Parameter Reference Guide

Unidrive M400
Open-Loop Mode

Issue: 01.05.02.02
About Parameter Reference Guide
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional
operating parameters of the equipment or from mismatching the variable speed drive with the motor.

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

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

Copyright © August 2017 Control Techniques Ltd

Issue Number: 01.05.02.02

Unidrive M400 Firmware Version: V01.05.02.02

Unidrive M400 Project Last Modified: 04-Aug-2017 14:37:52

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Unidrive M400 Parameter Reference Guide

2 Issue: 01.05.02.02
Parameter mm.000
Parameter mm.000 (mm.000) is one parameter that can be accessed from every drive menu so that the user can initiate various actions by setting a
value in this parameter and then performing a drive reset. If the action is completed successfully parameter mm.000 is cleared when the action is
complete. If the action is not started because the value does not correspond to an action, or because the action is not allowed (i.e. an attempt is made
to load defaults and the drive is enabled), parameter mm.000 is not cleared. If the action is started and then fails a trip is produced and parameter
mm.000 is not cleared.

There could be some conflict between the actions of Parameter mm.000 (mm.000) and Parameter Cloning (11.042) when the drive is reset. If
Parameter Cloning (11.042) has a value of 1 or 2 and a valid action is required from the value of parameter mm.000 then only the action required by
parameter mm.000 is performed, but on successful completion of the action both parameters are cleared. If Parameter Cloning (11.042) has any other
value it is not affected.

The table below shows the possible actions that can be initiated with Parameter mm.000 (mm.000).

Parameter
mm.000
Action Possible failures
(mm.000)
value
Save drive user save parameters to non-volatile memory. Power-
No action if the drive is in the
1000 down save parameters are saved when the drive enters the under
under voltage state
voltage state.
Save drive parameters to non-volatile memory. It should be noted
1001 that power-down save parameters are also saved which will result
in one background task scan being extended to 200ms.
1070 Reset all option modules
1233 Load 50Hz defaults No action if the drive is enabled
Load 50Hz defaults to all menus except option module menus (i.e
1234 No action if the drive is enabled
15 to 20 and 24 to 28)
1244 Load 60Hz defaults No action if the drive is enabled
Load 60Hz defaults to all menus except option module menus (i.e
1245 No action if the drive is enabled
15 to 20 and 24 to 28)
1299 Reset Stored HF trip.
Create a boot file on a non-volatile media card based on the
2001 Non-volatile media card trips
present drive parameters including all Menu 20 parameters
NV media card: Transfer the drive parameters to parameter file
4xxx Non-volatile media card trips
xxx
NV media card: Transfer the onboard user program to onboard
5xxx Non-volatile media card trips
user program file xxx
NV media card: Load the drive parameters from parameter file xxx No action if the drive is enabled
6xxx
or the onboard user program from onboard user program file xxx Non-volatile media card trips
7xxx NV media card: Erase file xxx Non-volatile media card trips
8xxx NV Media card: Compare the data in the drive with file xxx Non-volatile media card trips
9555 NV media card: Clear the warning suppression flag Non-volatile media card trips
9666 NV media card: Set the warning suppression flag Non-volatile media card trips
9777 NV media card: Clear the read-only flag Non-volatile media card trips
9888 NV media card: Set the read-only flag Non-volatile media card trips
Only display parameters that are different from their default value.
12000
This action does not require a drive reset.
Only display parameters that are used to set-up destinations (i.e.
12001
DE format bit is 1). This action does not require a drive reset.
No action if the drive is
enabled.
Deletes an onboard user program if a program is present. No action if there is no program
present.
59999
Note: Any parameter changes that have not been saved will be No action if the user program is
lost during this action. enabled (i.e.
Onboard User Program: Enable
(11.047) = 1)

Parameter mm.000 (mm.000) values from 1 to 14 are equivalent to other values as shown in the table below to allow easy access to some commonly
used functions. For 0 and each of these values the keypad provides a string as shown.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 3
 Equivalent
Value String Action
value
0 [No Action] 0
[Save
1 1001 Save drive parameters to non-volatile memory
parameters]
Load the data from file 1 on a non-volatile media card into the drive
2 [Load file 1] 6001
provided it is a parameter file
3 [Save to file 1] 4001 Store the drive parameters in file 1 on a non-volatile media card
Load the data from file 2 on a non-volatile media card into the drive
4 [Load file 2] 6002
provided it is a parameter file
5 [Save to file 2] 4002 Store the drive parameters in file 2 on a non-volatile media card
Load the data from file 3 on a non-volatile media card into the drive
6 [Load file 3] 6003
provided it is a parameter file
7 [Save to file 3] 4003 Store the drive parameters in file 3 on a non-volatile media card
[Show non-
8 12000 Only display parameters that are different from their default value
default]
9 [Destinations] 12001 Only display parameters that are used to set-up destinations
[Reset 50Hz
10 1233 Load 50Hz defaults
defs]
[Reset 60Hz
11 1244 Load 60Hz defaults
defs]
[Reset
12 1070 Reset all option modules
modules]

Saving drive parameters

User-save and power-down save drive parameters are stored in non-volatile memory within the drive. Any values that have changed are copied to this
memory under the following conditions.

Parameter type Conditions for copy to non-volatile memory

Drive reset with 1000 in Parameter mm.000 (mm.000) if the drive is not in the under voltage state.

OR
A drive reset with 1001 in Parameter mm.000 (mm.000).

OR
After parameters are transferred from a non-volatile media card.
User-save parameter not visible in
menu 0 OR
After the drive mode is changed.

OR
After default parameters are loaded.

OR
After parameters are transferred from an electronic nameplate.

Under the conditions given above for user save parameters not visible in Menu 0.

User save parameter visible in OR

menu 0 If the keypad is in edit mode for a user-save parameter in Menu 0, the parameter is saved when the keypad mode
is changed from edit mode.

A drive reset with 1001 in Parameter mm.000 (mm.000).

OR
On the transition into the under voltage state.
Power-down save parameter
OR
After the drive mode is changed.

OR
After parameters are transferred from a non-volatile media card which results in the drive mode changing.

It can take some time for parameter data to be copied to non-volatile memory, especially if there are a large number of differences between the
parameter values in the drive and the values stored in the memory. Saving Power-down save parameters takes a maximum of 300ms, but saving user-
save parameters can take several seconds. If the drive is powered from a 24V control supply, or from a low voltage supply, the power down time of the
control system can be very short and there is a risk that either the stored values of the power-down save or user-save parameters could be corrupted.
This would result in an EEPROM Fail trip at the next power-up. To reduce this risk, the power-down save and user-save parameters are each stored in
two banks. The banks are alternated each time a save is performed and the bank pointer is only updated once the save is complete. If the new bank is
corrupted a User Save or Power Down Save is initiated at the next power-up indicating an error in the user-save or power-down save data respectively,
and the data from the old bank is used. The following points should be noted:

1. If a User Save or Power Down Save trip occurs at power-up then parameter changes made before power down will be lost. To clear these trips
a parameter save must be performed. If both the user-save and power-down save data is corrupted then a Power Down Save trip is produced.
2. When a Menu 0 parameter is changed its value is saved immediately to the active bank and the bank pointer is not changed. Therefore
changes made via Menu 0 are not lost if a User Save trip occurs at power-up.
3. When the drive mode changes all the data in both banks in the non-volatile memory is cleared and the default parameters are saved in both
banks. Therefore there is an extended parameter saving period immediately after a drive mode change.

Unidrive M400 Parameter Reference Guide

4 Issue: 01.05.02.02
 4. Two banks are not provided in non-volatile media cards therefore the card could be corrupted if the power is removed when the drive is writing
data to the card.

Loading defaults
A drive reset with 1233 in Parameter mm.000 (mm.000) loads the defaults defined for each parameter. If defaults are loaded with 1244 in Parameter
mm.000 (mm.000) then the parameters in the table below have different defaults that are intended for the 60Hz regions.

Parameter Default Drive modes Drive voltage rating

Maximum reference clamp (01.006) 60.00Hz All All
Standard Ramp Voltage (02.008) 775V All 400V
Motor Rated Frequency (05.006) 60.00Hz All All
Motor Rated Load rpm (05.008) 1800rpm All All
Motor Rated Voltage (05.009) 460V All 400V
M2 Maximum Reference Clamp (21.001) 60.00Hz All All
M2 Motor Rated Frequency (21.006) 60.00Hz All All
M2 Motor Rated Load rpm (21.008) 1800rpm All All
M2 Motor Rated Voltage (21.009) 460V All All

Non-volatile media card data transfer

Details of the data that can be stored on a non-volatile media card and the methods to transfer/access this data are given in Menu 11.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 5
Current Ratings
The tables below give the maximum output current ratings, peak current ratings and power ratings for all drive sizes and voltage ratings.

110V Rated Drives

Heavy Duty Normal Duty
Peak Kc
Rated Peak Rated Peak
Model Motor Shaft Power Current Motor Shaft Power
Current Current RFC Current Current
Open Loop
A kW hp A A A kW hp A A
01100017 1.7 0.25 0.33 2.55 3.1 1.7 3.74
01100024 2.4 0.37 0.5 3.6 4.3 2.4 5.28
02100042 4.2 0.75 1 6.3 7.6 4.2 9.24
02100056 5.6 1.1 1.5 8.4 10.1 5.6 12.32

200V Rated Drives

Heavy Duty Normal Duty
Peak Kc
Rated Peak Rated Peak
Model Motor Shaft Power Current Motor Shaft Power
Current Current RFC Current Current
Open Loop
A kW hp A A A kW hp A A
01200017 1.7 0.25 0.33 2.55 3.1 1.7 3.74
01200024 2.4 0.37 0.5 3.6 4.3 2.4 5.28
01200033 3.3 0.55 0.75 4.8 5.9 3.3 7.26
01200042 4.2 0.75 1 6.3 7.6 4.2 9.24
02200024 2.4 0.37 0.5 3.6 4.3 2.4 5.28
02200033 3.3 0.55 0.75 4.8 5.9 3.3 7.26
02200042 4.2 0.75 1 6.3 7.6 4.2 9.24
02200056 5.6 1.1 1.5 8.4 10.1 5.6 12.32
02200075 7.5 1.5 2 11.25 13.5 7.5 16.5
03200100 10 2.2 3 15 18 10 22
04200133 13.3 3 3 19.95 23.9 13.3 29.26
04200176 17.6 4 5 26.4 31.7 17.6 38.72
05200250 25 5.5 7.5 37.5 50 30 7.5 10 33 55.556
06200330 33 7.5 10 49.5 66 50 11 15 55 73.333
06200440 44 11 15 66 88 58 15 20 63.8 97.778
07200610 61 15 20 91.5 122 75 18.5 25 82.5 135.556
07200750 75 18.5 25 112.5 150 94 22 30 103.4 166.667
07200830 83 22 30 124.5 166 117 30 40 128.7 184.444
08201160 116 30 40 174 232 149 37 50 163.9 257.778
08201320 132 37 50 198 264 180 45 60 198 293.333
09201760 176 45 60 264 308 216 55 75 237.6 342.222
09202190 219 55 75 328.5 383.25 266 75 100 292.6 425.833

400V Rated Drives

Unidrive M400 Parameter Reference Guide

6 Issue: 01.05.02.02
 Heavy Duty Normal Duty
Peak Kc
Rated Peak Rated Peak
Model Motor Shaft Power Current Motor Shaft Power
Current Current RFC Current Current
Open Loop
A kW hp A A A kW hp A A
02400013 1.3 0.37 0.5 1.95 2.3 1.3 2.86
02400018 1.8 0.55 0.75 2.7 3.2 1.8 3.96
02400023 2.3 0.75 1 3.45 4.1 2.3 5.06
02400032 3.2 1.1 1.5 4.8 5.8 3.2 7.04
02400041 4.1 1.5 2 6.15 7.4 4.1 9.02
03400056 5.6 2.2 3 8.4 10.1 5.6 12.32
03400073 7.3 3 3 10.95 13.1 7.3 16.06
03400094 9.4 4 5 14.1 16.9 9.4 20.68
04400135 13.5 5.5 7.5 20.25 24.3 13.5 29.7
04400170 17 7.5 10 25.5 30.6 17 37.4
05400270 27 11 20 40.5 54 30 15 20 33 60
05400300 30 15 20 45 60 31 15 20 34.1 66.667
06400350 35 15 25 52.5 70 38 18.5 25 41.8 77.778
06400420 42 18.5 30 63 84 48 22 30 52.8 93.333
06400470 47 22 30 70.5 94 63 30 40 69.3 104.444
07400660 66 30 50 99 132 79 37 50 86.9 146.667
07400770 77 37 60 115.5 154 94 45 60 103.4 171.111
07401000 100 45 75 150 200 112 55 75 123.2 222.222
08401340 134 55 100 201 268 155 75 100 170.5 297.778
08401570 157 75 125 235.5 314 184 90 125 202.4 348.889
09402000 200 90 150 300 350 221 110 150 243.1 388.889
09402240 224 110 150 336 392 266 132 200 292.6 435.556

575V Rated Drives

Heavy Duty Normal Duty
Peak Kc
Rated Peak Rated Peak
Model Motor Shaft Power Current Motor Shaft Power
Current Current RFC Current Current
Open Loop
A kW hp A A A kW hp A A
05500030 3 1.5 2 4.5 6 3.9 2.2 3 4.29 6.667
05500040 4 2.2 3 6 8 6.1 4 5 6.71 8.889
05500069 6.9 4 5 10.35 13.8 10 5.5 7.5 11 15.333
06500100 10 5.5 7.5 15 20 12 7.5 10 13.2 22.222
06500150 15 7.5 10 22.5 30 17 11 15 18.7 33.333
06500190 19 11 15 28.5 38 22 15 20 24.2 42.222
06500230 23 15 20 34.5 46 27 18.5 25 29.7 51.111
06500290 29 18.5 25 43.5 58 34 22 30 37.4 64.444
06500350 35 22 30 52.5 70 43 30 40 47.3 77.778
07500440 44 30 40 66 88 53 45 50 58.3 97.778
07500550 55 37 50 82.5 110 73 55 60 80.3 122.222
08500630 63 45 60 94.5 126 86 75 75 94.6 140
08500860 86 55 75 129 172 108 90 100 118.8 191.111
09501040 104 75 100 156 182 125 110 125 137.5 202.222
09501310 131 90 125 196.5 229.25 150 110 150 165 254.722

690V Rated Drives

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 7
 Heavy Duty Normal Duty
Peak Kc
Rated Peak Rated Peak
Model Motor Shaft Power Current Motor Shaft Power
Current Current RFC Current Current
Open Loop
A kW hp A A A kW hp A A
07600190 19 15 20 28.5 38 23 18.5 25 25.3 42.222
07600240 24 18.5 25 36 48 30 22 30 33 53.333
07600290 29 22 30 43.5 58 36 30 40 39.6 64.444
07600380 38 30 40 57 76 46 37 50 50.6 84.444
07600440 44 37 50 66 88 52 45 60 57.2 97.778
07600540 54 45 60 81 108 73 55 75 80.3 120
08600630 63 55 75 94.5 126 86 75 100 94.6 140
08600860 86 75 100 129 172 108 90 125 118.8 191.111
09601040 104 90 125 156 182 125 110 150 137.5 202.222
09601310 131 110 150 196.5 229.25 155 132 175 170.5 254.722

Unidrive M400 Parameter Reference Guide

8 Issue: 01.05.02.02
Variable Minimum / Maximum Pairs
The descriptions below define the variable minimum/maximum pairs that can be used with parameters when the VM format bit is set. The variable
minimum and maximum themselves can be dependent on other parameters, or the drive rating or other conditions as defined. The variable minimum
and the variable maximum have a limited range and this is defined for each minimum/maximum pair.

Identifier VM_AC_VOLTAGE
Description Range applied to parameters showing a.c. voltage
Units V
Range of [MIN] 0
Range of [MAX] 0 to 930

VM_AC_VOLTAGE[MAX] in drive voltage rating dependent. See the table below.

Voltage level 200V 400V 575V (1) 690V (2)

VM_AC_VOLTAGE[MAX] 325 650 780 930

(1) Unidrive M frame size 5 and above only

(2) Unidrive M frame size 7 and above only

VM_AC_VOLTAGE[MIN] = 0

Identifier VM_AC_VOLTAGE_SET
Description Range applied to a.c. voltage set-up parameters
Units V
Range of [MIN] 0
Range of [MAX] 0 to 765

VM_AC_VOLTAGE_SET[MAX] is drive voltage rating dependent. See the table below.

Voltage level 200V 400V 575V 690V

VM_AC_VOLTAGE_SET[MAX] frame size 1 to 4 240 480 N/A N/A
VM_AC_VOLTAGE_SET[MAX] frame size 5 to 6 265 530 635 N/A
VM_AC_VOLTAGE_SET[MAX] frame size 7 to 9 265 530 635 765
VM_AC_VOLTAGE_SET[MAX] Commander ID 240 480 N/A N/A

VM_AC_VOLTAGE_SET[MIN] = 0

Identifier VM_ACCEL_RATE
Description Maximum applied to the ramp rate parameters
Units s/100Hz, s/MaxFrequency
Range of [MIN] 0.0
Range of [MAX] 0.0 to 32000.0

A maximum needs to be applied to the ramp rate parameters because the units are a time for a change of speed from zero to a defined level or to
maximum speed. If the change of speed is to the maximum speed then changing the maximum speed changes the actual ramp rate for a given ramp
rate parameter value. The variable maximum calculation ensures that longest ramp rate (parameter at its maximum value) is not slower than the rate
with the defined level, i.e. 32000.0 s/100Hz.
The maximum frequency is taken from Maximum Reference Clamp (01.006) if Select Motor 2 Parameters (11.045) = 0, or M2 Maximum Reference
Clamp (21.001) if Select Motor 2 Parameters (11.045) = 1.

VM_ACCEL_RATE[MIN] = 0.0

If Ramp Rate Units (02.039) = 0:

VM_ACCEL_RATE[MAX] = 32000.0
Otherwise:
VM_ACCEL_RATE[MAX] = 32000.0 x Maximum frequency / 100.00

Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameters are relevant.

Identifier VM_DC_VOLTAGE
Description Range applied to d.c. voltage parameters
Units V
Range of [MIN] 0
Range of [MAX] 0 to 1190

VM_DC_VOLTAGE[MAX] is the full scale d.c. link voltage feedback for the drive. This level is drive voltage rating dependent. See the table below.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 9
Voltage level 200V 400V 575V 690V

VM_DC_VOLTAGE[MAX]
510 870 N/A N/A
frame size 1 to 4

VM_DC_VOLTAGE[MAX]
415 830 990 N/A
frame size 5 to 6
VM_DC_VOLTAGE[MAX]
415 830 990 1190
frame size 7 to 9
VM_DC_VOLTAGE[MAX]
415 900 N/A N/A
Commander ID

VM_DC_VOLTAGE[MIN] = 0

Identifier VM_DC_VOLTAGE_SET
Description Range applied to d.c. voltage reference parameters
Units V
Range of [MIN] 0
Range of [MAX] 0 to 1150

VM_DC_VOLTAGE_SET[MAX] is drive voltage rating dependent. All values are shown in the table below.

Uni
Uni Uni Uni Commander Commander
MM M M ID ID
575V 690V
Voltage level 200V 400V 200V 400V
(1) (2)
VM_DC_VOLTAGE_SET[MAX] 400 800 955 1150 440V 990V

(1) Frame size 5 and above only

(2) Frame size 7 and above only

VM_DC_VOLTAGE_SET[MIN] = 0

Identifier VM_DRIVE_CURRENT
Description Range applied to parameters showing current in A
Units A
Range of [MIN] -9999.99 to 0.00
Range of [MAX] 0.00 to 9999.99

VM_DRIVE_CURRENT[MAX] is equivalent to the full scale (over current trip level) for the drive and is given by Full Scale Current Kc (11.061).

VM_DRIVE_CURRENT[MIN] = - VM_DRIVE_CURRENT[MAX]

Identifier VM_FREQ
Description Range applied to parameters showing frequency
Units Hz

Range of [MIN] -1100.00

Range of [MAX] 1100.00

This variable minimum/maximum defines the range of speed monitoring parameters. To allow headroom for overshoot the range is set to twice the
range of the speed references.

VM_FREQ[MIN] = 2 x VM_SPEED_FREQ_REF[MIN]

VM_FREQ[MAX] = 2 x VM_SPEED_FREQ_REF[MAX]

Identifier VM_MAX_SWITCHING_FREQUENCY
Description Range applied to the maximum switching frequency parameters
Units User units

Range of [MIN] OpenLoop: 0 (0.667kHz), RFC-A: 2 (2kHz)

Range of [MAX] 8 (16kHz)

VM_SWITCHING_FREQUENCY[MAX] = Power stage dependent

VM_SWITCHING_FREQUENCY[MIN] = 0

Note that RFCA modes are not available on Unidrive M 100/101 and Commander ID drives and so these settings are not applicable on these drives.

Unidrive M400 Parameter Reference Guide

10 Issue: 01.05.02.02
 Identifier VM_MOTOR1_CURRENT_LIMIT
Description Range applied to current limit parameters (motor 1)
Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0

VM_MOTOR1_CURRENT_LIMIT[MIN] = 0.0

VM_MOTOR1_CURRENT_LIMIT[MAX] = (ITlimit / ITrated) x 100 %

Where:

ITlimit = Imax x cos(sin-1(IMrated / Imax))

IMrated = Pr 05.007 sin f

ITrated = Pr 05.007 x cos f

cos f
= Pr 05.010

Imax is (Overload x Pr 11.061 / 2.2) when the motor rated current set in Pr 05.007 is less than or equal to Pr 11.032 (i.e. Heavy duty), otherwise it is the
lower of (Overload x Pr 11.061 / 2.2) or 1.1 x Pr 11.060 (i.e. Normal Duty).

Overload = 1.75 for Open Loop mode and 1.8 for RFCA mode (not available on M100.M101, ID300, or ID302).

Identifier VM_MOTOR2_CURRENT_LIMIT
Description Range applied to current limit parameters (motor 2)
Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0

VM_MOTOR2_CURRENT_LIMIT[MAX] is dependent on the drive rating and motor set-up parameters.

VM_MOTOR2_CURRENT_LIMIT[MIN] = 0.0

Refer to VM_MOTOR1_CURRENT_LIMIT for description.

Note - Parameter 11.045 is not available on M100/M101 and so this is not used on these drives.

Identifier VM_NEGATIVE_REF_CLAMP1
Description Limits applied to the negative frequency clamp (motor 1)
Units Hz
Range of [MIN] -550.00 to 0.00
Range of [MAX] 0.00 to 550.00

This variable maximum/minimum defines the range of the negative frequency clamp associated with motor map 1 (Minimum Reference Clamp
(01.007)). The minimum and maximum are affected by the settings of the Negative Reference Clamp Enable (01.008), Bipolar Reference Enable
(01.010) and Maximum Reference Clamp (01.006) as shown in the table below.

Negative Bipolar
Reference Reference
VM_NEGATIVE_REF_CLAMP1[MIN] VM_NEGATIVE_REF_CLAMP1[MAX]
Clamp Enable Enable
(01.008) (01.010)
0 0 0.00 Pr 01.006
0 1 0.00 0.00
1 X -VM_POSITIVE_REF_CLAMP[MAX] 0.00

Identifier VM_NEGATIVE_REF_CLAMP2
Description Limits applied to the negative frequency clamp (motor 2)
Units Hz
Range of [MIN] -550.00 to 0.00
Range of [MAX] 0.00 to 550.00

This variable maximum/minimum defines the range of the negative frequency clamp associated with motor map 2 (M2 Minimum Reference Clamp
(21.002)). It is defined in the same way as VM_NEGATIVE_REF_CLAMP1 except that the M2 Maximum Reference Clamp (21.001) is used instead of
Maximum Reference Clamp (01.006).

Note - Parameter 11.045 is not available on M100/M101 and so this is not used on these drives.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 11
 Identifier VM_POSITIVE_REF_CLAMP
Description Limits applied to the positive frequency reference clamp
Units Hz
Range of [MIN] 0.00
Range of [MAX] 550.00

VM_POSITIVE_REF_CLAMP[MAX] defines the range of the positive reference clamps, Maximum Reference Clamp (01.006) and M2 Maximum
Reference Clamp (21.001) , which in turn limits the references.

Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameter is relevant.

This values are model dependent. See the table below.

