

P2.3.6 Acceleration time 2 ID502 “Accel Time 2”

P2.3.7 Deceleration time 2 ID503 “Decel
P2.3.8 Acceleration/Deceleration ramp 2 shape ID501 “Ramp 2 Shape”
These ramp times and ramp shapes are used when the second ramp time is activated by
digital input “Acc/Dec Time Sel”

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P2.3.9 Inching ramp ID1257 “Inching Ramp”

This parameter defines acceleration and deceleration times when inching is active.
Inching function will start the drive to reference without additional start command
regardless of control place. Inching function requires enabling from digital input before
command is accepted. Inching is also disabled if there is a start command active on the
active control place.

Other parameters for inching:

- Parameter: Inching Reference 1

- Parameter: Inching Reference 2
- Digital input selection: Enable Inching
- Digital input selection: Inching 1
- Digital input selection: Inching 2

P2.3.10 Reduction of acceleration and deceleration times ID401

Acceleration and deceleration times can be reduced with the input signal.
Input signal level zero means ramp times set by parameters. Maximum level equals one
tenth of the value set by parameter.

Figure 6-4. Reducing acceleration and deceleration times

P2.3.11 Quick stop mode ID1276 “Quick Stop Mode”

Selects the mode of stopping the drive when quick stop is active.
It is recommended to use same stop function in follower drives.
It is recommended to use same ramp time in both drives
0 Coast stop.
1 Ramp stop.

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6.3.1 Ramp Options

P2.3.12.1 Ramp: Skip S2/S4 ID1900
This function is used to bypass the second corner S ramp (i.e. to avoid the unnecessary
speed increase, the blue line in Figure 6-5) when the reference is changed before the
final speed is reached. Also S4 is bypassed when reference is increased while speed is
ramping down.

40
35
30
25
20 10 % S

15 0%S
10 S2 Skip
5
0
0,00
0,42
0,84
1,26
1,68
2,10
2,52
2,94
3,36
3,78
4,20
4,62
5,04
5,46
5,88

Figure 6-5. Second S curve is bypassed when reference changes at 25 Hz

P2.3.12.2 CL Ramp generator follows encoder ID1902 “CLRmpFollEncFreq”

In a normal situation, the ramp generator is not updated with the actual speed from the
encoder (like in open loop control). So when the limiting situation has passed (with a
step) speed is accelerated against the limit controller to the reference speed (if speed
control is used). In case this parameter is active speed will increase with set ramp times.

This parameter also sets the Ramp Frequency to actual frequency when change from
torque control to speed control is made.

Note: When using undervoltage controller function 2 (Ramping to zero speed) this
parameter needs to be activated to have similar operation than in open loop control.

Activated Disabled
60 60
50 50
FreqRef 40 FreqRef
40
30 30
FreqOut 20 FreqOut
20
10 10
0 TorqueLim 0 TorqueLim
0,0
0,5
1,0
1,5
2,0
2,5
3,0
3,5
0,0
0,5
1,0
1,5
2,0
2,5
3,0
3,5

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P2.3.12.3 Speed Reference Interpolator TC ID1184 “Ramp In Inter. TC”

Set here time on what interval speed reference is updated. This function ramps the
reference between updated values.
Function is used when PLC is updating reference e.g. 100 ms time level but drive own
ramp is set much shorter to have fast response. When reference (Green) is used without
interpolator also output frequency would behave same way causing torque and current
spikes every time reference changes. When interpolator time is set to 100 ms output
frequency behaves as blue line.

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6.4 Input signals

6.4.1 Basic Settings
P2.4.1.1 Start/Stop logic selection ID300 “Start/Stop Logic”
This parameter defines start stop logic when using I/O control. Some of these selections
do not include the ’Reverse’ command. Reverse command can be activated by a separate
digital input “Reverse”.

0 “Forw – Rev” – Forward Start – Reverse Start

Start 1: closed contact = start forward DI “Start 1”
Start 2: closed contact = start reverse DI “Start 2”

Figure 6-6. Start forward/Start reverse

The first selected direction has the highest priority.

When the DIN1 contact opens the direction of rotation starts the change.

1 “Start – Rev” - Start command – Direction command

Start 1: closed contact = start open contact = stop
Start 2: closed contact = reverse open contact = forward

Figure 6-7. Start, Stop, Reverse

2 “Start – Enable” – Start command – Run Enable

DIN1: closed contact = start open contact = stop
DIN2: closed contact = start enabled open contact = start disabled and drive stopped
if running

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3 “StartP-StopP” – Start Pulse – Stop Pulse

3-wire connection (pulse control):
DIN1: closed contact = start pulse
DIN2: open contact = stop pulse, falling edge.

Figure 6-8. Start pulse/ Stop pulse.

The selections including the text 'Rising edge required to start' shall be used to
exclude the possibility of an unintentional start when, for example, power is connected,
re-connected after a power failure, after a fault reset, after the drive is stopped by Run
Enable (Run Enable = False) or when the control place is changed. The Start/Stop
contact must be opened before the motor can be started.

4 “Strt-MotP UP” – Start – Motor potentiometer UP

DIN1: closed contact = start forward
DIN2: closed contact = Increases motor potentiometer reference, see Motor
potentiometer function for more details.

5 “ForwR – RevR” – Forward start rising edge – Reverse start rising edge
DIN1: closed contact = start forward (Rising edge required to start)
DIN2: closed contact = start reverse (Rising edge required to start)

6 “StartR-Rev” - Start command rising edge – Direction command

DIN1: closed contact = start (Rising edge required to start)
open contact = stop
DIN2: closed contact = reverse
open contact = forward

7 “StrtR-Enable” – Start command rising edge – Run Enable

DIN1: closed contact = start (Rising edge required to start)
open contact = stop
DIN2: closed contact = start enabled
open contact = start disabled and drive stopped if running

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6.4.2 Digital inputs

P2.4.2.1 Start signal 1 ID403 “Start Signal 1”
Signal selection 1 for the start/stop logic.
This is for Start Place A, selected with P2.4.2.39
Default programming A.1.Default Forward start.

P2.4.2.2 Start signal 2 ID404 “Start Signal 2”

Signal selection 2 for the start/stop logic.
This is for Start Place A, selected with P2.4.2.39
Default programming A.2. Default Reverse start.

P2.4.2.3 Run enable ID407 “Run Enable”

When run enable is removed from the drive coasting stop is made always.
Drive will also show warning indication when run is disabled.

Contact open: Start of motor disabled

Contact closed: Start of motor enabled

P2.4.2.4 Reverse ID412 “Reverse”

This reverse command is active when Start signal 2 is not used for reverse command
because setting of “Start/Stop logic selection” parameter.

Contact open: Direction forward

Contact closed: Direction reverse

P2.4.2.5 Preset speed 1 ID419 “Preset Speed 1”

P2.4.2.6 Preset speed 2 ID419 “Preset Speed 2”
P2.4.2.7 Preset speed 3 ID419 “Preset Speed 3”
Digital input selections for activating preset speeds.
References are set in the “Constant Reference” parameter group.

Digital Input Digital Input Digital Input

Speed
Preset speed 1 Preset speed 2 Preset speed 3
Basic speed 0 0 0
Preset Speed 1 1 0 0
Preset Speed 2 0 1 0
Preset Speed 3 1 1 0
Preset Speed 4 0 0 1
Preset Speed 5 1 0 1
Preset Speed 6 0 1 1
Preset Speed 7 1 1 1

Related parameters
- G2.2.7 Constant Ref

P2.4.2.8 Motor potentiometer DOWN ID417 “Mot Pot Ref Down”

Contact closed: Motor potentiometer reference DECREASES until the contact is
opened. See details in G2.2.11 Motor Pot.

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P2.4.2.9 Motor potentiometer UP ID418 “Mot Pot Ref Up”

Contact closed: Motor potentiometer reference DECREASES until the contact is
opened. See details in G2.2.11 Motor Pot.

P2.4.2.10 Fault reset ID414 “Fault Reset”

Rising edge required to reset fault.

P2.4.2.11 External fault closing contactor ID405 “Ext Fault Close”

External fault input closing contactor, response selected in protection parameter group
G2.11.1 Protections / General. Gives fault “51 Ext Fault”

P2.4.2.12 External fault opening contactor ID406 “Ext Fault Open”

External fault input opening contactor, response selected in protection parameter group.
Gives fault “51 Ext Fault”

P2.4.2.13 Acceleration/Deceleration time selection ID408 “Acc/Dec Time Sel”

Digital input to select between ramp time 1 and 2, times are set in “Ramp Control”
parameter group.

Contact open: Acceleration/Deceleration time 1 selected

Contact closed: Acceleration/Deceleration time 2 selected

P2.4.2.14 Acceleration/Deceleration prohibited ID415 “Acc/Dec Prohibit”

Contact closed: No acceleration or deceleration possible until the contact is opened.

With P2.9.3 Control Options B13 is possible to select that deceleration direction is
allowed thus speed is reduced if reference is smaller that drive speed at the time.

P2.4.2.15 DC-braking command ID416 “DC Brake Command”

Contact closed: In STOP mode, the DC braking operates until the contact is opened.
Current level is set with P2.7.1.16 DCBrakeCurInStop parameter.

P2.4.2.16 Jogging speed ID413 “Jogging Speed”

Contact closed: Jogging speed selected for frequency reference
Reference for jogging speed is set in G2.2.7 Constant Reference group.

P2.4.2.16 I/O Reference 1/2 selection ID422 “I/O Ref. 1/2"

With this parameter you can select either AI1 or AI2 signal for frequency reference if I/O
reference selection is “14 / AI1/AI2 Sel”.

If selection for P2.2.1 I/O Reference is other than “14 / AI1/AI2 Sel” this digital input will
change reference between P2.2.1 I/O Reference and P2.2.4 I/O Reference 2.

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6.4.2.1 Forced control place

Digital inputs can be used to bypass parameter P3.1 Control Place, for example, in an emergency
situation when PLC is not able to send command to the drive.

Figure 6-9. Control place selection priority order

P2.4.2.18 Control from I/O terminal ID409 “I/O Term Control”

Contact closed: Force control place to I/O terminal

P2.4.2.19 Control from keypad ID410 “Keypad Control”

Contact closed: Force control place to keypad

P2.4.2.20 Control from Fieldbus ID411 “Keypad Control”

Contact closed: Force control place to fieldbus

NOTE: When the control place is forced to change the values of Start/Stop, Direction
and Reference valid in the respective control place are used. The value of parameter
ID125 (Keypad Control Place) does not change. When the input opens the control
place is selected according to keypad control parameter P3.1 Control Place

P2.4.2.21 Parameter Set 1/Set 2 selection ID496 “Param Set1/Set2”

With this parameter you can select between Parameter Set 1 and Set 2.
Remember to put same input for both parameter set. Parameter sets cannot be changed
while drive is in run state.

Digital input = FALSE:

- Set 1 is loaded as the active set
Digital input = TRUE:
- The active set is saved to set 1
-
When making two parameter sets from the keypad
1. Set all parameters as needed for SET1
2. In “P6.3.1 Parameter Set” select “Store Set1”
3. Set all parameters as needed for SET 1
4. In “P6.3.1 Parameter Set” select “Store Set2”

Note: The parameter values are stored only when selecting parameter P6.3.1 Parameter
sets Store Set 1 or Store Set 2 or from NCDrive: Drive > Parameter Sets.

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P2.4.2.22 Motor control mode 1/2 ID164 “Mot Ctrl Mode1/2”

This digital input is used to change between to motor control mode selection
parameters:
- P2.8.1 Motor Ctrl Mode ID600
- P2.8.2 Motor Ctrl Mode2 ID521

Contact is open = Motor control mode 1 is selected

Contact is closed = Motor control mode 2 is selected

When changing between open loop and closed loop control modes, make this change in
stop state.

P2.4.2.23 External brake acknowledgment. ID1210 “Ext. Brake ACK”

Connect this input signal to auxiliary contact of mechanical brake. If contact is not closed
within given time when brake is controlled open the drive will generate a brake fault F58,
response can be selected in G2.14 Brake Control parameter group.

P2.4.2.24 Cooling monitor ID750 “Cooling Monitor”

When using a liquid-cooled drive, connect this input to the Cooling OK signal from Vacon
flow control application or any input that shows state of used cooling unit. See details of
operation from G2.11.9 cooling parameters group.

6.4.2.2 Inching function

Inching function will start the drive to reference without additional start command regardless of
control place. Inching requires enabling from digital input before the command is accepted. Inching
is also disabled if there is a start command active on the active control place.

P2.4.2.25 Enable inching ID532 “Enable Inching”

If you are using inching function the given input must be set TRUE by either digital signal
or by setting the parameter value to 0.2.

P2.4.2.26 Inching reference 1 ID530 “Inching 1”

P2.4.2.27 Inching reference 2 ID531 “Inching 2”
These inputs activate inching reference if inching is enabled. These inputs also start the
drive if activated and if there is no Run Request command from anywhere else.

Other parameter for inching function

- P2.3.9 Inching Ramp ID1257 “Inching Ramp”

- P2.2.7.9 Inching reference 1 ID1239 “Inching Ref 1”
- P2.2.7.10 Inching reference 2 ID1240 “Inching Ref 2”

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P2.4.2.28 Motoring Power limit Digital input 1 ID1500 “Mot.PowerLimit 1”

P2.4.2.29 Motoring Power limit Digital input 2 ID1501 “Mot.PowerLimit 2”
With this parameter you can select the desired digital input for controlling motoring
power limit. “Mot.PowerLimit 1” and “Mot.PowerLimit 2” activates respective power
limits defined in parameter group G2.6.2 Power Handling. If both inputs are activated
power limit is zero.

P2.4.2.30 Digital input 2nd Frequency Limit ID1511 “Max frequency 2”

With this parameter you can select the digital input that will limit the maximum
frequency to a lower value than what is defined by Maximum Frequency. This limit does
not affect any constant references. The limit is set in G2.6.4 Freq. Limit Handling.

P2.4.2.31 Generator Power limit Digital input 1 ID1506 “Gen.PowerLimit 1”

P2.4.2.32 Generator Power limit Digital input 2 ID1507 “Gen.PowerLimit 2”
With these parameters you can select the desired digital input for controlling the
generator power limit. “Gen.PowerLimit 1” and “Gen.PowerLimit 2” activate the
respective power limits defined in G2.6.2 Power Handling parameter group. If both inputs
are activated power limit is zero.

SEL4
DI Generator power limit 1 B0 Limit for ramping control
DI Generator power limit 2 B1
P Generator power limit IN00
P Generator power limit 1 IN01
P Generator power limit 2 IN10
F Power limit zero IN11

P2.4.2.33 Reset encoder counter ID1090 “Reset Position”

When using encoder, the drive monitors the encoder rotations and angle (V: Shaft
Rounds and V:Shaft Angle).
When this input has a rising edge monitoring values V:Shaft Angle (ID1169) and Shaft
Rounds (ID1170) are set to zero. Reset command is also included in V: Aux Control Word.

P2.4.2.34 Master Follower mode 2 ID1092 “MF Mode 2”

Master Follower mode can be changed with digital input between P2.10.1 MF Mode and
P2.10.5: MF Mode 2 in the Master Follower parameter group. This can be used for
redundancy purposes e.g. when using a Drive Synch system.

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P2.4.2.35 Quick Stop ID1213 “Quick Stop”

Digital input for Quick Stop function

P2.4.2.36 Motoring Torque Limit 1 ID1624 “Mot. Torq. Limit 1”

Digital input for activating motoring torque limit 1

P2.4.2.37 Generator Torque Limit 1 ID1626 “Gen. Torq. Limit 1”

Digital input for activation generator torque limit 1

P2.4.2.38 PIC Function Activation ID1804 “PI Activation”

Select the digital input that will activate PI controller. Set selection to 0.2 and PI-
controller is activated without external wiring.

P2.4.2.39 Store Parameters ID1753 “Store Param. Set”

Stores active set to currently selected parameters set. Selection is done by “Param.
Set1/Set2” digital input that is also used to load parameter set to active set.

P2.4.2.39 Start Place A/B ID425 “Start PlaceA/B”

This parameter is used to select if start signal in IO control is monitored from P2.4.2.1
and P2.4.2.2

P2.4.2.40 Start signal 1B ID403 “Start Signal 1B”

Signal selection 1B for the start/stop logic.
This is for Start Place B, selected with P2.4.2.39
Default programming 0.1.Default Forward start, selected with P2.4.1.1.

P2.4.2.41 Start signal 2B ID404 “Start Signal 2B”

Signal selection 2B for the start/stop logic.
This is for Start Place B, selected with P2.4.2.39
Default programming 0.1. Default Reverse start, selected with P2.4.1.1.

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6.4.3 Analogue Input 1 & 2

P2.4.3.1 AI1 signal selection ID377 “AI1 Signal Sel”

P2.4.4.1 AI2 signal selection ID388 “AI2 Signal Sel”

Connect the AI1/AI2 signal to the analogue input of your choice with this parameter. For
more information about the TTF programming method, see chapter 4.

P2.4.3.2 Analogue input 1 signal filter time ID324 “AI1 Filter Time”
P2.4.4.2 Analogue input 2 signal filter time ID329 “AI2 Filter Time”

First order filtering is used for analogue signals that are used to control e.g. the power
limit. Second order filtering is used for frequency reference filtering.

12000

10000

8000
Unfiltered
6000
1 s filter time
4000 63 %
FreqRef 2nd order
2000

0
0,425
0,895
1,365
1,835
2,305
2,775
3,245
3,715
4,185
4,655
5,125
5,595
6,065
6,535
-0,045

Figure 6-10. AI1 signal filtering

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P2.4.3.3 Analogue input signal 1 signal range ID320 “AI1 Signal Range”
P2.4.4.3 Analogue input signal 2 signal range ID325 “AI2 Signal Range”

0 “0-20mA/10V
Signal input ranges: 0...10 V and 0...20 mA.
Input signal is used from 0% to 100%.

1 “4-20 mA
Signal input ranges: 4 – 20 mA and 2 – 10 V
Input signal is used from 20 % to 100 %

2 “–10 - + 10 V
Signal input range: -10 V - + 10 V.
Input signal is used from -100 % to +100 %.

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3 “Custom Range”
With custom range it is possible to freely adjust what input level corresponds to the
minimum and maximum frequencies.
Reference [Hz]
Max Freq

Min Freq
0% 40 % Analogue 80 % 100 %
Custom Input Custom
Min Max

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P2.4.3.4 AI1 custom minimum setting ID321 “AI1 Custom Min”

P2.4.3.5 AI1 custom maximum setting ID322 “AI1 Custom Max”
P2.4.4.4 AI2 custom minimum setting ID326 “AI2 Custom Min”
P2.4.4.5 AI2 custom maximum setting ID327 “AI2 Custom Max”
These parameters set the analogue input signal for any input signal span within -160...160%. E.g.
if the signal input scaling is set to 40 %...80 % the reference can be changed from 8 mA
(for Minimum Frequency) to 16 mA (for Maximum Frequency).

P2.4.3.6 AI1 Reference scaling, minimum value ID303 “AI2 RefScale Min”
P2.4.3.7 AI1 Reference scaling, maximum value ID304 “AI2 RefScale Max”
P2.4.4.6 AI2 reference scaling, minimum value ID393 “AI2 RefScale Min”
P2.4.4.7 AI2 reference scaling, maximum value ID394 “AI2 RefScale Max”
Additional reference scaling. Analogue input reference scaling can be set to a different
value than the minimum and maximum frequency.

P2.4.3.8 Analogue Input 1 joystick input dead zone ID382 “AI1 JoysDeadZone”
P2.4.4.8 Analogue Input 2 joystick input dead zone ID395 “AI2 JoysDeadZone”

The small values of the reference around zero can be ignored by setting this value
greater than zero. When the reference lies between zero and ± this parameter, it is
forced to zero.

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6.4.3.1 Sleep function

The drive can be stopped by sleep function when the analogue input falls below a certain value for a
certain time and speed functions become active.

P2.4.3.9 AI1 sleep limit ID385 “AI1 Sleep Limit”

P2.4.4.9 AI2 sleep limit ID396 “AI2 Sleep Limit”
The drive is stopped automatically if the AI signal level falls below the Sleep limit defined
with this parameter. In joystick function, when input is between zero and ± this
parameter the drive will go to sleep state.

P2.4.3.10 AI1 sleep delay ID386 “AI1 Sleep Delay”

P2.4.4.10 AI2 sleep delay ID397 “AI2 Sleep Delay”
This parameter defines the time the analogue input signal has to stay under the sleep
limit in order to stop the drive.

P2.4.3.11 AI1 joystick offset ID165 “AI1 Joyst.Offset”

P2.4.4.11 AI2 joystick offset ID166 “AI2 Joyst.Offset”
Defines the frequency zero point as follows:

With this parameter on display, place the potentiometer in the assumed zero point and
press Enter on keypad.

Note: This will not, however, change the reference scaling.

Press Reset button to change the parameter value back to 0,00%.

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6.4.4 Analogue input 3 & 4

Analogue Inputs 3 and 4 can be written form fieldbus. This allows signal scaling and inversion.
useful e.g. in case when PLC is not operational (value zero received) signal will be automatically at
maximum.

P2.4.5.1 AI3 signal selection ID141 “AI3 Signal Sel”

P2.4.6.1 AI4 signal selection ID152 “AI4 Signal Sel”
Connect the AI3/AI4 signal to the analogue input of your choice with this parameter. For
more information, see Chapter 4 “Terminal To Function” (TTF) programming principle.

When the parameter for Analogue input signal selection is set to 0.1 you can control the
analogue input monitoring variable from Fieldbus by assigning the Process Data Input ID
number to the analogue input monitoring signal thus allowing the PLC input signals to
be scaled with analogue input scaling functions.

P2.4.5.2 Analogue input 3 signal filtering time ID142 “AI3 Filter Time”
P2.4.6.2 Analogue input 4 signal filtering time ID153 “AI3 Filter Time”
First order filtering is used for analogue inputs signals 3 and 4.

12000
10000
8000
6000 Unfiltered
4000 1 s filter time
2000 63 %
0
-0,045
0,600
1,245
1,890
2,535
3,180
3,825
4,470
5,115
5,760
6,405

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P2.4.5.3 AI3 custom setting minimum ID144 “AI3 Custom Min”

P2.4.5.4 AI3 custom setting maximum ID145 “AI3 Custom Max”
P2.4.6.3 AI4 custom setting minimum ID155 “AI4 Custom Min”
P2.4.6.4 AI4 custom setting maximum ID156 “AI4 Custom Max”
Set the custom minimum and maximum input levels for the AI3 signal within -160…160%.

P2.4.5.5. AI3 signal inversion ID151 “AI3 Signal Inv”

P2.4.6.5 AI4 signal inversion ID162 “AI3 Signal Inv”
The signal inversion function is useful in a situation when e.g. the PLC is sending power
limit to the drive using fieldbus. If the PLC is unable to communicate with the drive the
power limit from fieldbus to the drive would be zero. Using an inverted signal logic zero
value from PLC would mean maximum power limit. When inversion is needed for the
process data signal fieldbus values need to be written to Analogue input monitoring
signals. See parameter P2.4.5.1 AI3 Signal selection for details.

0 = No inversion
1 = Signal inverted

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6.4.4.1 Analogue input to any parameter

This function allows control of any parameter by using an analogue input. The parameter selects
what the range of control area and the ID number for the parameter that is controlled.

P2.4.5.6 Analogue input 3, minimum value ID1037 “AI3 Scale Min”

P2.4.5.7 Analogue input 3, maximum value ID1038 “AI3 Scale Max”
P2.4.6.6 Analogue input 4, minimum value ID1039 “AI4 Scale Min”
P2.4.6.7 Analogue input 4, maximum value ID1040 “AI4 Scale Max”
These parameters define the range for the controlled parameters. All the values are
considered to be integers i.e. when controlling the Field Weakening Point (as in example)
you also need to set numbers for decimals. e.g. FWP 100,00 needs to be set as 10000.

P2.4.5.8 AI3 Controlled ID ID1509 “AI3 Control. ID”

P2.4.6.8 AI4 Controlled ID ID1510 “AI4 Control. ID”
These parameters define the controlled parameter.

Example:
You want to control motor field weakening point voltage through an analogue input from
70,00 % to 130,00 %.

Set Scale min to 7000 = 70,00 %

Set Scale max to 13000 = 130,00 %
Set Controlled ID to 603 (Voltage at field weakening point)

Now analogue input 3 signal 0 V to 10 V (0 mA to 20 mA) will control the field weakening
point voltage between 70,00 % - 130,00 %. When setting the value remember that
decimals are handled as integers.

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6.4.5 Inversion control

P2.3.2.1 Inversion Control ID1091 “INV Control”
Inversion control allows you to select which input signal operation will be inverted.

B00 = +1 = Invert external fault 1

B01 = +2 = Invert external fault 2
B02 = +4 = Inverted Run Enable digital input
B03 = +8 = Inverted Brake acknowledge digital input
B08 = +256 = Motoring Power limit digital input inverted
B09 = +512 = Generator Power limit digital input inverted

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6.5 Output signlas

6.5.1 Digital output signals
In the Marine application, all output signals are not used by default.

P2.5.1.1 Ready ID432 “Ready”

The frequency converter is ready to operate.
Common reasons when ready signals are missing:
- Run enable signal is low
- DC Voltage is too low
- DC Voltage is too high

P2.5.1.2 Run ID433 “Run”

The frequency converter is modulating.

P2.5.1.3 Fault ID434 “Fault”

A fault trip has occurred.

P2.5.1.4 Inverted fault ID435 “Fault, Inverted”

No active faults in the drive.

P2.5.1.5 Warning ID436 “Warning”

General warning signal.

P2.5.1.6 External fault or warning ID437 “Ext. Fault/Warn.”

Fault or warning depending on parameter Response to external fault. P2.4.2.11 Ext Fault
Close and P2.4.2.12 Ext Fault Open are used to trigger a fault. P2.12.1 External fault is
used to select response.

P2.5.1.7 Reference fault or warning (4mA) ID438 “AI Ref Faul/Warn”

Fault or warning depending on parameter Response to the 4mA reference fault.
Response is selected in G2.11.6.

P2.5.1.8 Drive overtemperature warning ID439 “OverTemp Warn”

Drive temperature has exceeded normal operation conditions. Temperature limit may
wary depending on drive type on size.

P2.5.1.9 Reverse ID440 “Reverse”

Drive output frequency is negative

P2.5.1.10 Wrong direction ID441 “WrongDirection”

Motor rotation direction is different from the requested one. This happens in situation
when external force makes the motor rotate in different direction or when the direction
change command has been given and the drive is still ramping down to change direction.

P2.5.1.11 At reference speed ID442 “At Ref. Speed”

Induction motor: Speed is within nominal slip of the reference.
PMS motor: Output frequency is within 1 Hz of the reference frequency.

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P2.5.1.12 Jogging speed ID413 “Jogging Speed”

Jogging speed command has been given.

P2.5.1.13 IO Control Place ID444 “IO Control Place”

Active control place is I/O terminal defined by the parameter for Control place (P3.1) or
forced with digital input function.

6.5.1.1 Brake Control

The mechanical brake control has two parts that need to be synchronically controlled. The first part
is the mechanical brake release and the second is the speed reference release. Whole brake control
logic is explained in chapter 6.15 Brake Control on page 207.

Conditions to open the brake:

The final brake open command: It is possible that in a Master/Follower system the master drive
opens the brake. Also an overriding system may do this without any control from the drive using
AucControlWord1.B7. During identification run the brake will not open.

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Relay state when control unit is not powered

P2.5.1.14 External brake control ID445 “Ext Brake Contrl”

See detailed description about brake operation in G2.15 Brake Control.

External brake ON/OFF control

Example: OPTA2 board RO1 :

Brake function ON: Terminals 22-23 are connected (Relay is energized).
Brake function OFF: Terminals 22-23 are open (Relay not energized).

Brake Open Command Brake Close Command

Brake function OFF Brake function ON

Note: When power from control board is removed terminals 22-23 are open.

When using the Master Follower function, the follower drive will open the brake at the
same time as the Master even if the Follower's conditions for brake opening have not
been met.

P2.5.1.15 External brake control, inverted ID446 “ExtBrakeCtrl,Inv”

See detail description about brake operation in G2.15 Brake Control

Example: OPTA2 board RO1 :

Brake function ON: Terminals 22-23 are open. (Relay not energized)
Brake function OFF: Terminals 22-23 are connected. (Relay is energized).

Brake Open Command Brake Close Command

Brake function OFF Brake function ON

When using the Master Follower function, the follower drive will open the brake at the
same time as the Master does even if the Follower's conditions for brake opening have
not been met.

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P2.5.1.16 Output frequency limit 1 supervision ID447 “FreqOut SupvLim1”

The output frequency goes outside the set supervision limits defined in Supervision Lim
parameter group. The function can be set to monitor either the high or the low limit.
Limit and functions are selected in G2.5.8 Supervision Limits.

P2.5.1.17 Output frequency limit 2 supervision ID448 “FreqOut SupvLim2”

The output frequency goes outside the set supervision limits 2 defined in Supervision Lim
parameter group. The function can be set to monitor either the high or the low limit.
Limit and functions are selected in G2.5.8 Supervision Limits.

P2.5.1.18 Reference limit supervision ID449 “Ref Lim Superv.”

Active reference goes beyond the set supervision low limit/high limit defined in
Supervision Lim parameter group. The function can be set to monitor either the high or
the low limit Limit. The functions are selected in G2.5.8 Supervision Limits.

P2.5.1.19 Temperature limit supervision ID450 “Temp Lim Superv.”

The drive temperature goes beyond the set supervision limits defined in Supervision Lim
parameter group. The function can be set to monitor either the high or the low limit.
Limit and functions are selected in G2.5.8 Supervision Limits.

P2.5.1.20 Torque limit supervision ID451 “Torq Lim Superv.

The motor torque goes beyond the set supervision limits defined in Supervision Lim
parameter group. The function can be set to monitor either the high or the low limit.
Limit and functions are selected in G2.5.8 Supervision Limits.

P2.5.1.21 Motor thermal protection ID452 “MotTherm Flt/Wrn”

Motor thermistor initiates an overtemperature signal which can be led to a digital output.
The response is selected with P2.12.5.6 ThermistorF.Resp.

P2.5.1.22 Analogue input supervision limit ID453 “Ain Supv Lim”

The selected analogue input signal goes beyond the set supervision limits defined in
G2.5.8 Supervision Lim parameter group. The function can be set to monitor either the
high or the low limit.

P2.5.1.23 Limit Control active ID454 “Limit Control ON”

One or more of the drive limit controllers is active.

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6.5.1.2 Fieldbus digital inputs connection

P2.5.1.24 Fieldbus input data 1 ID455 “FB Dig Input 1”

P2.5.1.26 Fieldbus input data 2 ID456 “FB Dig Input 2”
P2.5.1.28 Fieldbus input data 3 ID457 “FB Dig Input 3”
P2.5.1.30 Fieldbus input data 4 ID169 “FB Dig Input 4”
P2.5.1.32 Fieldbus input data 5 ID170 “FB Dig Input 5”

The data from the Fieldbus main control word can be led to the drive’s digital outputs.
See used fieldbus board manual for location of these bits.

P2.5.1.25 Fieldbus digital input 1 parameter ID891 “FB Dig 1 Par ID”
P2.5.1.27 Fieldbus digital input 2 parameter ID892 “FB Dig 2 Par ID”
P2.5.1.29 Fieldbus digital input 3 parameter ID893 “FB Dig 3 Par ID”
P2.5.1.31 Fieldbus digital input 4 parameter ID894 “FB Dig 4 Par ID”
P2.5.1.33 Fieldbus digital input 5 parameter ID895 “FB Dig 5 Par ID”

With these parameters you can define the parameter to be controlled by using FB Digital
input.

Example:
All option board inputs are in use and you still want to give DI: DC Brake Command
(ID416). You also have a fieldbus board in the drive.

Set parameter ID891 (Fieldbus digital input 1) to 416.

Now you are able to control DC Braking command from the fieldbus by Profibus control
word (bit 11).
It is possible to control any parameter in the same way if values 0=FALSE and 1=TRUE
are significant for that parameter. For example, P2.6.5.3 Brake Chopper (ID504) can be
controlled on and off using this function (Brake Chopper; 0 = Not Used, 1 = On, Run).

P2.5.1.34 Safe disable active ID756 “Safe Disable Act”

Select the digital output to show the status of the Safe Torque Off.

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6.5.2 Analogue outputs 1 & 2 & 3 & 4

P2.5.2.1 Analogue output 1 signal selection ID464 “Iout 1 Signal”

P2.5.3.1 Analogue output 2 signal selection ID471 “Iout 2 Signal”
P2.5.4.1 Analogue output 3, signal selection ID478 “Iout 3 Signal”
P2.5.5.1 Analogue output 4, signal selection ID1527 “Iout 4 Signal”

Connect the AO1 signal to the analogue output of your choice with this parameter.

P2.5.2.2 Analogue output function ID307 “Iout Content”

P2.5.3.2 Analogue output 2 function ID472 “Iout 2 Content”
P2.5.3.2 Analogue output 3, function ID479 “Iout 3 Content”
P2.5.3.2 Analogue output 4, function ID1520 “Iout 4 Content”

This parameter selects the desired function for the analogue output signal.

0 “Not used”
Analogue output is forced to 20 % (= 2 V/4 mA)
1 “O/P Freq”
Output frequency from zero to maximum frequency.
2 “Freq Ref”
Freq. reference from zero to maximum frequency
3 “Motor speed “
Motor speed from zero speed to motor synchronous speed
4 “O/P Current”
Drive output current from zero to motor nominal current
5 “Motor Torque “
Motor torque from zero to motor nominal torque (100 %)
6 “Motor Power”
Motor power from zero to motor nominal power (100 %)
7 “Mot Voltage”
Drive output voltage from zero to motor nominal voltage
8 ”DC-link volt”
500 V unit: DC voltage from zero to 1000 Vdc
690 V unit: DC voltage from zero to 1317 Vdc
9 “AI1”
Unfiltered Analogue input 1 signal
10 “AI2”
Unfiltered Analogue input 2 signal
11 “Fout,min-max
Output frequency from minimum frequency to maximum frequency
12 “(-2Tn)-(2Tn)”
Motor torque from negative two times motor nominal to positive two times motor
nominal torque
13 “(-2Pn)-(2Pn)”
Motor power from negative two times motor nominal to positive two times motor
nominal power
14 “PT100 Temp.”
Maximum PT100 temperature value from used input scaling from -30 C to +200 C
15 “FB Data In4”
FB analogue output fieldbus process data value can be connected to analogue output
by using monitoring signal ID48 .

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16 “(-2nN)-(2nN)”
Motor speed from negative two times nominal to positive two times nominal speed
17 “Enc 1 Speed”
Encoder 1 speed from zero speed to motor synchronous speed

P2.5.2.3 Analogue output filter time ID308 “Iout Filter Time”

P2.5.3.3 Analogue output 2 filter time ID473 “Iout 2 Filter T”
P2.5.4.3 Analogue output 3, filter time ID480 “Iout 3 Filter T”
P2.5.5.3 Analogue output 4, filter time ID1521 “Iout 4 Filter T”

First order filtering is used for analogue output signals.

12000
10000
8000
6000 Unfiltered
4000 1 s filter time
2000 63 %
0
-0,045
0,600
1,245
1,890
2,535
3,180
3,825
4,470
5,115
5,760
6,405

P2.5.2.4 Analogue output inversion ID309 “Iout Invert”

P2.5.3.4 Analogue output 2 inversion ID474 “Iout 2 Invert”
P2.5.4.4 Analogue output 3 inversion ID481 “Iout 3 Invert”
P2.5.5.4 Analogue output 4 inversion ID1522 “Iout 4 Invert”

Inverts the analogue output signal:

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P2.5.2.5 Analogue output minimum ID310

P2.5.3.5 Analogue output 2 minimum ID475
P2.5.4.5 Analogue output 3 minimum ID482
P2.5.5.5 Analogue output 4 minimum ID1523

Defines the signal minimum to either 0 mA or 4 mA (living zero).

0 Set minimum value to 0 mA (0 %)

1 Set minimum value to 4 mA (20 %)

P2.5.2.6 Analogue output scale ID311 “Iout Scale”

P2.5.3.6 Analogue output 2 scaling ID476 “Iout 2 Scale”
P2.5.4.6 Analogue output 3 scaling ID483 “Iout 3 Scale”
P2.5.5.6 Analogue output 4 scaling ID1525 “Iout 4 Scale”

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P2.5.2.7 Analogue output offset ID375 “Iout Offset”

P2.5.3.7 Analogue output 2 offset ID477 “Iout 2 Offset”
P2.5.4.7 Analogue output 3 offset ID484 “Iout 3 Offset”
P2.5.5.7 Analogue output 4 offset ID1524 “Iout 4 Offset”

Define the offset for the analogue output signal.

In picture below 50 % scaling signal has been given 20 % offset and for 200 % scaling
50 % offset.

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6.5.3 Delayed Digital Output 1 & 2

P2.5.6.1 Digital output 1 signal selection ID486 “Dig.Out 1 Signal”
P2.5.7.1 Digital output 2 signal selection ID489 “Dig.Out 2 Signal”
Connect the delayed digital output signal to the digital output of your choice with this
parameter. For more information about the TTF programming method, see chapter 4.

P2.5.6.2 Digital output function ID312 “DO1 Content”

P2.5.7.2 Digital output 2 function ID490 “DO2 Content”
0 = “Not used”
1 = “Ready”
The AC drive is ready to operate.
Common reasons when ‘Ready’ signals are missing:
o Run enable signal is low
o DC Voltage is too low
o DC Voltage is too high
2 = “Run”
The frequency converter is modulating.
3 = “Fault “
A fault trip has occurred
4 = “FaultInvert”
No active faults in the drive.
5 = “OverheatWarn”
Drive temperature has exceeded normal operation conditions. Temperature limit may
vary depending on drive type and size.
6 = “ExtFaul/Warm”
External fault or warning depending on parameter response to external fault
7 = “RefFaul/Warn”
Fault or warning depending on parameter Response to the 4mA reference fault
- occurs if analogue reference is 4—20 mA and signal is <4mA
8 = “Warning”
Always if a warning is on
9 = “Reversed”
Drive output frequency is negative
10 = “JogSpeedSel”
The jogging, preset or inching speed has been activated with digital input.
11 = “At speed”
Induction motor: speed is within nominal slip of the reference.
PMS motor: output frequency is within 1 Hz of the reference.
12 = “MotorRegAct”
One of the limit regulators is active.
13 = “FreqLim1Sup”
Output frequency limit 1 supervision
The output frequency goes outside the set supervision low limit/high limit.
14 = “FreqLim2up”
Output frequency limit 2 supervision
The output frequency goes outside the set supervision low limit/high limit.
15 = “TorqLimSprv”
Torque limit supervision
The motor torque goes beyond the set supervision low limit/high .

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16 = “RefLimSprv”
Reference limit supervision
Active reference goes beyond the set supervision low limit/high limit.
17 = “ExtBrakeCont”
External brake control
External brake ON/OFF control with programmable delay
18 = “I/O ContAct”
Control from I/O terminals
IO control place is active.
19 = “TempLimSprv”
Drive temperature limit supervision.
Drive temperature goes beyond the set supervision limits (par. ID354)
20 = “WrongDirecti”
Motor rotation direction is different from the requested one. This happens in situation
when an external force makes the motor to rotate into different direction or when a
command for direction change has been given and the drive is still ramping down to
change direction.
21 = “ExtBrakeInv”
External brake control inverted
External brake ON/OFF control; Output active when brake control is OFF.
22 = “ThermFlt/Wrn”
Thermistor fault or warning
The thermistor input of option board indicates overtemperature. Fault or warning
depending on the response parameter.
23 = AI Supervis”
Analogue input supervision
Analogue input supervision function, Set Reset type output function.
24 = “FB DigInput1”
Fieldbus digital input data 1
25 = “FB DigInput2”
Fieldbus digital input data 2
26 = “FB DigInput3”
Fieldbus digital input data 3
27 = “Warning SR”
Warning indication that requires pressing of Reset button. Normally the drive will
remove warning indication when the fault situation has passed. This output requires
that reset button is pressed before signal goes low after there has been a warning
trigger.
28 = “ID.Bit”
Select the signal for controlling the DO. The parameter has to be set in format xxxx.yy
where xxxx is the ID number of a signal and yy is the bit number. For example, the
value for DO control is 1174.02. 1174 is the ID number of Warning Word 1. So the
digital output is ON when bit number 02 of the warning word (ID no. 1174) i.e. Motor
underload is high.

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P2.5.6.3 Digital output 1 on-delay ID487 “DO1 ON Delay”

P2.5.6.4 Digital output 1 off-delay ID488 “DO1 OFF Delay”
P2.5.7.3 Digital output 2 on-delay ID491 “DO2 ON Delay”
P2.5.7.4 Digital output 2 off-delay ID492 “DO2 OFF Delay”

With these parameters you can set on- and off-delays to digital outputs.

Figure 6-11. Digital outputs 1 and 2, on- and off-delays

P2.5.6.5 Invert digital output 1 ID1587 “INV Delayed DO1”

P2.5.7.5 Invert digital output 2 ID1588 “INV Delayed DO2”
Inverts delayed digital output operation.

P2.5.6.6 ID.Bit Free DO 1 ID1217

P2.5.7.6 ID.Bit Free DO 2 ID1385
Select the signal for controlling the DO. The parameter has to be set in format xxxx.yy
where xxxx is the ID number of a signal and yy is the bit number. For example, the value
for DO control is 1174.02. 1174 is the ID number of Warning Word 1. So the digital output
is ON when bit number 02 of the warning word (ID no. 1174) i.e. Motor underload is high.

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6.5.4 Supervision limits

Supervision function gives you the possibility to monitor certain values with the limit setting. When
the actual value exceeds or goes below the set value a message through a digital output can be
given. The torque limit supervision is scalable.

P2.5.8.1 Output frequency limit supervision function ID315 “Freq Supv Lim 1”
P2.5.8.3 Output frequency limit 2 supervision function ID346 “Freq Supv Lim 2”
P2.5.8.5 Torque limit, supervision function ID348 “Torque Supv Lim”
P2.5.8.8 Reference limit, supervision function ID350 “Ref Superv Lim”
P3.6.8.10 Drive temperature limit supervision function ID354 “Temp Lim Superv.”

0 No supervision
1 Low limit supervision
2 High limit supervision

The following five parameters are used to set a limit value to be monitored with the
corresponding parameter above.

P2.5.8.2 Output frequency limit supervision value ID316 “Freq Dupv Val 1”
P2.5.8.4 Output frequency limit 2 supervision value ID347 “Freq Supv Val 2”
P2.5.8.6 Torque limit, supervision value ID349 “Torque Supv Val”
P2.5.8.9 Reference limit, supervision value ID351 “Ref Superv Value”
P2.5.8.11 Drive temperature limit value ID355 “Temp Supv Value”

Figure 6-12. Supervision function

P2.5.8.7 Torque Supervision value scaling input ID402 “Torque Superv Scl”
This parameter is used to change the torque limit supervision level between zero and
P2.5.8.6 Torque Supv Val

0 = Not used
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FBLimScaling

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6.5.4.1 Analogue input supervision function

The analogue input supervision function will control the selected digital output to close when the
analogue input signal has exceeded the high limit and open when the signal goes below the low
limit.

P2.5.8.12 Analogue input supervision signal ID356 “Ain Supv Input”

With this parameter you can select the analogue input to be monitored.

0 = Not used
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FBLimScaling

P2.5.8.13 Analogue Low supervision control limit ID357 “Ain Supv Llim”
P2.5.8.14 Analogue High supervision control limit ID358 “Ain Supv Hlim”

.
Figure 6-13. An example of On/Off-control

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6.6 Limit settings

6.6.1 Current limit handling

P2.6.1.1 Current limit ID107 “Current Limit”

This parameter determines the maximum motor current from the AC drive. The
parameter’s value range differs from size to size.
When the Current limit is changed the Stall current limit is internally calculated to 90%
of the current limit (if the Stall current limit is greater than the Current limit). When the
current limit is active the drive output frequency is reduced until current is below the set
limit.

In closed loop control, the current limit affects the torque producing current limit, not
total current. This can be changed in options group with the “LimitTotalCurrent”
parameter.

In drive synch operation limiting is for average current of units.

P2.6.1.2 Scaling of current limit ID399 “Currnt Lim Sclng”

0 = Not used
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FB Limit Scaling ID46 Monitoring value

This signal will adjust the maximum motor current between 0 and the parameter Motor
Current Limit.

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6.6.2 Power limit handling

Power limit function is meant to limit the drive output power to the motor. The general way to do this
is to give a limiting signal from a primary system that gives information about how much power is
available for drive operations.

P INV Commands.B8
SEL
G
DI Mot.PowerLimit 1 IN 0

NOT
IN 1
IN

SEL
G
DI Mot.PowerLimit 2 IN 0
IN 1
NOT
IN SEL4
B0

MUX B1
P MotPowerLimScaling K IN00
P MotorPowerLimir IN 0 P Mot.PowerLimit 1 IN01
MUL
F Analogue Input 1 X
IN 1 P Mot.PowerLimit 2 IN10
X
IN 2 0 IN11
IN 3
IN 4
MUL IN 5
F Analogue Input 2 X
IN 6
X
IN 7
IN 8
MUL IN 9
F Analogue Input 3 X
X

MUL
F Analogue Input 4 X
X SEL
P Power Limit Follower G
IN 0
MUL IN 1
LIMIT
F FB Limit Scaling X
0 MN
X
IN
MX

ADD
V Motor Power +
P Power Hysteresis +
+

LT
IN 1
IN 2

RAMP10 MIN
STOP OUT IN 1 Final Power Limit
SET P Power Limit IN 2
DATA
P PowerLimitRampUpRate SPEED
IN

Power limit
ramping
control

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P2.6.2.1 Power Limit ID1722 “Power Limit”

General power limit for both motoring and generator side. This value is the final limit for
all scaling functions. This value should not be used for scaling but for the maximum
safety limit because the ramp up rate function is ineffective when this parameter is
changed.

P2.6.2.2 Generator power limit ID1290 “GenerPower Limit”

Generator side power limit. This limit value is used for all scaling functions and power
limit ramp rate functions.

P2.6.2.3 Motoring power limit ID1289 “MotorPowerLimit”

Motoring side power limit. This limit value is used for all scaling functions and power
limit ramp rate functions.

P2.6.2.4 Generator Power limit 1 ID1513 “Gen.PowerLimit 1”

P2.6.2.5 Generator Power limit 2 ID1514 “Gen.PowerLimit 2”
Generator side power limit values when limits are activated by digital inputs. When both
digital inputs are activated the power limit is forced to zero.

P2.6.2.6 Motoring Power limit 1 ID1503 “Mot.PowerLimit 1”

P2.6.2.7 Motoring Power limit 2 ID1504 “Mot.PowerLimit 2”
Motoring side power limit values when limits are activated by digital inputs. When both
digital inputs are activated the power limit is forced to zero.

P2.6.2.8 Power limit increase rate ID1502 “PowerLimInc.rate”

Defines the power limit increase rate. Decreasing power limit will be in effect
immediately.

Power Limit

80 %

Input Limit

Internal Limit
10 % / s
20 %
6s

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6.6.2.1 Power follower function

The power follower function will keep the internal power limit near the actual power so that when
power demand increases the increase rate is controlled by the power limit increase rate parameter.
This function makes the power increase smoother for the ship generator when e.g. speed reference
is increased or when propeller gets air and comes back to the water.

P2.6.2.9 Power Follower ID1705 “Power Follower”

Activates the power follower function.

P2.6.2.10 Power limit follower hysteresis ID1529 “PowerFoll.Hyst”

Defines the hysteresis of the actual power where the internal power limit is kept while
the input power limit is higher than the actual power.

P2.6.2.11 Scaling of Motoring Power Limit ID179 “MotPowerLimSclng”

The motoring power limit is equal to parameter Motoring Power Limit if value 'Not Used'
is selected. If any of the inputs is selected the motoring power limit is scaled between
zero and parameter P2.6.2.3 Motoring Power Lim.

0 = Parameter
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FieldBus Scaling ID46 (Monitoring Value)

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P2.6.2.12 Scaling of Generating power limit ID1088 “GenPowerLimSclng”

The generator power limit is equal to parameter Generator Power Limit if value 'Not
Used' is selected. If any of the inputs is selected the generator power limit is scaled
between zero and parameter P2.6.2.2 Generator Power Lim.