Models Clamp level

M100 - M400 550.00

Commander ID 150.00

Identifier VM_POWER
Description Range applied to parameters that either set or display power
Units kW
Range of [MIN] -9999.99 to 0.00
Range of [MAX] 0.00 to 9999.99

VM_POWER[MAX] is rating dependent and is chosen to allow for the maximum power that can be output by the drive with maximum a.c. output
voltage, at maximum controlled current and unity power factor.

VM_POWER[MAX] = √3 x VM_AC_VOLTAGE[MAX] x VM_DRIVE_CURRENT[MAX] / 1000

VM_POWER[MIN] = -VM_POWER[MAX]

Identifier VM_RATED_CURRENT
Description Range applied to rated current parameters
Units A
Range of [MIN] 0.00
Range of [MAX] 0.00 to 9999.99

VM_RATED_CURRENT [MAX] = Maximum Rated Current (11.060) and is dependent on the drive rating.

VM_RATED_CURRENT [MIN] = 0.00

Identifier VM_SPEED_FREQ_REF
Description Range applied to the frequency reference parameters
Units Hz
Range of [MIN] -550.00 to 0.00
Range of [MAX] 0.00 to 550.00

This variable minimum/maximum is applied throughout the frequency and speed reference system so that the references can vary in the range from the
minimum to maximum clamps.

Negative
VM_SPEED_FREQ_REF[MAX] if Select VM_SPEED_FREQ_REF[MAX] if Select
Reference Clamp
Motor 2 Parameters (11.045) = 0 Motor 2 Parameters (11.045) = 1
Enable (01.008)
0 Maximum Reference Clamp (01.006) M2 Maximum Reference Clamp (21.001)
Maximum Reference Clamp (01.006) or M2 Maximum Reference Clamp (21.001) or
1 |Minimum Reference Clamp (01.007)| |M2 Minimum Reference Clamp (21.002)|
whichever the larger whichever the larger

VM_SPEED_FREQ_REF[MIN] = -VM_SPEED_FREQ_REF[MAX].

Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameters are relevant.

Identifier VM_SPEED_FREQ_REF_UNIPOLAR
Description Unipolar version of VM_SPEED_FREQ_REF
Units Hz
Range of [MIN] 0.00
Range of [MAX] 0.00 to 550.00

VM_SPEED_FREQ_REF_UNIPOLAR[MAX] = VM_SPEED_FREQ_REF[MAX]

Unidrive M400 Parameter Reference Guide

12 Issue: 01.05.02.02
VM_SPEED_FREQ_REF_UNIPOLAR[MIN] = 0.00

Identifier VM_SPEED_FREQ_USER_REFS
Description Range applied to analogue reference parameters
Units Hz
Range of [MIN] -550.00 to 550.00
Range of [MAX] 0.00 to 550.00

This variable maximum is applied to Analogue Reference 1 (01.036), Analogue Reference 2 (01.037) and Keypad Reference (01.017).

The maximum applied to these parameters is the same as other frequency reference parameters.

VM_SPEED_FREQ_USER_REFS [MAX] = VM_SPEED_FREQ_REF[MAX]

However the minimum is dependent on Negative Reference Clamp Enable (01.008) and Bipolar Reference Enable (01.010).

Negative Reference Bipolar

Clamp Enable Reference VM_SPEED_FREQ_USER_REFS[MIN]
(01.008) Enable (01.010)
If Select Motor 2 Parameters (11.045) = 0 Minimum Reference
0 0
Clamp (01.007), otherwise M2 Minimum Reference Clamp (21.002)
0 1 -VM_SPEED_FREQ_REF[MAX]
1 0 0.00
1 1 -VM_SPEED_FREQ_REF[MAX]

Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameters are relevant.

Identifier VM_SUPPLY_LOSS_LEVEL
Description Range applied to the supply loss threshold
Units V
Range of [MIN] 0 to 1150
Range of [MAX] 0 to 1150

VM_SUPPLY_LOSS_LEVEL[MAX] = VM_DC_VOLTAGE_SET[MAX]

VM_SUPPLY_LOSS_LEVEL[MIN] is drive voltage rating dependent. See the table below.

Voltage level 200V 400V 575V (1) 690V (2)

VM_SUPPLY_LOSS_LEVEL[MIN] 205 410 540 540

(1) Unidrive M frame size 5 and above only

(2) Unidrive M frame size 7 and above only

Identifier VM_TORQUE_CURRENT
Description Range applied to torque and torque producing current parameters.
Units %
Range of [MIN] -1000.0 to 0.0
Range of [MAX] 0.0 to 1000.0

Select Motor 2 Parameters

VM_TORQUE_CURRENT[MAX]
(11.045)
0 VM_MOTOR1_CURRENT_LIMIT[MAX]
1 VM_MOTOR2_CURRENT_LIMIT[MAX]

VM_TORQUE_CURRENT[MIN] = -VM_TORQUE_CURRENT[MAX]

Identifier VM_TORQUE_CURRENT_UNIPOLAR
Description Unipolar version of VM_TORQUE_CURRENT
Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0

VM_TORQUE_CURRENT_UNIPOLAR[MAX] = VM_TORQUE_CURRENT[MAX]

VM_TORQUE_CURRENT_UNIPOLAR[MIN] =0.0

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 13
 Identifier VM_USER_CURRENT
Description Range applied to torque reference and percentage load parameters
Units %
Range of [MIN] -1000.0 to 0.0
Range of [MAX] 0.0 to 1000.0

VM_USER_CURRENT[MAX] = User Current Maximum Scaling (04.024)

VM_USER_CURRENT[MIN] = -VM_USER_CURRENT[MAX]

Unidrive M400 Parameter Reference Guide

14 Issue: 01.05.02.02
Menu 1 Single Line Descriptions − Frequency References
Mode: Open‑Loop

Parameter Range Default Type

01.001 Reference Selected ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.002 Pre‑skip Filter Reference ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.003 Pre‑ramp Reference ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.004 Reference Offset ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.005 Jog Reference 0.00 to 300.00 Hz 1.50 Hz RW Num US
50Hz: 50.00 Hz
01.006 Maximum Speed ±VM_POSITIVE_REF_CLAMP Hz RW Num US
60Hz: 60.00 Hz
01.007 Minimum Speed ±VM_NEGATIVE_REF_CLAMP1 Hz 0.00 Hz RW Num US
01.008 Negative Reference Clamp Enable Off (0) or On (1) Off (0) RW Bit US
01.009 Reference Offset Select 0 to 2 0 RW Num US
01.010 Bipolar Reference Enable Off (0) or On (1) Off (0) RW Bit US
01.011 Reference On Off (0) or On (1) RO Bit ND NC PT
01.012 Reverse Select Off (0) or On (1) RO Bit ND NC PT
01.013 Jog Select Off (0) or On (1) RO Bit ND NC PT
A1 A2 (0), A1 Preset (1), A2 Preset (2),
01.014 Reference Selector Preset (3), Keypad (4), Reserved (5), A1 A2 (0) RW Txt US
Keypad Ref (6)
01.015 Preset Selector 0 to 9 0 RW Num US
01.016 Preset Selector Timer 0.0 to 400.0 s 10.0 s RW Num US
01.017 Keypad Control Mode Reference ±VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC PT PS
01.021 Preset Reference 1 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.022 Preset Reference 2 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.023 Preset Reference 3 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.024 Preset Reference 4 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.025 Preset Reference 5 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.026 Preset Reference 6 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.027 Preset Reference 7 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.028 Preset Reference 8 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.029 Skip Reference 1 0.00 to 550.00 Hz 0.00 Hz RW Num US
01.030 Skip Reference Band 1 0.00 to 25.00 Hz 0.50 Hz RW Num US
01.031 Skip Reference 2 0.00 to 550.00 Hz 0.00 Hz RW Num US
01.032 Skip Reference Band 2 0.00 to 25.00 Hz 0.50 Hz RW Num US
01.033 Skip Reference 3 0.00 to 550.00 Hz 0.00 Hz RW Num US
01.034 Skip Reference Band 3 0.00 to 25.00 Hz 0.50 Hz RW Num US
01.035 Reference In Rejection Zone Off (0) or On (1) RO Bit ND NC PT
01.036 Analog Reference 1 ±VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC
01.037 Analog Reference 2 ±VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC
01.038 Percentage Trim ±100.00 % 0.00 % RW Num NC
01.041 Reference Select Flag 1 Off (0) or On (1) Off (0) RW Bit NC
01.042 Reference Select Flag 2 Off (0) or On (1) Off (0) RW Bit NC
01.043 Reference Select Flag 3 Off (0) or On (1) Off (0) RW Bit NC
01.045 Preset Select Flag 1 Off (0) or On (1) Off (0) RW Bit NC
01.046 Preset Select Flag 2 Off (0) or On (1) Off (0) RW Bit NC
01.047 Preset Select Flag 3 Off (0) or On (1) Off (0) RW Bit NC
01.048 Preset Selector Timer Reset Off (0) or On (1) Off (0) RW Bit NC
01.049 Reference Selected Indicator 1 to 6 RO Num ND NC PT
01.050 Preset Selected Indicator 1 to 8 RO Num ND NC PT
01.051 Power‑up Keypad Control Mode Reference Reset (0), Last (1), Preset (2) Reset (0) RW Txt US
01.057 Force Reference Direction None (0), Forward (1), Reverse (2) None (0) RW Txt
01.069 Reference in rpm ±33000 rpm RO Num ND NC PT
01.070 Clamped Reference ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.071 Alternative Reference ±VM_SPEED_FREQ_REF Hz 0.00 Hz RO Num NC
01.072 Alternative Reference Enable Off (0) or On (1) RO Bit ND NC PT

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 15
Menu 1 − Frequency References
Mode: Open‑Loop

References

Unidrive M400 Parameter Reference Guide

16 Issue: 01.05.02.02
 Parameter 01.001 Reference Selected
Short description Displays the basic reference selected from the available sources
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT

Reference Selected (01.001) is the basic reference selected from the available sources including the effect of the reference offset. See Fig.1.1.

Parameter 01.002 Pre-skip Filter Reference

Short description Displays the level of the reference after the reference clamps
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 17
Pre-skip Filter Reference (01.002) is the reference before the skip filtering as indicated in Fig. 1.2.

Parameter 01.003 Pre-ramp Reference

Short description Displays the final output from the reference system
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT

Fig.1.3 shows the process from the Pre-skip Filter Reference (01.002) to the Pre-ramp Reference (01.003). The Pre-ramp Reference (01.003) is the final output
from the Menu 01 reference system that is fed into the Menu 02 ramp system.

Parameter 01.004 Reference Offset

Short description Defines the the offset applied to the reference
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

If Reference Offset Select (01.009) = 0 then Reference Selected (01.001) is the selected reference multiplied by [1 + Percentage Trim (01.038) / 100.00)].

If Reference Offset Select (01.009) = 1 then the Reference Offset (01.004) is added to the selected reference to give Reference Selected (01.001).

If Reference Offset Select (01.009) = 2 then Reference Selected (01.001) is the selected reference plus the Maximum reference frequency multiplied by
(Percentage Trim (01.038) / 100.00). Maximum reference frequency is normally the value of Maximum Speed (01.006) but refer to Variable
Maximum VM_SPEED_FREQ_REF for a full definition.

Parameter 01.005 Jog Reference

Short description Defines the reference when jog is enabled
Mode Open‑Loop
Minimum 0.00 Maximum 300.00
Default 1.50 Units Hz
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, BU

Parameter 01.006 Maximum Speed

Short description Defines the maximum value for the reference
Mode Open‑Loop
Minimum −VM_POSITIVE_REF_CLAMP Maximum VM_POSITIVE_REF_CLAMP
Default See exceptions below Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM

Region Default Value

50Hz 50.00
60Hz 60.00

Maximum Speed (01.006) provides a limit on the maximum speed demand. (If Select Motor 2 Parameters (11.045) = 1 then M2 Maximum Speed (21.001) is
used instead.)

Parameter 01.007 Minimum Speed

Short description Defines the minimum value for the reference
Mode Open‑Loop
Minimum −VM_NEGATIVE_REF_CLAMP1 Maximum VM_NEGATIVE_REF_CLAMP1
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM

If Negative Reference Clamp Enable (01.008) = 1 then Minimum Speed (01.007) is forced to be a negative value and is applied to the final reference as the
negative limit. If Negative Reference Clamp Enable (01.008) = 0 then - Maximum Speed (01.006) is applied to the final reference as the negative limit. (If
Select Motor 2 Parameters (11.045) = 1 then M2 Minimum Speed (21.002) is used instead.)

The minimum speed is also used to provide the minimum speed limit for uni-polar mode (i.e. Bipolar Reference Enable (01.010) = 0) after
the Reference Selected (01.001) as shown in Fig.1.2.

Unidrive M400 Parameter Reference Guide

18 Issue: 01.05.02.02
 Parameter 01.008 Negative Reference Clamp Enable
Short description Set to 1 to allow the minimum reference clamp value to be negative
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Minimum Speed (01.007).

Parameter 01.009 Reference Offset Select

Short description Enables the use of the reference offset
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Reference Offset (01.004).

Parameter 01.010 Bipolar Reference Enable

Short description Enables the minimum value of the reference to be negative
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Minimum Speed (01.007).

Parameter 01.011 Reference On

Short description Indicates that the reference from the reference system is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 2ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Reference On (01.011), which is controlled by the drive sequencer (see Menu 06) indicates that the reference from the reference system is active. Note that
Reference On (01.011) is also used to enable and disable the Hard Frequency Reference (03.022).

Parameter 01.012 Reverse Select

Short description Indicates when the reverse function is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 2ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Reverse Select (01.012), which is controlled by the drive sequencer (see Menu 06), is used to invert Reference Selected (01.001) or the Jog Reference (01.005).

Parameter 01.013 Jog Select

Short description Indicates when the jog function is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 2ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Jog Select (01.013) which is controlled by the drive sequencer (see Menu 06), is used to select the Jog Reference (01.005).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 19
Parameter 01.014 Reference Selector
Short description Defines the source for the reference
Mode Open‑Loop
Minimum 0 Maximum 6
Default 0 Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 A1 A2 Analogue reference 1 or 2 selected by terminal input
1 A1 Preset Analogue reference 1 or Presets selected by terminal input
2 A2 Preset Analogue reference 2 or Presets selected by terminal input
3 Preset Preset reference selected by terminal
4 Keypad Keypad reference selected
5 Reserved Reserved
6 Keypad Ref Keypad reference selected but no control mode

See Control Word Enable (06.043) which will take priority over Reference Selector (01.014).

Reference Selector (01.014) is automatically set up when a new drive configuration is programmed (see Drive Configuration (11.034) ).

Reference Selector (01.014) defines how Reference Selected Indicator (01.049) is derived. If Reference Selector (01.014) is not set to 0
Reference Selected Indicator (01.049) is equal to Reference Selector (01.014). If Reference Selector (01.014) = 0 then Reference Selected Indicator (01.049) is
controlled by the reference select flags as shown below. The higher numbered flags have priority over the lower numbered flags.

Reference select flag states Reference Selected Indicator (01.049)

All reference select flags equal to 0 1
Reference Select Flag 1 (01.041) = 1 2
Reference Select Flag 2 (01.042) = 1 3
Reference Select Flag 3 (01.043) = 1 4

Preset Selector (01.015) defines how Preset Selected Indicator (01.050) is derived as shown below.

Preset Selector
Preset Selected Indicator (01.050)
(01.015)
0 Controlled by the preset select flags (01.045 to 01.047)
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
Controlled by the present reference selector timer (see
9
Preset Selector Timer (01.016))

When Preset Selector (01.015) = 0 then Preset Selected Indicator (01.050) is defined by the preset select flags as shown below.

Preset Select Flag 3 Preset Select Flag 2 Preset Select Flag 1 Preset Selected Indicator
(01.047) (01.046) (01.045) (01.050)
0 0 0 1
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 7
1 1 1 8

Reference Selected Indicator (01.049) and Preset Selected Indicator (01.050) then define the reference to be used as shown below.

Unidrive M400 Parameter Reference Guide

20 Issue: 01.05.02.02
 Reference Selected Indicator Preset Selected Indicator
Reference
(01.049) (01.050)
1 1 Analog Reference 1 (01.036)
Preset reference defined by the value of
1 >1
Preset Selected Indicator (01.050)
2 1 Analog Reference 2 (01.037)
Preset reference defined by the value of
2 >1
Preset Selected Indicator (01.050)
Preset reference defined by the value of
3 x
Preset Selected Indicator (01.050)
4 x Keypad Control Mode Reference (01.017)
5 x Not used
6 x Keypad Control Mode Reference (01.017)

If Reference Selected Indicator (01.049) = 4 the Keypad Control Mode Reference (01.017) is used and the sequencer operates in keypad mode where the start
and stop functions are provided from the drive keypad. Jog Select (01.013) is always 0 when keypad mode is active.

If Reference Selected Indicator (01.049) = 6 the Keypad Control Mode Reference (01.017) is used, but keypad start and stop switches are not active.

Parameter 01.015 Preset Selector

Short description Defines which preset is used for the reference
Mode Open‑Loop
Minimum 0 Maximum 9
Default 0 Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Reference Selector (01.014).

Parameter 01.016 Preset Selector Timer

Short description Defines the time between changes of preset selector
Mode Open‑Loop
Minimum 0.0 Maximum 400.0
Default 10.0 Units s
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

If Preset Selector (01.015) = 9 then Preset Selected Indicator (01.050) is incremented by one at intervals defined by Preset Selector Timer (01.016). When
Preset Selected Indicator (01.050) has a value of 8 and is incremented it rolls over to 1. If Preset Selector Timer Reset (01.048) = 1 and Preset Selector
(01.015) = 9, then Preset Selected Indicator (01.050) is held at 1 and the internal timer is reset.

Parameter 01.017 Keypad Control Mode Reference

Short description Displays the value of the keypad reference
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_USER_REFS Maximum VM_SPEED_FREQ_USER_REFS
Default 0.00 Units Hz
Type 32 Bit Power Down Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RO, VM, NC, PT

See Reference Selector (01.014) for selection of the Keypad Control Mode Reference (01.017).

Parameter 01.021 Preset Reference 1

Short description Defines the value for preset reference 1
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Parameter 01.022 Preset Reference 2

Short description Defines the value for preset reference 2
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 21
Parameter 01.023 Preset Reference 3
Short description Defines the value for preset reference 3
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Parameter 01.024 Preset Reference 4

Short description Defines the value for preset reference 4
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Parameter 01.025 Preset Reference 5

Short description Defines the value for preset reference 5
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Parameter 01.026 Preset Reference 6

Short description Defines the value for preset reference 6
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Parameter 01.027 Preset Reference 7

Short description Defines the value for preset reference 7
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Parameter 01.028 Preset Reference 8

Short description Defines the value for preset reference 8
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM

See Reference Selector (01.014).

Unidrive M400 Parameter Reference Guide

22 Issue: 01.05.02.02
 Parameter 01.029 Skip Reference 1
Short description Defines the 1st reference point to skip
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

The skip references functions are available to prevent continuous operation within a specified frequency range (i.e. where mechanical resonance may occur).
When Skip Reference 1 (01.029) = 0 Filter 1 is disabled. Skip Reference Band 1 (01.030) defines the range either side of Skip Reference 1 (01.029) over which
references are rejected in either direction. The actual rejection band is therefore twice that defined by Skip Reference Band 1 (01.030) with Skip Reference 1
(01.029) as the centre of the band. When the selected reference is within the rejection band the lower limit of the band is passed through the filter so that
reference is always less than demanded.

Filter 2 (Skip Reference 2 (01.031), Skip Reference Band 2 (01.032)) and Filter 3 (Skip Reference 3 (01.033), Skip Reference Band 3 (01.034)) operate in the
same ways as Filter 1.

If any of the filters are active (i.e. the reference is within their rejection band) Reference In Rejection Zone (01.035) is set to 1, otherwise it is 0.

This parameter is unipolar, but the skip frequency operates at this frequency for both directions of rotation.

Parameter 01.030 Skip Reference Band 1

Short description Defines the range either side of skip reference 1 to be implemented
Mode Open‑Loop
Minimum 0.00 Maximum 25.00
Default 0.50 Units Hz
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, BU

See Skip Reference 1 (01.029).

Parameter 01.031 Skip Reference 2

Short description Defines the 2nd reference point to skip
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Skip Reference 1 (01.029).

Parameter 01.032 Skip Reference Band 2

Short description Defines the range either side of skip reference 2 to be implemented
Mode Open‑Loop
Minimum 0.00 Maximum 25.00
Default 0.50 Units Hz
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, BU

See Skip Reference 1 (01.029).

Parameter 01.033 Skip Reference 3

Short description Defines the 3rdreference point to skip
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Skip Reference 1 (01.029).

Parameter 01.034 Skip Reference Band 3

Short description Defines the range either side of skip reference 3 to be implemented
Mode Open‑Loop
Minimum 0.00 Maximum 25.00
Default 0.50 Units Hz
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, BU

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 23
See Skip Reference 1 (01.029).

Parameter 01.035 Reference In Rejection Zone

Short description Displays when the reference is in 1 of the pre-defined rejection zones
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Skip Reference 1 (01.029).

Parameter 01.036 Analog Reference 1

Defines the relationship between the final value from analog 1 input and the frequency or speed
Short description
reference
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_USER_REFS Maximum VM_SPEED_FREQ_USER_REFS
Default 0.00 Units Hz
Type 32 Bit Volatile Update Rate 1ms read
Display Format Standard Decimal Places 2
Coding RO, VM, NC

Analog Reference 1 (01.036) or Analog Reference 2 (01.037) should be used as the destinations for drive analog inputs when these provide the frequency
reference. The variable maximum/minimum applied to Analog Reference 1 (01.036) or Analog Reference 2 (01.037) gives the relationship shown below between
the final value from the analog input and the frequency reference.

Parameter 01.037 Analog Reference 2

Defines the relationship between the final value from analog input 2 and the frequency or speed
Short description
reference
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_USER_REFS Maximum VM_SPEED_FREQ_USER_REFS
Default 0.00 Units Hz
Type 32 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RO, VM, NC

See Analog Reference 1 (01.036).

Unidrive M400 Parameter Reference Guide

24 Issue: 01.05.02.02
 Parameter 01.038 Percentage Trim
Short description Defines the value of the reference trim as a percentage
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, NC

See Reference Offset (01.004).

Parameter 01.041 Reference Select Flag 1

Short description Defines which reference is selected by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

See Reference Selector (01.014).

Parameter 01.042 Reference Select Flag 2

Short description Defines which reference is selected by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

See Reference Selector (01.014).

Parameter 01.043 Reference Select Flag 3

Short description Defines which reference is selected by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

See Reference Selector (01.014).

Parameter 01.045 Preset Select Flag 1

Short description Defines which preset is selected by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

See Reference Selector (01.014).

Parameter 01.046 Preset Select Flag 2

Short description Defines which preset is selected by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

See Reference Selector (01.014).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 25
Parameter 01.047 Preset Select Flag 3
Short description Defines which preset is selected by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

See Reference Selector (01.014).

Parameter 01.048 Preset Selector Timer Reset

Short description Set to 1 to hold the preset selected indicator at 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, NC

See Preset Selector Timer (01.016).

Parameter 01.049 Reference Selected Indicator

Short description Displays which reference is currently selected
Mode Open‑Loop
Minimum 1 Maximum 6
Default Units
Type 8 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Reference Selector (01.014).

Parameter 01.050 Preset Selected Indicator

Short description Displays which preset is currently selected
Mode Open‑Loop
Minimum 1 Maximum 8
Default Units
Type 8 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Reference Selector (01.014).

Parameter 01.051 Power-up Keypad Control Mode Reference

Short description Defines which value of keypad control mode reference is displayed at power-up
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Power-up read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Reset Keypad reference is zero
1 Last Keypad reference is the last used value
2 Preset Keypad reference is copied from Preset speed 1 (01.21)

Power-up Keypad Control Mode Reference (01.051) defines the value written to Keypad Control Mode Reference (01.017) at power-up as given below.

Power- Value wrriten to

up Keypad Control Mode Reference Keypad Control Mode Reference
(01.051) (01.017) at power-up
0 0.0
The value in
1 Keypad Control Mode Reference
(01.017) at the previous power-down
The value saved in Preset Reference 1
2
(01.021)

Unidrive M400 Parameter Reference Guide

26 Issue: 01.05.02.02
 Parameter 01.057 Force Reference Direction
Short description Defines the direction of the reference
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 None
1 Forward
2 Reverse

If Force Reference Direction (01.057) = 0 then it has no effect. If Force Reference Direction (01.057) is non-zero then the modulus of the reference is used and
the sign is defined by the value of Force Reference Direction (01.057). If Force Reference Direction (01.057) = 1 then Pre-skip Filter Reference (01.002) is
always positive, and if Force Reference Direction (01.057) = 2 then Pre-skip Filter Reference (01.002) is always zero or negative.