0 = Parameter
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FieldBus Scaling ID46 (Monitoring Value)

P2.6.2.13 Undervoltage power limit DC level ID1611 “UV Power C Levl”

This parameter defines the DC voltage level when the special power limit function is
activated. When DC voltage goes below this level the power level defined by under
voltage power limit will be activated.

P2.6.2.14 Undervoltage power limit ID1612 “UV Power Lim.”

Defines the power limit that is used when DC voltage is below parameter Undervoltage
power limit DC level (P2.6.2.13). The function is deactivated when this parameter value is
zero.

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6.6.3 Torque limit handling

6.6.3.1 Motoring torque limit function

6.6.3.2 Generator torque limit function

Details of “Add to Gen Torq Lim” can be find from Brake Control chapter.

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P2.6.3.1 Torque Limit ID609 “Torque Limit”

The general torque limit for both motoring and generator sides. This value is the final
limit for all scaling functions. This value should not be used for scaling but for maximum
safety limit because the ramp up rate function is ineffective when this parameter is
changed. Only the motoring side torque limit has a ramp up limiting function.

P2.6.3.2 Motoring Torque limit ID1287 “MotorTorqueLimit”

Motoring side torque limit. This limit value is used for all scaling functions and torque
limit ramp rate functions if activated.

P2.6.3.3 Generator Torque limit ID1288 “GenerTorqueLimit”

Generator side torque limit. This limit is used for all scaling functions generator side
torque limit is not included in ramp up rate function.

P2.6.3.4 Motoring Torque limit 1 ID1625 “Mot.TorqueLim 1”

Motoring side torque limit that is activated by digital input

P2.6.3.5 Generator Torque limit 1 ID1627 “Gen. Torque Lim 1”

Generator side torque limit that is activated by digital input.

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6.6.3.3 Torque follower function

Torque follower function will keep the internal torque limit near the actual torque so that when the
torque demand increases, the increase rate is controlled by the torque limit increase rate
parameter. This function can be used together with the power limit ramp rate function because a
low power limit at low speed will give high torque and may cause mechanical stress in the system.

P2.6.3.6 Torque Follower ID1706 “Torque Follower”

Activates the torque follower function and ramp rate limiter function for torque limit.

P2.6.3.7 Torque limit increase rate ID1502 “TorqueLimInc.rate”

Defines the torque limit increase rate. Decreasing power limit will be in effect
immediately.

P2.6.3.8 Torque limit follower hysteresis ID1533 “TorqueFoll.Hyst”

Defines the hysteresis of the actual torque where the internal torque limit is kept while
the input torque limit is higher than the actual torque.

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P2.6.3.9 Motoring Torque limit scaling ID485 “MotTorqLimSclng”

The motoring torque limit is equal to parameter Motoring Torque Limit if value ‘Not
Used’ is selected. If any of the inputs is selected the motoring torque limit is scaled
between zero and parameter Motorin Torque Limit.

0 = Not used
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FB Limit Scaling ID46 Monitoring value

P2.6.3.10 Generating torque limit scaling ID1087 “GenTorqLimSclng”

The generator torque limit is equal to parameter Generator Torque Limit if value ‘Not
Used’ is selected. If any of the inputs is selected the generator torque limit is scaled
between zero and parameter generator torque limit.

0 = Not used
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FB Limit Scaling ID46 Monitoring value

6.6.3.4 Open Loop settings only

P2.6.3.9.1 Torque limit control P-gain ID610 “TorqLimCtrl P”

This parameter defines the gain of the torque limit controller. It is used in Open Loop
control mode only.

P2.6.3.9.2 Torque limit control I-gain ID611 “TorqLimCtrl I”

This parameter determines the I-gain of the torque limit controller. It is used in Open
Loop control mode only.

6.6.3.5 Closed Loop settings only

P2.6.3.10.1 Speed Control output limit ID1382 “SPC Out Limit”

Torque limit for the speed controller. It affects both the positive and negative direction
torques.

P2.6.3.10.2 Speed Control positive limit ID646 “SPC Pos Limit”

Positive torque limit for speed controller output.

P2.6.3.10.3 Speed Control negative limit ID645 “SPC Neg Limit”

Negative torque limit for speed controller output.

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6.6.4 Frequency limit handling

P2.6.4.1 Maximum Frequency Limit 2 ID1512 “Max Frequency 2”

This parameter defines the maximum frequency when the digital input “Max Frequency
2” is activated. This limit does not affect the reference values that are of constant type,
e.g. preset speed references. If actual speed is higher than Max Frequency 2, limited
reference is activated by ramp.

P2.6.4.2 Negative frequency limit ID1286 “Neg Freq Limit”

Positive direction frequency limit. When changed in closed loop control mode change is
made without ramp.

DriveSynch operation
The maximum recommended frequency is 100 Hz.

P2.6.4.3 Positive frequency limit ID1285 “Pos Freq Limit”

Negative direction frequency limit. When changed in closed loop control mode change is
made without ramp.

DriveSynch operation
The maximum recommended frequency is 100 Hz.

P2.6.4.4 Zero Frequency limit ID1283 “Zero Freq. Limit

Defines the zero frequency limit.
Used to determine when load drooping is set to zero if load drooping removal function 1
is selected

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6.6.5 DC Link handling

P2.6.5.1 Overvoltage controller ID607 “Overvolt Contr”

The parameter selects the behaviour of the overvoltage controller in open loop control. It
also activates the closed loop overvoltage controller but the operation is always of type
‘PI’ in closed loop control modes.

0 “Off” - Controller switched off

Both open and closed loop overvoltage controllers are off.

1 “On:NoRamping” – Activated P-Controller type operation

Both open and closed loop controllers are activated.
Open loop controller is a P-type controller.
Closed loop controller is a PI-type controller.

2 “On: Ramping” – Activated PI-Type controller

Both open and closed loop controllers are activated.
Open loop controller is a PI-type controller.
Closed loop controller is PI-type controller (as in selection 1).

P2.6.5.2 Overvoltage Reference Select ID1262 “OverVolt.Ref.Sel”

Overvoltage reference level depending on the status of the brake chopper.
In closed loop control, the overvoltage controller level is adjusted by “OverVoltageRef.”
The parameter can be found in the CL setting parameter group.

ID1262 Brake chopper in use Brake chopper not in use

0/ 500 V Unit: 844 V 500 V Unit: 797 V
High Voltage 690 V Unit: 1164 V 690 V Unit: 1099 V
1/
1.25*Estimated DC nominal voltage 1.18*Estimated DC nominal voltage
Norm.Voltage
2/
1.07*brake chopper level Brake chopper level
BrakeChLevel

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P2.6.5.3 Brake chopper ID504 “Brake Chopper”

When the AC drive is decelerating the motor, the inertia of the motor and the load are fed
into an external brake resistor. This enables the drive to decelerate the load with a
torque equal to that of acceleration (provided that the correct brake resistor has been
selected). See separate Brake resistor installation manual. Brake chopper test mode
generates pulse to resistor every second. If the pulse feedback is wrong (resistor or
chopper is missing) fault F12 is generated.

Over Voltage Reference Select Brake chopper level

0 /High voltage 500 V Unit: 797 V
690 V Unit: 1099 V
1 / Norm.Voltage 1.18* Estimated DC nominal voltage
2 / BrakeChLevel Brake chopper level

0 = “Not Used” - No brake chopper used

Brake chopper not active or present in the DC link. NOTE: The overvoltage
controller level is set to a little lower, see parameter P2.6.5.2.
1 = “On, Run” - Brake chopper in use and tested when running.
The drive’s own brake chopper is activated and operational when the drive is in
Run state. The drive also sends test pulses for feedback from the brake resistor.
2 = “External” - External brake chopper (no testing)
The system has an item that handles the DC link voltage. This could be a system
with AFE or there is an external BCU unit. When this option is selected the drive
overvoltage level is set a little higher so that its operation does not conflict with
AFE or BCU units.
3 = “On, Run+Stop” - Used and tested in READY state and when running
Brake chopper is also active when the drive is not in Run state. This option can be
use e.g. when other drives are generating but energy levels are low enough to be
handled with only one drive.
4 = “On, No test” - Used when running (no testing)
Brake chopper is active in Run state but no test pulse to resistor is generated.

Note: In the system menu there is a parameter “InternBrakeRes”. This parameter is

used for brake resistor overheating calculations. If an external brake resistor is
connected to the drive the parameter should be set to ‘Not connected’ to disable
temperature calculation for the brake resistor.

P2.6.5.4 Brake Chopper Level ID1267 “BrakeChopperLeve”

Brake chopper control activation level in volt. This parameter is active when
“OverVolt.Ref.Sel” is 2 / “BrakeChLevel”

For 400V Supply: 400*1.35*1.18 = 638V

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

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P2.6.5.5 Undervoltage controller ID608 ”Undervolt Contr”

Undervoltage controller will decrease the output frequency in order to get energy from
the motor when the DC voltage has dropped to a limit where the undervoltage controller
activates trying to keep DC voltage at the minimum level.

0 “Off” - Controller switched off

Both open and closed loop overvoltage controllers are off.

1 “On:NoRamping” – Activated PI-Controller type operation

Both open and closed loop controllers are activated.
Both open and closed loop controllers are PI-type controllers.
If power comes back while drive is at undervoltage the controller output frequency
will regain the reference value.

2 “On: Ramping” – PI controller type and ramping down.

Both open and closed loop controllers are activated.
Both open and closed loop controllers are PI-type controllers.
If power comes back while drive is at undervoltage the controller drive will ramp to
zero speed and generate an undervoltage fault.

Note: In closed loop control, also parameter “CLrmpFollEncFreq” needs to be

activated to achieve identical operation.

6.6.5.1 CL Settigns

P2.6.5.6.1 Overvoltage reference ID1528 “OverVoltageRef.”

Defines the overvoltage reference level in Closed Loop control mode. Percentage value
related to unit nominal voltage DC voltage. Default 118 %.

690 Vac * 1,35 * 118 % = 1099 Vdc

500 Vac * 1,35 * 118 % = 796 Vdc

P2.6.5.6.2 Overvoltage controller motoring torque limit

Defines motoring torque limit, when drive is operating under over voltage controller.

6.6.6 Limit options

P2.6.6.1 Limit total current ID1901 “LimitTotalCurren”
This function activates the total current limit function in close loop control. Normally in
closed loop the current limit only affects the torque producing current.

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6.7 DC current and magnetization handling

The DC brake can be used to hold the motor in place (nominal torque at nominal slip). It can be also
used to keep the motor warm in places with high humidity and to speed up the generation of rotor
flux. Rotor flux is needed in the induction motor to generate torque. The current that is needed to
make the nominal flux is defined by the magnetization current parameter but, depending on motor
size, nominal flux takes a different time to produce after start command.

Giving a higher current on start to the motor will decrease the time when the motor is able to
generate nominal torque.

Blue: Motor Current. Red: Rotor Flux.

2200

1700

1200

700

200

-300
0,01

0,79
1,18
1,57
1,96
2,35
2,74
3,13
3,52
3,91

4,69
5,08
5,47
5,86
6,25
6,64
0,4

4,3

2200
1700
1200
700
200
-300
0,01
0,4
0,79
1,18
1,57
1,96
2,35
2,74
3,13
3,52
3,91
4,3
4,69
5,08
5,47
5,86
6,25
6,64

6.7.1 Open loop settings

P2.7.1.1 DC-braking current ID627 “DC-Brake Current”
Defines the current injected into the motor during DC-braking. On start this parameter is
used together with DC Brake time to decrease the time when motor is able to produce
nominal torque. When DC brake current is applied to the motor the output frequency is
zero.

P2.7.1.2 DC-braking time at start ID507 “Start DC-BrakeTm”

DC-brake is activated when the start command is given. This parameter defines for how
long DC current is given to the motor before acceleration starts. DC brake current at
start is used in order to magnetize the motor before running which will improve torque
performance at start. Needed time depends on motor size, value varying between 100 ms
to 3 second. The bigger the motor the more time is needed.
The default setting 0,00 s means that 200 ms is spent to magnetize motor. This 200 ms
can be set to zero with parameter “MakeFluxTime”.
Activating flying start will disable the DC brake functions at start.

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P2.7.1.3 DC-braking time at stop ID508 “Stop D-BrakeTm”

Defines the time to use DC brake at stop. The operation is different depending on the
selected stop mode (coasting or ramping).

Stop function = 0 / Coasting:

After the stop command, the motor coasts to a stop without control of the drive.

With DC injection, the motor can be electrically stopped in the shortest possible time,
without using an optional external braking resistor.

The braking time is scaled according to the frequency at the moment of stop command.
If the frequency is the nominal frequency of the motor or higher, the set value of DC
braking time at stop is used as the braking time. When the frequency is below the
nominal frequency, the relation between the nominal frequency and the output frequency
at the time of stop command will determine the DC braking time. For example, 50-hertz
motor is running at 25 Hz when the stop command is given. The DC brake time will be 50
% of the DC braking time at stop. If the frequency is below 5 Hz the minimum DC braking
time is 10 % of the DC braking time at stop.

DC braking is started after a short restart delay following the stop command if stop
function is coasting.

Figure 6-14. DC-braking time when Stop mode = Coasting, from nominal speed and 50 % of
nominal speed.

Stop function = Ramp:

After the Stop command, the speed of the motor is reduced according to the set
deceleration parameters, to the speed defined with parameter DC braking frequency at
stop, where the DC braking starts.
The braking time is defined with parameter DC braking time at stop. If high inertia exists,
it is recommended to use an external braking resistor for faster deceleration. See Figure
6-15.

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Figure 6-15. DC-braking time when Stop mode = Ramp

P2.7.1.4 DC braking frequency at stop ID515 “Stop D-BrakeFr”

The output frequency at which the DC braking is applied when making ramping stop.

P2.7.1.5 Scaling of DC-braking current ID400 “DC-currnt Sclng”

The DC braking current can be reduced with the free analogue input signal between zero
current and the current set with parameter DC Braking Current.

0 = Not used
1 = AI1
2 = AI2
3 = AI3
4 = AI4
5 = FB Limit Scaling ID46 Monitoring value

P2.7.1.6 DC brake current in stop ID1080 “DCBrakeCurlnStop”

Defines the current injected to the motor in stop state when the digital input signal “DC
Brake Command” is used to activate the DC brake when no run request is active. When
the DC brake is activated the drive will indicate being in Run state.

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6.7.1.1 Flux braking

P2.7.1.7 Flux brake ID520 “Flux Brake”
Instead of DC braking, flux braking is a useful way to raise the braking capacity in cases
where additional brake resistors are not needed.
When braking is needed, the frequency is reduced and the flux in the motor is increased.
This increases losses on motor, which in turn increases the motor's capability to brake.
Unlike in DC braking, the motor speed remains controlled during braking.

The flux braking can be set ON or OFF.

0 = Flux braking OFF

1 = Flux braking ON

P2.7.1.8 Flux braking current ID519 “FluxBrakeCurrent”

Defines the flux braking current value. The value setting range depends on the used unit
size.

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6.7.2 Closed loop settings

P2.7.2.1 Magnetizing current at start ID627 “Start Magn Curr”

Defines the current that is applied to the motor when the start command is given in
closed loop control. At start this parameter is used together with Magnetizing time at
start to decrease the time when the motor is able to produce nominal torque. In closed
loop control output frequency is not forced to zero while magnetization current is applied
to motor.

P2.7.2.2 Magnetizing time at start ID628 “Start Magn Time”

Defines the time for how long magnetization current is applied to motor at start.
Magnetizing current at start is used to shorten the time when flux is at nominal level.
This will improve the torque performance at start. The time needed depends on the
motor size, value varying between 100 ms to 3 second. The bigger the motor the more
time it needs. Set this time so that the rotor flux is more than 90 % before speed is
released (Start Zero Speed Time ID615) or mechanical brake is released.

P2.7.2.3 Flux reference ID1250 “FluxReference”

Reference value for rotor flux. Rotor flux can be reduced by changing the magnetization
current. This, however, also affects the motor model making the torque calculations a
little less accurate. When using this parameter the motor model can compensate the
effect of the different magnetization current in torque calculations.

( ) ( )> ( )
[ ] =
( )

P2.7.2.4 Flux Off Delay ID1402 “Flux Off Delay”

The Flux off delay function will keep the motor magnetized after a stop command thus
making the next start faster because flux is already available in the motor. The function
is used e.g. in a system where several repeated starts are made in short cycles. The flux
level can be adjusted by parameter Stop State Flux.
0 = Flux is not maintained in the motor
>0 = Flux off delay in seconds.
-1 = Flux is maintained indefinitely in the motor

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P2.7.2.5 Stop State Flux ID1401 “Stop State Flux”

The amount of flux in percentage of the motor nominal flux maintained in the motor after
the drive is stopped. The flux is maintained for the time set by parameter ID1402 Flux Off
Delay. This parameter can only be used in closed loop motor control.

6.7.2.1 Reduced flux function

Reduced flux function is used to decrease the magnetization current below a certain frequency limit.
This function is used in systems where high starting torque is not needed. This function CAN NOT be
used in any situation where motor nominal torque from zero speed is required.

P2.7.2.6 Reduced Flux frequency

A frequency point where flux starts to reduce to a level defined by Reduced Flux Level
toward the zero speed.

P2.7.2.7 Reduced Flux level

This parameter defines the flux level when the output frequency is zero. The flux is
reduced linearly from ID1614 to zero frequency.

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6.8 Motor Control

Open Loop control
Open loop control controls the motor without encoder feedback from the motor shaft. Control mode
selections 0, 1 and 2 are open loop control modes.

Slip
Induction motor torque is based on slip. When load increases also slip will increase. Slip is the
speed that rotor is behind of stator electrical frequency.
Below picture presents torque that is produced by induction motor when connected directly on line.
1. Motor Synchronous speed. Motor is taking only magnetization current.
2. Motor nominal operation point. Motor is producing 100 % of rated torque and power. Actual
shaft speed is motor nominal speed and motor takes nominal current.
3. Pullout torque. This is point where motor produced torque start to decrease when slip
increases. After this point motor will stop if load is not reduced.

In frequency control, the load will determine the actual shaft speed
Freq. Out 50 Hz
Nominal Slip &
TN Freq. Ref 50 Hz
100 %

Slip
TN
50 %

”Shaft
Freq”

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Slip compensation in open loop control

The drive uses motor torque and motor nominal rpm to compensate slip. If the motor nominal rpm
is 1440 -> the nominal slip is 60 rpm. And when the motor torque is 50 % the slip is 30 rpm. To keep
the reference speed the drive must increase the output frequency by 1 Hz.

Closed Loop control

Closed loop control controls the motor using the exact information of the motor speed from the
encoder. Control mode selections 3 and 4 are closed loop control modes. Using these modes without
encoder board (and encoder) will result in encoder fault.

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P2.8.1 Motor control mode ID600 “Motor Ctrl Mode” (2.6.1)

0 “Freq Control”
Open loop frequency control:
Drive frequency reference is set to output frequency without
slip compensation. Motor speed is defined by motor load.
1 “OL SpeedCont”
Open loop speed control:
Drive frequency reference is set to motor speed reference.
Motor speed stays the same regardless of motor load.

2 “OLSpeed/Torq”
Open loop Speed or Torque control
In this control mode the drive can be selected to run in
torque control mode. The operation is selected by parameter
TorqueSpeedLimit in the Torque Reference parameter
group. The default selection is torque control mode speed
limited by ramp generator output.
3 “CL SpeedCtrl”
Close loop speed control
Drive frequency reference is set to motor speed reference.
Motor speed stays the same regardless of motor load.
4 “CLSpeed/Torq”
Closed loop speed or torque control
In this control mode the drive can be selected to run in
torque control mode. The operation is selected by parameter
TorqueSpeedLimit in the Torque Reference parameter
group. The default selection is torque control mode speed
limited by ramp generator output.
When the drive is follower and drive synch is enabled the motor control mode is
internally set to Frequency control.

P2.8.2 Motor control mode 2 ID521 “Motor Ctrl Mode2”

With this parameter you can set another motor control mode which is activated with
parameter Mot Ctrl Mode1/2 .

Note: The Motor control mode cannot be changed between open loop and closed loop
while the drive is in Run state.

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6.8.1 U/f Settings

U/f settings are mainly used in open loop control modes with the exception of the Field weakening
point voltage that is also used in closed loop control mode as a limit for voltage. U/f settings are
used to control the voltage level that are applied to the motor at different frequencies and different
load situations.

What changes are required to start with load from 0 Hz?

First set the motor nominal values (Parameter group 2.1).

Option 1: Automatic functions

Step 1: Make identification with rotating motor

Step 2 (If needed): Activate speed control or U/f optimization (Torque boost).

Step 3 (If needed): Activate both speed control and U/f optimization.

Option 2: Manual tuning

Step 1:
Run the motor using 2/3 of motor nominal frequency as the frequency reference. Read
the motor current in the monitoring menu or use NCDrive for monitoring. This current
shall be set as the motor magnetization current.

Change the U/f curve ratio selection to programmable (= 2).

Run the motor with zero frequency reference and increase the motor zero point voltage
until the motor current is approximately same as the motor magnetising current. (If the
motor is in a low frequency area for only short periods, it is possible to use up to 65 % of
the motor nominal current).

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Set then the midpoint voltage to 2 * Zero Point Voltage

and
the midpoint frequency to (Zero Point Voltage/100%)*Nominal frequency of motor)

Step 2 (If needed): Activate speed control or U/f optimization (Torque boost).

Step 3 (If needed): Activate both speed control and U/f optimization.

NOTE! In high torque – low speed applications – it is likely that the motor will
overheat. If the motor has to run long times under these conditions,
special attention must be paid to cooling of the motor. Use external
cooling for the motor if the temperature tends to rise too high.

P2.8.3.1 U/f optimisation ID109 “U/f Optimization”

Automatic The voltage to the motor changes proportionally to required torque
torque boost which makes the motor produce more torque at start and when running
at low frequencies. Automatic torque boost can be used in applications
where starting torque due to starting friction is high, e.g. in conveyors.
Even with linear U/f curve, the torque boost has an affect but the best
result will be achieved after the identification run when programmable
U/f curve is activated.

P2.8.3.2 U/f ration selection ID108 “U/f Ratio Select”

Linear:
0 The voltage of the motor changes linearly from zero point voltage to the field
weakening point where the voltage at FWP is supplied to the motor.

Squared:
1 The voltage of the motor changes from zero point voltage following the
squared curve form zero frequency to the field weakening point. The motor
runs undermagnetised below the field weakening point and produces less
torque. Squared U/f ratio can be used in applications where torque demand
is proportional to the square of the speed, e.g. in centrifugal fans and pumps.

Programmable U/f curve:

2 The U/f curve can be programmed with three different points.

1. Zero point voltage

2. Midpoint frequency and Midpoint voltage.
3. Field weakening point and field weakening point voltage.

Programmable U/f curve can be used if more torque is needed at low

frequencies. Make the Identification run for optimal setting (ID631).

Linear with flux optimisation:

3 The frequency converter starts to search for the minimum motor current in
order to save energy. This function can be used in applications with constant
motor load, such as fans, pumps etc.

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P2.8.3.3 Field weakening point ID602 “Field WeakngPnt”

The field weakening point is the output frequency at which the output voltage reaches the
field weakening point voltage.

P2.8.3.4 Voltage at field weakening point ID603 “Voltage at FWP”

Above the frequency at the field weakening point, the output voltage remains at the set
maximum value. Below the frequency at the field weakening point, the output voltage
depends on the setting of the U/f curve parameters.

When the parameter Motor nominal frequency is set, the parameter Field weakening
point is automatically given the corresponding value. If you need different values for the
field weakening point and the maximum output voltage, change these parameters after
setting the Nominal frequency.

In closed loop control this defines maximum voltage to the motor, can be increases if
sufficient DC voltage is available.

P2.8.3.5 U/f curve, middle point frequency ID604 “U/f Mid Freq”
If the programmable U/f curve has been selected with parameter U/f ratio this
parameter defines the middle point frequency of the curve. See also parameter Middle
point voltage.
When the programmable U/f curve is selected this value is set to 10 % of motor nominal
frequency.