Parameter 01.069 Reference in rpm

Short description Displays the value of the reference in rpm
Mode Open‑Loop
Minimum -33000 Maximum 33000
Default Units rpm
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Reference in rpm (01.069) = Pre-ramp Reference (01.003) x 60 / Pole Pairs (see Number Of Motor Poles (05.011)).

Parameter 01.070 Clamped Reference

Short description Displays the reference that is provided for the PID controller
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT

The Clamped Reference (01.070) is provided as a source for various drive user functions.

Parameter 01.071 Alternative Reference

Short description Defines the reference which is used as a destination for the output of the PID controller
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RO, VM, NC

Alternative Reference (01.071) is provided as a destination for an alternative reference if required (such as a drive user function output).

If Alternative Reference (01.071) has been programmed as a destination, Alternative Reference Enable (01.072) is set to 1 automatically so that the alternative
reference is selected.

Parameter 01.072 Alternative Reference Enable

Short description Indicates when the Alternative Reference is being used
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Alternative Reference (01.071).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 27
Menu 2 Single Line Descriptions − Frequency Ramps
Mode: Open‑Loop

Parameter Range Default Type

02.001 Post Ramp Reference ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
02.003 Ramp Hold Off (0) or On (1) Off (0) RW Bit US
Fast (0), Standard (1),
02.004 Ramp Mode Select Standard (1) RW Txt US
Std boost (2), Fast boost (3)
02.006 S Ramp Enable Off (0) or On (1) Off (0) RW Bit US
02.007 Max Rate Of Change Of Acceleration 0.0 to 300.0 s²/100Hz 3.1 s²/100Hz RW Num US
110V drive: 375 V
200V drive: 375 V
400V drive 50Hz: 750 V
02.008 Standard Ramp Voltage ±VM_DC_VOLTAGE_SET V RW Num RA US
400V drive 60Hz: 775 V
575V drive: 895 V
690V drive: 1075 V
02.009 Deceleration Fail Detection Disable Off (0) or On (1) Off (0) RW Bit US
02.010 Acceleration Rate Selector 0 to 9 0 RW Num US
02.011 Acceleration Rate 1 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.012 Acceleration Rate 2 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.013 Acceleration Rate 3 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.014 Acceleration Rate 4 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.015 Acceleration Rate 5 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.016 Acceleration Rate 6 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.017 Acceleration Rate 7 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.018 Acceleration Rate 8 ±VM_ACCEL_RATE s 5.0 s RW Num US
02.019 Jog Acceleration Rate ±VM_ACCEL_RATE s 0.2 s RW Num US
02.020 Deceleration Rate Selector 0 to 9 0 RW Num US
02.021 Deceleration Rate 1 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.022 Deceleration Rate 2 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.023 Deceleration Rate 3 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.024 Deceleration Rate 4 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.025 Deceleration Rate 5 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.026 Deceleration Rate 6 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.027 Deceleration Rate 7 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.028 Deceleration Rate 8 ±VM_ACCEL_RATE s 10.0 s RW Num US
02.029 Jog Deceleration Rate ±VM_ACCEL_RATE s 0.2 s RW Num US
02.030 Acceleration Rate Selected 0 to 8 RO Num ND NC PT
02.031 Deceleration Rate Selected 0 to 8 RO Num ND NC PT
02.032 Acceleration Rate Select Bit 0 Off (0) or On (1) Off (0) RW Bit NC
02.033 Acceleration Rate Select Bit 1 Off (0) or On (1) Off (0) RW Bit NC
02.034 Acceleration Rate Select Bit 2 Off (0) or On (1) Off (0) RW Bit NC
02.035 Deceleration Rate Select Bit 0 Off (0) or On (1) Off (0) RW Bit NC
02.036 Deceleration Rate Select Bit 1 Off (0) or On (1) Off (0) RW Bit NC
02.037 Deceleration Rate Select Bit 2 Off (0) or On (1) Off (0) RW Bit NC
02.039 Ramp Rate Units 0 to 2 0 RW Num US
02.040 S Ramp Percentage 0.0 to 50.0 % 0.0 % RW Num US
02.041 S Ramp Set‑up Mode 0 to 2 0 RW Num US
02.042 Maximum Rate Of Change Of Acceleration 1 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US
02.043 Maximum Rate Of Change Of Acceleration 2 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US
02.044 Maximum Rate Of Change Of Acceleration 3 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US
02.045 Maximum Rate Of Change Of Acceleration 4 0.0 to 300.0 s²/100Hz 0.0 s²/100Hz RW Num US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

28 Issue: 01.05.02.02
Menu 2 − Frequency Ramps
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 29
 Unidrive M400 Parameter Reference Guide
30 Issue: 01.05.02.02
 Parameter 02.001 Post Ramp Reference
Short description Displays the output of the ramp system
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT

The Post Ramp Reference (02.001) is combined with Hard Frequency Reference (03.022) and the slip compensation frequency to define the output
frequency of the drive. The Post Ramp Reference (02.001) is defined by the output of the ramp system except when the current limits are active (see
Menu 04).

Parameter 02.003 Ramp Hold

Short description Set to 1 to hold the ramp system at its present value
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RW

If Ramp Hold (02.003) = 0 the ramp system functions normally. If Ramp Hold (02.003) is set to 1 and S Ramp Enable (02.006) = 0 the ramp system
output is held at its current level. If Ramp Hold (02.003) is subsequently set to 0 the ramp system output is released and continues to operate normally.
If S Ramp Enable (02.006) = 1 when Ramp Hold (02.003) is set to 1 the acceleration will ramp towards zero and the frequency will change in an S
curve towards a constant frequency. If a drive stop is requested (i.e. Reference On (01.011) = 0) the ramp hold function is disabled.

Parameter 02.004 Ramp Mode Select

Short description Defines the mode used by the ramp system
Mode Open‑Loop
Minimum 0 Maximum 3
Default 1 Units
Type 8 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Fast Fast ramp
1 Standard Standard ramp with normal motor voltage
2 Std boost Standard ramp with high motor voltage
3 Fast boost Fast ramp with high motor volts

Acceleration is defined as a positive (forward) or negative (reverse) frequency change away from zero, and deceleration is defined as a change towards
Unidrive M400 Parameter Reference Guide
Issue: 01.05.02.02 31
zero. Ramp Mode Select (02.004) defines the ramp mode used for deceleration. During acceleration the frequency changes are based on the final
acceleration rate only.

0: Fast ramp
During deceleration the frequency changes are based on the final deceleration rate.

1: Standard ramp
The standard ramp controller (shown in the diagram below) is only enabled when the Pre-ramp Reference (01.003) is closer to zero than the
Post Ramp Reference (02.001), i.e. during deceleration. As the motor slows down power is fed into the d.c. link of the drive which causes the voltage to
rise. When the voltage reaches the level defined by the Standard Ramp Voltage (02.008) the d.c. link voltage controller becomes active and provides a
torque producing current reference. This system regulates the d.c. link voltage to hold it at the level defined by the Standard Ramp Voltage (02.008).
Generally as the motor slows down the deceleration needs to be increased to provide enough power to maintain the d.c. link level. The frequency is not
allowed to fall faster than the final deceleration rate, and so a point is reached where the controller de-activates itself, and the final deceleration rate is
used until the motor reaches standstill. If at any point the Pre-ramp Reference (01.003) is equal to or further from zero than the Post Ramp Reference
(02.001), i.e. not decelerating, the d.c. link voltage controller is de-activated.

2: Standard ramp with motor voltage boost

Standard ramp with motor voltage boost is the same as standard ramp mode except that the motor voltage is boosted by 20% to increase the motor
losses and reduce the deceleration time.

If the Standard Ramp Voltage (02.008) is set to a level that is below the nominal d.c. link voltage level the motor will coast during deceleration because
the torque producing current reference is limited to prevent the motor from accelerating. There are circumstances where the motor may not decelerated
and so there is a system within the drive to detect this. In some circumstances this feature is undesirable and so can be disabled
(see Deceleration Fail Detection Disable (02.009) ).

3: Fast ramp with motor voltage boost

Fast ramp with motor voltage boost is the same as Fast ramp mode except that the motor voltage is boosted by 20% to increase the motor losses and
reduce the deceleration time.

Unidrive M400 Parameter Reference Guide

32 Issue: 01.05.02.02
 Parameter 02.006 S Ramp Enable
Short description Set to 1 to enable the use of S ramps
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW

If S Ramp Enable (02.006) = 0 linear ramps are used, but if S Ramp Enable (02.006) = 1 a limit is applied to the rate of change of acceleration to give S
ramps. The S ramp function is disabled during deceleration when the standard ramp voltage controller is active. When the motor is accelerated again
the acceleration rate used by the S ramp function is reset to zero and has to rise to the programmed acceleration level at the programmed rate of
change (see Max Rate Of Change Of Acceleration (02.007) and S Ramp Set-up Mode (02.041) ).

Parameter 02.007 Max Rate Of Change Of Acceleration

Short description Defines the maximum rate of change of acceleration used by the ramp system
Mode Open‑Loop
Minimum 0.0 Maximum 300.0
Default 3.1 Units s²/100Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

A rate of change of acceleration can be applied such that the acceleration rate changes linearly between 0 and the value
in Max Rate Of Change Of Acceleration (02.007) during acceleration, and between Max Rate Of Change Of Acceleration (02.007) and 0 during
deceleration. If S Ramp Set-up Mode (02.041) = 0 then the maximum rate of change of acceleration in both directions, accelerating away from or
towards zero, is defined by Max Rate Of Change Of Acceleration (02.007).

The general equations are given below for a linear ramp and S ramp where
Δw is the required change of frequency or speed
aMax is the maximum allowed acceleration in units of frequency/s or speed/s
JMax is the maximum rate of change of acceleration (i.e. jerk) in units of frequency/s2 or speed/s2

The time for a linear ramp to give a change of frequency or speed Δw is

TLinear = Δw / aMax

If an S ramp is used wB is the change of frequency or speed as the acceleration changes from zero to aMax, i.e. the S shaped part of the frequency or
speed change.

wB = aMax2 / 2JMax

If the required frequency or speed change is less than 2wB, i.e. Δw < 2wB, then the acceleration never reaches its limit and the ramp does not contain a
linear ramp section and the time for the ramp is given by

TSRamp1 = 2 √(Δw / JMax)

Otherwise

TSRamp2 = (Δw / aMax) + (aMax / JMax)

The following is an example based on the default parameter values for Open-loop mode. The diagram below shows a change of frequency from 0Hz to
50Hz with the ramp rate set to 5.0s/100Hz and Max Rate Of Change Of Acceleration (02.007) set to its default value of 3.1s2/100Hz.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 33
The required change of frequency Δw = 50Hz. The acceleration and jerk are converted from the parameter values as follows:

aMax = 100 / ramp rate = 20.0Hz/s

JMax = 100 / Max Rate Of Change Of Acceleration (02.007) = 32.3Hz/s2

The linear ramp time TLinear = Δw x aMax = 50.0 / 20.0 = 2.5s

The frequency change for the acceleration to reach its limit wB = aMax2 / 2JMax = 20.02 / (2 x 32.3) = 6.19Hz

The required frequency change for Δw = 50Hz and this is greater than 2wB, i.e. Δw > 2 x 6.19Hz. Therefore the time for the ramp

TSRamp2 = (Δw / aMax) + (aMax / JMax) = (50.0 / 20.0) + (20.0 / 32.3) = 2.5 + 0.62 = 3.12s

Note that the default value of Max Rate Of Change Of Acceleration (02.007) has been chosen so that when it is combined with the default acceleration
rate, each of the S sections of the ramp is 20% of the overall time for the frequency change, i.e. 0.62/3.12 x 100% = 20%. This is the same as if
S Ramp Set-up Mode (02.041) = 2 and S Ramp Percentage (02.040) = 20% (see parameter S Ramp Set-up Mode (02.041) for alternative methods of
setting up the S ramp function).

If the required change of frequency had been 5.0Hz, i.e. less than 2 x wB, then the alternative equation should be used:

Unidrive M400 Parameter Reference Guide

34 Issue: 01.05.02.02
TSRamp1 = 2 √(Δw / JMax) = 2 √(5.0 / 32.3) = 0.78s

For RFC-A mode the general equations are used in the same way as for Open-loop mode. The required values are calculated as follows:
Δw = 1000 / ramp rate
aMax = 1000 / ramp rate
JMax = 1000 / Max Rate Of Change Of Acceleration (02.007)

Parameter 02.008 Standard Ramp Voltage

Short description Defines the standard ramp voltage used by the ramp system
Mode Open‑Loop
Minimum −VM_DC_VOLTAGE_SET Maximum VM_DC_VOLTAGE_SET
Default See exceptions below Units V
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, VM, RA

Voltage Region Default Value

110V All 375
200V All 375
400V 50Hz 750
400V 60Hz 775
575V All 895
690V All 1075

See Ramp Mode Select (02.004).

Parameter 02.009 Deceleration Fail Detection Disable

Short description Set to 1 to disable the deceleration fail detection function
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

In the following circumstances it is possible that the motor may not decelerated or even accelerate.

1. When standard ramp is selected with a high inductance supply it is possible for the d.c. bus voltage to rise as the motor speed approaches
zero, and so the motor will continue to rotate slowly and not stop.
2. An overhauling load can cause the motor to accelerate.

It can be a problem if the drive state is changed to the "Decelerating" state and the motor does not stop. If Deceleration Fail Detection Disable
(02.009) is at its default value of 0, the motor frequency or speed is monitored in the "Decelerating" state, and if this does not fall over a period of 10s
the ramp output is forced to zero and the drive state is changed to "Stop" or "Inhibit" as appropriate.

If Deceleration Fail Detection Disable (02.009) = 1 this feature is disabled. This can be used in the following circumstances to prevent the system state
from changing from the "Decelerating" state before the motor has stopped:

1. If S ramps are being used with long ramp rates, and the motor is still accelerating when the drive is changed to the "Decelerating" state
because the run command is removed, then the ramp output may increase further before falling again towards zero.
2. The speed may appear not to reduce when very long ramp rates are used.

Parameter 02.010 Acceleration Rate Selector

Short description Defines which acceleration rate is used by the ramp system
Mode Open‑Loop
Minimum 0 Maximum 9
Default 0 Units
Type 8 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW

The Acceleration Rate Selector (02.010) is used to either select an acceleration rate directly or to define the method used to select an acceleration rate.
If 1 ≤ Acceleration Rate Selector (02.010) ≤ 8 the acceleration rate is selected directly, i.e. 1 selects Acceleration Rate 1 (02.011), 2
selects Acceleration Rate 2 (02.012), etc. If Acceleration Rate Selector (02.010) = 0 the acceleration rate is selected with the acceleration rate select
bits as shown in the table below.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 35
Acceleration Rate Select Bit 2 Acceleration Rate Select Bit 1 Acceleration Rate Select Bit 0 Acceleration rate
(02.034) (02.033) (02.032) selected
Acceleration Rate 1
0 0 0
(02.011)
Acceleration Rate 2
0 0 1
(02.012)
Acceleration Rate 3
0 1 0
(02.013)
Acceleration Rate 4
0 1 1
(02.014)
Acceleration Rate 5
1 0 0
(02.015)
Acceleration Rate 6
1 0 1
(02.016)
Acceleration Rate 7
1 1 0
(02.017)
Acceleration Rate 8
1 1 1
(02.018)

If Acceleration Rate Selector (02.010) = 9 the acceleration rate is selected based on the value of Preset Selected Indicator (01.050), i.e. 1 selects
Acceleration Rate 1 (02.011), 2 selects Acceleration Rate 2 (02.012), etc.

Parameter 02.011 Acceleration Rate 1

Short description Defines the acceleration rate present in acceleration rate 1
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Ramp Rate Units (02.039) for the definition of Ramp rate frequency.

Acceleration Rate 1 (02.011) - Acceleration Rate 8 (02.018) can be selected to define the linear ramp rate. The acceleration rate applies when the
frequency is changing away from zero.

Selecting a ramp rate that has been set to zero in Asynchronous mode disables the ramp system so that the Post Ramp Reference (02.001) follows
the Pre-ramp Reference (01.003) without any delay for acceleration or deceleration. It should be noted that this also disables the standard ramp d.c. link
voltage controller and the frequency based current limits.

Parameter 02.012 Acceleration Rate 2

Short description Defines the acceleration rate present in acceleration rate 2
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Acceleration Rate 1 (02.011).

Parameter 02.013 Acceleration Rate 3

Short description Defines the acceleration rate present in acceleration rate 3
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Acceleration Rate 1 (02.011).

Parameter 02.014 Acceleration Rate 4

Short description Defines the acceleration rate present in acceleration rate 4
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Acceleration Rate 1 (02.011).

Unidrive M400 Parameter Reference Guide

36 Issue: 01.05.02.02
 Parameter 02.015 Acceleration Rate 5
Short description Defines the acceleration rate present in acceleration rate 5
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Acceleration Rate 1 (02.011).

Parameter 02.016 Acceleration Rate 6

Short description Defines the acceleration rate present in acceleration rate 6
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Acceleration Rate 1 (02.011).

Parameter 02.017 Acceleration Rate 7

Short description Defines the acceleration rate present in acceleration rate 7
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Acceleration Rate 1 (02.011).

Parameter 02.018 Acceleration Rate 8

Short description Defines the acceleration rate present in acceleration rate 8
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Acceleration Rate 1 (02.011).

Parameter 02.019 Jog Acceleration Rate

Short description Defines the acceleration rate present when the jog function is selected
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 0.2 Units s
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW, VM

See Ramp Rate Units (02.039) for the definition of Ramp rate frequency.

The Jog Acceleration Rate (02.019) is selected when Jog Select (01.013) is active and when the frequency is changing away from zero in either
direction.

Parameter 02.020 Deceleration Rate Selector

Short description Defines which deceleration rate is used by the ramp system
Mode Open‑Loop
Minimum 0 Maximum 9
Default 0 Units
Type 8 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW

The Deceleration Rate Selector (02.020) operates in the same way as the Acceleration Rate Selector (02.010). If Deceleration Rate Selector (02.020) =
0 the deceleration rate is selected with the deceleration rate select bits as shown in the table below.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 37
Deceleration Rate Select Bit 2 Deceleration Rate Select Bit 1 Deceleration Rate Select Bit 0 Deceleration rate
(02.037) (02.036) (02.035) selected
Deceleration Rate 1
0 0 0
(02.021)
Deceleration Rate 2
0 0 1
(02.022)
Deceleration Rate 3
0 1 0
(02.023)
Deceleration Rate 4
0 1 1
(02.024)
Deceleration Rate 5
1 0 0
(02.025)
Deceleration Rate 6
1 0 1
(02.026)
Deceleration Rate 7
1 1 0
(02.027)
Deceleration Rate 8
1 1 1
(02.028)

Parameter 02.021 Deceleration Rate 1

Short description Defines the deceleration rate present in deceleration rate 1
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Ramp Rate Units (02.039) for the definition of Ramp rate frequency

Deceleration Rate 1 (02.021) - Deceleration Rate 8 (02.028) can be selected to define the linear ramp rate. The deceleration rate applies when the
frequency is changing towards zero.

Selecting a ramp rate that has been set to zero in Asynchronous mode disables the ramp system so that the Post Ramp Reference (02.001) follows the
Pre-ramp Reference (01.003) without any delay for acceleration or deceleration. It should be noted that this also disables the standard ramp d.c. link
voltage controller and the frequency based current limits.

Parameter 02.022 Deceleration Rate 2

Short description Defines the deceleration rate present in deceleration rate 2
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Deceleration Rate 1 (02.021).

Parameter 02.023 Deceleration Rate 3

Short description Defines the deceleration rate present in deceleration rate 3
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Deceleration Rate 1 (02.021).

Parameter 02.024 Deceleration Rate 4

Short description Defines the deceleration rate present in deceleration rate 4
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Deceleration Rate 1 (02.021).

Unidrive M400 Parameter Reference Guide

38 Issue: 01.05.02.02
 Parameter 02.025 Deceleration Rate 5
Short description Defines the deceleration rate present in deceleration rate 5
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Deceleration Rate 1 (02.021).

Parameter 02.026 Deceleration Rate 6

Short description Defines the deceleration rate present in deceleration rate 6
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Deceleration Rate 1 (02.021).

Parameter 02.027 Deceleration Rate 7

Short description Defines the deceleration rate present in deceleration rate 7
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Deceleration Rate 1 (02.021).

Parameter 02.028 Deceleration Rate 8

Short description Defines the deceleration rate present in deceleration rate 8
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units s
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Deceleration Rate 1 (02.021).

Parameter 02.029 Jog Deceleration Rate

Short description Defines the deceleration rate present when the jog function is selected
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 0.2 Units s
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW, VM

See Ramp Rate Units (02.039) for the definition of Ramp rate frequency.

The Jog Deceleration Rate (02.029) is selected when Jog Select (01.013) is active and when the frequency is changing towards zero in either direction.

Parameter 02.030 Acceleration Rate Selected

Short description Indicates which acceleration rate is selected
Mode Open‑Loop
Minimum 0 Maximum 8
Default Units
Type 8 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Acceleration Rate Selected (02.030) shows a value between 1 and 8 that corresponds to Acceleration Rate 1 (02.011) to Acceleration Rate 8
(02.018) indicating which of these acceleration rates is actually being used.

Deceleration Rate Selected (02.031) shows a value between 1 and 8 that corresponds to Deceleration Rate 1 (02.021) to Deceleration Rate 8

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 39
(02.028) indicating which of these deceleration rates is actually being used.

Parameter 02.031 Deceleration Rate Selected

Short description Indicates which deceleration rate is selected
Mode Open‑Loop
Minimum 0 Maximum 8
Default Units
Type 8 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Acceleration Rate Selected (02.030).

Parameter 02.032 Acceleration Rate Select Bit 0

Short description Defines which acceleration rate is used if acceleration rate selector = 0
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, NC

See Acceleration Rate Selector (02.010).

Parameter 02.033 Acceleration Rate Select Bit 1

Short description Defines which acceleration rate is used if acceleration rate selector = 0
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, NC

See Acceleration Rate Selector (02.010).

Parameter 02.034 Acceleration Rate Select Bit 2

Short description Defines which acceleration rate is used if acceleration rate selector = 0
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, NC

See Acceleration Rate Selector (02.010).

Parameter 02.035 Deceleration Rate Select Bit 0

Short description Defines which deceleration rate is used if deceleration rate selector = 0
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, NC

See Deceleration Rate Selector (02.020).

Parameter 02.036 Deceleration Rate Select Bit 1

Short description Defines which deceleration rate is used if deceleration rate selector = 0
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, NC

See Deceleration Rate Selector (02.020).

Unidrive M400 Parameter Reference Guide

40 Issue: 01.05.02.02
 Parameter 02.037 Deceleration Rate Select Bit 2
Short description Defines which deceleration rate is used if deceleration rate selector = 0
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, NC

See Deceleration Rate Selector (02.020).

Parameter 02.039 Ramp Rate Units

Short description Defines the units used by the ramp system
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

The ramp rate parameters (Acceleration Rate 1 (02.011) - Acceleration Rate 8 (02.018), Jog Acceleration Rate (02.019), Deceleration Rate 1 (02.021) -
Deceleration Rate 8 (02.028) and Jog Deceleration Rate (02.029)) are specified in s / Ramp rate frequency. Ramp rate frequency is selected with Ramp
Rate Units (02.039) as defined in the table below.

Ramp Rate Units (02.039) Ramp rate frequency

0 Seconds per 100Hz
1 Seconds per Maximum Frequency
2 Seconds per 1000Hz

Maximum frequency is defined by Maximum Speed (01.006) if Select Motor 2 Parameters (11.045) = 0, or M2 Maximum Speed (21.001) if
Select Motor 2 Parameters (11.045) = 1.

Parameter 02.040 S Ramp Percentage

Short description Defines the profile of the S ramp system as a percentage
Mode Open‑Loop
Minimum 0.0 Maximum 50.0
Default 0.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

If S Ramp Set-up Mode (02.041) = 1 the percentage of the ramp to Maximum frequency that includes half the S ramp profile can be specified with
S Ramp Percentage (02.040) as shown in the diagram below. Maximum frequency is defined by Maximum Speed (01.006) if Select Motor 2 Parameters
(11.045) = 0, or M2 Maximum Speed (21.001) if Select Motor 2 Parameters (11.045) = 1. It should be noted that the time to ramp to Maximum
frequency does not change as S Ramp Percentage (02.040) is changed, but the maximum acceleration rate in the centre of the profile increases.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 41
Parameter 02.041 S Ramp Set-up Mode
Short description Defines the mode used by the S ramp system
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

S Ramp Set-up Mode (02.041) defines the method used to set up the S ramp function.

0: Single maximum rate of change of acceleration

The maximum rate of change of acceleration in either direction, when the frequency is changing away from or towards zero, is defined by
Max Rate Of Change Of Acceleration (02.007).

1: S ramp percentage
A single maximum rate of change of acceleration is used in either direction, when the frequency is changing away from or towards zero, but this is
specified as the percentage of the ramp from zero to Maximum frequency which is covered by the S shaped profile. See S Ramp Percentage (02.040).

2: Four independent maximum rate of change of acceleration values

The maximum rate of change of acceleration can be specified as four independent values. See Max Rate Of Change Of Acceleration (02.007).

Parameter 02.042 Maximum Rate Of Change Of Acceleration 1

Short description Defines the 1st maximum rate of change of acceleration used by the S ramp system
Mode Open‑Loop
Minimum 0.0 Maximum 300.0
Default 0.0 Units s²/100Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

If S Ramp Set-up Mode (02.041) = 2 it is possible to set up four independent maximum rate of change of acceleration values as shown in the diagram
below. The values from 1 to 4 correspond to Maximum Rate Of Change Of Acceleration 1 (02.042) to Maximum Rate Of Change Of Acceleration 4
(02.045) respectively.

Unidrive M400 Parameter Reference Guide

42 Issue: 01.05.02.02
 Parameter 02.043 Maximum Rate Of Change Of Acceleration 2
Short description Defines the 2nd maximum rate of change of acceleration used by the S ramp system
Mode Open‑Loop
Minimum 0.0 Maximum 300.0
Default 0.0 Units s²/100Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See Maximum Rate Of Change Of Acceleration 1 (02.042).

Parameter 02.044 Maximum Rate Of Change Of Acceleration 3

Short description Defines the 3rd maximum rate of change of acceleration used by the S ramp system
Mode Open‑Loop
Minimum 0.0 Maximum 300.0
Default 0.0 Units s²/100Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See Maximum Rate Of Change Of Acceleration 1 (02.042).

Parameter 02.045 Maximum Rate Of Change Of Acceleration 4

Short description Defines the 4th maximum rate of change of acceleration used by the S ramp system
Mode Open‑Loop
Minimum 0.0 Maximum 300.0
Default 0.0 Units s²/100Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See Maximum Rate Of Change Of Acceleration 1 (02.042).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 43
Menu 3 Single Line Descriptions − Frequency Monitoring and Speed
Feedback
Mode: Open‑Loop

Parameter Range Default Type

03.001 Final Demand Reference ±VM_FREQ Hz RO Num ND NC PT FI
03.005 Zero Frequency Threshold 0.00 to 20.00 Hz 2.00 Hz RW Num US
03.006 At Frequency Lower Limit 0.00 to 550.00 Hz 1.00 Hz RW Num US
03.007 At Frequency Upper Limit 0.00 to 550.00 Hz 1.00 Hz RW Num US
03.008 Over Frequency Threshold 0.00 to 550.00 Hz 0.00 Hz RW Num US
03.009 Absolute At Frequency Select Off (0) or On (1) Off (0) RW Bit US
03.022 Hard Frequency Reference ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
03.023 Hard Frequency Reference Select Off (0) or On (1) Off (0) RW Bit US
03.029 Position 0 to 65535 RO Num ND NC PT FI
03.032 Position Counter Reset Off (0) or On (1) Off (0) RW Bit NC
03.035 Position Scaling Numerator 0.000 to 1.000 1.000 RW Num US
03.036 Position Scaling Denominator 0.000 to 100.000 1.000 RW Num US
03.037 Frequency Output or PWM Output Scaling 0.000 to 4.000 1.000 RW Num US
03.038 Maximum Output Frequency 1 (0), 2 (1), 5 (2), 10 (3) kHz 5 (2) kHz RW Txt US
03.042 Frequency Input High Precision Off (0) or On (1) Off (0) RW Bit US
03.043 Maximum Reference Frequency 0.00 to 100.00 kHz 10.00 kHz RW Num US
03.044 Frequency Reference Scaling 0.000 to 4.000 1.000 RW Num US
03.045 Frequency Reference ±100.00 % RO Num ND NC PT FI
03.047 Two Point Minimum Frequency ±100.00 % -100.00 % RW Num US
03.048 Drive Reference at Minimum Frequency ±100.00 % -100.00 % RW Num US
03.049 Two Point Maximum Frequency 0.00 to 100.00 % 100.00 % RW Num US
03.050 Drive Reference at Maximum Frequency 0.00 to 100.00 % 100.00 % RW Num US
03.072 Motor speed percent ±150.0 % RO Num ND NC PT FI
03.127 Frequency feedback ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
03.128 Revolution Counter 0 to 65535 Revs RO Num ND NC PT FI
512 (0), 1024 (1), 2048 (2),
03.134 Rotary Lines Per Revolution 1024 (1) RW Txt US
4096 (3)
03.142 Encoder feedback filter 1 to 31 ms 3 ms RW Num US
50Hz: 50.00 Hz
03.143 Maximum Frequency Feedback ±VM_SPEED_FREQ_REF Hz RW Num US
60Hz: 60.00 Hz

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

44 Issue: 01.05.02.02
Menu 3 − Frequency Monitoring and Speed Feedback
Mode: Open‑Loop

The drive controls asynchronous machines in open loop control with respect to frequency and current. The open loop asynchronous control is further broken down into vector and fixed boost modes.

Parameter 03.001 Final Demand Reference

Short description Displays the final reference to the frequency controller
Mode Open‑Loop
Minimum −VM_FREQ Maximum VM_FREQ
Default Units Hz
Type 32 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 2
Coding RO, FI, VM, ND, NC, PT

Final Demand Reference (03.001) shows the fundamental drive frequency demand from the Post Ramp Reference (02.001) and the Hard Frequency Reference (03.022) (if enabled).

Parameter 03.005 Zero Frequency Threshold

Short description Defines the threshold for detecting the zero frequency condition
Mode Open‑Loop
Minimum 0.00 Maximum 20.00
Default 2.00 Units Hz
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, BU

If the Post Ramp Reference (02.001) is at or below the level defined by this parameter in either direction Zero Frequency (10.003) = 1, otherwise Zero Frequency (10.003) = 0.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 45
Parameter 03.006 At Frequency Lower Limit
Short description Defines the lower limit for detecting the at frequency condition
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default 1.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

At Frequency (10.006) is set if the Post Ramp Reference (02.001) is on the boundaries or within the at speed window. Above Set Frequency (10.007) and Below Set Frequency (10.005) are set if
the reference is above or below the window respectively.

If Absolute At Frequency Select (03.009) = 0 reference window mode is used.

The "at speed" condition is true if,

(|Pre-ramp Reference (01.003)| - At Frequency Lower Limit (03.006)) ≤ |Post Ramp Reference (02.001)| ≤ (|Pre-ramp Reference (01.003)| + At Frequency Upper Limit (03.007))

(If the lower limit is less than zero then zero is used as the lower limit.)

If Absolute At Frequency Select (03.009) = 1 absolute window mode is used.

The "at speed" condition is true if,

At Frequency Lower Limit (03.006) ≤ |Post Ramp Reference (02.001)| ≤ At Frequency Upper Limit (03.007)

Note: All flags are cleared if Reference On (01.011) is 0.

Parameter 03.007 At Frequency Upper Limit

Short description Defines the upper limit for detecting the at frequency condition
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default 1.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See At Frequency Lower Limit (03.006).

Parameter 03.008 Over Frequency Threshold

Short description Defines the threshold used to detect the over frequency condition
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

If Over Frequency Threshold (03.008) is set to a non-zero value it defines the over frequency threshold. If the Post Ramp Reference (02.001) exceeds this threshold in either direction an Over Speed
trip is produced. If Over Frequency Threshold (03.008) is set to 0.00 the threshold is 1.2 times the variable maximum for the references which is normally the value of Maximum Speed (01.006) or
M2 Maximum Speed (21.001), but see VM_SPEED_FREQ_REF[MAX] for a full definition.

Parameter 03.009 Absolute At Frequency Select

Short description Set to 1 to select absolute at frequency
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See At Frequency Lower Limit (03.006).

Parameter 03.022 Hard Frequency Reference

Short description Defines the value of the hard frequency reference
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms
Display Format Standard Decimal Places 2
Coding RW, VM

The Hard Frequency Reference (03.022) is a reference value which does not pass through the ramp system, but is added directly to the Post Ramp Reference (02.001). The
Hard Frequency Reference (03.022) is only added when selected by the Hard Frequency Reference Select (03.023) and Reference On (01.011) is active.

Parameter 03.023 Hard Frequency Reference Select

Short description Set to 1 to enable the use of the hard frequency reference
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW

See Hard Frequency Reference (03.022).

Parameter 03.029 Position

Short description Displays the position counter in frequency or encoder mode
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RO, FI, ND, NC, PT, BU

Unidrive M400 Parameter Reference Guide

46 Issue: 01.05.02.02
Indicates the current value of the position counter in Frequency or Encoder mode. Position is reset to 0 if Position Counter Reset (03.032) is 1.
Parameter 03.032 Position Counter Reset
Short description Set to 1 to reset the position counter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background
Display Format Standard Decimal Places 0
Coding RW, NC

When set, this parameter resets the Position (03.029) and Revolution Counter (03.128) to 0.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 47
Parameter 03.035 Position Scaling Numerator
Short description Defines the numerator used for scaling the pulse counter
Mode Open‑Loop
Minimum 0.000 Maximum 1.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background
Display Format Standard Decimal Places 3
Coding RW, BU

Position Scaling Numerator (03.035) and Position Scaling Denominator (03.036) are used to scale the pulse counter down to the required position units. The multiplying factor applied to the counter is
defined as:

Position Scaling Numerator (03.035) ÷ Position Scaling Denominator (03.036)

Parameter 03.036 Position Scaling Denominator

Short description Defines the denonminator used for scaling the pulse counter
Mode Open‑Loop
Minimum 0.000 Maximum 100.000
Default 1.000 Units
Type 32 Bit User Save Update Rate Background
Display Format Standard Decimal Places 3
Coding RW

See Position Scaling Numerator (03.035).

Parameter 03.037 Frequency Output or PWM Output Scaling

Short description Defines the scaling factor applied to the frequency or PWM output
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background
Display Format Standard Decimal Places 3
Coding RW, BU

Scale factor applied to the frequency or PWM output.

Parameter 03.038 Maximum Output Frequency

Short description Defines the maximum frequency required at the frequency output
Mode Open‑Loop
Minimum 0 Maximum 3
Default 2 Units kHz
Type 8 Bit User Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RW, TE, BU

Value Text Description

0 1 Fmax 1kHz
1 2 Fmax 2kHz
2 5 Fmax 5kHz
3 10 Fmax 10kHz

Defines the maximum frequency of the output for both frequency and PWM ouput modes as set by Digital I/O 01 mode (08.031). For frequency mode ( Digital I/O 01 mode (08.031) = 2 ) the choice of
maximum output frequency depends on the requirement of the output. Due to limitations in the hardware, higher output frequencies do not offer the best resolution at the top end of the frequency
range. The table below indicates the resolution at the programmed maximum frequency:

Fmax (kHz) Resolution at Fmax

1 14 bit
2 13 bit
5 12 bit
10 11 bit

Parameter 03.042 Frequency Input High Precision

Short description Increase the frequency input measuring window
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RW

This bit should be set to 1 if a higher accuracy is required than that defined in Maximum Reference Frequency (03.043). If Frequency Input High Precision (03.042) = 1 then the frequency input
measurement window is doubled. This doubles the accuracy of the frequency input measurment but increases the response time by two also.

If Frequency Input High Precision (03.042) = 0 then the frequency input measurement window is similar to Commander SK with better response time.

Parameter 03.043 Maximum Reference Frequency

Short description Defines the maximum frequency expected at the frequency input
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 10.00 Units kHz
Type 16 Bit User Save Update Rate Background
Display Format Standard Decimal Places 2
Coding RW

Defines the maximum frequency expected at the frequency input. The time the frequency is measured over is defined by

Measurement Time = 2048 / Maximum reference frequency

With a maximum measurement time of 0.341 seconds.

2048 is used to give the measurement more stability. The output is 10 bits.
Maximum reference frequency of less than 6kHz will have a lower resolution.

Unidrive M400 Parameter Reference Guide

48 Issue: 01.05.02.02
 Parameter 03.044 Frequency Reference Scaling
Short description Defines the scaling factor applied to the frequency reference
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background
Display Format Standard Decimal Places 3
Coding RW, BU

Scale factor applied to the frequency reference.

Parameter 03.045 Frequency Reference

Short description Displays the frequency reference
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 2
Coding RO, FI, ND, NC, PT

Indicates the reference input:

Digital input 6/7 mode (08.036) = 1 this is the reference from the frequency input.
Digital input 6/7 mode (08.036) = 2 this is the reference from the encoder AB input.

The reference has a 16ms filter.

Parameter 03.047 Two Point Minimum Frequency

Short description Defines the minimum frequency for scaling the frequency input
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default -100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

If Digital input 6/7 mode (08.036) = 1 then the frequency input is converted to percentage of Maximum Reference Frequency (03.043) and is then further limited by the following parameters to
generate the frequency input reference Frequency Reference (03.045).

If Digital input 6/7 mode (08.036) = 2 then Frequency feedback (03.127) is converted to percentage of Maximum Frequency Feedback (03.143) and is then further limited by the following parameters
to generate the frequency input reference Frequency Reference (03.045).

Two Point Minimum Frequency (03.047)

Drive Reference at Minimum Frequency (03.048)
Two Point Maximum Frequency (03.049)
Drive Reference at Maximum Frequency (03.050)

Parameter 03.048 Drive Reference at Minimum Frequency

Short description Defines the drive reference for scaling the frequency input at minimum frequency
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default -100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Two Point Minimum Frequency (03.047).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 49
Parameter 03.049 Two Point Maximum Frequency
Short description Defines the maximum frequency for scaling the frequency input
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Two Point Minimum Frequency (03.047).

Parameter 03.050 Drive Reference at Maximum Frequency

Short description Defines the drive reference for scaling the frequency input at maximum frequency
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Two Point Minimum Frequency (03.047).

Parameter 03.072 Motor speed percent

Short description Displays the final demand reference as a percentage of the reference clamp
Mode Open‑Loop
Minimum -150.0 Maximum 150.0
Default Units %
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 1
Coding RO, FI, ND, NC, PT

Motor speed percent (03.072) displays the Final Demand Reference (03.001) as a percentage of the reference clamp for the motor direction running. For forward direction the clamp used is either
Maximum Speed (01.006) or M2 Maximum Speed (21.001). For reverse direction the clamp used is the modulas of either Maximum Speed (01.006) or M2 Maximum Speed
(21.001) if Negative Reference Clamp Enable (01.008) = 0, or the modulas of either Minimum Speed (01.007) or M2 Minimum Speed (21.002) if Negative Reference Clamp Enable (01.008) = 1.

Motor speed percent (03.072) = | Final Demand Reference (03.001) | x 100 / Reference Clamp used

Parameter 03.127 Frequency feedback

Short description Frequency feedback from encoder
Mode Open‑Loop
Minimum 0.00 Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT

This product regulates the required motor frequency and so this parameter provides a feedback value in terms of motor frequency when an encoder is being used as speed
feedback.Frequency feedback (03.127) shows the motor frequency derived from the encoder feedback if Digital input 6/7 mode (08.036) = 2. The value shown is measured over a 16ms sliding
window period and will depend on Rotary Lines Per Revolution (03.134) and the number of Pole Pairs of the machine (either Number Of Motor Poles (05.011) or M2 Number of Motor Poles (21.011)).

Parameter 03.128 Revolution Counter

Short description Displays the revolution counter when in encoder mode
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units Revs
Type 16 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RO, FI, ND, NC, PT, BU

If Digital input 6/7 mode (08.036) is 2 (Encoder mode) this parameter counts the number of encoder revolutions up to 65535.

Counter is reset to 0 if Position Counter Reset (03.032) is 1.

Parameter 03.134 Rotary Lines Per Revolution

Short description Defines the number of rotary lines per revolution for the encoder connected
Mode Open‑Loop
Minimum 0 Maximum 3
Default 1 Units
Type 8 Bit User Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 512
1 1024
2 2048
3 4096

Rotary Lines Per Revolution (03.134) should be set to the number of lines per revolution for the encoder connected to the Di6 and Di7 inputs.

Parameter 03.142 Encoder feedback filter

Defines the time period for a sliding window filter that may be applied to the feedback taken from the
Short description
drive encoder feedback interface
Mode Open‑Loop
Minimum 1 Maximum 31
Default 3 Units ms
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Encoder feedback filter (03.142) defines the time period for a sliding window filter that may be applied to the feedback taken from the drive encoder feedback interface. This is a multiple of 16ms
window. The encoder is sampled every 16ms and therefore if Encoder feedback filter (03.142) = 1 the filter is disabled.

Unidrive M400 Parameter Reference Guide

50 Issue: 01.05.02.02
 Parameter 03.143 Maximum Frequency Feedback
Short description Defines the maximum frequency expected at the frequency encoder feedback
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default See exceptions below Units Hz
Type 32 Bit User Save Update Rate Background
Display Format Standard Decimal Places 2
Coding RW, VM

Region Default Value

50Hz 50.00
60Hz 60.00

Defines the maximum frequency feedback expected in Frequency feedback (03.127)

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 51
Menu 4 Single Line Descriptions − Torque and Current control
Mode: Open‑Loop

Parameter Range Default Type

04.001 Current Magnitude ±VM_DRIVE_CURRENT A RO Num ND NC PT FI
04.002 Torque Producing Current ±VM_DRIVE_CURRENT A RO Num ND NC PT FI
04.003 Final Torque Reference ±VM_TORQUE_CURRENT % RO Num ND NC PT FI
04.004 Final Current Reference ±VM_TORQUE_CURRENT % RO Num ND NC PT FI
04.005 Motoring Current Limit ±VM_MOTOR1_CURRENT_LIMIT % 165.0 % RW Num RA US
04.006 Regenerating Current Limit ±VM_MOTOR1_CURRENT_LIMIT % 165.0 % RW Num RA US
04.007 Symmetrical Current Limit ±VM_MOTOR1_CURRENT_LIMIT % 165.0 % RW Num RA US
04.008 Torque Reference ±VM_USER_CURRENT % 0.0 % RW Num US
04.011 Torque Mode Selector 0 to 1 0 RW Num US
04.013 Current Controller Kp Gain 0.00 to 4000.00 20.00 RW Num US
04.014 Current Controller Ki Gain 0.000 to 600.000 40.000 RW Num US
04.015 Motor Thermal Time Constant 1 1 to 3000 s 179 s RW Num US
04.016 Thermal Protection Mode 00 to 11 00 RW Bin US
04.017 Magnetising Current ±VM_DRIVE_CURRENT A RO Num ND NC PT FI
04.018 Final Current Limit ±VM_TORQUE_CURRENT % RO Num ND NC PT
04.019 Motor Protection Accumulator 0.0 to 100.0 % RO Num ND NC PT PS
04.020 Percentage Load ±VM_USER_CURRENT % RO Num ND NC PT FI
04.024 User Current Maximum Scaling ±VM_TORQUE_CURRENT_UNIPOLAR % 165.0 % RW Num RA US
04.025 Low Frequency Thermal Protection Mode 0 to 1 0 RW Num US
04.026 Percentage Torque ±VM_USER_CURRENT % RO Num ND NC PT FI
04.036 Motor Protection Accumulator Power‑up Value Power down (0), Zero (1), Real time (2) Power down (0) RW Txt US
04.041 User Over Current Trip Level 0 to 100 % 100 % RW Num RA US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

52 Issue: 01.05.02.02
Menu 4 − Torque and Current control
Mode: Open‑Loop

Common Features

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 53
Open loop current control

In open loop mode it is possible to control the motor frequency or the motor torque. When the frequency of the motor is controlled
(Torque Mode Selector (04.011) = 0) the Post Ramp Reference (02.001) is defined by the ramp system unless the current limits are active. The
Post Ramp Reference (02.001) can directly define the output frequency of the drive or this can be modified to compensate for motor slip. If the current
limits are active (Current Limit Active (10.009) = 1) the ramp system remains active, but the output of the current controller is added to the ramp output
so that the frequency applied to the motor is modified to try and reduce the torque producing current in the motor. For example, if the
Post Ramp Reference (02.001) is positive (i.e. motor is running forwards) and the motor is overloaded with a motoring load a positive
Torque Producing Current (04.002) is generated that will exceed the Final Current Limit (04.018). This gives a negative error which attempts to reduce
the ramp output causing the motor to slow down.

When motor torque is being controlled (Torque Mode Selector (04.011) = 1) The Final Torque Reference (04.003) is converted to a current reference
(flux compensation) and the current limits are applied giving the Final Current Reference (04.004). This is used as the reference input to the PI
controller that regulates the torque producing current in the motor. The output of the PI controller is the Post Ramp Reference (02.001), and so the
torque is controlled by increasing or decreasing the motor frequency. This system gives only moderate dynamic performance. For better torque control
in a system without position feedback, closed loop current control should be used.

It is possible to disable the flux compensation by setting Flux Control Compensation Disable (05.028) to 1.

Current Controller Kp Gain (04.013) and Current Controller Ki Gain (04.014) are the proportional and integral gains of the current controller. As already
mentioned the current controller either provides current limits or closed-loop torque control by modifying the Post Ramp Reference (02.001). The control
loop is also used in its torque mode during supply loss, or when the standard ramp control mode is active and the drive is decelerating, to regulate the
flow of current into the drive. Although the default settings have been chosen to give suitable gains for less demanding applications it may be necessary

Unidrive M400 Parameter Reference Guide

54 Issue: 01.05.02.02
for the user to adjust the performance of the controller. The following is a guide to setting the gains for different applications.

Current limit operation

The current limits will normally operate with an integral term only, particularly below the point where field weakening begins. The proportional term is
inherent in the loop. The integral term must be increased enough to counter the effect of the ramp which is still active even in current limit. For example,
if the drive is operating at constant frequency and is overloaded the current limit system will try to reduce the output frequency to reduce the load. At the
same time the ramp will try to increase the frequency back up to the demand level. If the integral gain is increased too far the first signs of instability will
occur when operating around the point where field weakening begins. These oscillations can be reduced by increasing the proportional gain. A system
has been included to prevent regulation because of the opposite actions of the ramps and the current limit. This can reduce the actual level that the
current limit becomes active by up to 12.5%. This still allows the current to increase up to the current limit set by the user.

However the current limit flag (Current Limit Active (10.009)) could become active up to 12.5% below the current limit depending on the ramp rate being
used.

Torque control
Again the controller will normally operate with an integral term only, particularly below the point where field weakening begins. The first signs of
instability will appear around rated frequency, and can be reduced by increasing the proportional gain. The controller can be less stable in torque control
mode compared to when it is used for current limiting. This is because load helps to stabilise the controller, and under torque control the drive may
operate with light load. Under current limit the drive is often under heavy load unless the current limits are set at a low level.

Supply loss and standard ramp

The d.c. link voltage controller becomes active if supply loss detection is enabled and the drive supply is lost or standard ramp is being used
(Ramp Mode Select (02.004) > 0) and the motor is regenerating. The d.c. link controller attempts to hold the d.c. link voltage at a fixed level by
controlling the flow of current from the drive inverter into its d.c. link capacitors. The system is forced into current control mode and the output of the d.c.
voltage controller is fed into the current controller as shown below.

Although it is not usually necessary, the d.c. link voltage controller gain can be adjusted with the Voltage Controller Gain (05.031). However, it may be
necessary to adjust the current controller gains to obtain the required performance. If the gains are not suitable it is best to set up the drive in torque
control first. Set the gains to a value that does not cause instability around the point at which field weakening occurs. Then revert back to open loop
frequency control in standard ramp mode. To test the controller the supply should be removed whilst the motor is running. It is likely that the gains can
be increased further if required because the d.c. link voltage controller has a stabilising effect, provided that the drive is not required to operate in torque
control mode.