P2.8.3.6 U/f curve, middle point voltage ID605 “U/f mid Voltg”
If the programmable U/f curve has been selected with the parameter U/f ratio this
parameter defines the middle point voltage of the curve. See also parameter Middle
point frequency.
When the programmable U/f curve is selected this value is set to 10 % (of motor nominal
voltage).

P2.8.3.7 Output voltage at zero frequency ID606 “Zero Freq Voltg”

This parameter defines the zero frequency voltage of the U/f curve. The default value is
unit size dependent.
NOTE: If the value of parameter U/f Ratio Select is changed this parameter is set to zero.

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6.8.2 Close Loop Settings

P2.8.4.1 Current control P gain ID617 “CurrentControlKp”

Sets the gain for the current controller. The controller generates the voltage vector
reference to the modulator. The gain is also used in open loop flying start. When the Sine
filter parameter (parameter P6.7.5 in the System menu) has been set to Connected the
value of this parameter is changed to 20.00 %.

The value is also identified when using a PMS motor and making identification run with
rotating motor. At low speed the motor values may increase up to 300 %. At high speed
motor gain and motor with sine filter may have gain values of 10...40 %.

P2.8.4.3 Current control Ti ID657 “CurrentControlTi”

Current controller integrator time constant.

P2.8.4.3 Slip adjust ID619 “Slip Adjust”

The motor name plate speed is used to calculate the nominal slip. This value is used to
adjust the voltage of motor when loaded. The name plate speed is sometimes inaccurate
and this parameter can therefore be used to trim the slip. Reducing the slip adjust value
increases the motor voltage when the motor is loaded.

P2.8.4.4 Acceleration compensation ID626 “Accel.Compens.”

Sets the inertia compensation to improve the speed response during acceleration and
deceleration. The time is defined as acceleration time to nominal speed with nominal
torque. This function is used when the inertia of the system is known to achieve the best
speed accuracy when reference is changed.

Acceleration compensation is added to TorqueReferenceActual i.e. torque is added after

speed controller. The speed controller can, therefore, be tuned only for speed error and
the acceleration compensation makes sure that the system inertia does not affect the
speed controller.

Acceleration compensation not in use

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Freq.Out

SPC Out

Accel.
Compensation

Acceleration compensation in use

2
2 f nom 2 f nom
AccelCompe nsationTC J J ,
Tnom Pnom

J = System inertia (kg*m2)

fnom = Motor nominal frequency (Hz)
Tnom = Motor nominal torque
Pnom = Motor nominal power (kW).

P2.8.4.5 Speed Error filtering time constant ID1311 “SpeedErrorFiltTC”

Filter time constant for speed reference and actual speed error. May be used to remove
small disturbances from encoder signal.

P2.8.4.6 Encoder filter time ID618 “Encoder1FiltTime”

Sets the filter time constant for speed measurement.
The parameter can be used to eliminate encoder signal noise. Too high a filter time
reduces speed control stability. Values over 10 ms are not recommended in normal
cases.

P2.8.4.7 Encoder Selection ID1595 “Encoder Selector”

With this parameter it is possible to select which encoder input is used for closed loop
control. Encoder board OPT-A7 is needed because of the possibility to connect two
encoders.

P2.8.4.8 Speed Control Torque Chain Select ID1557 “SCTorqueChainSel”

Values are bit coded. For example, after identification run with rotating motor the value
will be 96. If you want to activate an external acceleration compensation you need to add
+2 to the existing value.

B0 +1 = Additional torque limit

The torque reference chain can be used as an additional torque limit. This option is
available in closed loop control mode only.

B1 +2 = External acceleration compensation

The torque reference is added to the speed control output, allowing the external
controller to give inertia compensation for the drive in speed control mode. This option is
available in closed loop control mode only.

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B5&B6, +96 = Internal motor temperature compensation

When the motor cools down or warms up the slip of the motor will change. When this
function is activated in closed loop control mode the drive will estimate changes in motor
resistance and correct the changes of motor slip automatically to achieve the best torque
estimation.
This function is automatically activated when identification run with rotating motor is
successfully finished. This option is available in closed loop control mode only.

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6.8.3 Permanent magnet synchronous motor settings

There are three ways to know the magnet positions when using the closed loop control. The first one
will identify the motor magnet position during every stat when using incremental encoder without Z-
pulse. Second one uses incremental encoder Z-pulse and the third one uses absolute encoder
information. See details of selecting correct mode from chapter “Identification function for
permanent magnet synchronous motor”.

P2.8.5.1 PMSM Shaft Position ID649 “PMSMShaftPositio”

Absolute encoder position value corresponding to the shaft position where rotor magnet
axis is aligned with the stator U-phase magnet axis will be stored here as a result of the
encoder identification run. If incremental encoder with a z-pulse is used, z-pulse position
will be stored instead. Depending on the motor shaft mechanical position, this parameter
can have different values, as there is one right value for each pole-pair of the motor. If
incremental encoder and the z-pulse is utilized, the first start after power up is less
optimal and i/f-control (see 6.8.3.2) will be used until the drive finds the z-pulse and is
able to synchronize in that.

P2.8.5.2 Start Angle Identification Mode ID1691 “StartAngleIdMode”

Start angle, i.e. rotor magnet axis position in respect to the stator U-phase magnet axis,
identification is needed if there are no absolute encoder or incremental encoder with z-
pulse used. This function defines how the start angle identification is made in those
cases. Identification time depends on the motor electrical characteristics but takes
typically 50ms...200ms.

In case of absolute encoders, start angle will read directly from the encoder absolute
angle value. On the other hand, incremental encoder z-pulse will be used automatically
for synchronization if it’s position is defined different from zero in P2.8.5.1. Also for
absolute encoders, P2.8.5.1 must be different from zero, otherwise it is interpreted that
the encoder identification run has not been done and the running will be prohibited
except if the absolute channel is bypassed by the start angle identification.

NOTE!
ModulatorType (P2.10.2) need to be > 0 to be able to use this function.

0 = Automatic
Decision to use start angle identification is made automatically based on the encoder
type connected to the drive. This will serve common cases.
Supports: OPT-A4, OPT-A5, OPT-A7 and OPT-AE boards.

1 = Forced
Bypasses the drive automatic logic and forces the start angle identification to be active.
Can be used, for example, with absolute encoders to bypass absolute channel
information and to use start angle identification instead.

2 = On Power UP
As a default, start angle identification will be repeated in every start if the identification is
active. This setting will enable identification only in a first start after drive is powered up.
In consecutive starts, angle will be updated based on the encoder pulse count.

10 = Disabled
Used when Z- pulse from encoder is used for start angle identification.

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P2.8.5.3 Start Angle Identification Current ID1759 “StartAngleIdCurr”

This parameter defines the current level that is used in start angle identification. The
correct level depends of the motor type used. In general, 50% of motor nominal current
seems to sufficient, but depending for example on the motor saturation level, higher
current might be needed.

P2.8.5.4 Polarity Pulse Current ID1566 “PolarityPulseCur”

This parameters defines the current level for the magnet axis polarity direction check
during the start angle identification (P2.8.5.2). Value 0 means that the internal current
level is used, which is typically slightly higher than the normal identification current
defined by P2.8.5.3. Polarity direction check is seldom needed because the identification
itself gives already the right direction. Hence in most cases, this function can disabled by
setting any negative parameter value, which is recommended especially if there occurs
F1 faults during the identification.

P2.8.5.5 Start Angle Identification Time ID1755 “StartAngleIdTime”

Start angle can be determined also by feeding dc-current into the motor. Then dc-
current will align the rotor magnet axis with the stator magnet axis. This function is
activated by determining the time duration dc-current is injected to the motor. Motor
must be free to move during the alingment and the time need to be long enough for shaft
oscillations to damp out. Hence, this method is not so pracatical and is intednded to be
used mainly for testing purposes or to improve starting in together with i/f-control. Dc-
current level is determined by P2.8.5.6. Also P2.8.5.2 need to disabled otherwise
overriding this function.

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6.8.3.1 I/f Control

I/f-control can be used to start the motor using a constant current control. This is useful especially,
if the motor stator resistance is low, which makes the motor current sensitive for u/f-curve tuning at
low speed area. I/f-control is activated by setting AdvancedOptions2.B9 = 1 (P2.10.6) for PM-motors.
Also software modulator is required.

P2.8.5.6 I/f Current ID1693 “I/f Current”

NOTE: I/f Current parameter is used for several different purposes.

I/f Control
This parameter defines the current level during I/f control, in percent of the motor
nominal current

Zero position with incremental encoder and Z-Pulse

In closed loop control utilizing the encoder z-pulse, defines also the current level used in
starting before the z-pulse is received to synchronize with.

DC Start Angele identification

This parameter defined DC Current level when Start Angle Identification Time is set
greater than zero. See P2.8.5.5 Start Angle Identification Time.

P2.8.5.7 I/f Control Limit ID1790 “I/f Control Lim”

This parameter sets the speed limit for I/f-control in percent of the motor nominal speed
(1000 = 100.0%). I/f-control is used if the speed is below this limit. The operation changes
back to normal when the speed is above this limit with 60 rpm hysteresis.

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6.8.3.2 Flux current controller

The flux current controller is used with a PMS motor when running in closed loop control in the field
weakening area. This function controls negative Id current to PM motor in the field weakening area
that motor terminal voltage do not increase above maximum level (set by field weakening point
voltage, maximum drive output voltage) . Field weakening area operation depends on motor
construction and motor construction may prohibit operation above field weakening area.

If there is instability in the field weakening area, gain can be decreased and/or time constant
increased.

P2.8.5.8 Flux Current Kp ID551 “FluxCurrent Kp”

Defines gain for the flux current controller when using a PMS motor. Depending on
motor construction and the ramp rate that is used to go to field weakening area high may
be needed that output voltage do not reach maximum limit and prevent proper motor
control. Too high gain may also lead to unstable control. Integration time is more
significant in this case for control.

P2.8.5.9 Flux Current Ti ID652 “FluxCurrent Ti”

Defines the integration time for the flux current controller when using a PMS motor.
Depending on motor construction and the ramp rate that is used to go to field weakening
area, short integration times may be needed that output voltage do not reach maximum
limit and prevent proper motor control. Too fast integration time may also lead to
unstable control.

P2.8.5.10 ExtIdRef ID1730 ”ExtIdRef”

This reference value can be used for the external control of the motor id-current i.e.
reactive current. Normally there is no need for that as the control uses already the
optimal value. This reference value is additive to drive internal values but, for example,
field-weakening controller can override the given reference in field-weakening
operation.

P2.8.5.11 EnableRsIdentifi ID654 “EnableRsIdentifi”

This parameter enables the Rs identification during DC brake current operations and in
closed loop control for every start. If the identification run was made successfully it is
recommended to keep this parameter disabled.

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6.8.3.3 D and Q axis voltage drops

If d-axis and q-axis reactances (voltage drops) are defined, drive calculates the optimal d-axis
current reference based on the reactance values and the motor torque in order to account motor
reluctance torque part. In this way, motor Torque/Current ratio can be increased.

P2.8.5.12 Lsd Voltage Drop ID1757 “Lsd Voltage Drop”

D-axis reactance voltage drop 2560 = 100%.
Gives the % voltage drop across the stator inductance at nominal current and frequency.

[ ] [ 3
[ ]=
[ ] 2560

P2.8.5.13 Lsq Voltage Drop ID1758 “Lsq Voltage Drop”

Q-axis reactance voltage drop 2560 = 100%.
Gives the % voltage drop across the stator inductance at nominal current and frequency.

[ ] [ 3
[ ]=
[ ] 2560

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6.8.4 Stabilization settings

6.8.4.1 Torque stabiliser
The torque stabiliser is basically a first order high-pass filter for the estimated torque [ ]. The
output of the filter is a frequency correction term added to the output frequency reference. The
purpose of the torque stabiliser is to stabilise the possible oscillations in the estimated torque. The
controller gain is changing linearly between the zero and field weakening point frequencies. The
zero and field weakening point gains can be controlled independently with gains. The stabiliser
operates at frequencies above 3 Hz.

The discrete implementation of the filter is:

1000 1000
= ( )+ = ( )+

Where is the total gain of the filter. The gain and the corner frequency of the filter is controlled by
the following parameters

P2.8.6.1 Torque stabiliser damping ID1413 “TorqStabDamp”

If a PMS motor is used in open loop control mode it is recommended to use value 980
instead of 800. The value ‘980’ is set automatically when PMS motor is selected.

This parameter defines the corner frequency of the high-pass filter. The time constant of
the filter is calculated as

= =1
1000 1000
It follows that the corner frequency of the filter is obtained from

1
= /

For example, if Torque stabilizer damping = 600, it follows that c = 1.5 ms and = 667
rad/s.

P2.8.6.2 Torque stabiliser Gain ID1412 “TorqStabGain”

These parameters define together with the Torque Stabiliser Damping the actual gain of
the filter. Torque Stabiliser Gain is the gain at the zero frequency. Torque stabiliser Gain
in FWP is the gain at the field-weakening frequency. The gain changes linearly with the
frequency between these two points so that the gain is

f
= TorqStabGainFWP + TorqStabGain TorqStabGain, if f < f
f

= TorqStabGainFWP, if f

The final gain is obtained by considering the value of Torque Stabiliser Damping and the
scaling in which 256 means the gain 1. So, the final and the actual gain of the filter is
obtained from
1000
=
256

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P2.8.6.3 Torque stabiliser Gain in FWP area ID1414 “TorqStabGainFWP”

Gain of the torque stabiliser at field weakening point in open loop motor control
operation. See details from Torque Stabiliser Gain.

P2.8.6.4 Torque stabiliser Limit ID1720 “TorqStabLimit

This defines how much torque stabiliser can affect output frequency.

6.8.4.2 Flux Circle stabiliser

P2.8.6.5 Flux Circle stabiliser Gain ID1550 “FluxCircleStabG”

Gain for flux circle stabiliser. This will control the flux to origin when error is detected.
Controller output is added to output frequency. Affect decreases at low frequencies
where flux stabiliser has more affect. used at frequencies where output voltage is at
maximum limit (set by field weakening point voltage or maximum drive output voltage).

6.8.4.3 Flux stabiliser

Flux stabilizer is a first order high-pass filter for the estimated flux producing current . The
output of the filter is correcting term added to the output voltage reference. The gain and
the corner frequency of the filter is controlled by the following parameters.

P2.8.6.6 Flux Stabiliser Gain ID1797 “Flux Stab Gain”

Flux stabilizer gain is 0 at the zero speed and is increased linearly with the frequency to
value defined by the Flux Stab Gain which is reached at the 1 Hz.
So, the gain is obtained from

= , < 1

= , 1

The gain is scaled by 1000 and the actual gain of the filter is obtained from

= =
1000 1000

P2.8.6.7 Flux stabiliser TC ID1551 “FluxStab TC”

Flux Stabiliser TC defines the corner frequency of the high-pass filter. The time constant
of the filter is calculated from:

65536 FluxStab TC 65536

= =1 ( 1)
FluxStab TC FluxStab TC

For example, if Flux Stabiliser TC = 64, it follows that T = 511 ms and = 1.96 rad/s.

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6.8.4.4 Voltage stabiliser

The voltage stabilizer is similar to the torque stabilizer controlling the change in DC-link voltage at
frequencies above 3 Hz. It is a first order high-pass filter for the measured DC-link voltage . The
output of the filter is a frequency correction term added to the output frequency reference. Gain
is adjusted relative to the estimated torque. As the torque increases from 10% to 50 % of the motor
nominal torque, the controller gain decreases from the voltage stabiliser Gain down to zero. The
gain and the corner frequency of the filter are controlled by the following parameters:

P2.8.6.9 Voltage stabiliser TC ID1552 “VoltageStab TC”

This parameter defines the corner frequency of the high-pass filter. The time constant of
the filter is calculated as

= =1
1000 1000

P2.8.6.8 Voltage stabiliser Gain ID1738 “VoltStabGain”

Voltage Stabilizer Gain is a function of a torque. If the torque is below 15%, the gain is the
value defined by the Voltage Stabilizer Gain. If the torque is above 50% the gain is 0.
Between 15-50% the gain decreases linearly with the torque from Voltage Stabilizer Gain
to 0. In other words,

= VoltStabGain, if T < 15 %

VoltStabGain
= 50% (%) , if 15 % T < 50 %
35%

= 0, if T > 15 %

The final gain is obtained by considering the value of Voltage stabiliser TC and the
scaling in which 256 means the gain 1. So, the final and the actual gain of the filter is
obtained from

1000
=
256

P2.8.6.10 Voltage stabiliser Limit ID1553 “VoltStabLimit”

This parameter sets the limits for the voltage stabilizer output.
The maximum and the minimum value for the correction term in FreqScale.

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6.8.5 Tuning settings

P2.8.7.1 Flying Start Options ID1610

b0 =+1= Disable movement to reverse direction
b1 = +2=Disable AC Scanning
b2 = +4=Disable Fly Brake phase
b3 = +8=Use encoder information for frequency estimate
b4 = +16=Use frequency reference for initial guess
b5 = +32=Disable DC scanning for step-up application

P2.8.7.2 Motor Control Options ID1740

Reserved for future use.

P2.8.7.3 Resonance Damping Select ID1760

feature can be used to dampen the constant frequency torque oscillations in the drive
system.
0 Not in use
1 Band pass. Oscillation damping with band pass filter.
2 BandStop+BandPass. Oscillation damping with band stop and band pass filter.

P2.8.7.4 Resonance Damping Frequency ID1763

Frequency of torque oscillations to be damped in Hz.

P2.8.7.5 Resonance Damping Gain ID1764

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

P2.8.7.6 Resonance Damping Phase ID1765

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

P2.8.7.7 Resonance Damping Activation frequency ID1770

Defines the frequency limit when resonance damping is started.

P2.8.7.8 Resonance Damping Filtering TC ID1771

Filter TC for external feedback (Iq) signal .

P2.8.7.9 Over modulation limit ID1515

Output Voltage Limit for partial modulation in 1%. 100% means maximum sinusoidal
modulation. 113% is full six step.
If you have sini filter in use set this to 96 %.

P2.8.7.10 Modulation Index Limit ID655

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

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P2.8.7.11 DC Voltage Filtering Time ID1591

Cut off frequency in 0.1Hz for 2nd order butterwort filter used in DCV-compensation.

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6.8.6 Identification settings

P2.8.8.1 to
P2.8.8.15 Flux 10…150% ID1355 – ID1369
Motor voltage corresponding to 10%….150% of flux as a percentage of Nominal
Flux voltage. Measured during identification.

P2.8.8.16 Measured Rs voltage drop ID662 “RsVoltageDrop”

The measured voltage drop at stator resistance between two phases with the nominal
current of the motor. This parameter is identified during identification run.

This parameter defines the motor stator resistance as a voltage drop at nominal current.
The parameter value is defined according to motor nominal voltage and the current and
the actual stator resistance as

In
RsVoltageD rop 2560 Rs
Un .

P2.8.8.17 Ir: Add zero point voltage ID664 “IrAddZeroPVoltag”

Defines how much voltage is applied to motor in zero speed when torque boost is used.

P2.8.8.18 Ir: Add generator scale ID665 “IrAddGeneScale”

Defines the scaling factor for generator side IR-compensation when torque boost is
used.

P2.8.8.19 Ir: Add motoring scale ID667 “IrAddMotorScale”

Defines the scaling factor for motoring side IR-compensation when torque boost is used.

P2.8.8.20 Measured Ls voltage drop ID673 “LsVoltageDrop”

Leakage inductance voltage drop with nominal current and frequency of the motor. This
parameter defines the Ls voltage drop between two phases. Use identification run to
determine the optimum setting.

P2.8.8.21 Motor BEM Voltage ID674 “Motor BEM Voltage”

Motor-induced back voltage.

P2.8.8.22 IU Offset ID668 “IU Offset”

P2.8.8.23 IV Offset ID669 “IV Offset”
P2.8.9.24 IW Offset ID670 “IW Offset”
Offsets the value for phase current measurement. Identified during identification run.

P2.8.8.25 Estimator Kp ID1782 “Estimator Kp”

Estimator gain for PMS motor. Identified during identification run.

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P2.8.8.26 Speed step ID1252 “Speed Step”

NCDrive parameter to help adjusting the speed controller (see NCDrive Tools: Step
Response). With this tool you can give step to speed reference after ramp control.

P2.8.8.27 Torque step ID1253 “Torque Step”

NCDrive parameter to help adjusting the torque controller (see NCDrive Tools: Step
Response). With this tool you can give step to torque reference.

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6.9 Speed Control settings

P2.9.1 Load drooping ID620 “LoadDrooping”
The drooping function enables speed drop as a function of load. This parameter sets the
value corresponding to the nominal torque of the motor.

Example: If load drooping is set to 10 % for a motor that has a nominal frequency of 50
Hz and is nominally loaded (100 % of torque) the output frequency is allowed to decrease
5 Hz from the frequency reference. The function is used for e.g. when balanced load is
needed for mechanically connected motors.

P2.9.2 Load Drooping Time ID656 “LoadDroopingTime”

This function is used in order to achieve a dynamic speed drooping because of changing
load. The parameter defines the time during which the speed is restored to the level it
was before the load increase.

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P2.9.3 Load Drooping Removal ID1534 “LoadDroopRemoval”

This function defines how load drooping is removed with reference to speed. It is used in
lifting situations when it is necessary to keep to load at the same position without closing
the brake. When using option ‘Normal’ the load will slowly come down depending on load
and the drooping factor.

Normal
0 Load Drooping factor is constant through the whole speed range.

Removed below zero frequency limit

1 Load drooping is removed linearly below the zero frequency limit (defined in
G2.6.4 Freq. Handling).

Linearly increased to nominal frequenyc

2 Load drooping is removed linearly from nominal frequency to zero frequency.

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6.9.1.1 Open Loop Settings

P2.9.4.1 Speed controller P gain, Open Loop ID637 “OL Speed Reg P”
Defines the P gain for the speed controlled in Open Loop control mode.

P2.9.4.2 Speed controller I gain, Open Loop ID638 “OL Speed Reg I”
Defines the I gain for the speed controlled in Open Loop control mode.

6.9.1.2 Closed Loop Speed Control Settings

Speed control formula:

1
= 1+

( )= ( 1) + [ ( ) ( 1) + ( )]

P2.9.5.1 Speed control P gain ID613 “Speed Control Kp”

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

P2.9.5.2 Speed control I time ID614 “Speed Control Ti”

Sets the integral time constant for the speed controller. Increasing the I-time increases
stability but lengthens the speed response time.

Kp 30, Ti 100

Kp 30, Ti 300

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P2.9.5.3 Zero speed time at start ID615 “Start 0SpeedTime”

After giving the start command the drive will remain at zero speed for the time defined
by this parameter. The ramp will be released to follow the set frequency/speed
reference after this time has elapsed counted from the instant when the command was
given.

P2.9.5.4 Zero speed time at stop ID616 “Stop 0 SpeedTime”

The drive will remain at zero speed with controllers active for the time defined by this
parameter after reaching the zero speed when a stop command is given. This parameter
has no effect if the selected stop function is Coasting. Note that the zero speed time
starts when the ramp time is expected to reach the zero speed, not when the actual
speed reaches zero. Such situation can happen when the generator power limit is small
or the overvoltage controller is active while decelerating.

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6.9.1.3 Speed controller tuning for different speed areas

The speed controller can be tuned for different gains in different speed areas, for slow speed and
above the parameter Field weakening point. Gains for different speed areas are percentages of the
original Speed Controller Gain value.

P2.9.5.5 Speed Controller f0 point ID1300 “SPC f0 Point”

The speed level in Hz below which the speed controller gain is Speed Controller gain f0 .

P2.9.5.6 Speed Controller f1 point ID1301 “SPC f1 Point”

The speed level in Hz above which the speed controller gain is Speed Controller P gain.
Gain changes linearly between f0 and f1 points.

P2.9.5.7 Speed Controller gain f0 ID1299 “SPC Kp f0”

The relative gain of the speed controller as a percentage of the Speed Controller P Gain
when the speed is below the level defined by Speed Controller f0 point.

P2.9.5.8 Speed controller gain in field weakening area ID1298 “SPC Kp FWP”
Relative gain of the speed controller in field weakening area as a percentage of Speed
Controller P Gain values. The set value is reached at two times the Field weakening
point.

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6.9.1.4 Speed controller gain with different loads

The speed controller can also be tuned for different loads. Speed controller gain is first manipulated
by the speed area gain function and this result is then further adjusted by torque related relative
gain.