Parameter 04.001 Current Magnitude

Short description Shows the instantaneous drive output current
Mode Open‑Loop
Minimum −VM_DRIVE_CURRENT Maximum VM_DRIVE_CURRENT
Default Units A
Type 32 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 2
Coding RO, FI, VM, ND, NC, PT

Current Magnitude (04.001) is the instantaneous drive output current scaled so that it represents the r.m.s. phase current in Amps under steady state
conditions.

Parameter 04.002 Torque Producing Current

Short description Shows the instantaneous level of torque producing current
Mode Open‑Loop
Minimum −VM_DRIVE_CURRENT Maximum VM_DRIVE_CURRENT
Default Units A
Type 32 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 2
Coding RO, FI, VM, ND, NC, PT

Torque Producing Current (04.002) is the instantaneous level of torque producing current scaled so that it represents the r.m.s. level of torque
producing current under steady state conditions. Torque Producing Current (04.002) is proportional to the torque produced by the motor provided field
weakening is not active. For field weakening operation the Torque Producing Current (04.002) is boosted for a given level of torque to compensate for
the reduction in the motor flux. The sign of Torque Producing Current (04.002) is defined in the table below.

The Rated Torque Producing Current for the motor is given by:

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 55
ITrated = motor rated power factor (05.010) x motor rated current (05.007).

Sign of Torque Producing Current (04.002) Sign of frequency Direction of motor torque
+ + Accelerating
- + Decelerating
+ - Decelerating
- - Accelerating

Parameter 04.003 Final Torque Reference

Short description Shows the final torque reference
Mode Open‑Loop
Minimum −VM_TORQUE_CURRENT Maximum VM_TORQUE_CURRENT
Default Units %
Type 16 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 1
Coding RO, FI, VM, ND, NC, PT

The Final Torque Reference (04.003) will display the same as Torque Reference (04.008) as a percentage of motor rated torque.

Parameter 04.004 Final Current Reference

Short description Shows the final current reference after the current limits
Mode Open‑Loop
Minimum −VM_TORQUE_CURRENT Maximum VM_TORQUE_CURRENT
Default Units %
Type 16 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 1
Coding RO, FI, VM, ND, NC, PT

The Final Torque Reference (04.003) is converted into the Final Current Reference (04.004) by applying a torque to current conversion and by applying
the Final Current Limit (04.018). The torque to current conversion is applied as follows:

|Output Frequency (05.001)| ≤ Motor Rated Frequency (05.006)

Current reference = Final Torque Reference (04.003)

|Output Frequency (05.001)| > Motor Rated Frequency (05.006)

Current reference = Final Torque Reference (04.003) x | Output Frequency (05.001) | / Motor Rated Frequency (05.006)

It is possible to disable the flux compensation by setting Flux Control Compensation Disable (05.028) to 1.

Parameter 04.005 Motoring Current Limit

Short description Defines the current limit used when the motor is being accelerated away from standstill
Mode Open‑Loop
Minimum −VM_MOTOR1_CURRENT_LIMIT Maximum VM_MOTOR1_CURRENT_LIMIT
Default 165.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM, RA

The Motoring Current Limit (04.005) limits the current when the motor is being accelerated away from standstill. The Regenerating Current Limit
(04.006) limits the current when the motor is being decelerated towards standstill. If the Symmetrical Current Limit (04.007) is below the
Motoring Current Limit (04.005) then it is used instead of the Motoring Current Limit (04.005). If the Symmetrical Current Limit (04.007) is below the
Regenerating Current Limit (04.006) then it is used instead of the Regenerating Current Limit (04.006).

The maximum possible current limit (VM_MOTOR1_CURRENT_LIMIT [MAX]) varies between drive sizes with default parameters loaded. For some
drive sizes the default value may be reduced below the value given by the parameter range limiting.

Parameter 04.006 Regenerating Current Limit

Short description Defines the current limit used when the motor is being decelerated towards standstill
Mode Open‑Loop
Minimum −VM_MOTOR1_CURRENT_LIMIT Maximum VM_MOTOR1_CURRENT_LIMIT
Default 165.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM, RA

See Motoring Current Limit (04.005).

Unidrive M400 Parameter Reference Guide

56 Issue: 01.05.02.02
 Parameter 04.007 Symmetrical Current Limit
Short description Defines the symmetrical current limit
Mode Open‑Loop
Minimum −VM_MOTOR1_CURRENT_LIMIT Maximum VM_MOTOR1_CURRENT_LIMIT
Default 165.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM, RA

See Motoring Current Limit (04.005).

Parameter 04.008 Torque Reference

Short description Defines the torque reference
Mode Open‑Loop
Minimum −VM_USER_CURRENT Maximum VM_USER_CURRENT
Default 0.0 Units %
Type 32 Bit User Save Update Rate 1ms
Display Format Standard Decimal Places 1
Coding RW, VM

See Final Torque Reference (04.003).

Parameter 04.011 Torque Mode Selector

Short description Defines the torque mode used by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW

If Torque Mode Selector (04.011) = 0 the ramp system defines the Post Ramp Reference (02.001) unless the current limits are active, and so the motor
is frequency controlled. If Torque Mode Selector (04.011) = 1 the torque controller defines the Post Ramp Reference (02.001), and so the motor is
torque controlled.

Parameter 04.013 Current Controller Kp Gain

Short description Defines the current loop controller proportional gain
Mode Open‑Loop
Minimum 0.00 Maximum 4000.00
Default 20.00 Units
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

Current Controller Kp Gain (04.013) and Current Controller Ki Gain (04.014) are the proportional and integral gains of the current controller.

Refer to Torque and Current control .

Parameter 04.014 Current Controller Ki Gain

Short description Defines the current loop controller integral gain
Mode Open‑Loop
Minimum 0.000 Maximum 600.000
Default 40.000 Units
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

See Current Controller Kp Gain (04.013).

Parameter 04.015 Motor Thermal Time Constant 1

Short description Set to the thermal time constant for the motor
Mode Open‑Loop
Minimum 1 Maximum 3000
Default 179 Units s
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

A single time constant thermal model is provided that can be used to estimate the motor temperature as a percentage of its maximum allowed
temperature. The input to the model is the Current Magnitude (04.001). Throughout the following discussion Motor Rated Current (05.007) is used in the

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 57
model assuming Select Motor 2 Parameters (11.045) = 0. If Select Motor 2 Parameters (11.045) = 1 then M2 Motor Rated Current (21.007)
and M2 Motor Thermal Time Constant 1 (21.016) are used instead.

Percentage Losses
The losses in the motor are calculated as a percentage value, so that under these conditions the Motor Protection Accumulator (04.019) would
eventually reach 100%.

Percentage Losses = 100% x [Load Related Losses]

where

Load Related Losses = (I / (K1 x IRated))2

where
I = Current Magnitude (04.001)
IRated = Motor Rated Current (05.007)

The value of K1 defines the continuous allowable motor overload as a proportion of the Motor Rated Current (05.007) before the
Motor Protection Accumulator (04.019) reaches 100%. The value of K1 can be used to model reduced cooling at low frequencies and to allow the motor
to operate under rated conditions with a small margin to prevent spurious trips. K1 is defined in more detail later.

Motor Protection Accumulator

So far the steady state motor losses have been defined, but the motor model must estimate the temperature within the motor under dynamically
changing conditions, and so the Motor Protection Accumulator (04.019) is given by the following equation.

T = Percentage Losses x (1 - e-t/τ1)]

where
T = Motor Protection Accumulator (04.019)
τ1 = Motor Thermal Time Constant 1 (04.015)

Reduced cooling with lower frequency

If Low Frequency Thermal Protection Mode (04.025) = 0 the characteristic is intended for a motor which can operate at rated current over the whole
frequency range. Induction motors with this type of characteristic normally have forced cooling. If Low Frequency Thermal Protection Mode (04.025) = 1
the characteristic is intended for motors where the cooling effect of motor fan reduces with reduced motor frequency below half of rated frequency. The
maximum value for K1 is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105% of rated current.

If Motor Rated Current (05.007) > Maximum Heavy Duty Rating (11.032) then K1 is defined as shown below. Two different characteristics are provided,
but in both cases the motor performance is limited at lower frequencies and the permissible overload is reduced from 105% to 101%.

Unidrive M400 Parameter Reference Guide

58 Issue: 01.05.02.02
Time for Motor Protection Accumulator to reach 100%
The time for the Motor Protection Accumulator (04.019) to change from its initial value to 100% is given by the following equation:

Time to reach 100.0% = -τ1 x ln[(1 - C1) / (C0 - C1)]

C0 represents the conditions that have persisted for long enough for the Motor Protection Accumulator (04.019) to reach a steady state value. If the
motor current is I0 then

C0 = [(I0 / (K1 x IRated)]2

C1 represents the conditions that begin at the start of the time being calculated. If the motor current is I1 then

C1 = [(I1 / (K1 x IRated)]2

Example 1: Motor Thermal Time Constant 1 (04.015) = 179s, the initial current is zero, Motor Rated Current (05.007) ≤ Maximum Heavy Duty Rating
(11.032) and the new level of current is 1.5 x Motor Rated Current (05.007).

C0 = 0
C1 = [1.5 / (1.05 x 1.0)]2 = 2.041

Time to reach 100.0% = -179 x ln(1 - 1/C1) = -179 x ln(1 - (1 / 2.041)) = 120s

This is the default setting for Open loop and Closed Loop modes allowing an induction motor to run at 150% rated current for 120s from cold.

Motor Protection Accumulator Reset

The initial value in the Motor Protection Accumulator (04.019) at power-up is defined by Motor Protection Accumulator Power-up Value (04.036) as
given in the table below.

Motor Protection Accumulator Power-

Motor Protection Accumulator (04.019) at power-up
up Value (04.036)
The value is saved at power-down and is used as the initial value at
Power Down
power-up
Zero The value is set to zero

If a real-time clock is present and if Date/Time Selector (06.019) is set

up to select the real-time clock then the value saved at power-down is
modified to include the effect of the motor thermal protection time
Real Time constants over the time between power-down and power-up. This
modified value is then used as the initial value at power-up.

If no real time clock is present and this option is selected then the
value saved at power-down is used as the initial value.

The Motor Protection Accumulator (04.019) is reset under the following conditions:

1. Select Motor 2 Parameters (11.045) is modified and Motor Rated Current (05.007) and M2 Motor Rated Current (21.007) are different.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 59
 2. Motor Rated Current (05.007) is modified when Select Motor 2 Parameters (11.045) = 0, or M2 Motor Rated Current (21.007) is modified when
Select Motor 2 Parameters (11.045) = 1.

Motor Protection Accumulator Warning

If Percentage Losses > 100% then eventually the Motor Protection Accumulator (04.019) will reach 100% causing the drive to trip or the current limits to
be reduced. If this is the case and Motor Protection Accumulator (04.019) > 75.00% then a Motor Overload alarm indication is given and
Motor Overload Alarm (10.017) is set to one.

Parameter 04.016 Thermal Protection Mode

Short description Set to the require thermal protection mode
Mode Open‑Loop
0 3
Minimum Maximum
(Display: 00) (Display: 11)
0
Default Units
(Display: 00)
Type 8 Bit User Save Update Rate Background read
Display Format Binary Decimal Places 0
Coding RW

Thermal Protection Mode (04.016) defines the action taken by the drive when Motor Protection Accumulator (04.019) reaches 100% and/or the drive
thermal monitoring parameters approach their trip levels. The bits in Thermal Thermal Protection Mode (04.016) are defined as follows:

Bit Function
0 = Motor Too Hot trip is initiated when Motor Protection Accumulator (04.019) reaches 100%
0
1 = Motor Too Hot trip is disabled and current limiting on motor overload is active as described below
0 = Drive thermal monitoring current limiting is disabled
1
1 = Drive thermal monitoring current limiting is described is active

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a decimal value rather than
a binary value.

The required current limit is derived from the current limit parameters (Motoring Current Limit (04.005) to Symmetrical Current Limit (04.007) or 21.027
to 21.029) depending on the set-up and conditions. The current limit can be further limited by current limit on motor overload and/or drive temperature
monitoring as shown below to give the Final Current Limit (04.018).

Current limiting on motor overload

When the Motor Protection Accumulator (04.019) reaches 100.0% the current limit is limited to (K - 0.05) x 100.0%. This limitation is removed when the
Motor Protection Accumulator (04.019) falls below 95.0%.

Drive thermal monitoring current limiting

If any of the drive temperature monitoring parameters (Stack Temperature (07.004) and Auxiliary Temperature (07.005)) are above their trip threshold
minus 10°C the one that is closest to its trip threshold is used to modify the current limits as follows:

Final Current Limit (04.018) = Current limit x (Trip threshold - T) / (Trip threshold - 10°C)

where T is the drive temperature monitoring parameter value.

If the Percentage Of Drive Thermal Trip Level (07.036) is above 90% then the final current limit is modified as follows:

Final Current Limit (04.018) = Current limit x (100% - Percentage Of Drive Thermal Trip Level (07.036)) / 10%

If both of the above attempt to reduce the final current limit the lowest calculated value of current limit is used. This system has the effect of reducing the
current limit to zero at the point where the drive should be tripped because its thermal monitoring has reached a trip threshold. This is intended to limit
the load on the drive to prevent it from tripping when supplying a load that increases with frequency and does not include rapid transients (i.e. a fan).

Unidrive M400 Parameter Reference Guide

60 Issue: 01.05.02.02
 Parameter 04.017 Magnetising Current
Short description Shows the instantaneous level of magnetising current
Mode Open‑Loop
Minimum −VM_DRIVE_CURRENT Maximum VM_DRIVE_CURRENT
Default Units A
Type 32 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 2
Coding RO, FI, VM, ND, NC, PT

Magnetising Current (04.017) is the instantaneous level of magnetising current scaled so that it represents the r.m.s. level of magnetising current under
steady state conditions.

Parameter 04.018 Final Current Limit

Short description Shows the final current limit that is applied to the torque producing current
Mode Open‑Loop
Minimum −VM_TORQUE_CURRENT Maximum VM_TORQUE_CURRENT
Default Units %
Type 16 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RO, VM, ND, NC, PT

Final Current Limit (04.018) is the current limit level that is applied to the torque producing current. See Thermal Protection Mode (04.016).

Parameter 04.019 Motor Protection Accumulator

Short description Shows the level of the motor protection accumulator
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default Units %
Type 16 Bit Power Down Save Update Rate Background write
Display Format Standard Decimal Places 1
Coding RO, ND, NC, PT

See Motor Thermal Time Constant 1 (04.015).

Parameter 04.020 Percentage Load

Shows the level of torque producing current as a percentage of rated torque producing current for the
Short description
motor
Mode Open‑Loop
Minimum −VM_USER_CURRENT Maximum VM_USER_CURRENT
Default Units %
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 1
Coding RO, FI, VM, ND, NC, PT

Percentage Load (04.020) gives the Torque Producing Current (04.002) as a percentage of the rated torque producing current for the motor. Positive
values indicate motoring and negative values represent regenerating.

Parameter 04.024 User Current Maximum Scaling

Short description Defines the maximum for the torque reference and percentage load parameters
Mode Open‑Loop
Minimum −VM_TORQUE_CURRENT_UNIPOLAR Maximum VM_TORQUE_CURRENT_UNIPOLAR
Default 165.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW, VM, RA

User Current Maximum Scaling (04.024) defines the variable maximum/minimums VM_USER_CURRENT which is applied to Percentage Load
(04.020). This is useful when routing these parameters to an analogue output as it allows the full scale output value to be defined by the user.

It also defines the maximum value of Torque Reference (04.008) such that when torque is is being set by an analog input the maximum value set here
will be requested when the analog input is at maximum.

The maximum value (VM_TORQUE_CURRENT_UNIPOLAR [MAX]) varies between drive sizes with default parameters loaded. For some drive sizes
the default value may be reduced below the value given by the parameter range limiting.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 61
Parameter 04.025 Low Frequency Thermal Protection Mode
Short description Set to enable low frequency thermal protection mode
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Motor Thermal Time Constant 1 (04.015).

Parameter 04.026 Percentage Torque

Short description Displays the torque producing current as a percentage or motor rated current
Mode Open‑Loop
Minimum −VM_USER_CURRENT Maximum VM_USER_CURRENT
Default Units %
Type 16 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 1
Coding RO, FI, VM, ND, NC, PT

Percentage Torque (04.026) gives the Torque Producing Current (04.002) as a percentage of the rated torque producing current for the motor, but with
an additional adjustment above rated frequency so that it gives percentage torque. Below rated frequency, Percentage Torque (04.026)
= Percentage Load (04.020). Above rated frequency, the Percentage Torque (04.026) is adjusted as follows:

Percentage Torque (04.026) = Percentage Load (04.020) x Motor Rated Frequency (05.006) / Output Frequency (05.001)

Parameter 04.036 Motor Protection Accumulator Power-up Value

Short description Defines the initial power-up value of the motor protection accumulator
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Power down
1 Zero
2 Real time

See Motor Thermal Time Constant 1 (04.015).

Parameter 04.041 User Over Current Trip Level

Short description Defines the trip level for the user over-current trip as a percentage of the drive over current trip level.
Mode Open‑Loop
Minimum 0 Maximum 100
Default 100 Units %
Type 8 Bit User Save Update Rate Background Read
Display Format Standard Decimal Places 0
Coding RW, RA

The User Over-Current Trip protection level in % of Full Scale Current Kc (11.061) which is the full scale current in r.m.s. Amps. The User Over-Current
Trip may be used to limit the output current of the drive when supplying a motor with a lower current rating than the drive. If the value
of User Over Current Trip Level (04.041) is set at 100%, the user over-current trip is disabled.

Unidrive M400 Parameter Reference Guide

62 Issue: 01.05.02.02
Menu 5 Single Line Descriptions − Motor Control
Mode: Open‑Loop

Parameter Range Default Type

05.001 Output Frequency ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT FI
05.002 Output Voltage ±VM_AC_VOLTAGE V RO Num ND NC PT FI
05.003 Output Power ±VM_POWER kW RO Num ND NC PT FI
05.004 Motor Rpm ±33000 rpm RO Num ND NC PT FI
05.005 D.c. Link Voltage ±VM_DC_VOLTAGE V RO Num ND NC PT FI
50Hz: 50.00 Hz
05.006 Motor Rated Frequency 0.00 to 550.00 Hz RW Num US
60Hz: 60.00 Hz
05.007 Motor Rated Current ±VM_RATED_CURRENT A 0.00 A RW Num RA US
50Hz: 1500.0 rpm
05.008 Motor Rated Speed 0.0 to 33000.0 rpm RW Num US
60Hz: 1800.0 rpm
110V drive: 230 V
200V drive: 230 V
400V drive 50Hz: 400 V
05.009 Motor Rated Voltage 0 to VM_AC_VOLTAGE_SET V RW Num RA US
400V drive 60Hz: 460 V
575V drive: 575 V
690V drive: 690 V
05.010 Motor Rated Power Factor 0.00 to 1.00 0.85 RW Num RA US
05.011 Number Of Motor Poles Automatic (0) to 32 (16) Poles Automatic (0) Poles RW Txt US
05.012 Auto‑tune 0 to 2 0 RW Num NC
05.013 Dynamic V To F Select 0 to 1 0 RW Num US
Ur S (0), Ur (1), Fixed (2), Ur Auto (3), Ur I (4),
05.014 Open‑loop Voltage Mode Ur I (4) RW Txt US
Square (5), Fixed Tapered (6)
05.015 Low Frequency Voltage Boost 0.0 to 25.0 % 3.0 % RW Num US
05.017 Stator Resistance 0.0000 to 99.9999 Ω 0.0000 Ω RW Num RA US
05.018 Maximum Switching Frequency 0 to VM_MAX_SWITCHING_FREQUENCY kHz 3 (3) kHz RW Txt RA US
05.019 High Stability Space Vector Modulation Off (0) or On (1) Off (0) RW Bit US
05.020 Over Modulation Enable Off (0) or On (1) Off (0) RW Bit US
05.024 Transient Inductance 0.000 to 500.000 mH 0.000 mH RW Num RA US
05.025 Stator Inductance 0.00 to 5000.00 mH 0.00 mH RW Num RA US
05.027 Slip Compensation Level ±150.0 % 100.0 % RW Num US
05.028 Flux Control Compensation Disable Off (0) or On (1) Off (0) RW Bit US
05.031 Voltage Controller Gain 1 to 30 1 RW Num US
05.032 Torque Per Amp 0.00 to 500.00 Nm/A RO Num ND NC PT
05.033 Slip Compensation Limit 0.00 to 10.00 Hz 10.00 Hz RW Num US
05.035 Auto‑switching Frequency Change Disable 0 to 1 0 RW Num US
05.036 Slip Compensation Filter 64 (0), 128 (1), 256 (2), 512 (3) ms 128 (1) ms RW Txt US
05.037 Switching Frequency 0 to VM_MAX_SWITCHING_FREQUENCY kHz RO Txt ND NC PT
05.038 Minimum Switching Frequency 0 to VM_MAX_SWITCHING_FREQUENCY kHz 0.667 (0) kHz RW Txt RA US
05.040 Spin Start Boost 0.0 to 10.0 1.0 RW Num US
05.042 Reverse Output Phase Sequence Off (0) or On (1) Off (0) RW Bit US
05.059 Maximum Deadtime Compensation 0.000 to 10.000 µs 0.000 µs RO Num NC PT US
05.060 Current At Maximum Deadtime Compensation 0.00 to 100.00 % 0.00 % RO Num NC PT US
05.061 Disable Deadtime Compensation Off (0) or On (1) Off (0) RW Bit US
05.074 Boost End Voltage 0.0 to 100.0 % 50.0 % RW Num US
05.075 Boost End Frequency 0.0 to 100.0 % 50.0 % RW Num US
05.076 Second Point Voltage 0.0 to 100.0 % 55.0 % RW Num US
05.077 Second Point Frequency 0.0 to 100.0 % 55.0 % RW Num US
05.078 Third point voltage 0.0 to 100.0 % 75.0 % RW Num US
05.079 Third point frequency 0.0 to 100.0 % 75.0 % RW Num US
05.080 Low acoustic noise enable Off (0) or On (1) Off (0) RW Bit US
05.081 Change to maximum drive switching frequency at low output current Off (0) or On (1) Off (0) RW Bit US
05.083 Voltage Shelving Disable Off (0) or On (1) Off (0) RW Bit US
05.084 Low Frequency Torque adjustment 0.0 to 100.0 % 0.0 % RW Num US
05.088 Ur Mode Pre‑Flux delay 0.0 to 0.7 s 0.1 s RW Num US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
Num Number parameter DE Destination ND No default value RA Rating dependent NC Non-copyable PT Protected
FI Filtered US User save PS Power-down save

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 63
Menu 5 − Motor Control
Mode: Open‑Loop

The drive controls asynchronous machines in open loop control with respect to frequency and current. The open loop asynchronous control is further broken
down into vector and fixed boost modes.

Parameter 05.001 Output Frequency

Short description Displays the output frequency of the drive
Mode Open‑Loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 2
Coding RO, FI, VM, ND, NC, PT

The Output Frequency (05.001) is the sum of Final Demand Reference (03.001) and the motor slip compensation frequency.

Unidrive M400 Parameter Reference Guide

64 Issue: 01.05.02.02
 Parameter 05.002 Output Voltage
Short description Displays the r.m.s. line to line voltage at the a.c. terminals of the drive
Mode Open‑Loop
Minimum −VM_AC_VOLTAGE Maximum VM_AC_VOLTAGE
Default Units V
Type 16 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RO, FI, VM, ND, NC, PT

The Output Voltage (05.002) is the r.m.s line to line voltage at the a.c. terminals of the drive.

Parameter 05.003 Output Power

Short description Displays the power flowing via the a.c. terminals of the drive
Mode Open‑Loop
Minimum −VM_POWER Maximum VM_POWER
Default Units kW
Type 32 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 2
Coding RO, FI, VM, ND, NC, PT

The Output Power (05.003) is the power flowing via the a.c. terminals of the drive. The power is derived as the dot product of the output voltage and current
vectors, and so this is correct even if the motor parameters are incorrect and the motor model does not align the reference frame with the flux axis of the
motor. A positive value of power indicates power flowing from the drive to the motor.

The maximum power is VM_POWER[MAX] = √3 x VM_AC_VOLTAGE[MAX] x Full Scale Current Kc (11.061) / 1000

Parameter 05.004 Motor Rpm

Short description Displays the Final Demand Reference in units of rpm
Mode Open‑Loop
Minimum -33000 Maximum 33000
Default Units rpm
Type 32 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, FI, ND, NC, PT

Motor Rpm (05.004) = 60 x Frequency / Pole pairs

where
Pole pairs = the numeric value of Number Of Motor Poles (i.e. 3 for a 6 pole motor)

The frequency used to derive the Motor Rpm (05.004) is the Final Demand Reference (03.001). The maximum and minimum values allow for a 10% over-
shoot of the speed.

Parameter 05.005 D.c. Link Voltage

Short description Displays the voltage across the d.c. link of the drive
Mode Open‑Loop
Minimum −VM_DC_VOLTAGE Maximum VM_DC_VOLTAGE
Default Units V
Type 16 Bit Volatile Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RO, FI, VM, ND, NC, PT

D.c. Link Voltage (05.005) gives the voltage across the d.c. link of the drive.

Parameter 05.006 Motor Rated Frequency

Short description Set to the rated frequency of the motor
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default See exceptions below Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

Region Default Value

50Hz 50.00
60Hz 60.00

Motor Rated Frequency (05.006) and Motor Rated Voltage (05.009) define the frequency to voltage characteristic applied to the motor. See Open-
loop Voltage Mode (05.014) for more details. Motor Rated Frequency (05.006), Motor Rated Speed (05.008) and Number Of Motor Poles (05.011) are used to
calculate the rated slip of the motor for slip compensation.

Rated slip (Hz) = Motor Rated Frequency (05.006) - (Pole pairs x Motor Rated Speed (05.008) / 60)

where
Pole pairs = the numeric value of Number Of Motor Poles (05.011) (i.e. 3 for a 6 pole motor)

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 65
If slip compensation is required Motor Rated Speed (05.008) should be set to the motor nameplate value, which should give the correct compensation for a
hot motor providing the nameplate value is correct. Slip compensation can be used throughout the speed range of the motor, i.e. below base speed and in the
flux weakening region, to correct the motor speed to minimise the change of speed with load. Slip Compensation Level (05.027) is provided for the user to be
able to set the amount of compensation applied. At its default value of 100.0% Rated slip is applied and reducing it below 100.0% will reduce the amount of
slip compensation, which may be required if some instability is experienced. Setting Slip Compensation Level (05.027) negative causes the motor frequency to
reduce as load is applied introducing speed droop, which can be used to aid load sharing with mechanically coupled motors.

Slip Compensation = Rated Slip x Torque Producing Current (04.002) / ITrated x Slip Compensation Level (05.027) / 100

where ITrated = Torque Rated Current (see Torque Producing Current (04.002) )

The amount of slip compensation applied can be limited by Slip Compensation Limit (05.033)

In Ur modes of operation the amount of slip can be increased at low output frequecies to boost torque capability at these frequencies. Also when Open-
loop Voltage Mode (05.014) is set to mode 6 (Fixed Tapered) the slip can be tapered to 0 at very low frequencies to prevent creep at standstill,see
Low Frequency Estimator Threshold, Low Frequency Torque adjustment (05.084) .

Slip compensation is disabled under the following conditions:

1. Motor Rated Speed (05.008) = 0

2. Motor Rated Speed (05.008) = Motor Rated Frequency (05.006) x 60 / Pole pairs, i.e. synchronous speed.
3. Slip Compensation Level (05.027) = 0.0%
4. Slip Compensation Limit (05.033) = 0.00Hz

It should be noted that Motor Rated Speed (05.008) is used to calculate the rotor time constant of the motor which is then used to determine the flux build-up
time at the start of the catch a spinning motor algorithm. If spinning start is required (i.e. Catch A Spinning Motor (06.009) ≥ 1) then Motor Rated Speed
(05.008) should be set up correctly for the motor. If slip compensation is not required, it can be disabled by setting Slip Compensation Level (05.027) to 0.0%.

Parameter 05.007 Motor Rated Current

Short description Set to the rated current rated of the motor
Mode Open‑Loop
Minimum 0.00 Maximum VM_RATED_CURRENT
Default 0.00 Units A
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM, RA

Motor Rated Current is used as follows:

1. To define the rated operating conditions for motor thermal protection. See Thermal Protection Mode (04.016).
2. To define the range of the current limits.
3. In the motor control algorithm for Open-loop and Closed Loop asynchronous modes.

Parameter 05.008 Motor Rated Speed

Short description Set to the rated speed of the motor
Mode Open‑Loop
Minimum 0.0 Maximum 33000.0
Default See exceptions below Units rpm
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

Region Default Value

50Hz 1500.0
60Hz 1800.0

See Motor Rated Frequency (05.006).

Parameter 05.009 Motor Rated Voltage

Short description Set to the rated voltage of the motor
Mode Open‑Loop
Minimum 0 Maximum VM_AC_VOLTAGE_SET
Default See exceptions below Units V
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, VM, RA

Voltage Region Default Value

110V All 230
200V All 230
400V 50Hz 400
400V 60Hz 460
575V All 575
690V All 690

Unidrive M400 Parameter Reference Guide

66 Issue: 01.05.02.02
Motor Rated Frequency (05.006) and Motor Rated Voltage (05.009) define the frequency to voltage characteristic applied to the motor. See Open-
loop Voltage Mode (05.014) for more details.

Parameter 05.010 Motor Rated Power Factor

Set to the rated power factor of the motor. This value can be measured by the drive during a rotating
Short description
autotune
Mode Open‑Loop
Minimum 0.00 Maximum 1.00
Default 0.85 Units
Type 16 Bit User Save Update Rate Background read/write
Display Format Standard Decimal Places 2
Coding RW, RA

Motor Rated Power Factor (05.010) is the true power factor of the motor under rated conditions, i.e. the cosine of the angle between the motor voltage and
current. If Stator Inductance (05.025) is set to a non-zero value then the stator inductance is used to calculate the rated magnetising current for the motor and
the rated power factor can be calculated by the drive. Therefore if Stator Inductance (05.025) is non-zero Motor Rated Power Factor (05.010) is continuously
set to the calculated value of rated power factor by the drive. If Stator Inductance (05.025) is set to zero then Motor Rated Power Factor (05.010) is used to
estimate the rated magnetising current which is an approximation and not as accurate. Stator Inductance (05.025) can be measured by the drive during auto-
tuning and this is the preferred option, however, if it is not possible to obtain the value for Stator Inductance (05.025) then Motor Rated Power Factor (05.010)
should be set to the motor nameplate value.

Parameter 05.011 Number Of Motor Poles

Short description Set to the number of poles of the motor
Mode Open‑Loop
Minimum 0 Maximum 16
Default 0 Units PolePairs
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, BU

If Number Of Motor Poles (05.011) = 0 the number of motor poles are calculated automatically as given below.

Pole pairs = 60 x Motor Rated Frequency (05.006) / Motor Rated Speed (05.008) rounded down to the nearest integer.

If Number Of Motor Poles (05.011) > 0 the value is taken as the number of pole pairs.

When viewed with a keypad, the value of 0 is displayed as Automatic and any non 0 value is displayed is the twice the parameter value representing number
of motor poles rather than pole pairs.

Parameter 05.012 Auto-tune

Short description Defines the auto-tune test to be performed
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, NC

The following describes how an auto-tune test can be initiated and normal operation can be resumed after the test:

1. An auto-tune test cannot be initiated if the drive is tripped or the drive inverter is active, i.e. Drive Healthy (10.001) = 0 or Drive Active (10.002) = 1.
The inverter can be made inactive by ensuring that the Final drive enable is inactive (see Menu 06), or the Final drive run (see Menu 06) is inactive
and Hold Zero Frequency (06.008) = 0.
2. An auto-tune test is initiated by setting Auto-tune (05.012) to a non-zero value and making the Final drive enable and the Final drive run active.
3. All tests that move the motor will move the motor in the forward direction if Reverse Select (01.012) = 0 or the reverse direction if Reverse Select
(01.012) = 1.
4. If the auto-tune sequence is completed successfully the Final drive enable is set to the inactive state and Auto-tune (05.012) is set to zero. The Final
drive enable can only be set to the active state again by removing the enable and reapplying it. The enable can be removed by setting Drive Enable
(06.015) = 0, or by setting bit 0 of the Control Word (06.042) to 0 provided Control Word Enable (06.043) = 1, or by making Hardware Enable = 0.
5. If a trip occurs during the auto-tune sequence the drive will go into the trip state and Auto-tune (05.012) is set to zero. As in 4. above, the enable must
be removed and re-applied before the drive can be restarted after the trip has been reset. However, care should be taken because if the auto-tune
was not completed the drive parameters that should have been measured and set up will still have their original values.

The following describes the effects of the auto-tune test on the drive :

1. All auto-tune tests rely on the motor being stationary when the test is initiated to give accurate results.
2. If Select Motor 2 Parameters (11.045) = 0 then the parameters associated with motor map 1 are updated as a result of the test, and if
Select Motor 2 Parameters (11.045) = 1 the parameters associated with motor map 2 are updated.
3. Only when the whole test is completed, are the results written to the appropriate parameters and these parameters saved in the drive non-volatile
memory. If Parameter Cloning (11.042) is set to 3 or 4 the parameters are also written to a non-volatile media card fitted on the drive.

The table below shows the parameters required for motor control indicating which should be set by the user and which can be measured with an auto-tune
test.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 67
Parameter Required for Measured in test
Motor Rated Frequency (05.006) Basic control
Motor Rated Current (05.007) Basic control
Slip compensation
Motor Rated Speed (05.008)
Catch a spinning motor
Motor Rated Voltage (05.009) Basic control
Motor Rated Power Factor (05.010) Basic control 2
Number Of Motor Poles (05.011) Basic control
Ur, Ur I, Ur S and Ur Auto modes
Stator Resistance (05.017) 1, 2
Catch a spinning motor
Transient Inductance (05.024) Improved performance 1, 2
Stator Inductance (05.025) Improved performance 2
Maximum Deadtime Compensation (05.059) Basic control 1, 2

Current At Maximum Deadtime Compensation (05.060) Basic control 1, 2

Auto-tune test 1: Basic control parameters

This test measures the basic control parameters without moving the motor.

1. A stationary test is performed to measure Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation
(05.059) and Current At Maximum Deadtime Compensation (05.060).

Auto-tune test 2: Basic control and improved performance parameters

This test measures the parameters for improved performance by rotating the motor.

1. Auto-tune test 1 is performed.

2. A rotating test is performed in which the motor is accelerated with the currently selected ramps up to a frequency of Motor Rated Frequency (05.006)
x 2/3, and the frequency is maintained at that level for 4 seconds. Stator Inductance (05.025) is measured and this value is used in conjunction with
other motor parameters to calculate Motor Rated Power Factor (05.010). The motor should be unloaded for this test.

The table below shows the trips that can occur during an auto-tune test:

Trip can occure in

Trip Reason
test
The final drive enable or the final drive run were removed before the test
Autotune Stopped All
was completed.
The measured value of Stator Resistance (05.017) exceeded the range of
Resistance All
the parameter.

Parameter 05.013 Dynamic V To F Select

Short description Set to 1 to enable Dynamic V to F mode
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Dynamic V to F mode is intended for applications where power loss should be kept to a minimum under low load conditions, but dynamic performance is not
important. The reduction in power loss under low load conditions is achieved by increasing the rated frequency used to derive the frequency to voltage
characteristic of the drive with reduced load. If Flux Optimisation Select, Dynamic V To F Select (05.013) = 0 then Motor Rated Frequency (05.006) is used
directly to define the output voltage characteristic. If Flux Optimisation Select, Dynamic V To F Select (05.013) = 1 then a modified value of motor rated
frequency is used:

Motor rated frequency = Motor Rated Frequency (05.006) x [2 - |Percentage Load (04.020)| / 70.0%]

For loads > 70% Motor Rated Frequency (05.006) is used directly.

Parameter 05.014 Open-loop Voltage Mode

Short description Defines the mode used to set the output voltage
Mode Open‑Loop
Minimum 0 Maximum 6
Default 4 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Unidrive M400 Parameter Reference Guide

68 Issue: 01.05.02.02
 Value Text Description
0 Ur S Stator resistance and voltage offset measured at each start
1 Ur No measurements
2 Fixed Fixed boost mode.
Stator resistance and voltage offset measured at first drive
3 Ur Auto
enable
4 Ur I Stator resistance and voltage offset measured at each power-up
5 Square Square law characteristic
6 Fixed Tapered Fixed boost with zero slip at zero reference

The Open-loop Voltage Mode (05.014) defines the voltage output mode, as given below. It should be noted that the maximum output voltage of the drive is
limited to a level just below D.c. Link Voltage (05.005) / √2. Therefore, if the drive is being supplied via its own rectifier input stage the output voltage is limited
to a level just below that of the supply voltage. If the drive is operating in voltage mode the output voltage is limited to Motor Rated Voltage (05.009) or the
maximum possible output voltage whichever is the lowest (also refer to Over Modulation Enable (05.020)).

0: Ur S (Resistance compensation, stator resistance measured at each start)

Resistance compensation is a form of stator flux oriented sensorless motor control. A linear frequency to voltage characteristic is used where the drive output
voltage is increased from 0V to Motor Rated Voltage (05.009). as the |Output Frequency (05.001)| increases from 0Hz to Motor Rated Frequency (05.006).
When the |Output Frequency (05.001)| is above Motor Rated Frequency (05.006) the output voltage is limited to Motor Rated Voltage (05.009). Vector based
stator resistance compensation is applied below Motor Rated Frequency (05.006) / 4 and then this is tapered off from Motor Rated Frequency (05.006) / 4 to
Motor Rated Frequency (05.006) / 2. This method controls the flux level correctly in the motor in the steady state provided the correct value of
Stator Resistance (05.017) is used.

If slip compensation is not being used (see Motor Rated Frequency (05.006) ) then additional voltage compensation can be applied below
Motor Rated Frequency (05.006) / 10 to have an additional torque boost at very low frequencies, see Low Frequency Estimator Threshold,
Low Frequency Torque adjustment (05.084).

The Stator Resistance (05.017) is measured each time the drive is started. This test can only be done with a stationary motor where the flux has decayed to
zero. Therefore this mode should only be used if the motor is guaranteed to be stationary each time the drive is enabled. To ensure that the measurement is
not carried out before the flux has decayed, there is a period of one second after the inverter has been disabled during which the test is not carried out if the
drive is re-started. The Stator Resistance (05.017) is not automatically saved in non-volatile memory after each test.

1: Ur (Resistance compensation with no stator resistance measurement)

Resistance compensation is used as in Ur S mode, but the Stator Resistance (05.017) is not measured.

2: Fixed (Fixed boost with linear characteristic)

A fixed frequency to voltage characteristic is used as shown above where the voltage at 0Hz is defined by Low Frequency Voltage Boost (05.015). The
voltage characteristic moves linearly with output frequency passing through four points determined by [Boost End Voltage (05.074) and Boost End Frequency
(05.075)], [Second Point Voltage (05.076) and Second Point Frequency (05.077)], Third point voltage (05.078) and Second Point Frequency (05.077), and
[Motor Rated Voltage (05.009) and Motor Rated Frequency (05.006)].

By default Boost End Frequency (05.075) is set to half the Motor Rated Frequency (05.006), Second Point Frequency (05.077) is set 55%
and Third point frequency (05.079) is set to 75%. Similarly by default Boost End Voltage (05.074) is set at half the Motor Rated Voltage (05.009),
Second Point Voltage (05.076) 55% and Third point voltage (05.078) is set to 75%. This is to produce the same characteristic as SK by default.

3: Ur Auto (Resistance compensation, stator resistance measured on first start)

Resistance compensation is used as in Ur S mode, but the Stator Resistance (05.017) is only measured once when the drive is first enabled. After the test has
been completed successfully the mode is changed to Ur mode and Stator Resistance (05.017) is saved to non-volatile memory. If Parameter Cloning (11.042)
is set to 3 or 4 the Stator Resistance (05.017) is also written to a non-volatile media card fitted in the drive. If the test fails the mode is changed to Ur mode,
but Stator Resistance (05.017) is not updated.

4: Ur I (Resistance compensation, stator resistance measured at power-up)

Resistance compensation is used as in Ur S mode, but the Stator Resistance (05.017) is only measured when the drive is enabled for the first time after each
power-up.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 69
5: Square (Fixed boost with square characteristic)
A fixed square frequency to voltage characteristic is used as shown below. When the |Output Frequency (05.001)| is below Motor Rated Frequency (05.006)
the Output Voltage (05.002) is given by:

Output Voltage (05.002) = Low Frequency Voltage Boost (05.015) + [(Motor Rated Voltage (05.009) - Low Frequency Voltage Boost (05.015)) x ( |
Output Frequency (05.001) | / Motor Rated Frequency (05.006))2]

6: Fixed boost with tapered slip limit

Normally, slip compensation calculations do not allow the final output frequency to be opposite in sign to the final frequency reference. This can be an issue in
some applications where good torque control is required close to zero speed. In this mode of operation this limitation is removed.

To give even better control of the amount of slip being applied close to zero speed Low Frequency Estimator Threshold, Low Frequency Torque adjustment
(05.084) can be used to taper the slip compensation limit ( Slip Compensation Limit (05.033) ) down to 0 at zero frequency demand.

If the slip limit taper start point set by Low Frequency Estimator Threshold, Low Frequency Torque adjustment (05.084) is > Slip Compensation Limit
(05.033) then there is still no slip compensation applied in the opposite direction to the final frequency demand (see Fig 5.11a), but if the slip limit taper start
point set by Low Frequency Estimator Threshold, Low Frequency Torque adjustment (05.084) is < Slip Compensation Limit (05.033) then a controlled amount
of slip compensation can be applied in the opposite direction to the final frequency demand (see Fig 5.11b)

Unidrive M400 Parameter Reference Guide

70 Issue: 01.05.02.02
 Parameter 05.015 Low Frequency Voltage Boost
Short description Defines the level of voltage boost at 0Hz when using a fixed V to F relationship
Mode Open‑Loop
Minimum 0.0 Maximum 25.0
Default 3.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW, BU

* 3.0% up to Size D, 2.0% for Size 7 and 8, and 1.0% for larger sizes

See Open-loop Voltage Mode (05.014).

During auto-tune test 2 the drive uses the fixed boost voltage mode. Low Frequency Voltage Boost (05.015) is used to define the level of low voltage boost
used during the test. See Open-loop Voltage Mode (05.014) for more details.

Parameter 05.017 Stator Resistance

Short description Defines the resistance of the motor stator
Mode Open‑Loop
Minimum 0.0000 Maximum 99.9999
Default 0.0000 Units Ω
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 4
Coding RW, RA

The Stator Resistance (05.017), Transient Inductance (05.024) and Stator Inductance (05.025) are derived from the star connected per phase equivalent
circuit of an induction motor shown below.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 71
The steady state parameters are converted to equivalent transient model parameters:

Rs = R1

Lm = Lm

Ls = L1 + Lm

Lr = L2 + Lm

σLs = Ls - (Lm2 / Lr)

The equivalent drive parameters are:

Stator Resistance (05.017) = Rs

Transient Inductance (05.024) = σLs

Stator Inductance (05.025) = Ls

Parameter 05.018 Maximum Switching Frequency

Short description Defines the maximum switching frequency that can be used by the drive
Mode Open‑Loop
Minimum 0 Maximum VM_MAX_SWITCHING_FREQUENCY
Default 3 Units kHz
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE, VM, RA

Value Text Description

0 0.667 667Hz switching frequency
1 1 1kHz switching frequency
2 2 2kHz switching frequency
3 3 3kHz switching frequency
4 4 4kHz switching frequency
5 6 6kHz switching frequency
6 8 8kHz switching frequency
7 12 12kHz switching frequency
8 16 16kHz switching frequency

Maximum Switching Frequency (05.018) should be set to the required PWM switching frequency. The drive inverter will operate at this frequency unless Auto-
switching Frequency Change Disable (05.035) = 0 and the inverter temperature exceeds the threshold for automatic switching frequency reduction (see
Inverter Temperature (07.034)). The actual switching frequency is shown in Switching Frequency (05.037). The switching frequency has a direct effect on the
sample rate for the current controllers (see Current Controller Kp Gain (04.013)). All other control tasks are at a fixed rate of 1ms.

As default Auto-switching Frequency Change Disable (05.035) = 0 and the system described above is always active. If Auto-
switching Frequency Change Disable (05.035) = 1 then the automatic switching frequency changing system is disabled.

We recommend that a minimum ratio of 12:1 for the switching frequency compared to the maximum output frequency is used.

Parameter 05.019 High Stability Space Vector Modulation

Short description Set to 1 to enable High Stability Space Vector Modulation
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Unidrive M400 Parameter Reference Guide

72 Issue: 01.05.02.02
If High Stability Space Vector Modulation (05.019) = 0 standard space vector modulation is used to derive the inverter control signals. If
High Stability Space Vector Modulation (05.019) = 1 a modified form of space vector modulation is selected which can give the following advantages:

1. With some motors instability can occur when operating below Motor Rated Frequency (05.006) / 2 especially with light loads and high switching
frequency. The preferred method to solve this problem is to use RFC-A mode. However, if Open-loop mode is required, the instability can sometimes
be reduced by selecting high stability space vector modulation.
2. As the output voltage approaches the maximum available from the drive pulse deletion occurs. This can cause unstable operation with a lightly or fully
loaded motor. High stability space vector modulation will reduce this effect.

The disadvantages of using high stability space vector modulation are:

1. Increased acoustic noise from the motor.

2. A reduction in the thermal capability of the drive at low output frequencies.

Parameter 05.020 Over Modulation Enable

Short description Set to 1 to enable over modulation
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

The maximum modulation level of the drive is normally limited to unity giving an output voltage equivalent to the drive input voltage minus voltage drops within
the drive. If the motor rated voltage is set at the same level as the supply voltage some pulse deletion will occur as the drive output voltage approaches the
motor rated voltage level. If Over Modulation Enable (05.020) is set to 1 the modulator will allow over modulation, so that as the output frequency increases
beyond the motor rated frequency the voltage continues to increase above the motor rated voltage. The modulation depth will increase beyond unity
producing trapezoidal waveforms. This can be used for example to get slightly better performance above motor rated frequency. The disadvantage is that the
machine current will be distorted as the modulation depth increases above unity, and will contain a significant amount of low order odd harmonics of the
fundamental output frequency.

Parameter 05.024 Transient Inductance

Short description Defines the inducatance of the transient components in the motor stator
Mode Open‑Loop
Minimum 0.000 Maximum 500.000
Default 0.000 Units mH
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, RA

See Stator Resistance (05.017).

Parameter 05.025 Stator Inductance

Short description Defines the inductance of the motor stator
Mode Open‑Loop
Minimum 0.00 Maximum 5000.00
Default 0.00 Units mH
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, RA

See Stator Resistance (05.017).

Parameter 05.027 Slip Compensation Level

Short description Defines the gain of slip compensation
Mode Open‑Loop
Minimum -150.0 Maximum 150.0
Default 100.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See Motor Rated Frequency (05.006).

Used to set the level of slip compensation or droop control.

A value of 100.0% gives rated slip compensation as defined in Motor Rated Frequency (05.006).

Negative values can be used to introduce droop control.

A value of 0.0% disables slip compensation.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 73
Parameter 05.028 Flux Control Compensation Disable
Short description Set to 1 to disable Flux Control Compensation
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

If Flux Control Compensation Disable (05.028) = 0 the conversion from the Final Torque Reference (04.003) to Final Current Reference (04.004) takes into
account the reduction in flux above base speed by increasing the current demand in order to keep the torque in the motor as requested. This is the preferred
method of control as it ensures that the gain of the system remains constant in frequency control mode and it gives the correct relationship between torque
and current in torque control modes. However, it is possible to get instability in frequency control mode when flux is weak at high speed, which may be caused
by the Motor Rated Speed (05.008) being set to an incorrect value. If Flux Control Compensation Disable (05.028) = 1 the compensation for flux level is
disabled which can sometimes prevent instability under these conditions.

Parameter 05.031 Voltage Controller Gain

Short description Defines the proportional gain of the d.c. link voltage controller
Mode Open‑Loop
Minimum 1 Maximum 30
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Voltage Controller Gain (05.031) can be used to modify the proportional gain of the d.c. link voltage controller used for standard ramp and supply loss control.

Parameter 05.032 Torque Per Amp

Short description Displays the calculated value of kt for the attached motor
Mode Open‑Loop
Minimum 0.00 Maximum 500.00
Default Units Nm/A
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT, BU

Torque Per Amp (05.032) is automatically calculated from the motor parameters assuming a motor efficiency of 90%.