P2.9.5.9 Speed Controller torque minimum ID1296 “SPC Torq Min”

The level of speed controller output which the speed controller gain is changed to with
parameter P2.8.5.4.10 “Speed Controller torque minimum gain” using a filter set by
parameter P2.8.5.4.11 “Speed Controller torque minimum filtering time”. This is in
percent of the motor nominal torque.

P2.9.5.10 Speed Controller torque minimum gain ID1295 “SPC Kp Torq Min”
Relative gain as a percentage of the speed controller gain after speed area adjustment
when the speed control output is less than the “Speed Controller torque minimum”. This
parameter is normally used to stabilise the speed controller for a drive system with gear
backlash.

P2.9.5.11 Speed Controller torque minimum filtering time ID1297 “SPC Kp TC Torq”
Filtering time for torque. When the speed controller gain is changed below the Speed
Controller torque minimum.

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6.10 Drive Control

P2.10.1 Switching frequency ID601 “Switching Freq”
Motor noise can be minimised using a high switching frequency. Note, however, that
increasing the switching frequency increases losses of the frequency converter. Lower
frequencies are used when the motor cable is long and the motor is small.
The range of this parameter depends on the size of the frequency converter:

Type Min. [kHz] Max. [kHz] Default [kHz]

0003—0061 NX_5
1.0 16,0 10.0
0003—0061 NX_2
0072—0520 NX_5 1.0 10.0 3.6
0041—0062 NX_6
1.0 6.0 1.5
0144—0208 NX_6
Table 6-2. Size-dependent switching frequencies

Note!
The actual switching frequency might be reduced down to 1,5kHz by thermal
management functions. This has to be considered when using sine wave filters or other
output filters with a low resonance frequency.

Note!
If the switching frequency is changed it is necessary to redo the identification run.

DriveSynch operation
When using DriveSynch the maximum switching frequency is limited to 3,6 kHz.

P2.10.2 Modulator Type ID1516 “Modulator type”

Select modulator type. Some operations require use of a software modulator.

0 = ASIC modulator
A classical third harmonic injection. The spectrum is slightly better compared to the
Software 1 modulator.

NOTE: An ASIC modulator cannot be used when using DriveSynch or PMS motor with an
incremental type encoder.

1 = Software Modulator 1
Symmetric vector modulator with symmetrical zero vectors.
Current distortion is less than with software modulator 2 if boosting is used.

NOTE: Recommended for DriveSynch (Set by default when DS activated) and needed
when using PMS motor with an incremental encoder.

2 = Software modulator 2
One phase at a time in IGBT switches is not modulated during a 60-degree period of the
frequency cycle. The unmodulated phase is connected to either positive or negative DC-
bus.
This modulator type reduces switching losses up to two-thirds and all switches become
evenly loaded.
BusClamp modulation is useful if the voltage is >80% of the maximum voltage, in other
words, when the drive is operating near full speed. Then again, the motor ripple at low
speeds is the double compared to selection 1.

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3 = Software modulator 3
Unsymmetrical BusClamb in which one switch always conducts 120 degrees to negative
DC-rail to reduce switching losses. However, upper and lower switches are unevenly
loaded and the spectrum is wide.

4 = Software modulator 4:
Pure sinewave, sinusoidal modulator without harmonic injection. Dedicated to be used in
back to back test benches etc. to avoid circulating third harmonic current. Drawback is
that required DC voltage is 15% higher compared to other modulator types.

P2.10.3 Control Options ID1084 “Control Options”

These parameter functions are dependent of Vacon Marine application version.

B01 =
Disable open loop power limit function
B06 =
Activate Closed Loop type speed limit function in Open Loop
B07 =
Disables switching frequency decrease due to drive temperature rise
B08 =
Disable Encoder fault when brake is closed
B12 =
Disable Process Data locking function when Profibus communication fails. When
using Profibus, an occurring communication fault will lock the process data to
previous values. This bit will disable the locking of process data forcing the
values to zero. NOTE: This bit can only be used with Profibus.
B13 = Disable only acceleration when using DI Acc/Dec prohibit function

P2.10.4 Control Options 2 ID1798 “ControlOptions2”

Reserved for future use

P2.10.5 Advanced Options 1 ID1560 “AdvancedOptions1”

B00 = Disable Synchronous modulation
B01 = Use encoder information to slip compensation in Open Loop Speed control
B02 = Disable encoder fault
B03 = Disable slip compensation for reverse direction
B06 = Enable synchronous symmetrical modulation
B07 = Automatically handled by application logic.
B15 = Cosphii = 1 control. This controls the motor reactive power to zero. Possible to
use only with PMS motors in closed loop control.

P2.10.6 Advanced Options 2 ID1561 “AdvancedOptions1”

B00 = Sensorless control for PMS motors. This is an open loop control but uses the
same control system than the normal closed loop control. Calculations try to
estimate the encoder speed instead of using the encoder signal. This mode has
speed and torque range limitations and therefore application limitations. A lower
speed controller gain may be required to gain stability. Useful for generator
applications.
B04 = Enable Start Positioning damping active if PMSM
B08 = Current optimization for PMS motor. This function activates the current
optimization for PMSM motor based on torque calculation and motor parameters.
When activated, the optimization starts after 13 % of the motor nominal speed
and below this a normal U/f curve is used. The activation of this selection
requires a performed identification with run.

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B09 = I/f control for PMS motors. PMS motor can be started with I/f control. Used with
high power motor when there is low resistance in motor and U/f is difficult to
tune to be stable.
B13 = Changes automatically depending on Drive Synch operation

P2.10.7 Advanced Options 4 ID1563 “AdvancedOptions4”

Reserved for future use. Some bits are controlled by application software so value may
not be always zero.

P2.10.8 Advanced Options 5 ID1564 “AdvancedOptions5”

Reserved for future use. Some bits are controlled by application software so value may
not be always zero.

P2.10.9 Advanced Options 6 ID1565 “AdvancedOptions6”

B05 = To reduce aliasing effects in current measurement, it is possible to take an
average from all internal samples taken at fast time level. It must be noted, that
this mode does not affect the motor control, only monitoring.

P2.10.10 Restart Delay ID1424 “Restart Delay OL”

The time delay within which the drive cannot be restarted after a coast stop and flying
start is not in use. Closed Loop control mode and the flying start use a different delay
see P2.9.11.

P2.10.11 Restart Delay Closed Loop & Flying Start ID672 “Restart Delay CL”
The time delay within which the drive cannot be restarted if flying start is used or the
control mode is closed loop.

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6.11 Master Follower

6.11.1 Master Follower: Standard system
The Master/Follower function is designed for applications in which the system is run by several NXP
drives and the motor shafts are coupled to each other via gearing, chain, belt etc. The NXP drives are
in closed loop control mode.

The external control signals are connected to the Master NXP only. The Master controls the
Follower(s) via a System bus. The Master station is typically speed-controlled and the other drives
follow its torque or speed reference.

Torque control of the Follower should be used when the motor shafts of the Master and Follower
drives are coupled solidly to each other by gearing, a chain etc., so that no speed difference between
the drives is possible.

Speed control of the Follower should be used when the motor shafts of the Master and the Follower
drives are coupled flexibly to each other so that a slight speed difference between the drives is
possible. When both the Master and Followers are speed-controlled, drooping is typically also used.
LIMIT
P Neg Freq Limit MN
P - Max Freq IN Master Reference
MX
R FreqRef1 V FreqReference
R FreqRefActual
R FreqRef2
LIMIT Filt x2 Switch
Final Reference Location Ramp Control Input
MULDIV ADD MN IN OUT IN OUT
VALUE + IN TC TIME
P SpeedShare MULTIP + MX
W 100,00 DIVIS +
W FreqRefFilterTC

W StartZeroSpeedTime
F Adjust Reference LIMIT
MN
P Max Freq IN
P Pos Freq Limit MX

RAMP GENERATOR

"ByPass"
"Selection
logic" LIMIT
W NegFreqLimit MN
"Normal Ramp"
W -FreqMax IN
Master Ramp Out
0 MX
"Second Ramp" R FinalFrequencyRef
LIMIT
ADD ADD MN
Ramp Control Input R FreqRampOut
+ + IN To Speed Controller
W FreqRampAdd
+ + MX

"Force Zero"

W FreqRampStep

"RampSet" LIMIT
0 MN
W FreqMax IN
"Ramp Hold"
W PosFreqLimit MX

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6.11.2 Master Follower: DriveSynch system

DriveSynch is used to control parallel drives. Up to four drives can be connected parallelly. The
motor can be a single winding motor or there can be several winding motors.
Vacon DriveSynch works in open loop and closed loop motor control modes. With closed loop motor
control, the encoder feedback needs to be wired only to the master drive. If case redundancy is
required, it may be necessary to wire the encoder feedback also to follower drives using the double
encoder option board OPTA7.

Note!
The maximum switching frequency for the drives using Vacon DriveSynch is 3.6 kHz.
Minimum recommended switching frequency in Open Loop control is 1.7 kHz.
Minimum recommended switching frequency in Closed Loop control is 2.5 kHz.

Note!
The NXP control board must be VB00761 (NXP3) or later.

Mains supply Mains supply

NXP NXP
NXP NXP NXP NXP

OPTD2
OPTD2
X5 : TX1 X5 : TX2
OPTD2

OPTD2

OPTD2
OPTD2

X6 : ON X6 : ON
X5 : TX1 X5 : TX2 X5 : TX2 X5 : TX2
X6 : ON X6 : ON X6 : ON X6 : ON

Multiple winding motor

Y Y
Optical bus
M M
6.11.2.1 Redundancy
The units working in parallel with Vacon DriveSynch have a high level of redundancy. The system
keeps running without interruption even if any of the follower units is non-functional. In case of a
hardware failure, the failed unit need be isolated before the system can be restarted.
The actual level of redundancy, however, needs to be carefully defined considering the motor, load
and the requirements of the process.
The master drive unit and the fast drive to drive optical communication has to be functional for the
Vacon DriveSynch functionality. The auxiliary power (+24V) must be continuously provided for all the
control units including the non-functional drive units in Vacon drive synch system.
It is also a common practice to use (n+1) units, where n is the number of required units for full
functionality of the system. In this case, the system is fully operational even if any follower is non-
functional.

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Master Follower Follower Follower

(D1) (D2) (D3) (D4)
Parameter
settings
Motor Nominal Motor Nominal Motor Nominal Motor Nominal Motor Nominal
Voltage voltage from the voltage from the voltage from the voltage from the
motor name plate motor name plate motor name plate motor name plate
Motor nominal Motor Nominal Motor Nominal Motor Nominal Motor Nominal
Frequency frequency from the frequency from the frequency from the frequency from the
motor name plate motor name plate motor name plate motor name plate
Motor Nominal Motor Nominal Motor Nominal Motor Nominal Motor Nominal
Current current from the current from the current from the current from the
motor name plate / motor name plate / motor name plate / motor name plate /
Number of drives in Number of drives in Number of drives in Number of drives in
parallel using Vacon parallel using Vacon parallel using Vacon parallel using Vacon
Drive Synch Drive Synch Drive Synch Drive Synch
Motor COS PHI Motor COS PHI from Motor COS PHI from Motor COS PHI from Motor COS PHI from
(Motor nominal the motor name plate the motor name plate the motor name the motor name plate
power factor) plate
Motor Nominal Motor Nominal power Motor Nominal power Motor Nominal Motor Nominal power
Power from the motor name from the motor name power from the from the motor name
plate / Number of plate / Number of motor name plate / plate / Number of
drives in parallel drives in parallel Number of drives in drives in parallel
using Vacon Drive using Vacon Drive parallel using Vacon using Vacon Drive
Synch Synch Drive Synch Synch
Master Master, DriveSynch Follower, DriveSynch Follower, Follower, DriveSynch
Follower Mode DriveSynch

Motor Control Open Loop Frequency If used as Secondary No meaning, No meaning,

Mode (Open Master: Open Loop internally handled. internally handled.
Loop) Frequency. Recommended to Recommended to
When used as have same setting as have same setting as
Follower: no in master. in master.
meaning.
Motor Control Closed Loop Speed If used as Secondary No meaning, No meaning,
Mode (Closed /Torque Master: Closed Loop internally handled internally handled
Loop) Speed/Torque. Recommended to Recommended to
When used as have same setting as have same setting as
Follower: no in master. in master.
meaning.
Magnetizing Motor nominal Motor nominal Motor nominal Motor nominal
current magnetizing current / magnetizing current / magnetizing current magnetizing current /
(needed only for Number of drives in Number of drives in / Number of drives in Number of drives in
closed loop parallel using Vacon parallel using Vacon parallel using Vacon parallel using Vacon
motor control) Drive Synch Drive Synch Drive Synch Drive Synch
Switching Max 3.6 KHz Same as in Master Same as in Master Same as in Master
Frequency
Modulator Type 1, Software Same as in Master Same as in Master Same as in Master
Follower Phase 0 degrees 0 0 0
shift (single
winding motor)
Follower Phase 0 degrees As per motor name As per motor name As per motor name
shift (multiple plate plate plate
winding motor)

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6.11.3 Master follower configuration

The OPTD2 board in the Master has default jumper selections, i.e. X6:1-2, X5:1-2. For the followers,
the jumper positions have to be changed: X6:1-2, X5:2-3. This board also has a CAN communication
option that is useful for multiple drive monitoring with NCDrive PC software when commissioning
Master Follower functions or line systems.

Figure 6-16. System bus physical connections with the OPT-D2 board

P2.11.1 Master/Follower selection ID1324 “MF Mode”

Select the Master Follower mode. When the drive is a follower, the Run Request
command is monitored from Master but all references are selectable by parameters.

0 = Single drive
System bus is deactivated
1 = Master
Drive sends control word to follower drive.
2 = Follower
Drive receives control word from Master and sends some diagnostic information to
the Master drive.
3 = “DSynchMaster” - Drive Synch Master
Drive number 1 must be selected as the parallel drive configuration master (in
redundancy mode drive number 2 can be selected as master but certain diagnostic
functions are no longer available).
4 = “DSynchFlwr” - Drive Synch Follower
Selection for parallel drive configuration follower drive

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P2.11.2 Follower reference selection ID1081 “Follower Ref Sel”

Select where the follower drive receives its speed reference from.

0=”AI1” - Analogue Input 1.

Signal scaling in “G: Input Signals \ Analogue Input 1”
1=”AI2” - Analogue Input 2.
Signal scaling in “G: Input Signals \ Analogue Input 2”
2=”AI1+AI2” - Analogue Input 1 + Analogue Input 2.
With alternative reference scaling in Analogue Input group, 100 % input values can be
set to correspond 25 Hz. In other words, when both are 100% the final reference will
be 50 Hz.
3=”AI1-AI2”
Analogue Input 1 minus Analogue Input 2.
4=”AI2-AI1”
Analogue Input 2 minus Analogue Input 1.
5=”AI1xAI2”
Analogue Input 1 x Analogue Input 2
6=”AI1 Joystick”
Analogue input 1, -10 Vdc... +10 Vdc
7=”AI2 Joystick”
Analogue input 2, -10 Vdc... +10 Vdc
8=”Keypad Ref”
Reference from keypad R3.2
9=”Fieldbus”
Reference is taken from fieldbus. Alternative scaling can be selected in “G: Fieldbus”
10=”Motor Pot” - Motor potentiometer
Reference handled with two digital inputs “G: Input Signals \ Digital Inputs” (increase
and decrease). Behaviour adjusted in “G: Ref Handling \ Motor Poten.mete”.
11=”AI1, AI2 min”
The smaller of Analogue Input 1 and Analogue Input 2 is used as reference.
12=”AI1, AI2 max”
The greater of Analogue Input 1 and Analogue Input 2 is used as reference.
13=”Max Freq” – Maximum Frequency
P2.1.2 Max Frequency is used as reference.
14=”AI1/AI2 Sel” – AI1/AI2 Selection
The digital input “I/O Ref 1/2” is used to select between Analogue Input 1 and
Analogue Input 2 reference. “I/O Ref 1/2” is used to elect between “I/O Reference”
and “I/O Reference 2” if selection of this parameter is different from 14 (this one).
15=”Encoder 1”
Reference is read from encoder input 1.
16=”Encoder 2”
Reference is read from encoder input 2. This selection is usable with double encoder
boards. Could be utilized e.g. for speed synchronization.
17=“Master Reference”
Master reference before ramp generator. When this is selected the follower drive’s
own ramp times are active and used.
18=“Master Ramp Out”
Master reference after ramp generator, before speed controller. When this is
selected the follower drive will use the ramp times defined by the Master drive.

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P2.11.3 Follower torque reference selection ID1083 “FollowerTorq Sel”

Select the source of torque reference for the follower drive.

0=”Not Used”
1=”AI1” - Analogue Input 1.
Signal scaling in “G: Input Signals \ Analogue Input 1”
2=”AI2” - Analogue Input 2.
Signal scaling in “G: Input Signals \ Analogue Input 2”
3=”AI3”
4=”AI4”
5=”AI1 Joystick”
Analogue input 1, -10 Vdc... +10 Vdc. For joystick inputs, the maximum negative
reference is the negative of “Torq Ref Max”.
6=”AI2 Joystick”
Analogue input 2, -10 Vdc... +10 Vdc For joystick inputs maximum negative reference
is the negative of “Torq Ref Max”.
7=”Keypad Ref”
Torque reference from keypad R3.5
8=”Fieldbus”
Reference is taken from fieldbus. Alternative scaling can be selected in “G: Fieldbus”
9=”Master Torque”
Reference is taken from Master drive when using the Master Follower function.

P2.11.4 Follower stop function ID1089 “FollowerStopFunction”

When the follower drive does not use the Master Drive Ramp Output as reference this
parameter defines how the follower drive will stop as Run request is removed from the
Master drive.

0=Coasting; the follower remains in control even if master has stopped to fault.
1=Ramping; the follower remains in control even if master has stopped to fault.
2=As master; the follower behaves as master.

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P2.11.5 Master Follower Brake Logic ID1326 “MF Brake Logic”

This parameter defines brake functionality when operating Master-Follower mode.
This parameter is not active when follower is operating in Ramp Follower mode (i.e.
Follower reference selection is “18 = Master Ramp”) or follower is a DriveSynch
follower. In these cases follower brake is controlled by master drive.
Note: When follower reference selection is 17 = “Master Ref”, speed limitation function
from brake control are bypassed on follower side.

0 = Master or Own (Default)

Brake is opened when master or follower brake opening conditions are met in
follower drive.

1 = Own
Brake is opened when follower drive own brake opening conditions are met. Also
brake is close if follower drive own conditions are met regardless of master status.

2 = Own & Master Speed Release

Brake is opened when follower drive own brake opening conditions are met. Also
brake is close if follower drive own conditions are met regardless of master status.

But Speed is not released until drive has the feedback from the brake, actual or
defined by Mechanical Brake Delay parameter and master has released speed.

When this selection is made also in Master drive, Speed is not released until master
drive has the feedback from the brake actual or defined by Mechanical Brake Delay
parameter also from followers

3 = Master
Master drive is controlling follower drive brake and speed release.

P2.11.6 Master Follower mode 2 selection ID1093 “MF Mode 2”

Selects the Master Follower mode 2 that is used when the DI is activated. When Follower
is selected the Run Request command is monitored from Master and all other
references are selectable by parameters. This parameter can be used for redundancy
purposes. If drive number one is unable to be operated through a digital input drive
number 2 can be selected as master.

0 = Single Drive
System bus is deactivated.
1 = Master
Drive sends control word to follower drive.
2 = Follower
Drive received control word from Master and sends some diagnostic information to
the Master drive.
3 = “DSynchMaster” - Drive Synch Master
Drive number 1 must be selected as the parallel drive configuration master (in
redundancy mode drive number 2 can be selected as master but certain diagnostic
functions are no longer available).
4 = “DSynchFlwr” - Drive Synch Follower
Selection for parallel drive configuration follower drive

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P2.11.7 SystemBus communication fault response ID1082 “SB Comm Fault”

Defines the action when the System Bus heartbeat is missing.
The master drive sends a heartbeat signal to all follower drives and this heartbeat is
sent back to the master drive.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop function
3 = Fault, stop mode after fault always by coasting

P2.11.8 Systembus fault delay ID1352 “SB fault Delay”

Defines the delay before fault generation when heartbeat is missing.

P2.11.9 Follower Fault ID1536 “Follower Fault”

Defines the response in the Master drive when a fault occurs in any of the follower
drives. When one of the drives trips to fault the master drive will send a command to
trigger the Data Logger in all the drives for diagnostic purposes.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop function

6.11.3.1 Drive Synch Control parameters

P2.11.10.1 DriveSynch Follower Fault ID1531 “DS Follower Fault”
Defines the response in the Master drive when a fault occurs in any of the follower
drives. When one of the drives trips to fault the master drive will send a command to
trigger the Data Logger in all the drives for diagnostic purposes.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop function

P2.11.10.2 Follower drive winding phase shift ID1518 “FollPhaseShift”

Windings phase shift between master and follower drive. Used with drive synch
operation when the motor has multiple windings.

P2.11.10.3 DC Voltage balancing gain ID519 “DCVoltageBalGain”

Multiple wind motor option. Contact factory before changing this value.

P2.11.10.4 SB Last ID 2md ID1799 “SBLastID 2nd”

With this parameter is possible to change last ID number of the drive from fieldbus.

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6.12 Protections
6.12.1 General settings
P2.12.1.1 Input phase supervision ID730 “Input Ph. Superv”
Defines the response when the drive notices that one of the input phases is missing.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.1.2 Response to undervoltage fault ID727 “UVolt Fault Resp”

In some applications it is normal that the drive will be powered down when in run state.
With this parameter it is possible to choose whether undervoltage faults are stored to
the fault history of the drive.

0 = Fault stored in fault history

1 = Fault not stored in fault history

Undervoltage fault limits:

500 V units: 333 Vdc

690 V units: 460 Vdc

P2.12.1.3 Output phase supervision ID702 “OutputPh. Superv”

Output phase supervision of the motor ensures that the motor phases have an
approximately equal current.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.1.4 Response to slot fault ID734 “SlotComFaultResp”

Set here the response mode for a board slot fault due to a missing or broken board.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.1.5 Safe Torque Off (STO) mode ID755 “SafeDisableResp.”

With this parameter it is possible to choose whether the STO signal is handled as fault or
warning. The STO input will stop the drive from modulating regardless of this parameter
value.

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P2.12.1.6 No Motor response ID1841 “NoMotorResponse”

This function monitor if output current is above 10 % of motor nominal when frequency is
above 10 Hz.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function

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6.12.2 Temperature sensor protections

The temperature protection function is used to measure temperatures and issue warnings and/or
faults when the set limits are exceeded. The marine application supports two OPT-BH and OPT-B8
board simultaneously. One can be used for the motor winding and one for the motor bearings.

P2.12.2.1 Number of used inputs in board 1 ID739 “Board1 Channels”

Select used temperature sensor combination with this parameter. See also the Vacon I/O
boards manual.

0 = Not used (ID Write, value of maximum temperature can be written from fieldbus)
1 = Sensor 1 in use
2 = Sensor 1 & 2 in use
3 = Sensor 1 & 2 & 3 in use
4 = Sensor 2 & 3 in use
5 = Sensor 3 in use

Note: If the selected value is greater than the actual number of used sensor inputs, the
display will read 200ºC. If the input is short-circuited the displayed value is –30ºC.

P2.12.2.2 Board 1 Temperature responce ID740 “Board1 Response”

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.2.3 Board 1 warning limit ID741 “Board1Warn.Limit”

Set here the limit at which the PT100 warning will be activated.
When individual warning and fault limits are activated this is first board first channel
(1A).

P2.12.2.5 Board fault limit ID742 “Board1 Fault Lim.”

Set here the limit at which the PT100 fault (F56) will be activated.
When individual warning and fault limits are activated this is first board first channel
(1A).

P2.12.2.5 Number of used inputs in board 2 ID743 “Board2 Channels”

If you have two temperature sensor boards installed in your frequency converter you can
choose here the combination inputs in use in the second board. See also the Vacon I/O
boards manual.