Torque Per Amp (05.032) = Estimated rated shaft power / [((Motor Rated Speed x 2π) / 60) x ITRated]

where

ITrated is the rated torque producing current (see Torque Producing Current (04.002) ) and

Estimated rated shaft power = √3 x Motor Rated Voltage (05.009) x Motor Rated Current (05.007) x Motor Rated Power Factor (05.010) x 0.9

Torque Per Amp (05.032) is used in the automatic calculation of the speed controller gains.

Parameter 05.033 Slip Compensation Limit

Short description Defines the limit for slip compensation
Mode Open‑Loop
Minimum 0.00 Maximum 10.00
Default 10.00 Units Hz
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

Symmetrical maximum of the slip compensation frequency. This parameter applies a limit to the amount of slip compensation used.

Parameter 05.035 Auto-switching Frequency Change Disable

Short description Set to 1 to prevent the drive from changing between switching frequencies
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Maximum Switching Frequency (05.018).

Unidrive M400 Parameter Reference Guide

74 Issue: 01.05.02.02
 Parameter 05.036 Slip Compensation Filter
Short description Defines the time constant of the filter used for slip compensation
Mode Open‑Loop
Minimum 0 Maximum 3
Default 1 Units ms
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 64
1 128
2 256
3 512

Time constant for the slip compensation filter. A first order filter is applied to the torque producing current when calculating the slip compensation in order to
reduce the chance of instability being introduced.

Parameter 05.037 Switching Frequency

Short description Displays the current switching frequency used by the drive
Mode Open‑Loop
Minimum 0 Maximum VM_MAX_SWITCHING_FREQUENCY
Default Units kHz
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, VM, ND, NC, PT

Value Text Description

0 0.667 667Hz switching frequency
1 1 1kHz switching frequency
2 2 2kHz switching frequency
3 3 3kHz switching frequency
4 4 4kHz switching frequency
5 6 6kHz switching frequency
6 8 8kHz switching frequency
7 12 12kHz switching frequency
8 16 16kHz switching frequency

See Maximum Switching Frequency (05.018).

Parameter 05.038 Minimum Switching Frequency

Short description Defines the minimum switching frequency that can be used by the drive
Mode Open‑Loop
Minimum 0 Maximum VM_MAX_SWITCHING_FREQUENCY
Default 0 Units kHz
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE, VM, RA

Value Text Description

0 0.667 667Hz switching frequency
1 1 1kHz switching frequency
2 2 2kHz switching frequency
3 3 3kHz switching frequency
4 4 4kHz switching frequency
5 6 6kHz switching frequency
6 8 8kHz switching frequency
7 12 12kHz switching frequency
8 16 16kHz switching frequency

Minimum Switching Frequency (05.038) defines the minimum frequency limit used if the inverter thermal model is actively reducing the switching frequency
due to temperature.
Note that parameter Maximum Switching Frequency (05.018) takes priority over parameter Minimum Switching Frequency (05.038) so is not limited by
parameter Minimum Switching Frequency (05.038). The actual minimum switching frequency limit used is the lower of Maximum Switching Frequency
(05.018) and Minimum Switching Frequency (05.038).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 75
Parameter 05.040 Spin Start Boost
Short description Defines the level of spin start boost used by the algorithm that detects the speed of a spinning motor
Mode Open‑Loop
Minimum 0.0 Maximum 10.0
Default 1.0 Units
Type 8 Bit User Save Update Rate Background write
Display Format Standard Decimal Places 1
Coding RW

Spin Start Boost (05.040) is used by the algorithm that detects the frequency of a spinning motor when the drive is enabled and Catch A Spinning Motor
(06.009) ≥ 1. For smaller motors the default value of 1.0 is suitable, but for larger motors Spin Start Boost (05.040) may need to be increased. If
Spin Start Boost (05.040) is too small the drive will detect zero speed whatever the frequency of the motor, and if Spin Start Boost (05.040) is too large the
motor may accelerate away from standstill when the drive is enabled.

Parameter 05.042 Reverse Output Phase Sequence

Short description Set to 1 to reverse the sequence on the output phases
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

If Reverse Output Phase Sequence (05.042) = 0 the output phase sequence is U-V-W when Output Frequency (05.001) is positive and W-V-U when
Output Frequency (05.001) is negative. If Reverse Output Phase Sequence (05.042) = 1 the output phase sequence is reversed so that the phase sequence
in W-V-U for positive frequencies and U-V-W for negative frequencies.

Parameter 05.059 Maximum Deadtime Compensation

Short description Maximum Deadtime Compensation
Mode Open‑Loop
Minimum 0.000 Maximum 10.000
Default 0.000 Units µs
Type 16 Bit User Save Update Rate Background Read
Display Format Standard Decimal Places 3
Coding RO, NC, PT

Maximum Deadtime Compensation (05.059) is the deadtime compensation used to compensate for dead-time effects in the inverter. This level of
compensation is used when the drive output current is above Current At Maximum Deadtime Compensation (05.060) Both of these values related to dead-
time compensation are measured during auto-tuning and cannot be set by the user. It should be noted that if the auto-tuning test is not performed and
Maximum Deadtime Compensation (05.059) = 0 then dead-time compensation is disabled. Although it is not recommended, it is possible to disable dead-time
compensation by setting Disable Deadtime Compensation (05.061) = 1.

Parameter 05.060 Current At Maximum Deadtime Compensation

Short description Current at which maximum deadtime compensation is applied
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate Background Read
Display Format Standard Decimal Places 2
Coding RO, NC, PT

See Maximum Deadtime Compensation (05.059).

Parameter 05.061 Disable Deadtime Compensation

Short description Disable Deadtime Compensation
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background Read
Display Format Standard Decimal Places 0
Coding RW

See Maximum Deadtime Compensation (05.059).

Parameter 05.074 Boost End Voltage

Short description Defines the boost end voltage
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 50.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW

See Open-loop Voltage Mode (05.014).

Unidrive M400 Parameter Reference Guide

76 Issue: 01.05.02.02
 Parameter 05.075 Boost End Frequency
Short description Defines the boost end frequency
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 50.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See Open-loop Voltage Mode (05.014).

Parameter 05.076 Second Point Voltage

Short description Defines the second point voltage
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 55.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW

See Open-loop Voltage Mode (05.014).

Parameter 05.077 Second Point Frequency

Short description Defines the second point frequency
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 55.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See Open-loop Voltage Mode (05.014).

Parameter 05.078 Third point voltage

Short description Defines the third point voltage
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 75.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW

See Open-loop Voltage Mode (05.014).

Parameter 05.079 Third point frequency

Short description Defines the third point frequency
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 75.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See Open-loop Voltage Mode (05.014).

Parameter 05.080 Low acoustic noise enable

Short description Set to 1 to change the modulation to reduce the switching frequency noise
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

If Maximum Switching Frequency (05.018) has been set in the 2kHz to 6kHz range, setting Low acoustic noise enable (05.080) modifies the modulation
scheme to reduce the fundamental switching frequency acoustic noise.

When this mode is enabled, the effect of the switching frequency fundamental in the output voltage is reduced by moving the switching points of the output
phases in each PWM switching period by the same randomly weighted offset. This reduces the level of noise from the switching frequency but will introduce
noise at lower and higher frequencies at a lower audible level. The maximum offset reduces as the output voltage increases.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 77
Parameter 05.081 Change to maximum drive switching frequency at low output current
Short description Change to maximum drive switching frequency at low output current
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

If the user has selected a maximum switching frequency in the range 2kHz to 6kHz, setting this parameter will cause the drive to switch to maximum switching
frequency at low output currents.

Swaps to 16kHz if the output current magnitude is less than 30% (Frame sizes 1-4) and 20% (Frame sizes 5 and above) of drive OI.AC level for a period
longer than 100ms.

Swaps back immediately if the output current magnitude increases above the defined levels by more than 5%.

The original switching frequency may still be under the control of the inverter thermal model. This feature is disabled if the thermal model or user has changed
the switching frequency within the last 10 seconds.

Parameter 05.083 Voltage Shelving Disable

Short description Set to 1 to only measure the d.c. link voltage when the inverter is inactive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

When this parameter is 1, the DC link voltage will only be measured when the inverter is inactive. The DC link voltage readings are filteredusing a 128ms
filter and the average value stored for use when the inverter becomes active.

This stored value is used instead of the actual measurement when the output voltage demand is converted to a modulation index.

This removes the dc bus voltage forward compensation. It will also remove the effects of “oscillation” experienced when the drive is supplied by an extremely
soft supply of through a high inductance filter.

Parameter 05.084 Low Frequency Torque adjustment

Controls the boost level of the slip frequency when the output frequency is below one third of the rated
Short description
frequency.
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 0.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

This parameter can be used to modify torque at low output frequencies in one of three different ways:

1) Slip boost

Used in resistor compensation (Ur) modes, Open-loop Voltage Mode (05.014) set to 0, 1, 3, and 4.

The slip frequency (see Motor Rated Frequency (05.006) is modified when the output frequency is below one third of the motor rated frequency to provide a
torque boost.
The modification consists of an addition to the calculated slip frequency controlled by the user parameter Low Frequency Estimator Threshold,
Low Frequency Torque adjustment (05.084) . The addition is equal to Low Frequency Estimator Threshold, Low Frequency Torque adjustment (05.084) x
calculated slip frequency at zero Hz, falling linearly to 0.0% at one third of the motor rated frequency. e.g. if this parameter is set to 100%, the slip at 0Hz for
rated torque producing current would be rated slip + rated slip or 2 x rated slip.

2) Voltage boost

Used in resistor compensation (Ur) modes, Open-loop Voltage Mode (05.014) set to 0, 1, 3, & 4, and slip compensation has been disabled
(see Motor Rated Frequency (05.006) ).

The amount of stator resistor compensation is modified when the output frequency is below one tenth of the motor rated frequency to provide a torque boost.
The modification consists of an addition to the calculated stator resistor compensation controlled by the user parameter Low Frequency Estimator Threshold,
Low Frequency Torque adjustment (05.084) . The addition is equal to Low Frequency Estimator Threshold, Low Frequency Torque adjustment (05.084) x
calculated stator resistor compensation at zero Hz falling linearly to 0 at one tenth of the motor rated frequency. e.g. if this parameter is set to 100%, the stator
resistance compensation at 0Hz would be calculated stator resistor compensation + calculated stator resistor compensation or 2 x calculated stator resistor
compensation .

3) Slip taper

This feature is used in fixed boost tapered mode (Open-loop Voltage Mode (05.014) set to 6) to taper the slip limit back to zero at 0Hz. The taper start point is
defined as Low Frequency Estimator Threshold, Low Frequency Torque adjustment (05.084) x Motor Rated Frequency (05.006) / 100. See Open-
loop Voltage Mode (05.014) for a detailed explanation.

Unidrive M400 Parameter Reference Guide

78 Issue: 01.05.02.02
 Parameter 05.088 Ur Mode Pre-Flux delay
The delay begins as the motor starts to run and during the pre-flux delay the torque axis voltage
Short description
compensation is held at zero.
Mode Open‑Loop
Minimum 0.0 Maximum 0.7
Default 0.1 Units s
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

Setting Ur Mode Pre-Flux delay to a value from 0.0s to 0.7s will configure the Ur mode pre-flux delay. The delay begins as the motor starts to run and during
the pre-flux delay the torque axis voltage compensation is held at zero. The delay provides time for the flux to build up to reduce the risk of unstable
behaviour during motor starting. The user configurable delay function has been added for use with the brake macro, where the mechanical brake is holding
the shaft while the motor is started. The delay can be set depending on the motor and the system.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 79
Menu 6 Single Line Descriptions − Sequencer and Clock
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

80 Issue: 01.05.02.02
 Parameter Range Default Type
Coast (0), Ramp (1), Ramp dc I (2),
06.001 Stop Mode Ramp (1) RW Txt US
dc I (3), Timed dc I (4), Disable (5)
06.002 Limit Switch Stop Mode Stop (0), Ramp (1) Ramp (1) RW Txt US
06.003 Supply Loss Mode Disable (0), Ramp Stop (1), Ride Thru (2) Disable (0) RW Txt US
06.004 Start/Stop Logic Select 0 to 6 5 RW Num US
06.006 Injection Braking Level 0.0 to 150.0 % 100.0 % RW Num RA US
06.007 Injection Braking Time 0.0 to 100.0 s 1.0 s RW Num US
06.008 Hold Zero Frequency Off (0) or On (1) Off (0) RW Bit US
Disable (0), Enable (1), Fwd Only (2),
06.009 Catch A Spinning Motor Disable (0) RW Txt US
Rev Only (3)
06.010 Enable Conditions 000000000000 to 111111110111 RO Bin ND NC PT
06.011 Sequencer State Machine Inputs 0000000 to 1111111 RO Bin ND NC PT
06.012 Enable Stop Key Off (0) or On (1) Off (0) RW Bit US
Disabled (0), Forward/Reverse (1),
06.013 Enable Auxiliary Key Disabled (0) RW Txt US
Run Reverse (2)
06.014 Disable Auto Reset On Enable Off (0) or On (1) Off (0) RW Bit US
06.015 Drive Enable Off (0) or On (1) On (1) RW Bit US
06.016 Date 00-00-00 to 31-12-99 RW Date ND NC PT
06.017 Time 00:00:00 to 23:59:59 RW Time ND NC PT
Sunday (0), Monday (1), Tuesday (2),
06.018 Day Of Week Wednesday (3), Thursday (4), Friday (5), RO Txt ND NC PT
Saturday (6)
Set (0), Powered (1), Running (2),
06.019 Date/Time Selector Acc Powered (3), Local Keypad (4), Powered (1) RW Txt US
Remote Keypad (5), Slot 1 (6)
06.020 Date Format Std (0), US (1) Std (0) RW Txt US
06.021 Time Between Filter Changes 0 to 30000 Hours 0 Hours RW Num US
06.022 Filter Change Required / Change Done Off (0) or On (1) RW Bit ND NC
06.023 Time Before Filter Change Due 0 to 30000 Hours RO Num ND NC PT PS
06.024 Reset Energy Meter Off (0) or On (1) Off (0) RW Bit
06.025 Energy Meter: MWh ±999.9 MWh RO Num ND NC PT PS
06.026 Energy Meter: kWh ±99.99 kWh RO Num ND NC PT PS
06.027 Energy Cost Per kWh 0.0 to 600.0 0.0 RW Num US
06.028 Running Cost ±32000 RO Num ND NC PT
06.029 Hardware Enable Off (0) or On (1) RO Bit ND NC PT
06.030 Run Forward Off (0) or On (1) Off (0) RW Bit NC
06.031 Jog Forward Off (0) or On (1) Off (0) RW Bit NC
06.032 Run Reverse Off (0) or On (1) Off (0) RW Bit NC
06.033 Forward/Reverse Off (0) or On (1) Off (0) RW Bit NC
06.034 Run Off (0) or On (1) Off (0) RW Bit NC
06.035 Forward Limit Switch Off (0) or On (1) Off (0) RW Bit NC
06.036 Reverse Limit Switch Off (0) or On (1) Off (0) RW Bit NC
06.037 Jog Reverse Off (0) or On (1) Off (0) RW Bit NC
06.038 User Enable Off (0) or On (1) On (1) RW Bit NC
06.039 Not Stop Off (0) or On (1) Off (0) RW Bit NC
06.040 Enable Sequencer Latching Off (0) or On (1) Off (0) RW Bit US
06.041 Drive Event Flags 00 to 11 00 RW Bin NC
06.042 Control Word 000000000000000 to 111111111111111 000000000000000 RW Bin NC
06.043 Control Word Enable 0 to 1 0 RW Num US
06.045 Cooling Fan control 0 to 5 2 RW Num US
06.047 Input Phase Loss Detection Mode Full (0), Ripple Only (1), Disabled (2) Full (0) RW Txt US
110V drive: 205 V
200V drive: 205 V
06.048 Supply Loss Detection Level 0 to VM_SUPPLY_LOSS_LEVEL V 400V drive: 410 V RW Num RA US
575V drive: 540 V
690V drive: 540 V
06.051 Hold Supply Loss Active Off (0) or On (1) Off (0) RW Bit NC
06.052 Motor Pre‑heat Current Magnitude 0 to 100 % 0% RW Num US
06.058 Output Phase Loss Detection Time 0.5s (0), 1.0s (1), 2.0s (2), 4.0s (3) 0.5s (0) RW Txt US
06.059 Output Phase Loss Detection Enable Off (0) or On (1) Off (0) RW Bit US
06.060 Standby Mode Enable Off (0) or On (1) Off (0) RW Bit US
06.061 Standby Mode Mask 0000 to 1111 0000 RW Bin US
06.071 Slow Rectifier Charge Rate Enable Off (0) or On (1) Off (0) RW Bit US
110V drive: 390 V
200V drive: 390 V
06.073 Braking IGBT Lower Threshold ±VM_DC_VOLTAGE_SET V 400V drive: 780 V RW Num RA US
575V drive: 930 V

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 81
 690V drive: 1120 V
110V drive: 390 V
200V drive: 390 V
06.074 Braking IGBT Upper Threshold ±VM_DC_VOLTAGE_SET V 400V drive: 780 V RW Num RA US
575V drive: 930 V
690V drive: 1120 V
06.075 Low Voltage Braking IGBT Threshold ±VM_DC_VOLTAGE_SET V 0V RW Num RA US
06.076 Low Voltage Braking IGBT Threshold Select Off (0) or On (1) Off (0) RW Bit
06.077 Low DC Link Operation Off (0) or On (1) Off (0) RW Bit US
06.084 UTC Offset ±24.00 Hours 0.00 Hours RW Num US
06.089 DC Injection Active Off (0) or On (1) RO Bit ND NC PT US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

82 Issue: 01.05.02.02
Menu 6 − Sequencer and Clock
Mode: Open‑Loop

Sequencer

The sequencer, which provides overall control of the drive, is implemented in two stages. The first stage includes the enable logic and sequencer logic and consists of static logic elements. The
second stage is a state machine with internal states.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 83
Enable logic

Hardware Enable (06.029) follows the safe torque off enable signal provided none of the digital inputs that are integral to the drive are routed to the User Enable (06.038). The safe torque off
hardware includes a delay in detecting a change from the enable to disable state of up to 20ms, but for most applications this is not a problem.

If the safety function of the safe torque off input is required then there must not be a direct connection between the safe torque off input and any other digital I/O on the drive. If the safety
function of the safe torque off input and a disable function are required together, then the drive should be given two separate independent enable input signals. A signal from a safe source
should be connected to the safe torque off input on the drive. A second enable should be connected to the digital I/O selected for the disable function. The circuit must be arranged so that a
fault which causes the digital input to be forced high cannot cause the safe torque off input to be forced high as well, including the case where a component such as a blocking diode has failed.

Unidrive M400 Parameter Reference Guide

84 Issue: 01.05.02.02
Sequencer logic

The diagram below shows the sequencer logic when Reference Selected Indicator (01.049) is not equal to 4 (i.e. keypad control mode is not selected). The definition of the logic symbols are
given in Fig.6.5

The diagram below shows the sequencer logic when Reference Selected Indicator (01.049) =4 (i.e. keypad control mode is selected). The definition of the logic symbols are given in Fig.6.7

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 85
Throughout this section reference is made to the sequencer bit parameters Drive Enable (06.015), Run Forward (06.030), Jog Forward (06.031), Run Reverse (06.032), Forward/Reverse
(06.033), Run (06.034), Jog Reverse (06.037) and Not Stop (06.039). If Control Word Enable (06.043) = 1 and bit 7 (Auto/manual) in the Control Word (06.042) is 1 then the appropriate bits in
the control word are used instead.

Parameter 06.001 Stop Mode

Short description Defines how the motor is controlled when the run signal is removed from the drive
Mode Open‑Loop
Minimum 0 Maximum 5
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Coast Coast stop
1 Ramp Ramp stop
2 Ramp dc I Ramp stop + 1 second dc injection
3 dc I Injection braking stop with detection of zero speed
4 Timed dc I Timed injection braking stop
5 Disable Disable

Stopping is in two distinct phases as shown in the table below for each of the possible values of Stop Mode (06.001).

Stop Mode (06.001) Phase 1 Phase 2 Comments

0: Coast Inverter disabled Drive cannot be re-enabled for 1s Delay in phase 2 allows rotor flux to decay
1: Ramp Ramp down to zero frequency Wait for 1s with inverter enabled
Inject d.c. at level defined by Injection Braking Level
2: Ramp followed by
Ramp down to zero frequency (06.006) for time defined by Injection Braking Time
d.c. injection
(06.007)
3: D.c. injection with Inject d.c. at level defined by Injection Braking Level
Low frequency current injection with detection of low The drive automatically senses low speed and
zero frequency (06.006) for time defined by Injection Braking Time
speed before next phase adjusts the injection time to suit the application
detection (06.007)
Inject d.c. at level defined by Injection Braking Level
4: Timed d.c. injection Inject d.c. at level defined by Injection Braking Level The minimum total injection time is 1s for phase
(06.006) for time defined by Injection Braking Time
stop (06.006) for 1s. 1 and 1s for phase 2, i.e. 2s in total.
(06.007)
Allows drive to be disabled then re-enabled
5: Disable Inverter disabled No phase 2
immediately

The following should be noted:

1. Once phase 1 has begun with Stop Mode (06.001) = 3 or 4 the stopping sequence must be completed or terminated by de-activating the Final drive enable or because the drive has
tripped.
2. If Stop Mode (06.001) = 5 the drive can be disabled and re-enabled immediately if the Final drive run is de-activated to stop the drive. If the Final drive enable is used to stop the drive
then there is a 1s delay before the drive can be re-enabled.

Unidrive M400 Parameter Reference Guide

86 Issue: 01.05.02.02
 Parameter 06.002 Limit Switch Stop Mode
Short description Defines the behaviour of the drive when limit switch is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Stop
1 Ramp

If Limit Switch Stop Mode (06.002) = 0 then when Limit Switch Active (10.066) is activated the motor is stopped without ramps (under dc injection control).

If Limit Switch Stop Mode (06.002) = 1 then the motor is stopped with the currently selected ramp rate.

Parameter 06.003 Supply Loss Mode

Short description Defines the behaviour of the drive when the supply voltage is reduced
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Disable Disabled
1 Ramp Stop Ramp stop
2 Ride Thru Ride through

If Supply Loss Mode (06.003) > 0 and the D.c. Link Voltage (05.005) falls below Supply Loss Detection Level (06.048) then the supply loss condition is detected. If Supply Loss Mode (06.003) =
2 (ride through) the supply loss system will attempt to control the D.c. Link Voltage (05.005) to a level just below the Supply Loss Detection Level (06.048) using a d.c. link voltage controller
which provides a torque producing current reference to the current controllers to regulate the power flow into the d.c. link. Therefore Current Controller Kp Gain (04.013) and
Current Controller Ki Gain (04.014) must be set up correctly for the application. When the supply is reapplied it must be at a level that is high enough for the D.c. Link Voltage (05.005) to rise
above Supply Loss Detection Level (06.048) plus a hysteresis margin. This will disable the supply loss controller and the drive will return to normal operation. The table below gives the d.c. link
voltage levels used by the supply loss detection system for different drive voltage ratings.

Voltage level 200V 400V 575V 690V

Supply Loss Detection Level Supply Loss Detection Level Supply Loss Detection Level Supply Loss Detection Level
Supply loss d.c. link voltage control level
(06.048) - 10V (06.048) - 20V (06.048) - 25V (06.048) - 25V
Voltage above which supply loss detection changes Supply Loss Detection Level Supply Loss Detection Level Supply Loss Detection Level Supply Loss Detection Level
from active to inactive (06.048) +10V (06.048) + 15V (06.048) + 50V (06.048) + 50V

0: Disable
No supply loss detection is provided by monitoring the D.c. Link Voltage (05.005). The drive will continue to operate normally unless the under voltage condition is detected.

1: Ramp Stop
The action taken by the drive is the same as for ride through mode, except that the ramp down rate is at least as fast as the currently selected deceleration ramp and the drive will continue to
decelerate and stop even if the supply is re-applied. If Stop Mode (06.001) = 3 or 4 (i.e. d.c. injection) the drive will use ramp mode to stop on loss of the supply. If Stop Mode (06.001) = 2 (i.e.
ramp stop followed by injection) the drive will ramp to a stop and then attempt to apply d.c. injection. The ramp down rate is at least as fast as the currently selected deceleration ramp and the
drive will continue to decelerate and stop even if the supply is re-applied. Once the sequencer state machine has reached the DISABLE state the drive can restart provided the necessary
controls are still active to initiate a start.

2: Ride through
The drive attempts to control the d.c. link voltage to take energy from the motor and load inertia to ride through the Supply loss condition for as long as possible.