0 = Not used (ID Write, value of maximum temperature can be written from fieldbus)
1 = Sensor 1 in use
2 = Sensor 1 & 2 in use
3 = Sensor 1 & 2 & 3 in use
4 = Sensor 2 & 3 in use
5 = Sensor 3 in use

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P2.12.2.6 Board 2 Temperature response ID766 “Board2 Response”

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.2.7 Board 2 warning limit ID745 “Board2 Warn. Lim”

Set here the limit at which the second temperature sensor board warning will be
activated. When individual warning and fault limits are activated this is second board first
channel (2A).

P2.12.2.8 Board2 fault limit ID746 “Board2 FaultLim”

Set here the limit at which the second temperature sensor board fault (F61) will be
activated. When individual warning and fault limits are activated this is second board first
channel (2A).

6.12.2.1 Individual channel monitoring

Individual channel monitoring is activated by setting one of the warning limits (per board) different
than zero. Common limits in above parameters will be channel A warning and fault limits. Channel B
and C limits are set with below parameters.

P2.12.2.9.1 Channel 1B Warn ID764

P2.12.2.9.2 Channel 1B Fault ID765
First board second (1B) channel warning and fault limits.

P2.12.2.9.3 Channel 1C Warn ID768

P2.12.2.9.4 Channel 1C Fault ID769
First board third (1C) channel warning and fault limits.

P2.12.2.9.5 Channel 2B Warn ID770

P2.12.2.9.6 Channel 2B Fault ID771
Second board second (2B) channel warning and fault limits.

P2.12.2.9.7 Channel 2C Warn ID772

P2.12.2.9.8 Channel 2C Fault ID773
Second board third (2C) channel warning and fault limits.

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6.12.3 Stall protection

The motor stall protection protects the motor from short time overload situations such as one
caused by a stalled shaft. The reaction time of the stall protection can be set shorter than that of the
motor thermal protection. The stall state is defined with two parameters, Stall current and Stall
frequency limit. If the current is higher than the set limit and the output frequency is lower than the
set limit, the stall state is true. There is actually no real indication of the shaft rotation. Stall
protection is a kind of overcurrent protection.

P2.12.3.1 Stall protection ID709 “Stall Protection”

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.3.2 Stall current limit ID710 “Stall Current”

The current can be set to 0 …2*IH. For a stall stage to occur, the current must have
exceeded this limit. The software does not allow entering a greater value than 2*I H. If the
motor current limit is changed this parameter is automatically recalculated to the value
90 % of motor current limit.

Note: This limit must be set below the current limit in order for this function to operate.

P2.12.3.3 Stall frequency limit ID712 “Stall Freq Lim”

The frequency can be set between 1-fmax (Max Frequency).
For a stall state to occur, the output frequency must have remained below this limit for a
certain time. This function requires that the output frequency is 1 Hz below the frequency
reference before the stall time count is started.

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P2.12.3.4 Stall time ID711 “Stall Time Lim”

This is the maximum time allowed for a stall stage. The stall time is counted by an
internal up/down counter. If the stall time counter value goes above this limit the
protection will cause a trip.

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6.12.4 Speed Error

The Speed error monitoring function compares the encoder frequency and the ramp generator
output. The function is used with a PMS motor to detect if the motor is off synchronization or to
disable the open loop function using the encoder speed for slip compensation. The slip
compensation is disabled regardless of the response and needs to be re-activated once a speed
error is detected (set parameter again or power down the drive).

P2.12.4.1 Speed error fault function ID752 “Speed Error Mode”

Defines the fault function when the speed reference and the encoder speed are above
the set limits.

0 = No response
1 = Warning
2 = Fault, stop mode after fault always by coasting

P2.12.4.2 Speed error maximum difference ID753 “SpeedErrorLimit”

Defines the limit when fault situation is noted. The difference between the speed
reference and the encoder speed. Percentage value is in relation to motor nominal
frequency.

P2.12.4.3 Speed error delay ID754 “Speed Fault Delay”

Defines the delay after which a speed error is considered as a fault.

When used to disable open loop slip compensation based on encoder frequency it is
recommended to set this time to zero to avoid a speed jump at the time of encoder
malfunction.

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6.12.5 Motor Protection

CAUTION! The calculated model does not protect the motor if the airflow to the
motor is reduced by blocked air intake grill.

The motor thermal protection is to protect the motor from overheating. The drive is capable of
supplying higher than nominal current to the motor. If the load requires this high current there is a
risk that the motor will be thermally overloaded. This is the case especially at low frequencies. At
low frequencies the cooling effect of the motor is reduced as well as its capacity. If the motor is
equipped with an external fan the load reduction at low speeds is small.
The motor thermal protection is based on a calculated model and it uses the output current of the
drive to determine the load on the motor.
The motor thermal protection can be adjusted with parameters. The thermal current I T specifies the
load current above which the motor is overloaded. This current limit is a function of the output
frequency.

P2.12.5.1 Motor thermal protection reasponse ID704 “Motor Therm Prot”

Defines the response when the calculated temperature of the motor has reached 105 %
(monitoring signal).
0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.5.2 Motor ambient temp. factor ID705 “MotAmbTempFactor

Defines the temperature factor for conditions where the motor is located.The factor can
be set between -100.0%—100.0%.

-100.0 % = 0°C,
0.0 % = 40°C,
100.0 % = 80°C

P2.12.5.3 Motor cooling factor at zero speed ID706 “MTP f0 Current”

Defines the cooling factor at zero speed in relation to the point where the motor is
running at nominal speed without external cooling.
The default value is set assuming that there is no external fan cooling the motor. If an
external fan is used this parameter can be set to 90% (or even higher).
Note: The value is set as a percentage of the motor name plate data, (Nominal current of
motor), not the drive's nominal output current. The motor's nominal current is the
current that the motor can withstand in direct on-line use without being overheated.
Setting this parameter does not affect the maximum output current of the drive which is
determined by parameter Motor Current Limit alone.

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P2.12.5.5 Motor thermal protection: Time constant ID707 “MTP Motor T”

This time can be set between 1 and 200 minutes.
This is the thermal time constant of the motor. The bigger the motor, the bigger the time
constant. The time constant is the time within which the calculated thermal stage has
reached 63% of its final value.
The motor thermal time is specific to motor design and it varies between different motor
manufacturers. The default value changes between unit sizes.
If the motor's t6–time (t6 is the time in seconds the motor can safely operate at six times
the rated current) is known (given by the motor manufacturer) the time constant
parameter can be set basing on it. As a rule of thumb, the motor thermal time constant
in minutes equals to 2xt6. If the drive is in stop stage the time constant is internally
increased to three times the set parameter value. The cooling in the stop stage is based
on convection and the time constant is increased.

P2.12.5.5 Motor thermal protection: Motor duty cycle ID708 “Motor Duty Cycle”
The value can be set to 0%…150%.
Setting value to 130 % motor calculated temperature will reach nominal temperature
with 130 % of motor nominal current.

Motor temperature

Trip area
105%

Motor
current Fault/warning
par. ID704
I/IT

*)
Time constant T
Motor temperature = (I/IT)2 x (1-e-t/T) Time

*) Changes by motor size and

adjusted with parameter ID707 NX12k82

Figure 6-17. Motor temperature calculation

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P2.12.5.6 Response to thermistor fault ID732 “ThermistF.Resp”

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to ID506
3 = Fault, stop mode after fault always by coasting

Setting the parameter to 0 will deactivate the protection.

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6.12.6 Over Load Protection

With this function it’s possible to select between Current, Torque and Power what is used for over
load protection.
Over Load in based on internal counter that in increased when input value is above 105 % level and
decreased when below 105 % level, increase and decrease is happening every 100 ms.
Tripping is made when over load counter value is over 10 000.
With parameters it can be defined what is increase (Over load maximum step) at maximum defined
input level (Over Load Maximum Input). These points defines slope for the function. e.g. if input value
is middle of 105 % and Over Load Maximum Input values counter is increase half of the Over Load
Maximum step.

2.12.5.7 Response to over load ID1838 “OverLoadResponse”

0 = No response
1 = Warning
2 = Fault

2.12.5.8 Over Load Signal ID1837 “OverLoadSignal”

0 = Not Used
1 = Output Current (FW: MotorCurrentPU_100ms)
2 = Motor Torque
3 = Motor Power

2.12.5.9 Over Load Maximum Input ID1839 “OverLoadMaxIN”

Input value level where over load counter is increased with maximum step defined by
P2.12.5.10

2.12.5.10 Over Load Maximum Step ID1840 “OverLoadMaxStep”

Step in the over load counter when input value is at maximum input level defined by
P2.12.5.9.

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6.12.7 4mA Protection

The 4 mA protection monitors the analogue input signal level from Analogue input 1 and Analogue
input 2.
The monitoring function is active when signal range 4 mA – 20 mA is selected. A fault or warning is
generated when the signal falls below 3.5 mA for 5 seconds or below 0.5 mA for 0.5 seconds.

P2.12.6.1 Response to the 4mA reference fault ID700 “4mA Input Fault”
0 = No response
1 = Warning
2 = Warning, the frequency from 10 seconds back is set as reference
3 = Warning, the Preset Frequency is set as reference
4 = Fault, stop mode after fault according to Stop Function
5 = Fault, stop mode after fault always by coasting

P2.12.6.2 4mA reference fault: preset frequency reference ID728 “4mA Fault Freq.”
If value 3 in parameter P2.12.6.1 is selected and a fault occurs the frequency reference
to the motor is the value of this parameter.

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6.12.8 Underload protection

The purpose of the motor underload protection is to ensure that there is load on the motor when the
drive is running. If the motor loses its load there might be a problem in the process, e.g. a broken
belt or a dry pump.

The underload curve is a squared curve set between the zero frequency and the field weakening
point. The protection is not active below 5Hz (the underload time counter is stopped).

The torque values for setting the underload curve are set in percent which refers to the nominal
torque of the motor. The motor's name plate data, parameter motor nominal current and the drive's
nominal current IH are used to find the scaling ratio for the internal torque value.

P2.12.7.1 Underload protection ID713 “Underload Protec”

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

If tripping is set active the drive will stop and activate the fault stage.
Deactivating the protection by setting the parameter to 0 will reset the underload time
counter to zero.

P2.12.7.2 Underload protection, zero frequency load ID715 “UP F0 Torque”

The torque limit can be set between 5.0—150.0 % x TnMotor.
This parameter gives the value for the minimum torque allowed with zero frequency.

P2.12.7.3 Underload protection, field weakening area load ID714 “UP fnom Torque”
The torque limit can be set between 10.0—150.0 % x TnMotor.
This parameter gives the value for the minimum torque allowed when the output
frequency is above the field weakening point.

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P2.12.7.4 Underload time ID716 “UP Time Limit”

This time can be set between 2.0 and 600.0 s.
This is the maximum time allowed for an underload state to exist. An internal up/down
counter counts the accumulated underload time. If the underload counter value goes
above this limit the protection will cause a trip according to parameter Underload
Protection.

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6.12.9 Earth Fault

The earth fault protection ensures that the sum of the motor phase currents is zero. The overcurrent
protection is always working and protects the frequency converter from earth faults with high
currents.

P2.12.8.1 Earth fault protection ID703 “Earth fault”

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.12.8.2 Eart fault current limit ID1333 “EartFaultCurLim”

Maximum level for Earth current in % of the unit nominal current.

6.12.10 Cooling protection

Protection for liquid cooled units. An external sensor is connected to the drive (DI: Cooling Monitor)
to indicate if cooling liquid is circulating.

P2.12.9.1 Cooling fault delay ID751 “Cooling F Delay”

This parameter defines the delay after which the drive goes to fault state when ‘Cooling
OK’ signal is missing.

P2.12.9.2 Cooling fault response ID762 “CoolingFaultREsp”

In some cases it is more important to allow the drive to run even if the cooling liquid is
not circulating. Then it is possible to select warning as the response. The drive will then
continue running until its internal protection will stop it. If cooling signal loss happens on
stop state indication is not stored to fault history if previous fault is already Cooling
Fault. In Run State indication is always stored to fault history

0 = Stop State: No Action, Run State: Warning

1= Stop State: Warning, Run State: Warning
2= Stop State: Warning, Run State: Fault
3= Stop State: No Action, Run State: Fault

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6.12.11 Fieldbus communication

P2.12.10.1 Response to fieldbus fault ID733 “FBComm.FaultResp”

Set here the response for a fieldbus fault if the active control place is fieldbus. For more
information, see the respective Fieldbus Board Manual.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting
4 = Warning, Previous frequency. Forced fault after delay. Only for profibus
communication

P2.12.10.2 Fieldbus fault delay ID1850 “FB Fault Delay”

This how long drive will stay in run state after the communication has been lost if fault
response is set to 4 / Warning, previous frequency. If time is set to zero drive will remain
running until communication is established and stop command is given.

P2.12.10.3 Fieldbus Watch Dog delay ID1354 “FB WD Delay”

Defines delay when fault is generated when watch dog pulse is missing from fieldbus.
Set the time to zero to disable watchdog monitoring.

6.12.12 External Fault function

P2.12.11.1 Response to external fault ID701 “External Fault 1”
P2.12.11.2 Response to external fault ID747 “External Fault 2”

Defines the response to a digital input signal informing about an external condition
where the drive needs to react to. The external warning/fault indication can be connected
to a digital output.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

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6.12.13 Encoder Fault function

Encoder supervision gives fault in case there are no pulses from encoder. Requirement is that
reference is above 1 Hz and torque can reach 100 % level. This torque level can be adjusted by Iq
Fault limit parameter. This limit may need adjustment when torque limit is below 100 %.
Alternative method to detect encoder fault is Speed Error detection.

P2.12.12.1 Encoder Fast Hz Limit ID1801

Frequency limit where detection is made using fast detection.

P2.12.12.2 Fast Time Limit ID1805

Delay to encoder fault when fault happens above Encoder Fast Hz Limit.

P2.12.12.3 Iq Fault Limit ID1800

This defined Iq current limit what must be exceeded before situation is determine to be
encoder fault is pulses are missing from encoder at the same time.

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6.13 Fieldbus settings

6.13.1 General settings
P2.13.1 Fieldbus reference minimum scaling ID850 “FB Min Scale”
P2.13.2 Fieldbus reference maximum scaling ID851 “FB Max Scale”
Use these two parameters to scale the fieldbus reference signal.
If both parameters have the same value the minimum and maximum frequency limits
are used for scaling.

Using this custom scaling function also affects the scaling of the actual value.

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P2.13.3 to
P2.13.10 Fieldbus data out selections 1 to 8 ID852-ID859 “FB Data OutX Sel”
Using these parameters, you can monitor any monitoring or parameter value from the
fieldbus. Enter the ID number of the item you wish to monitor for the value of these
parameters. See monitoring signals for full details of ID numbers.

Default settings:

Data Value Unit Scale ID

Status Word Main Status Word
FB General Status
MCStatus 64
Word
FB Actual Speed Actual Speed % 0,01 %
Process data OUT 1 Output Frequency Hz 0,01 Hz 1
Process data OUT 2 Motor Speed rpm 1 rpm 2
Process data OUT 3 Motor Current A 0,1 A 45
Process data OUT 4 Motor Torque % 0,1 % 4
Process data OUT 5 Motor Power % 0,1 % 5
Process data OUT 6 Motor Voltage V 0,1 V 6
Process data OUT 7 DC link voltage V 1V 7
Process data OUT 8 Active Fault Code - - 37

P2.13.11 to
P2.13.18 Fieldbus data IN selections 1 to 8 ID876-833 “FB Data In X Sel”
Using these parameters, you can control any monitoring or parameter value from the
fieldbus. Enter the ID number of the item you wish to control for the value of these
parameters. Monitoring signals that can be controlled from fieldbus are shadowed.

Default settings:

Data Value Unit Scale ID

Reference Speed Reference % 0.01% -
Control Word Main Control Word - - -
Control Word 2 General Control Word
Process Data IN1 Torque Reference % 0.1% 1140
Process Data IN2 Free Analogue INPUT % 0.01% 46
Process Data IN3 Adjust Input % 0.01% 47
Process Data IN4 FB Analogue Output % 0.01% 48
PD4 – PD8 Not Used - - -

P2.13.19 Fieldbus General Status Word ID ID897 “GSW ID”

With this parameter it is possible to select which data are sent in FBGeneralStatusWord
(see for details and availability in used fieldbus manual).

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P2.13.20 FB Actual Speed ID1741 “FBActualsSpeed”

With this it is possible to select which Actual speed is shown on the fieldbus.

0 = Calculated
This selection shows what the ramp generator output is.

Open Loop
In frequency control mode when only the ramp output is shown on the fieldbus and,
therefore, the motor slip or any other changes of speed due to load changes are not
visible in the actual speed value. However, limiting functions are visible in the ramp
output.

Closed Loop
In closed loop control, the limiting functions take place after ramp generator. When
speed is limited by e.g. motoring torque limit the actual shaft speed may be lower even if
FB Actual Speed shows that speed is at reference.

1 = Actual

Open Loop
Motor speed is a calculated value (Monitoring variable Motor Speed) showing the load
affect on the speed and slip compensation.

Closed Loop
Motor speed is taken from the actual encoder signal showing the real speed all the time.

P2.13.21 Control Slot selector ID1440 “ControlSlotSel.”

This parameter defines which slot is used as the main control place when two fieldbus
boards have been installed in the drive. When values 6 or 7 are selected, the drive uses
the Fast Profibus profile. When the Fast Profibus profile is used type ‘B’ boards or other
C type boards cannot be used.

Note: Set first the Slave Address and the PPO type before selecting the Fast Profibus
mode.

0 = All slots
4 = Slot D
5 = Slot E
6 = Slot D, Fast Profibus support
7 = Slot E, Fast Profibus support

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P2.13.22 State Machine

Application has possibility to select what kind of state machine is used.

1: Standard
This mode makes fieldbus control behave as in explained in used fieldbus board manual.

2: ProfiDrive
This mode uses ProfiDrive type state machine in application level. This mode is possible
to use on fieldbus boards that does not have state machine itself or has possibility to
bypass state machine functionality in option board.

See chapter 9: Status and Control Word in detail

P2.13.23 Fieldbus Custom Minimum ID898 “FB Custom Min”

P2.13.24 Fieldbus Custom Maximum ID899 “FB Custom Max”

With these parameters its possible to define fieldbus reference input values scaling.
default is 0...10000 (0...100%)

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6.14 ID Functions
Listed here are the functions that use the parameter ID number to control and monitor the signal.

6.14.1 Value Control

The value control parameters are used to control an input signal parameter.

P2.14.1.1 Control Input Signal ID ID1580 “ContrInSignal ID”

With this parameter you can select what signal is used to control selected parameter.

P2.14.1.2 Control Off Limit ID1581 “Contrl Off Limit”

This parameter defines the limit when the selected parameter value is forced to Off
value.

P2.14.1.3 Control On Limit ID1582 “Contrl On Limit”

This parameter defines the limit when the selected parameter value is forced to On
value.

P2.14.1.4 Control Off Value ID1583 “Contrl Off Value”

This parameter defines the value that is used when the used input signal is below Off
limit.

P2.14.1.5 Control On Value ID1584 “Contrl On Value”

This parameter defines the value that is used when the used input signal is above On
limit.

P2.14.1.6 Control Output Signal ID ID1585 “ContrlOutSignID”

This parameter defines which parameter is forced to On and Off values when selected
input signal exceeds the set limits.

P2.14.1.7 Control Mode ID1586 “Control Mode”

This parameter defines how the value control output behaves.

0 = SR ABS
Absolute input value is used to make a step change in the output between On and Off
values.

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1 = Scale ABS
Absolute input value is scaled linearly between On and Off values.

2 = Scale ABS Inverted

Inverted absolute value is scaled linearly between On and Off values.

3 = SR
Input value is used to make a step change in the output between On and Off values.

4 = Scale
Input value is scaled linearly between On and Off values.

5 = Scale Inverted
Inverted value is scaled linearly between On and Off values

P2.14.1.8 Control Signal Filtering TC ID1586 “Control Filt TC”

This parameter is used to filter the scaling function output. Used e.g. when unfiltered
torque is used to control a parameter that needs stabilization.

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6.14.2 DIN ID Control

This function is used to control any parameter between two different values with a digital input.
Different values are given for DI ‘low’ and DI ‘high’.

P2.14.2.1 ID Control Digital Input ID1570 “ID Control DIN”

P2.14.3.1 ID Control Digital Input ID1590 “ID Control DIN”
P2.14.4.1 ID Control Digital Input ID1578 “ID Control DIN”
Select digital input to be used for controlling the parameter selected by ID1571, ID1575
and 1579.

P2.14.2.2 DIN Controlled ID ID1571 “Controlled ID”

P2.14.3.2 DIN Controlled ID ID1575 “Controlled ID”
P2.14.4.2 DIN Controlled ID ID1579 “Controlled ID”
Select parameter ID controlled by ID1570.

P2.14.2.3 Value for Low digital input (FALSE) ID1572 “FALSE Value”
P2.14.3.3 Value for Low digital input (FALSE) ID1592 “FALSE Value”
P2.14.4.3 Value for Low digital input (FALSE) ID1594 “FALSE Value”
Set here the controlled parameter value when the digital input (ID1570) is LOW for the
parameter selected by ID1571. The function does not recognize decimals. Give,
therefore, e.g. 10.00 Hz as ‘1000’.

P2.14.2.4 Value for High digital input (TRUE) ID1573 “TRUE Value”
P2.14.3.4 Value for High digital input (TRUE) ID1593 “TRUE Value”
P2.14.4.4 Value for High digital input (TRUE) ID1596 “TRUE Value”
Set here the controlled parameter value when the digital input (ID1570) is HIGH for the
parameter selected by ID1571. The function does not recognize decimals. Give,
therefore, e.g. 10.00 Hz as ‘1000’.

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6.14.3 ID-controlled DO
This function is used to control any Digital output by any status that can be presented as bit.
The input signal is selected with the ID number and bit number.

Example: Most of the faults and warnings are normally presented in the common digital output.
With the ID-controlled DO function, it is possible to select a specific fault to be connected to the
digital output.

Warning Word 1 ID1174

Fault Comment
b0 Motor stalled W15
b1 Motor over temperature W16
b2 Motor under load W17
b3 Input phase loss W10
b4 Output phase loss W11
b5 Safe disable W30 (Not implemented)
b6 FieldBus communication fault in slot D W53 (Not implemented)
b7 FieldBus communication fault in slot E W67 (Not implemented)
b8 Drive over temperature W14
b9 Analogue input < 4mA W50
b10 Not used
b11 Emergency stop W63 (Not implemented)
b12 Run disabled W62 (Not implemented)
b13 Not used
b14 Mechanical Brake W58
b15 Not used

P2.14.5.1 ID.Bit Free Digital output control 1 ID1216 “ID.Bit Free DO1”
P2.14.6.1 ID.Bit Free Digital output control 2 ID1386 “ID.Bit Free DO2”
Select the signal for controlling the DO. The parameter has to be set in format xxxx.yy
where xxxx is the ID number of a signal and yy is the bit number. For example, the value
for DO control is 1174.02. 1174 is the ID number of Warning Word 1. So the digital output
is ON when bit number 02 of the warning word (ID no. 1174) i.e. Motor underload is high.

P2.14.5.2 Free Digital Output selector ID1574 “Free DO1 Sel.”

P2.14.6.2 Free Digital Output selector ID1325 “Free DO2 Sel.”
Select the output terminal to be controlled with the parameter ID.bit Free Digital output
control.

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6.14.4 Free DIN Delay

This function is mend to be used on situation when certain DIN signal needs On or Off delay
before actual command is given. e.g. Reading from DIN Status Word: DIN1 status giving it a
e.g. 1,00 s delay and then writing it by ID number to ID403 Start 1, thus giving 1 second delay to
start in drive side.

P2.14.7.1 ID.Bit Free Digital input delay ID1832 “ID.Bit Free DIN”
Select digital input from DIN Status Word to be delayed.

P2.14.7.2 On Delay ID1833 “On Delay”

This defines ON delay for the input signal.

P2.14.7.3 Off Delay ID1834 “Off Delay”

This defines OFF delay for the input signal.

P2.14.7.4 Mono Time ID1836 “Mono Time”

This timer makes a pulse that last defined time. Pulse will start after On Delay time.

P2.14.7.5 Control Out ID ID1835 “Control Out ID”

Select the signal ID to be controlled by input signal. If inversion or parameter value other than
zero and one is needed this can be connected to DIN ID Control function ID1570, ID1590 or
1578 where desired values can be set and connected to correct parameter.

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6.15 Brake Control

The mechanical brake control has two parts that need to be synchronically controlled. The first part
is the mechanical brake release and the second is the speed reference release.

Conditions to open the brake:

The final brake open command: It is possible that in a Master/Follower system the master drive
opens the brake. Also an overriding system may do this without any control from the drive using
AucControlWord1.B7. During identification run the brake will not open.

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1. Start command
2. Start magnetization is used to build rotor flux fast. The drive Zero speed time is used during
this.
3. When the rotor flux is > 90 % and the start zero time has expired the speed reference is
released to BrakeOpenFreq limit.
4. Speed is kept at this speed until feedback is received from the brake acknowledge or when
brake mechnical delay time has passed.
5. Speed follows normal reference signal.

Speed reference release function:

P2.15.1 Mechanical brake reaction time ID1544 “Brake Mech Delay”

After the brake open command has been given, speed is kept at the Brake Open limit
until the reaction time has passed. This hold time should be set corresponding to the
mechanical brake reaction time. This function is used to avoid current and/or torque
spikes eliminating a situation where the motor is run at full speed against the brake. If
this parameter is used when simultaneously with the brake acknowledge input both time
and brake acknowledgements are needed before the speed reference is released.

P2.15.2 Brake Frequency limit Open Loop ID1535 “BrakeOFFFrqLimOL”

This parameter defines the frequency limit to release the brake.
This value also applies as the maximum frequency reference limit while the brake is
closed. In open loop control it is recommended to use a value that is equal to the motor’s
nominal slip.

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P2.15.3 Brake Frequency limit Closed Loop ID1555 “BrakeOFFFreqLimCL”

This parameter defines the frequency limit to release the brake.
This value also applies as the maximum frequency reference limit while the brake is
closed. In closed loop control it is recommended to use zero value so that the brake is
released while the drive has zero speed at start. If torque is needed to avoid position
change at the moment the brake mechanically opens use the start-up torque function.

P2.15.4 Closing frequency from forward direction ID1539 “BrakeOnFreqLim +”

Output frequency limit to close the brake when the speed approaches zero speed from
positive direction. Lifting direction must be given as positive frequency.

P2.15.5 Closing frequency from reverse direction ID1540 “BrakeInFreqLim –“

Output frequency limit to close the brake when the speed approaches zero speed from
positive direction. Lowering direction must be given as negative frequency.

P2.15.6 Brake On/Off Current limit ID1085 “BrakeOnOffCurLim”

If motor current is below this value the brake is closed immediately.
It is recommended to set this value to approximately 25 % of the magnetization current
from the maximum used frequency.

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6.15.1 Run away load protection

Run away load protection is used to increase the generator torque limit in case when the speed of
the load is increasing above the defined frequency limit. Used in cases when upper system is
controlling generator torque limit and its needed to drive itself control situation when speed
increases too high.

Note! The maximum generator side torque limit is still limited by the General torque limit
parameter.

P2.15.7 Generator Torque limit increase speed level ID1547 “TorqLimInc Hz”
The frequency limit at which the generator side torque limit is started to increased when
speed of the motor increases (over speed).

P2.15.8 Generator Torque limit increase high speed limit ID1548 “MaxTorqLim Hz”
The frequency level at which point the torque defined by the “Generator Torque Limit
increase maximum addition” is added entirely to the final torque limit.

P2.15.9 Generator Torque limit increase added torque ID1549 “MaxTorqLim”

When this parameter is set greater than zero the generator torque limit increases at
high speed is activated. This parameter defines the torque that is added to generator
torque limit, linearly starting from ID1547 to ID1548.

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6.15.2 Brake monitoring function

The brake monitoring function is activated when the function Brake acknowledge is used. The brake
monitoring function compares the brake feedback to the control signal. In other words, a fault will
be issued if the feedback is missing when drive is in Run state and the output frequency is above the
opening limit and the fault delay has expired. A fault is also triggered if the brake feedback indicates
that the brake is open while the drive is in stop state.

In some cases it is possible that an encoder fault appears when the drive is run against closed
brake. The encoder fault can be disabled with Control Options B8 when the drive is controlling the
brake to be closed.

P2.15.10 Brake fault response ID1316 “Brake Fault”

Defines the action after detection of a brake fault.

0 = No response
1 = Warning
2 = Fault, stop mode after fault according to Stop Function
3 = Fault, stop mode after fault always by coasting

P2.15.11 Brake fault delay ID1317 “BrakeFaultDelay”

The delay before the brake fault (F58) is activated. Used when there is a mechanical
delay in the brake. See digital input signal External brake acknowledge.

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6.15.3 Closed Loop settings

6.15.3.1 Start Up torque
The start-up torque is used to generate torque against the brake so that when the brake is
mechanically opened there will be no position change because the drive is already generating the
torque needed to keep the load in place.

Settings the start-up torque time is set to -1 means that the start-up torque is removed when the
drive notices encoder movement. Setting the time greater than 0 will denote the actual time for how
long the start-up torque is applied to the motor even if the motor shaft is already rotating thus
making the motor accelerate without control until time has expired.

P2.15.12.1 CL: Startup torque ID621 “StartUp Torque!

0 = Not Used

1 = Torque Memory
Torque memory uses the torque that was used by the speed controller last time the drive
was in running state. Normally, this is the torque generated when the zero speed time at
stop has expired and the drive has stopped modulation or started the flux off delay
function.

2 = Torque Reference
The normal torque reference chain is used (expect TorqueStep) for the start-up torque
level. This can be used when the external system knows the load on the shaft when
brake is released.

3 = Torque Forwad/Reverse
Drive uses torque values defined by the start-up torque forward and reverse.

P2.15.12.2 Start-up torque, forward ID633 “StartupTorq FWD”

Sets the start-up torque for forward direction if selected with pararameter Startup
Torque.

P2.15.12.3 Start-up torque, reverse ID634 “StartupTorq REV”

Sets the start-up torque for reverse direction if selected with pararameter Startup
Torque.

P2.15.12.4 Start-Up Torque Time ID1371 “StartupTorq Time”

This parameter defines for how long the start-up torque will be used instead of the
speed controller output. If the time is set to -1 the drive will automatically start to use
the speed controller when speed change is read from encoder. When the setting is >0
the drive will use this defined torque even if speed changes are read from encoder.

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6.16 Auto Fault Reset

The Auto reset function tries to reset the fault automatically during the trial time. An individual fault
can be defined to be reset certain number of times before the actual fault indication is given. The
function will operate as Automatic Restart function if the start command is received as a static
signal. In I/O control of the Marine application, the default start function requires a rising edge
command after fault trigger.

P2.16.1 Automatic reset: Wait time ID717 “Wait Time”

Defines the time for the attempted fault reset after the fault trigger has passed.
Note: In case of external fault, remove the cause of fault on the external device. The wait
time count starts only when the cause of fault has been removed.

P2.16.2 Automatic reset: Trial time ID718 “Trial Time”

The Automatic reset function keeps trying to reset the faults appearing during the time
set with this parameter. If the number of faults during the trial time exceed the value of
the respective parameter set with ID720 to ID725 a permanent fault is generated.

Figure 6-18. Example of Automatic restarts with three restarts

P2.16.3 Automatic restart: Start function ID719 “Start Function”

The Start function for restart is selected with this parameter; restart will take place if
there is a static Start command active when an automatic fault reset is made.

0 = Start with ramp

1 = Flying start
2 = Start according to Start Function parameter (Default)

The following ‘Number of tries’ parameters determine the maximum number of automatic restarts
during the trial time. The time count starts from the first autoreset. If the number of faults occurring
during the trial time exceeds the values set by number of tries the fault state becomes active.

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P2.16.4 Number of tries after undervoltage fault trip ID720 “Undervolt. Tries”
This parameter determines how many automatic fault resets can be made during the
trial time after undervoltage trip.

0 = No automatic reset
>0 = Number of automatic fault resets after undervoltage fault.

P2.16.5 Number of tries after overvoltage trip ID721 “Overvolt. Tries”

This parameter determines how many automatic fault resets can be made during the
trial time after overvoltage trip.

0 = No automatic fault reset after overvoltage fault trip

>0 = Number of automatic fault resets after overvoltage fault trip.

P2.16.6 Number of tries after overcurrent trip ID722 “Overcurr. Tries”

(NOTE! IGBT temp faults also included)
This parameter determines how many automatic fault resets can be made during the
trial time after overcurrent trip.

0 = No automatic fault reset after overcurrent fault trip

>0 = Number of automatic fault resets after overcurrent trip, saturation
trip and IGBT temperature faults.

P2.16.7 Number of tries after reference trip ID723 “4mA Fault Tries”
This parameter determines how many automatic fault resets can be made during the
trial time after 4 mA reference fault.

0 = No automatic fault reset after reference fault trip

>0 = Number of automatic fault resets after the analogue current signal
(4…20mA) has returned to the normal level (>4mA)

P2.16.8 Number of tries after motor temperature fault trip ID726 “MotTempF Tries”
This parameter determines how many automatic fault resets can be made during the
trial time after calculated motor temperature fault trip.

0 = No automatic fault reset after Motor temperature fault trip

>0 = Number of automatic fault resets after the motor temperature has
returned to its normal level

P2.16.9 Number of tries after external fault trip ID725 “Ext.Fault Tries”
This parameter determines how many automatic fault resets can be made during the
trial time after external fault trip.

0 = No automatic fault reset after External fault trip

>0 = Number of automatic fault resets after External fault trip

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P2.16.10 Number of tries after underload fault trip ID738 “Underload tries”
This parameter determines how many automatic fault resets can be made during the
trial time after underload trip.

0 = No automatic fault reset after Underload fault trip

>0 = Number of automatic fault resets after Underload fault trip

P2.16.11 Fault Simulation ID1569 “Fault Simulation”

With this parameter it’s possible to simulate different faults without actually making e.g.
over current situation. In drive interface point of view behaviour is identical to actual fault
situation.

B00 = +1 = Simulates over current fault (F1)

B01 = +2 = Simulates over voltage fault (F2)
B02 = +4 = Simulates under voltage fault (F9)
B03 = +8 = Simulates output phase supervision fault (F11)
B04 = +16 = Simulates earth fault (F3)
B05 = +32 = Simulates system fault (F8)
This fault simulation cover wide range of different faults in drive, see fault description
for details.
B06 = +64 = Simulates encoder fault (F43)
B07 = +128 = Simulates over temperature warning (W14)
B08 = +256 = Simulates over temperature fault (F14)
Warning bit needs to be active that fault will come in simulation. If fault bit is left
active drive will go fault state at warning limit when drive temperature will rice to
warning level.
B09 = +512 = Reserved

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6.17 PI Control
PI Control in system interface application uses ID number to make connection between reference,
actual value and output. PIC function will be active when PIC Controller Output ID is higher than
zero.

P2.17.1 PI Controller Gain ID118 “PID-Contr Gain”

This parameter defines the gain of the PID controller. If the value of the parameter is set
to 100% a change of 10% in the error value causes the controller output to change by
10%. If the parameter value is set to 0 the PID controller operates as I-controller.

P2.17.2 PI Controller I time ID119 “PID-Contr I Time”

The parameter ID119 defines the integration time of the PID controller. If this parameter
is set to 1,00 second a change of 10% in the error value causes the controller output to
change by 10.00%/s. If the parameter value is set to 0.00 s the PID controller will operate
as P controller.

P2.17.3 PI Controller reference ID167 “PID Reference”

PI controller reference from keypad, used also when reference is controlled from
Fieldbus.

P2.17.4 PI Controller reference value ID number ID332 “PID Ref ID”

Select ID number of the signal that is used as reference valued for PI controller. Default
value is the ID of P2.17.3

P2.17.5 PI Controller actual value ID number ID333 “PID Actual ID”

Select ID number of the signal that is used as actual value for PI controller.
PI Actual value can be written from Fieldbus directly to monitoring variable ID21 when
this parameters is set to zero.

P2.17.6 PI Controller output ID ID1802 “PID Out ID”

Select ID number of parameter of signal that is controlled by PI controller. When this
value is creater than zero PI function is operational. This is scaled value by PI Controller
Output Scale. Scaling function is used to scale value more suitable for connected signal.
e.g. when output is connected to torque limit actual value need to be -1000 ...+1000
(-100,0 %..+100,0 %). But PI Out High and Low can be from -30000...+30000 to have
more accurate PI control.

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P2.17.7 PI Controller Scale ID340 “PID Scale”

This parameter allows you to invert the error value of the PID controller (and thus the
operation of the PID controller).
1 No inversion
-1 Inverted
This value is a multiplier for P and I part of the control thus working as additional gain.

NOTE! Zero is illegal value for PI controller

P2.17.8 PI Controller minimum output ID359 “PID Min Limit”

P2.17.9 PI Controller maximum output ID360 “PID Max Limit”
With these parameters you can set the minimum and maximum limits for the PID
controller output.
These limits are of importance for example when you define the gain and I-time for the
PID controller.

P2.17.10 PI Controller output scale ID1803 “PID Out Scale”

This parameter is used to scale PI output to have more controlling are for the PI
controller. e.g. PI controller maximum limit can be set to 10000 and by setting scaling to
10% PI output can be used directly to e.g. motoring torque limit.
PI Output * Scaling [%] = P2.18.5 -> 10000 * 10 % = 1000, (1000 = 100,0 % of Tn).

P2.17.11 PI Stop state value ID1806 “PID Stop Value”

This value is forced to PI controller out when controller is not activated by digital input
P2.2.1.15.

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6.18 Keypad control parameters

Unlike the parameters listed above, these parameters are located in the M3 menu of the control
keypad. The reference parameters do not have an ID number.

P3.1 Control Place ID125 “Control Place”

The active control place can be changed with this parameter.

Pushing the Start button for 3 seconds selects the control keypad as the active control
place and copies the Run status information (Run/Stop, direction and reference).

0 = PC Control, Activeted by NCDrive

1 = I/O terminal
2 = Keypad
3 = Fieldbus

R3.2 Keypad Reference No ID “Keypad Reference”

The frequency reference can be adjusted from the keypad with this parameter.

The output frequency can be copied as the keypad reference by pushing the Stop button
for 3 seconds when you are on any of the pages of menu M3.

P3.3 Keypad Direction ID123 “Keypad Direction”

0 Forward: The rotation of the motor is forward, when the keypad is the active
control place.

1 Reverse: The rotation of the motor is reversed, when the keypad is the active
control place.

P3.4 Stop button activated ID114 “StopButtonActive”

If you wish to make the Stop button a "hotspot" which always stops the drive regardless
of the selected control place, give this parameter the value 1.

R3.5 Torque reference No ID “Torque Reference”

Define here the torque reference within 0.0…100.0%.

R3.5 Power reference No ID “Power Reference”

Define here the power reference within 0.0…100.0%.

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7. DATA LOGGER TRIGGER WORD

There is a special trigger word in application level that can be used to trigger data logger. This word
can be used for triggering when source is selected from Application and original Vacon Marina
application vcn is used. Variable is called “DataLoggerTrigWord”

DataLoggerTrigWord
Function Comment
b0 Fault Status Logger is triggered when there is a fault
b1 Warning Status Logger is triggered when there is a warning
Logger is triggered when there is a fault
that has been defined to be automatically
b2 Auto Reset Warning
reset. This bit can be used to get the first
fault situation.
b3 Fault Status OR Warning Stattus B0 OR B1 trigering situation has happened
b4 Fault Status OR Auto Reset Warning B0 OR B2 triggering situation has happened
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
b15

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8. IDENTIFICATION FUNCTION FOR PERMANENT MAGNET SYNCHRONOUS MOTOR

PM Motor has several zero positioning identification modes. This chapter explains what kind of
identification mode is needed to select when using different kind of hardware configuration.

This chapter is addition to P2.1.9 Identification parameter description and P2.8.5.2 Start Angle
Identification mode description.

8.1 Identification with absolute encoder.

When using absolute encoder identification is made only once. Remade is needed if encoder and
rotor position changes related to each other.
Motor needs to be able to rotate freely that magnet positions can be identified.
Identification mode in this case is selected by “P2.1.9 Identification” selection “3 / Enc.ID Run”.
During identification drive feeds DC current to motor (~90 % of motor nominal), this causes motor to
move zero position, there may be oscillatory movement on the shaft. When identification is
successful “P2.8.5.1 PMSM Shaft Position” is updated, if not successful value is set to zero and
identification warning is displayed for 10 seconds (W57). If identification is made several times,
result may be different; there are as many positions as there are pole pairs in the motor.
Benefit to use absolute encoder is that magnet position is always known thus motor can be fully
loaded from the start.

Related parameters:
P2.1.9 Identification ID631
P2.8.5.1 PMSM Shaft Position ID649

8.2 Identification with incremental encoder without Z-pulse input.

When using incremental encoder without Z-pulse, identification is made in every start. Identification
mode can be selected by “P2.8.5.2 Start Angle Identification Mode” In this case encoder identification
cannot be done because zero position cannot be identified without Z-pulse. But identification P2.1.9
Identification selection “2 / ID With Run” is needed to make. Identification at every start will be
automatically active if “P2.8.5.1 PMSM Shaft Position” parameter value is zero.
Best result is get when motor has a mechanical brake that prevents shaft movements. Acceptable
result can be achieved also when motor has high load and/or inertia that prevent shaft movements
during identification.
Angle identification is done in every start by feeding motor with a DC pulses that identifies magnet
position. DC pulses are in two different groups. First one identifies zero position and second one
makes polarity check. These DC current levels are adjusted by “P2.8.5.3 Start Angle Identification
Current” and “P2.8.5.4 Polarity Pulse current”, respectively.

NOTE: Not all motors are suitable for this identification mode. Functionality needs to be tested
before production use.

Benefit of this mode is that motor can be fully loaded from the start.

Related parameters:
P2.8.5.2 Start Angle Identification Mode ID1691
P2.8.5.1 PMSM Shaft Position ID649
P2.8.5.3 Start Angle Identification Current ID1759
P2.8.5.4 Polarity Pulse current ID1566

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8.3 Identification with incremental encoder with Z-pulse input.

When using incremental encoder with Z-pulse, identification is made only once. Remade is needed if
encoder and rotor position changes related to each other.
Motor needs to be able to rotate freely that magnet positions can be identified. Identification mode in
this case is selected by “P2.1.9 Identification” selection “3 / Enc.ID Run”.
During identification drive feeds DC current to motor (~90 % of motor nominal), this causes motor to
move to zero position, there may be oscillatory movement on the shaft. When motor oscillatory
movement has stopped motor is rotated until Z-pulse is received from the encoder. When
identification is successful “P2.8.5.1 PMSM Shaft Position” is updated, if not successful value is set
to zero and identification warning is displayed for 10 seconds (W57). If identification is made several
times result may be different, there are as many positions as there are pole pairs in the motor.

When motor is started and zero position is not “remembered”: Drive will start to feed DC current to
motor (Defined by “P2.8.5.6 I/f Current”) till Z-pulse is received from the encoder. During this DC
injection motor may not be able to produce 100 % torque. When running without load Z-pulse
position can be seen in the motor current when current goes nearly to zero.

Related parameters:
P2.1.9 Identification
P2.8.5.1 PMSM Shaft Position
P2.8.5.6 I/f Current

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9. STATUS AND CONTROL WORD IN DETAIL

Combination P7.x.1.4 P2.13.22

Operate Mode State machine
Control and Status Word are
1 1 / ProfiDrive 1 / Standard explained in fieldbus option board
manual
Control word is ProfiDrive type and
2 / ByPass
explained in this manual.
2 Some fieldbus board
2 / ProfiDrive Status Word is can be selected by ID
operate by default in
number, default is ProfiDrive type
“ByPass” mode
ID65 V1.26.2 FB Status Word
Control word is “Three Bit” control.
Status Word.
3 2 / ByPass 1 / Standard Status Word is can be selected by ID
number, default is ProfiDrive type
ID65 V1.26.2 FB Status Word
Drive cannot be operated in this
4 1 / ProfiDrive 2 / ProfiDrive
combination from fieldbus.

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9.1 Combination 1, ProfiDrive – Standard with Profibus option board

9.1.1 Control Word Combination 1, ProfiDrive – Standard with profibus option board

Main Control Word for Profibus in Combination 1

FALSE TRUE Comment
b0 STOP 1 (by ramp) ON 1 Keep this TRUE
b1 STOP 2 (by cost) ON 2 Keep this TRUE
b2 STOP 3 (by ramp) ON 3 Keep this TRUE
b3 RUN DISABLE ENABLE Use this for start and stop command
b4 No Action START Keep this TRUE
b5 No Action START Keep this TRUE
b6 No Action START Keep this TRUE
b7 No Action Fault Reset 0 > 1 Use this for fault reset
b8 No Action No Action Not used
b9 No Action No Action Not used
b10 Disable Profibus control Enable fieldbus control See profibus manual
b11 Fieldbus DIN1=OFF Fieldbus DIN1=ON See P2.5.1.17 -18
b12 Fieldbus DIN2=OFF Fieldbus DIN2=ON See P2.5.1.19 -20
b13 Fieldbus DIN3=OFF Fieldbus DIN3=ON See P2.5.1.21 -22
b14 Fieldbus DIN4=OFF Fieldbus DIN4=ON See P2.5.1.23 -24
b15 Fieldbus DIN5=OFF Fieldbus DIN5=ON Not used

9.1.2 Status Word Combination 1, ProfiDrive – Standard with profibus option board
Main Status Word for Profibus in Combination 1
FALSE TRUE Comment
b0 Not Ready (initial) READY 1 (SM) See profibus manual
b1 Not Ready READY 2 (SM) See profibus manual
b2 DISABLE ENABLE (SM) See profibus manual
b3 NO FAULT FAULT ACTIVE Directly from the drive
b4 STOP 2 NO STOP 2 (SM) See profibus manual
b5 STOP 3 NO STOP 3 (SM) See profibus manual
b6 START ENABLE START DISABLE (SM) See profibus manual
b7 No Warning Warning Directly from the drive
Reference Actual Reference = Actual
b8
value value
b9 Fielbus control OFF Fielbus control ON See profibus manual
b10 Not used Not used
b11 Not used Not used
b12 FC Stopped Running Directly from the drive
b13 FC not ready Ready Directly from the drive
b14 Not used Not used
b15 Not used Not used
SM = Profibus board State Machine

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9.2 Combination 2, ByPass – ProfiDrive

Combination 2 is not fully implemented as of 5.4.2013.
9.2.1 State Diagram

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9.2.2 State Machine

9.2.2.1 Costing Stop

9.2.2.2 Quick stop

9.2.2.3 Switch On Inhibit

9.2.2.4 Ready to Switch-On, Operate and Running

R SW.B06 (Switch On Inhibited) NOT

IN AND
IN 1 R SW.B00 (Ready To Switch On)
Internal Conditions for
AND IN 2
Ready To Switch On
V Drive Ready State IN 1
V Drive Modulating NOT AND
V No Active Fault IN 2 IN IN 1 AND
NOT
V Ramp Stop IN 2 IN IN 1 R SW.B01 (Ready To Operate)
IN 2
Internal Conditions for Ready To Operate IN 3

AND
IN 1 V RunRequest
W CW.B03 (Start Request) IN 2
Internal Conditions for Pulses Enabled IN 3

NOT
AND AND
V Quick Stop IN
IN 1 IN 1 R SW.B02 (Running)
NOT IN 2 IN 2
V Ramp Stop IN IN 3 IN 3
V Drive Modulating
IN 4

V Flux Ready

V Brake Open

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9.2.3 FB Control Word

FB Control Word
Signal Comment
0>1 will reset the Switch On Inhibit state and bring the
b0 ON drive to Ready Run. Should be reset after fault, Coast
Stop (b1) and Emergency Stop (b2) .
0=Coast stop Active
b1 Coasting Stop 1=Coast stop NOT active
0=Quick stop Active
b2 Quick Stop 1=Quick stop NOT active
Normal start command
b3 Start 0=Stop the drive
1=Start the drive
0=Force speed ramp output to zero
b4 Ramp Output to Zero 1=Release speed ramp output
0=Hold speed ramp output
b5 Ramp Hold 1=Release speed ramp
0=Force speed ramp input to zero
b6 Ramp Input to Zero
1=Release speed ramp input
0=No Action
b7 Fault Reset 1=Reset active faults
Run the drive with defined constant speed
b8 Inching 1 0=No Action
1=Run with constant speed
Run the drive with defined constant speed
b9 Inching 2 0=No Action
1=Run with constant speed
Activate Fieldbus control when P3.1 =3/Fieldbus
b10 Fieldbus Control Enable 0=Fieldbus Control NOT active
1=Activate Fieldbus Control
0>1>0>1…1 sec square wave clock. This is used to check
b11 Watch Dog data communication between Profibus master and the
drive. Used to generate FB Communication -Fault.
b12
b13
b14
b15

B00: FALSE = OFF 1, TRUE = ON 1

OFF 1: Drive will make ramping stop and goes to “Ready to switch-on”. If drive is in “Switch on
Inhibit” state this bit is used to reset this status.
ON: Voltage connected to drive and/or DC link charged if drive has the control.

B01: FALSE = Coast stop (OFF 2), TRUE = ON 2

Coast Stop: Drive will make coasting stop and goes to “Switch-on Inhibit” state
ON 2: No Coast Stop command

B02: FALSE = Quick Stop (OFF 3), TRUE = ON 3

Quick Stop: Drive will make stop function defined by Quick Stop function parameter.
ON 3: No Quick stop command.

B03: FALSE = Stop Request, TRUE = Start Request

Stop Request: Drive will make stop defined by stop function.
Start Request: Start Command to the drive.

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B04: FALSE = Reset Ramp Generator, TRUE = Enable Ramp Generator

This bit has priority over B05 and B06 in Control Word.
Reset Ramp Generator: Closed Loop: Ramp generator is forced to zero, drive will make stop as fast
as possible running against set torque limits or e.g. over voltage controller.
Enable Ramp Generator: Ramp Generator function is enabled.

To activate Jogging function from fieldbus B04, B05 and B06 needs to be zero.

B05: FALSE = Freeze Ramp Generator, TRUE = Unfreeze Ramp Generator

This bit has priority over B06 but not over B05.
Freeze Ramp Generator: Drive will not accept new reference from Fieldbus, drive remain in same
speed.
Unfreeze Ramp Generator: Drive will follower reference from Fieldbus.

To activate Jogging function from fieldbus B04, B05 and B06 needs to be zero.

B06: FALSE = Disable Set point, TRUE = Enable Set point

This bit has lowers priority compared to B04 and B05.
Disable Set point: Reference (FW:FreqRef1) is forced to zero, drive will ramp to zero speed
Enable Set point: Drive will follow reference.

To activate Jogging function from fieldbus B04, B05 and B06 needs to be zero.

B07: FALSE = No significance, TRUE = Fault Acknowledge

Fault Acknowledge: The group signal is acknowledged with a positive edge; the drive reaction to a
fault depends on the type of fault (refer to "alarm handling in Appendix A.8).If the fault reaction has
isolated the voltage, the drive then goes into the "Switching On Inhibited" condition.
9.2.3.1 Jogging function
I/O Jogging Command: Jogging function will start the drive to reference without additional start
command regardless of control place when given from IO. Jogging function requires enabling from
digital input before command is accepted. Inching is also disabled if there is start command active
from active control place. If both inching references are active at the same time drive will stop.
Fieldbus Jogging Command: Jogging command is activated by giving normal start command but
the ramp control bits CW.B4, B5 & B6 needs to be zero. Drive needs to be at zero speed before
command is accepted and CW.B4, B5 & B6 are active after drive is at zero speed when jogging
function is stopped.

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B08: FALSE = No Function, TRUE = Jogging 1

Inching 1: Drive follows reference set by Jogging Ref 1. Function needs to separately activated by
Aux Control Word or by digital input Enable Jogging when IO control used for Jogging.

B09: FALSE = No Function, TRUE = Inching 2

Inching 2: Drive follows reference set by Jogging Ref 2. Function needs to separately activated by
Aux Control Word or by digital input Enable Jogging when IO control used for Jogging.

B10: FALSE = FB Control disabled TRUE = FB Control Enabled

FB Control Disabled: Drive will not follow main control word from Fieldbus. If removed while
running drive will make coasting stop.
FB Control Enabled: Drive follows control word from fieldbus

B11: FALSE = FB WD Pulse Low, TRUE = FB WD Pulse High

Watch dog pulse: This pulse is used to monitor that PLC is alive. If pulse is missing drive will go to
fault state. This function is activated by P2.12.10.3 FB WD Delay. When value is zero pulse is not
monitored.

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9.2.4 FB Status Word

FB Status Word
Signal Comment
0=The drive NOT ready to switch ON
b0 Ready to switch On 1=The drive is ready to switch ON
0=The drive is NOT ready to run
b1 Ready to Operate 1=The drive is ready to run
0=The drive is NOT running
b2 Running 1=The drive is running and ready to release the reference
0=No fault active
b3 Fault Active 1=Fault IS active
0=Coast stop active
b4 Cost Stop NOT active 1=Coast stop NOT active
0=Emergency stop active
b5 EM Stop not Active 1=Emergency stop NOT active
0=No Inhibit
b6 Switch On Inhibit 1=The drive is out of fault and coast / emergency stop
state.
0=NO alarm
b7 Warning 1=Alarm IS active
0=Speed actual is NOT equal to speed reference
b8 Speed At Ref 1=Speed actual is equal to speed reference
0=Fieldbus Control NOT active
b9 FB Control Active 1=Fieldbus Control active
Indicate if speed actual is below the limit P2.4.16
b10 Above Limit 0=Speed actual is below the speed limit
1=Speed actual is above the speed limit
b11
b12
b13
b14
b15 Watch Dog Feedback

B00: FALSE = Not Ready to Switch On, TRUE = Ready to Switch On

Not Ready to Switch On:
Ready to Switch On: Power supply is switched on, electronics initialized, main
contactor, if available, has dropped out, pulses are inhibited.

B01: FALSE = Not Ready To Operate, TRUE = Ready To Operate

Not Ready To Operate:
Ready To Operate:

B02: FALSE = Drive is not operating, TRUE = Drive is operational

Drive is not operating: Drive is not run state (modulating)
Drive is operational: Drive is in run state and modulating. Also rotor fulx is ready and brake is
opened if feedback signal is sued.

B03: FALSE = No Fault, TRUE = Fault Present

No Fault: Drive is not on fault state.
Fault Present: Drive is in fault state.

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B04: FALSE = Coast Stop Activated, TRUE = Coast Stop Not Activated
Coast Stop Activated: "Coast Stop (OFF 2)" command is present.
Coast Stop Not Activated: Coast stop command is not active.

B05: FALSE = Quick Stop Activated, TRUE = Quick Stop Not Activated
Quick Stop Activated: " Quick Stop (OFF 3)" command is present.
Quick Stop Not Activated: Quick stop command is not active.

B06: FALSE = Switching On Not Inhibit, TRUE = Switching On Inhibited

Switching On Not Inhibit:
Switching On Inhibited: The drive goes only again in the "Switched On" condition with "No Coast
Stop AND No Quick Stop" followed by "ON". This means that the "Switching On Inhibited" bit is only
set back to zero if the OFF command is set after "No Coast Stop AND No Quick Stop".

B07: FALSE = No Warning, TRUE = Warning Present

No Warning: There is no warning or the warning has disappeared again.
Warning Present: Drive still works; warning in the service/maintenance parameter;
no acknowledgement.

B08: FALSE = Speed Error Out Of Tolerance Range, TRUE = Speed Error Within Tolerance Range
Speed Error Out Of Tolerance Range:
Speed Error Within Tolerance Range:

B09: FALSE = No Control Requested, TRUE = Control Requested

No Control Requested: Control by the automation system is not possible, only possible
at the device or by another interface.
Control Requested: The automation system is requested to assume control.

B10: FALSE = f Or n Not Reached, TRUE = f Or n Reached Or Exceeded

f Or n Not Reached: Speed is below P2.6.4.5 Above Speed Limit.
f Or n Reached Or Exceeded: Speed is above P2.6.4.5 Above Speed Limit.

B15: FALSE = FB DW Feedback Low, TRUE = FB DW Feedback High

FB DW Feedback: FB Control Word B11 is echoed back to the Fieldbus. Can be use to monitor
communication status from the drive.

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9.3 Combination 3, ByPass – Standard

9.3.1 Control Word Combination 3, ByPass – Standard
Main Control Word for Profibus in Combination 3
FALSE TRUE Comment
b0 STOP START
b1 Clockwise Counter clockwise
b2 No action FAULT RESET (0 -> 1)
b3 Not used Not used
b4 Not used Not used
b5 Not used Not used
b6 Not used Not used
b7 Not used Not used
b8 Not used Not used
b9 Not used Not used
b10 Not used Not used
b11 Not used Not used
b12 Not used Not used
b13 Not used Not used
b14 Not used Not used
b15 Not used Not used

9.3.2 Status Word Combination 3, ByPass – Standard

Most of the field busses use “MCStatus” as Status word that is shown below. For profibus it can be
selected what is the status word, default is Combination 2 Status Word, ProfiDrive type ID68 V1.3.2
MainStatusWord. Below Status Word can be selected with P2.10.17 GSW Data by setting it to ID64

Main Status Word for Profibus in Combination 3

FALSE TRUE Comment
b0 Not Ready READY
b1 STOP RUN
b2 Clockwise Counter clockwise
b3 NO FAULT FAULT ACTIVE
b4 No Warning Warning
Reference Actual Reference = Actual
b5
value value
b6 Speed > Zero At Zero Speed
b7 Flux Not Ready Flux Ready
TC Speed Limit Not
b8
TC Speed Limit Active Active
Detected Encoder Encoder Direction
b9
Direction Clockwise Counter clockwise
UV Fast Stop Not
b10
UV Fast Stop Active Active
b11 Not used Not used
b12 Not used Not used
b13 Not used Not used
b14 Not used Not used
b15 Not used Not used
SM = Profibus board State Machine

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10. FAULT CODES

F1 Overcurrent fault
Drive has detected a high current in the output phase.

S1 = Hardware trip: Current above 4*Ih

S2 = Only in NXS unit
S3 = Current controller supervision. Current limit too low or current peak value too high.

Possible cause and solutions

1. Sudden increase in load
Check motor load.
2. Short circuit in motor cables
Check motor and cables.
3. Motor is undermagnetized at start.
Make identification run
4. Unsuitable motor
5. Sine filter is used but drive settings are not correct
Activate Sine filter parameter (P6.7.5) in system menu

F2 Overvoltage fault
DC-link voltage has exceeded the drive protection limits.

S1 = Hardware trip.
500 Vac unit DC voltage above 911 Vdc
690 Vac unit DC voltage above 1200 Vdc

S2 = Overvoltage control supervision (only 690 Vac unit).

DC voltage has been above 1100 Vdc for too long.

Possible cause and solutions

1. Too short a deceleration time
Increase deceleration time.
Use brake chopper and brake resistor.
Use Brake chopper unit.
Use active front end unit (AFE ARFIFF02).
Activate overvoltage controller.
2. High overvoltage spikes in supply
Activate overvoltage controller.
3. 690 V unit operating too long above 1100 Vdc
Check input voltage.

F3 Earth fault
Earth fault protection ensures that the sum of the motor phase currents is zero. The
overcurrent protection is always working and protects the frequency converter from earth
faults with high currents.

S1 = Sum of motor current is not zero

Possible cause and solutions

1. Insulation failure in cables or motor
Check motor cables and motor.

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F5 Charge switch
Charge switch status is not correct when start command is given.

S1 = Charge switch was open when START command was given.

Possible cause and solutions

1. Charge switch was open when the START command was given.
Check connection of the feedback from charging relay
Reset the fault and restart.

Should the fault re-occur, contact your local distributor.

F6 Emergency stop
Emergency stop command has been given by using a special option board.

F7 Saturation fault
S1 = Hardware failure

Possible cause and solutions

1. If there is a brake chopper in use
Check the isolation resistance and the resistance on the brake resistor.
2. FR4-FR8: Power module
Measure the power module directly from its terminals.
3. Hardware
Check the capacitors.

F8 System Fault
A system fault indicates several different fault situations in drive operation.
S1 = Reserved
Disturbance. Reset the unit and try again.
If there is star coupler in the unit, check the fibre connections and phase order.
Driver board or IGBT broken.
FR9 and the bigger size drives , which includes not star coupler, ASIC board
(VB00451) is broken.
FR8 and smaller size drives: control board broken.
FR8 and smaller size drives: if there is boardsVB00449 / VB00450 in use,failure might
be in there.
S2 = Reserved
S3 = Reserved
S4 = Reserved
S5 = Reserved
S6 = Reserved
S7 = Charge switch
S8 = No power to driver card
S9 = Power unit communication (TX)
S10 = Power unit communication (Trip)
S11 = Power unit comm. (Measurement)
S12 = SystemBus synchronization has failed in DriveSynch operation
S30 = Safe disable inputs are in different state (OPT-AF)
S31 = Thermistor short circuit detected (OPT-AF)
S32 = OPT-AF board has been removed
S33 = OPT-AF board EEPROM eror

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 242 • Vacon apfiff09 marine

F9 Undervoltage fault
DC-link voltage is below the fault voltage limit of the drive.

S1 = DC-link too low during run

S2 = No data from power unit
S3 = Undervoltage control supervision

Possible cause
1. Too low a supply voltage
2. Frequency converter internal fault
3. One of the input fuses is broken.
4. External charge switch has not been closed.

Correcting measures
In case of temporary supply voltage break, reset the fault and restart the frequency
converter.
Check supply voltage.
Check function of DC charge.
Contact your local distributor.

F10 Input line supervision

S1 = Phase supervision diode supply
S2 = Phase supervision active front end

Possible cause:
1. Input line phase is missing.

Correcting measures
Check supply voltage, fuses and cable.

F11 Output phase supervision

Current measurement has detected that there is no current in one phase or one phase current
is considerably different from other phases.

Correcting measures
Check motor cable and motor.

F12 Brake chopper supervision

Brake chopper supervision generates pulses to the brake resistor for response. If no response
is received within set limits a fault is generated.

Possible cause:
1. No brake resistor installed.
2. Brake resistor is broken.
3. Brake chopper failure.

Correcting measures:
Check brake resistor and cabling.
If these are ok the chopper is faulty. Contact your local distributor.

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F13 Drive undertemperature fault

Possible cause:
1. Heatsink temperature is under –10 C

F14 Drive overtemperature fault

Possible cause:
1. Heatsink temperature is over acceptable limits. See user’s manual for the temperature
limit. Overtemperature warning is issued before actual trip limit is reached.

Correcting measures
Check correct amount and flow of cooling air.
Check the heatsink for dust.
Check ambient temperature.
Make sure that switching frequency is not too high in relation to ambient temperature
and motor load.

F15 Motor Stalled

The motor stall protection protects the motor from short time overload situations such as one
caused by a stalled shaft. The reaction time of the stall protection can be set shorter than that of
motor thermal protection. The stall state is defined with two parameters, Stall current and Stall
frequency limit. If the current is higher than the set limit and output frequency is lower than the set
limit the stall state is true. There is actually no real indication of the shaft rotation. Stall protection is
a type of over current protection.

Check motor and load.

F16 Motor over temperature

Motor overheating has been detected by frequency converter motor temperature model. Motor
is overloaded.

Possible cause:
1. Motor load is too high.
2. Motor values are set incorrectly.

Correcting measures:
Decrease motor load.
If no motor overload exists, check the temperature model parameters.

F17 Motor underload fault

The purpose of the motor underload protection is to ensure that there is load on the motor when the
drive is running. If the motor loses its load there might be a problem in the process, e.g. a broken
belt or a dry pump.

The underload curve is a squared curve set between the zero frequency and the field weakening
point. The protection is not active below 5Hz (the underload time counter is stopped).

The torque values for setting the underload curve are set in percentage which refers to the nominal
torque of the motor. The motor's name plate data, parameter motor nominal current and the drive's
nominal current IH are used to find the scaling ratio for the internal torque value..

Correcting measures:
Check load.

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 244 • Vacon apfiff09 marine

F22 EEPROM checksum fault

Possible cause:
1. Parameter save fault
2. Faulty operation
3. Component failure

Correcting measures:
Should the fault re-occur, contact your local distributor.

F24 Counter fault

Possible cause:
1. Values displayed on counters are incorrect

Correcting measures:
Have a critical attitude towards values shown on counters.

F25 Microprosessor watchdog fault

Possible cause:
1. Start-up of the drive has been prevented.
2. Run request is ON when a new application is loaded to the drive.

Correcting measures:
Reset the fault and restart.
Should the fault re-occur, contact your local distributor.

F26 Start-Up prevention

Possible cause:
1. Start-up of the drive has been prevented.
2. Run request is ON when a new application is loaded to drive

Correcting measures:
Cancel prevention of start-up if this can be done safely.
Remove Run Request.

F29 Thermistor fault

The thermistor input of the option board has detected too high a motor temperature.

Possible cause:
1. Motor is overheated.
2. Thermistor cable is broken.

Correcting measures:
Check motor cooling and load
Check thermistor connection(If thermistor input of the option board is not in use it has
to be short circuited).

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F31 IGBT temperature

IGBT Inverter Bridge overtemperature protection has detected too high a short term overload
current.

Possible cause:
1. Too high load
2. Identification run has not been made which causes the motor to start undermagnetized.

Correcting measures:
Check load.
Check motor size.
Make identification Run.

F32 Fan cooling

Possible cause:
1. Cooling fan of the frequency converter does not start when ON command is given.

Correcting measures:
Contact your local distributor.

F37 Device change

Option board or power unit changed.

Possible cause:
1. New device of same type and rating.

Correcting measures:
Reset. Device is ready for use.

F38 Device added

Option board added.

Correcting measures:
Reset. Device is ready for use. Old board settings will be used.

F39 Device removed

Option board removed.

Correcting measures:
Reset. Device no longer available.

F40 Device unknown

Unknown option board or drive.

S1 = Unknown device
S2 = Power1 not same type as Power2

Correcting measures:
Contact the distributor near to you.

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F41 IGBT temperature

IGBT inverter bridge overtemperature protection has detected too high a short term overload
current.

Check load.
Check motor size.
Make Identification run.

F42 Brake resistor overtemperature

S1: Brake resistor high temperature
Calculation for internal brake resistor has exceeded the tripping limit. If the internal brake
resistor is not in use set the brake chopper parameter in System menu to ’Not connected’.

S2: Brake resistor resistance is too high

S3: Brake resistor resistance is too low
S4: No brake resistor detected

F43 Encoder fault

Encoder fault is issued when the drive is not able to operate in closed loop control mode (encoder is
used). See subcodes for details for the reason of the fault:

S1 =Encoder 1 channel A is missing

S2 =Encoder 1 channel B is missing
S3 =Both encoder 1 channels are missing
S4 =Encoder reversed
S5 =Encoder board missing
S6= Serial communication fault
S7=Ch A / Ch B Missmatch
S8=Resolver/Motor polepair mismatch
S9=Missed Start Angle
This fault comes when using PMS motor.

1. Modulation type is ASIC while incremental encoder is used.

Change modulator type to Software 1
2. Start identification do not work due low identification current
Increase identification current
3. Start angle identification is not working at all because there is no saturation based saliency
in the motor
Use absolute encoder
4. There are too much noise pick-ups in encoder cable
check encoder cable shield and grounding in drive

F44 Device changed (Default param.)

Possible cause:
1. Option board or power unit changed.
2. New device of different type or different rating from the previous one.

Correcting measures:
Reset
Set the option board parameters again if option board was changed. Set converter
parameters again if power unit was changed.

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apfiff09 marine vacon • 247

F45 Device added (default param.)

Possible cause:
1. Option board of different type added.

Correcting measures:
Reset
Set the option board parameters again.

F50 4mA supervision

Possible cause:
1. Current at the analogue input is below 4mA.
2. Signal source has failed
3. Control cable is broken or loose

Correcting measures:
Check the current loop circuitry.

F51 External fault

Possible cause:
1. Digital input fault.

Correcting measures:
Remove fault situation from external device.

F52 Keypad communication

Possible cause:
1. The connection between the control keypad or NCDrive and the AC drive is broken.

Correcting measures:
Check keypad connection and possible keypad cable.

F53 Fieldbus communication

Possible cause:
1. The data connection between the fieldbus Master and the fieldbus board is broken.

Correcting measures:
Check installation.
If installation is correct contact the nearest Vacon distributor.

F54 Slot fault

Possible cause:
1. Defective option board or slot

Correcting measures:
Check board and slot.
Contact the nearest Vacon distributor.

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 248 • Vacon apfiff09 marine

F56 Temperature sensor board 1 fault

Temperature protection function is used to measure temperature and give warning and/or fault
when set limits are exceeded. Marine application supports two temperature sensor boards
simultaneusly. One can be used for the motor winding and the other for the motor bearings.

A1 – Temperature limit has been exceeded.

A2 – Sensor not wired or not working.
A3 – Short circuit.

Possible cause:
1. Temperature limit values set for the temperature board parameters have been exceeded

Correcting measures:
Find the cause of temperature rise
Check sensor wiring

F57 Identification
Identification run has failed.
Possible cause:
1. There was load on the motor shaft when making the identification run with rotating motor.
2. Motoring or generator side torque/power limits are too low to achieve a stable run.

Correcting measures:
Run command was removed before identification was ready
Motor is not connected to the AC drive.
There is load on the motor shaft.

F58 Mechanical brake

This fault is generated when the acknowledge signal from the brake is used. If the status of the
signal is opposite from the control signal for a longer period of time than the delay defined
with P2.15.11 Brake Fault Delay a fault is generated.

Correcting measures:
Check the condiction and connections of mechanical brake.

F59 SystemBus communication

The master drive sends pulses to all follower drives. If the pulses are missing a system bus
communication fault is generated. The master drive also receives pulses back from the
follower drives (max. four drives) and generates warnings if pulses are missing.

SystemBus communication is broken between master and follower.

Correcting measures:
Check expander board parameters.
Check optical fibre.
Check option board jumpers.

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apfiff09 marine vacon • 249

F60 Cooling
Protection for the liquid-cooled units. An external sensor is connected to the drive (DI: Cooling
Monitor) to indicate if cooling liquid is circulating. If the drive is in Stop state only a warning is
issued. In Run state a fault is issued and the drive makes a coast stop.

Possible cause:
1. Liquid cooled drive cooling circulation have been failed

Correcting measures:
Check reason for cooling failure from external system.

F61 Speed Error

Speed error monitoring function compares the encoder frequency and the ramp generator output.
This function is used with PMS motors to detect if the motor is out of synchronization or to disable
open loop function that uses encoder speed for slip compensation. The slip compensation is disabled
regardless of the response and needs to be re-activated once speed error is detected (set parameter
again or power down the drive).

Possible cause:
1. Motor speed is not the same as the reference. For example, motor speed is limited by
torque limit.
2. PMS motor has gone off synchronization.
3. Encoder cable is broken.

F62 Run Disabled

Run Disable warning signal is issued when Run Enable signal has been removed from the IO.

F63 Emergency stop (Not implemented)

Possible cause:
1. A command has been given from a digital input or the fieldbus to make an emergency stop.

Correcting measures:
New run command is accepted after the emergency stop is reset.

F64 Input switch open (Not implemented)

Possible cause:
1. Drive input switch is opened

Correcting measures:
Check the main power switch of the drive.

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 250 • Vacon apfiff09 marine

F65 Temperature sensor board 2 fault

Temperature protection function is used to measure temperature and give warning and/or fault
when set limits are exceeded. Marine application supports two temperature sensor boards
simultaneusly. One can be used for the motor winding and the other for the motor bearings.

A1 – Temperature limit has been exceeded.

A2 – Sensor not wired or not working.
A3 – Short circuit.

Possible cause:
2. Temperature limit values set for the temperature board parameters have been exceeded

Correcting measures:
Find the cause of temperature rise
Check sensor wiring

F74 Follower fault

When using the normal master follower function this fault code is given if one or more follower
drives trip to fault.

F75 Drive Synch follower

In DriveSynch mode the Master drive has detected a fault in one or more follower drives. When this
fault occurs, the master drive sends a command to all drives to trig the data logger.

F81 External fault 2

Possible cause:
1. Digital input fault.

Correcting measures:
Remove fault situation from external device.

F82 Over Load

User defined over load limits has been exceeded. See functional description from Motor Protection
chapter.

F83 No Motor
Drive has detected that output current is less than 10 % of motor nominal when frequency is above
10 Hz. See response parameter P2.12.1.6 No Motor Response.

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on the Internet at:

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