Parameter 06.004 Start/Stop Logic Select

Short description Used to select the logic function of the drive input terminals
Mode Open‑Loop
Minimum 0 Maximum 6
Default 5 Units
Actioned on exit of edit mode and on
Type 8 Bit User Save Update Rate
drive reset
Display Format Standard Decimal Places 0
Coding RW

This parameter changes the functions of the input terminals which are normally associated with the enabling, starting and stopping the drive. This also writes to Enable Sequencer Latching
(06.040) to enable and disable the input latches.

Start/Stop Logic Select Digital I/O 2 (M100 - M201) Digital I/O 2 (M300- M400) Digital Input 3 Digital Input 4 Enable Sequencer Latching
(06.004) Terminal 11 Terminal 11 Terminal 12 Terminal 13 (06.040)

0 (default) User Enable Undefined Run Forward Run Reverse 0 (non-latching)

1 Not Stop Not Stop Run Forward Run Reverse 1 (latching)

2 User Enable Undefined Run Reverse 0 (non-latching)

3 Not Stop Not Stop Run Reverse 1 (latching)

4 Not Stop Not Stop Run Jog Forward 1 (latching)

5 User programmable User programmable Run Forward Run Reverse 0 (non-latching)

6 User programmable User programmable User programmable User programmable User programmable

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 87
Start/Stop Logic Select (06.004), Enable Sequencer Latching (06.040), Digital IO2 Source/Destination A (08.022), Digital Input 03 Destination A (08.023) and Digital Input 04 Destination A
(08.024) are also saved when this parameter is modified. Action will only occur if the drive is inactive. If the drive is active the parameter will return to its pre altered value on exit from edit mode.
In mode 6 the user is free to assign the terminals as appropriate to their application.

Parameter 06.006 Injection Braking Level

Short description Defines the level of current used for injection braking
Mode Open‑Loop
Minimum 0.0 Maximum 150.0
Default 100.0 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW, RA

Injection Braking Level (06.006) defines the level of current used for injection braking as a percentage of Motor Rated Current (05.007).

Parameter 06.007 Injection Braking Time

Defines the time during which d.c. current is injected into the motor during stopping with injection
Short description
stopping modes
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default 1.0 Units s
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

Injection Braking Time (06.007) defines the time during which d.c. current is injected into the motor during stopping with injection stopping modes. See Stop Mode (06.001).

Parameter 06.008 Hold Zero Frequency

Short description Set to 1 to hold the motor at zero frequency
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW

If Hold Zero Frequency (06.008) = 0 the sequencer state machine goes to the DISABLE state and the inverter is disabled when the Final drive run is de-activated and the motor reaches
standstill.

If Hold Zero Frequency (06.008) = 1 and Motor Pre-heat Current Magnitude (06.052) = 0% the sequencer state machine goes to the STOP state when the Final drive run is de-activated and the
motor reaches standstill. The drive remains enabled with a frequency reference of zero. If Motor Pre-heat Current Magnitude (06.052) is set to a non-zero value it defines the current in the
motor when the sequencer state machine is in the STOP state. This is intended for applications where there is no motor load at standstill, but motor current is required to prevent condensation
in the motor when it is stopped. If the motor is not force cooled the motor cooling is less effective at standstill than when the motor is rotating, and so care should be taken not to damage the
motor by leaving it at standstill for prolonged periods with a high level of current.

When in HEAT mode i.e. Motor Pre-heat Current Magnitude (06.052) is a non-zero value, the current used is a percentage of the motor rated current.

Parameter 06.009 Catch A Spinning Motor

Short description Defines the behaviour of the drive when the drive is enabled whilst the motor is rotating
Mode Open‑Loop
Minimum 0 Maximum 3
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Disable
1 Enable
2 Fwd Only
3 Rev Only

If Catch A Spinning Motor (06.009) = 0 the Post Ramp Reference (02.001) is set to zero when the drive is started. This is suitable for applications where the motor is at standstill or rotating at a
low speed when the drive is enabled.

If Catch A Spinning Motor (06.009) > 0 a test is carried out to measure the frequency of the motor when the sequencer state machine enters the RUN state. The minimum time for the test is
approximately 250ms, but this may be extended as time is allowed for the motor flux to build up based on the setting of the motor parameters including Motor Rated Speed (05.008) which
should be set to approximately the correct value. The measured frequency is used to preset the Post Ramp Reference (02.001) and give a smooth start even if the motor is already spinning.
The test is not carried out if the Final drive run is activated when the sequencer state machine is in the STOP state or if a stator resistance measurement is carried out when the drive is enabled
(see Open-loop Voltage Mode (05.014)). For the test to be successful it is important that the motor parameters, especially the Stator Resistance (05.017), are set up correctly even if fixed boost
mode is selected with Open-loop Voltage Mode (05.014). For larger motors it may also be necessary for Spin Start Boost (05.040) to be increased from its default value of 1.0.

Restrictions can be placed on the direction of movement and the possible direction of the detected frequency as given in the table below.

Catch A Spinning Motor (06.009) Function

0 Catch a spinning motor disabled
1 Detect all possible frequencies
2 Detect positive frequencies only
3 Detect negative frequencies only

Parameter 06.010 Enable Conditions

Short description Displays all the conditions needed to change the state of the final drive enable
Mode Open‑Loop
0 4087
Minimum Maximum
(Display: 000000000000) (Display: 111111110111)
Default Units
Type 16 Bit Volatile Update Rate 4ms
Display Format Binary Decimal Places 0
Coding RO, ND, NC, PT

The Final drive enable is a combination of the Hardware Enable (06.029), Drive Enable (06.015) and other conditions that can prevent the drive from being enabled. All of these conditions are
shown as bits in Enable Conditions (06.010) as given in the table below.

Unidrive M400 Parameter Reference Guide

88 Issue: 01.05.02.02
 Enable Conditions
Enable condition
(06.010) bits
0 Hardware Enable (06.029)
1 Drive Enable (06.015)
2 0 if auto tune completed or trip during auto-tune, but drive needs to be disabled and re-enabled
3 Reserved
4 Reserved
5 Zero until the drive thermal model has obtained temperatures from all drive thermistors at least once
Zero until all option modules that are present in the drive have indicated that they are ready to run or the system
6
has timed out waiting for this.
7 Reserved
8-10 Reserved
11 Zero if the drive is in standby mode. See Standby Mode Enable (06.060)

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a decimal value rather
than a binary value.
Parameter 06.011 Sequencer State Machine Inputs
Short description Displays the states of inputs into the sequencer state machine
Mode Open‑Loop
0 127
Minimum Maximum
(Display: 0000000) (Display: 1111111)
Default Units
Type 8 Bit Volatile Update Rate 4ms
Display Format Binary Decimal Places 0
Coding RO, ND, NC, PT, BU

The bits in Sequencer State Machine Inputs (06.011) show the state of the inputs to the sequencer state machine as given in the tables below:

Sequencer State Machine Inputs (06.011) bits Signal Indicates

0 Final drive enable The drive inverter is allowed to be enabled.
1 Final drive run The motor can move away from standstill.
2 Under Voltage Active (10.016) The under voltage condition has been detected.
3 Zero Frequency (10.003) Indicated when the motor has stopped.
4 Drive tripped The drive is tripped.
5 Limit Switch Active (10.066) Limit switch is active
6 Supply Loss (10.015) Supply loss condition has been detected.

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a decimal value rather
than a binary value.
Parameter 06.012 Enable Stop Key
Short description Set to 1 to enable the use of the stop key
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

The Stop key can be used to stop the drive if Enable Stop Key (06.012) = 1 or Keypad command is selected (see Reference Selector (01.014)).

If Enable Stop Key (06.012)= 0 and Keypad command is not selected. The Stop key is not active and can be used to initiate a drive reset without stopping the drive from running.

If Enable Stop Key (06.012) = 1 or Keypad command is selected, the drive reset can be initiated without stopping the drive by holding the Run key and then pressing the Stop key.

The Stop key is also used to reset the drive from the keypad.

It should be noted that if the drive is tripped and is then reset from any source other than the keypad Stop key then the drive may start immediately under the following conditions:

1. Enable Sequencer Latching (06.040) = 0, the Final drive enable is active and one of the sequencer bits (Run Forward (06.030), Run Reverse (06.032) or Run (06.034) is active.
2. Enable Sequencer Latching (06.040) = 1, the Final drive enable is active, Not Stop (06.039) is active and one of the sequencer bits (Run Forward (06.030), Run Reverse (06.032) or
Run (06.034) is active.

The drive sequencer has been designed so that pressing the Stop key, whatever the value of Enable Stop Key (06.012) or the Command Selection, does not make the drive state change from
stopped to running. As pressing the Stop key could reset a drive trip which could then restart the drive, the run output from the sequencer is held off until the following conditions are met when
the drive is tripped and the Stop key is pressed.

1. Run Forward (06.030) = 0 and Run Reverse (06.032) = 0 and Run (06.034) = 0*
2. OR Run Forward (06.030) = 1 and Run Reverse (06.032) = 1 for at least 60ms*
3. OR The Final drive enable = 0
4. OR The sequencer is in the UNDER_VOLTAGE state
5. OR If Enable Sequencer Latching (06.040) = 1, Not Stop (06.039) = 0

* If Enable Sequencer Latching (06.040) = 1 then the state of these sequencer bits must be 0 at the output of their latches.

Once the necessary conditions have been met the drive can then be restarted by activating the necessary bits for a normal start.

Parameter 06.013 Enable Auxiliary Key

Short description Defines the behaviour of the drive when the auxilliary button is pressed
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 89
Value Text
0 Disabled
1 Forward/Reverse
2 Run Reverse

Unidrive KI remote keypad only.

If Reference Selected Indicator (01.049) = 4 then Enable Auxiliary Key (06.013) can be used to enable the Auxiliary key as a reverse key. If Enable Auxiliary Key (06.013) = 1 then each time the
Auxiliary key is pressed Reverse Select (01.012) is toggled. If Enable Auxiliary Key (06.013) = 2 then the Auxiliary key behaves in a similar way to the Run key except that the drive runs in the
reverse direction when it is pressed.

Parameter 06.014 Disable Auto Reset On Enable

Short description Set to 1 to disable auto reset on enable
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW

Trips are automatically reset on the application of an enable signal. This feature can be disabled using this parameter if Disable Auto Reset On Enable (06.014) = 1.

Parameter 06.015 Drive Enable

Short description Set to 1 to enable the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default 1 Units
Type 1 Bit User Save Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, BU

Drive Enable (06.015) must be active for the drive to be enabled. See Menu 06.

Parameter 06.016 Date

Short description Displays the current date
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Volatile Update Rate Background read/write
Display Format Date Decimal Places 0
Coding RW, ND, NC, PT

Date (06.016), Time (06.017) and Day Of Week (06.018) show the date and time as selected by Date/Time Selector (06.019). Date (06.016) stores the date in dd.mm.yy format regardless of
the setting made in Date Format (06.020) however if the parameter is viewed using a keypad the date will be displayed in the format selected in Date Format (06.020). If a real time clock is
selected from an option module then the days, months and years are from the real time clock and the day of the week is displayed in Day Of Week (06.018). Otherwise the days have a
minimum value of 0 and roll over after 30, the months have a minimum value of 0 and roll over after 11, and Day Of Week (06.018) is always 0 (Sunday).

If when setting the date/time this parameter is being written via comms then the value should be written in standard dd/mm/yy format as described below.

The value of this parameter as seen over comms is as follows.

Value = (day[1..31] x 10000) + (month[1..11] x 100) + year[0..99]

Parameter 06.017 Time

Short description Dispalys the current time
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Volatile Update Rate Background read/write
Display Format Time Decimal Places 0
Coding RW, ND, NC, PT

See Date (06.016).

The value of this parameter as seen over comms is as follows.

Value = (hour[0..23] x 10000) + (minute[0..59] x 100) + seconds[0..59]

Parameter 06.018 Day Of Week

Short description Displays the current day of the week
Mode Open‑Loop
Minimum 0 Maximum 6
Default Units
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Value Text
0 Sunday
1 Monday
2 Tuesday
3 Wednesday
4 Thursday
5 Friday
6 Saturday

See Date (06.016).

Unidrive M400 Parameter Reference Guide

90 Issue: 01.05.02.02
 Parameter 06.019 Date/Time Selector
Short description Defines which clock is used to display the current time, date and day of the week
Mode Open‑Loop
Minimum 0 Maximum 6
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Set
1 Powered
2 Running
3 Acc Powered
4 Local Keypad
5 Remote Keypad
6 Slot 1

Date/Time Selector (06.019) is used to select the drive date and time as shown in the table below.

Date/Time Selector
Date/Time source
(06.019)
0: Set Date and time parameters can be written by the user
1: Power Time since the drive was powered up
2: Running Accumulated drive running time since the drive was manufactured
3: Acc Power Accumulated powered-up time since the drive was manufactured
4: Local Keypad Reserved
If a keypad connected to the user comms port of a drive with a 485 port includes a real-time clock then the date/time from
5: Remote Keypad
this clock is displayed, otherwise the date/time is set to zero

If an option module fitted to the drive contains a real-time clock then the date/time from this clock is displayed, otherwise
6: Slot 1
the date/time is set to zero.

When Date/Time Selector (06.019) = 0 the Date (06.016) and Time (06.017) can be written by the user and the values in these parameters are transferred to the real time clocks in the keypad
or any option modules that support this feature that are fitted to the drive. When Date/Time Selector (06.019) is changed to any other value, the real time clocks are allowed to run normally
again. When Date/Time Selector (06.019) is changed from any value to 0 the date and time from a real time clock, if present, is automatically loaded into Date (06.016) and Time (06.017), so
that this date and time is used as the initial value for editing. If more than one real time clock is present the date/time from the remote keypad is used, if present, and if not then the date/time
from the option module slot.

Date (06.016) and Time (06.017) are used by the timers in Menu 09 and for time stamping trips. These features will continue to use the originally selected clock even if Date/Time Selector
(06.019) is changed until a drive reset is initiated. If Date/Time Selector (06.019) has been changed and a reset is initiated Timer 1 Repeat Function (09.039) and Timer 2 Repeat Function
(09.049) are set to zero to disable the timers, and the trip dates and times (10.041 to 10.060) are reset to zero.

Parameter 06.020 Date Format

Short description Defines if the US date format is used or not
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Std Standard date format dd.mm.yy
1 US US date format mm.dd.yy

Date Format (06.020) selects the display style for Date (06.016), Timer 1 Start Date (09.035), Timer 1 Stop Date (09.037), Timer 2 Start Date (09.045), Timer 2 Stop Date (09.047) and for the
trip time stamping date parameters ( Trip 0 Date (10.041), Trip 1 Date (10.043), Trip 2 Date (10.045), Trip 3 Date (10.047), Trip 4 Date (10.049), Trip 5 Date (10.051), Trip 6 Date (10.053),
Trip 7 Date (10.055), Trip 8 Date (10.057), Trip 9 Date (10.059)) when displayed on a keypad connected to the drive. The format selection made in this parameter does not affect the value of
these parameters if they are read using comms or by a user program.

If Date Format (06.020) is 0 then standard format is used and the date is displayed on the keypad as dd.mm.yy and if Date Format (06.020) is 1 then US format is used and the date is
displayed on the keypad as mm.dd.yy.

Parameter 06.021 Time Between Filter Changes

Short description Defines the time between filter changes
Mode Open‑Loop
Minimum 0 Maximum 30000
Default 0 Units Hours
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Time Between Filter Changes (06.021) should be set to a non-zero value to enable the filter change timer system. Each time Filter Change Required / Change Done (06.022) is changed by the
user from 1 to 0 the value of Time Between Filter Changes (06.021) is copied to Time Before Filter Change Due (06.023). For each hour while Drive Active (10.002) = 1 the
Time Before Filter Change Due (06.023) is reduced by 1 until it reaches zero. When Time Before Filter Change Due (06.023) changes from 1 to 0 Filter Change Required / Change Done
(06.022) is set to 1 to indicate that a filter change is required. The filter should be changed and the system reset again by resetting Filter Change Required / Change Done (06.022) to 0.

Parameter 06.022 Filter Change Required / Change Done

Short description Set to 0 when a filter change has taken place
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background read/write
Display Format Standard Decimal Places 0
Coding RW, ND, NC

See Time Between Filter Changes (06.021).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 91
Parameter 06.023 Time Before Filter Change Due
Short description Displays the time before a filter change is required
Mode Open‑Loop
Minimum 0 Maximum 30000
Default Units Hours
Type 16 Bit Power Down Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Time Between Filter Changes (06.021).

Parameter 06.024 Reset Energy Meter

Short description Set to 1 to reset the energy meter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Energy Meter: MWh (06.025) and Energy Meter: kWh (06.026) accumulate the energy transferred through the drive. A positive energy value indicates net transfer of energy from the drive to the
motor. If Reset Energy Meter (06.024) = 1 then Energy Meter: MWh (06.025) and Energy Meter: kWh (06.026) are held at zero. If Reset Energy Meter (06.024) = 0 then the energy meter is
enabled and will accumulate the energy flow. If the maximum or minimum of Energy Meter: MWh (06.025) is reached the parameter does not rollover and is instead clamped at the maximum or
minimum value.

Parameter 06.025 Energy Meter: MWh

Short description Displays the energy accumulated by through the drive in MWh
Mode Open‑Loop
Minimum -999.9 Maximum 999.9
Default Units MWh
Type 16 Bit Power Down Save Update Rate Background write
Display Format Standard Decimal Places 1
Coding RO, ND, NC, PT

See Reset Energy Meter (06.024).

Parameter 06.026 Energy Meter: kWh

Short description Displays the energy accumulated by through the drive in kWh
Mode Open‑Loop
Minimum -99.99 Maximum 99.99
Default Units kWh
Type 16 Bit Power Down Save Update Rate Background write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

See Reset Energy Meter (06.024).

Parameter 06.027 Energy Cost Per kWh

Short description Defines the cost of energy per kWh
Mode Open‑Loop
Minimum 0.0 Maximum 600.0
Default 0.0 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

Running Cost (06.028) is derived from the Output Power (05.003) and the Energy Cost Per kWh (06.027) in cost per hour. The sign of Running Cost (06.028) is the same as the sign of
Output Power (05.003).

Parameter 06.028 Running Cost

Short description Displays the running cost of the drive
Mode Open‑Loop
Minimum -32000 Maximum 32000
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Energy Cost Per kWh (06.027).

Parameter 06.029 Hardware Enable

Short description Set to 1 to enable the hardware of the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

Hardware Enable (06.029) normally shows the hardware enable state based on the state of the safe torque off system. However, drive I/O can be routed to User Enable (06.038) to reduce the
disable time. See description of the enable logic for more details.

Unidrive M400 Parameter Reference Guide

92 Issue: 01.05.02.02
 Parameter 06.030 Run Forward
Short description Set to to give the drive a run forward signal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

If the command source is not the keypad or the control word ( Control Word (06.042) ), then Run Forward (06.030) can be used to make the Final drive run active and Reverse Select (01.012) =
0, i.e. to make the drive run in the forward direction. See description of sequencer logic for more details.

Parameter 06.031 Jog Forward

Short description Set to 1 to give the drive a jog forward signal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

If the command source is not the keypad or the control word ( Control Word (06.042) ), then Jog Forward (06.031) can be used to make the Final drive run active and Jog Select (01.013) = 1,
i.e. to make the drive run using the jog reference and jog ramps rates. The jog function is disabled if the run is made active through the normal running sequencing bits. See description of
sequencer logic for more details.

Parameter 06.032 Run Reverse

Short description Set to 1 to give the drive a run reverse signal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

If the command source is not the keypad or the control word ( Control Word (06.042) ), then Run Reverse (06.032) can be used to make the Final drive run active and Reverse Select (01.012) =
1, i.e. to make the drive run in the reverse direction. See description of sequencer logic for more details.

Parameter 06.033 Forward/Reverse

Short description Set to 1 to reverse the direction of the motor
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

If the command source is not the keypad or the control word ( Control Word (06.042) ), then Forward/Reverse (06.033) can be used to force the state of Reverse Select (01.012). If
Forward/Reverse (06.033) = 1 then Reverse Select (01.012) = 1. If Forward/Reverse (06.033) = 0 then Reverse Select (01.012) = 0 unless it is set to 1 by the rest of the normal run or jog logic.
See description of sequencer logic for more details.

Parameter 06.034 Run

Short description Set to 1 to give the drive a run signal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

If the command source is not the keypad or the control word ( Control Word (06.042) ), then Run (06.034) can be used to make the Final drive run active, but not to affect the state of
Reverse Select (01.012). Normally Run (06.034) would be used in conjunction with Forward/Reverse (06.033) if control of the direction is required. See description of sequencer logic for more
details.

Parameter 06.035 Forward Limit Switch

Short description Set to 1 to activate the forward limit switch active signal and remove the Final drive run signal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 1ms read
Display Format Standard Decimal Places 0
Coding RW, NC

Forward Limit Switch (06.035) and Reverse Limit Switch (06.036) can be used to activate the Limit switch active signal and remove the Final drive run signal. See description of sequencer logic
for more details.

Condition Forward Limit Switch (06.035) Reverse Limit Switch (06.036)

Pre-ramp Reference (01.003) + * Hard Frequency Reference (03.022) > 0.00 Active Not active
Pre-ramp Reference (01.003) + *Hard Frequency Reference (03.022) < 0.00 Not active Active
Pre-ramp Reference (01.003) + *Hard Frequency Reference (03.022) = 0.00 Active Active

* If Hard Frequency Reference Select (03.023) = 0 then the Hard Frequency Reference (03.022) is taken as 0

Normally digital input destinations are routed to Forward Limit Switch (06.035) and Reverse Limit Switch (06.036) to activate the limit switch system. If Limit Switch Stop Mode (06.002) = 0 the
motor is stopped using d.c. injection, otherwise it is stopped with the currently selected ramp rate. If a digital input that is integral to the drive is used then Limit switch active will follow the state
of the input with a maximum delay is 2.5ms. The limit switches are direction dependant, so that the motor can rotate in a direction that allows the system to move away from the limit switch.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 93
Parameter 06.036 Reverse Limit Switch
Short description Set to 1 to activate the reverse limit switch active signal and remove the Final drive run signal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 1ms read
Display Format Standard Decimal Places 0
Coding RW, NC

See Forward Limit Switch (06.035).

Parameter 06.037 Jog Reverse

Short description Set to 1 to give the drive a jog reverse signal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

If the command source is not the keypad or the control word ( Control Word (06.042) ), then Jog Reverse (06.037) can be used to make the Final drive run active, Jog Select (01.013) = 1 and
Reverse Select (01.012) = 1, i.e. to make the drive run using the jog reference and jog ramps rates in the reverse direction. The jog function is disabled if the run is made active through the
normal running sequencing bits. See description of sequencer logic for more details.

Parameter 06.038 User Enable

Short description Used to Enable/Disable the drive frorm a terminal
Mode Open‑Loop
Minimum 0 Maximum 1
Default 1 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

This parameter is ANDed with the STO logic to produce the combined Hardware Enable (06.029). A user must set this parameter as a destination from a digital input. The logic value of this
parameter will be set to 1 if it has not been used as a destination which will permit the STO to solely control the Hardware Enable (06.029).

Parameter 06.039 Not Stop

Short description Set to 1 to reset the latched sequencer bits if sequencer latching is enabled
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW, NC

If Enable Sequencer Latching (06.040) = 1 then the sequencer bits can be latched. Not Stop (06.039) should be used to reset the latched sequencer bits. If Not Stop (06.039) = 1 then the
sequencer bits can be latched. If Not Stop (06.039) = 0 then the latches are cleared and their outputs are forced to zero which will de-activate the Final drive run. See description of sequencer
logic for more details.

Parameter 06.040 Enable Sequencer Latching

Short description Set to 1 to enable sequencer latching
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW

See Not Stop (06.039).

Parameter 06.041 Drive Event Flags

Short description Displays certain actions that have occurred within the drive
Mode Open‑Loop
0 3
Minimum Maximum
(Display: 00) (Display: 11)
0
Default Units
(Display: 00)
Type 8 Bit Volatile Update Rate Background write
Display Format Binary Decimal Places 0
Coding RW, NC

Drive Event Flags (06.041) indicates that certain actions have occurred within the drive as described below.

Bit Corresponding event

0 Defaults loaded
1 Drive mode changed

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a decimal value rather than a binary value.

Bit 0: Defaults loaded

The drive sets bit 0 when defaults have been loaded and the associated parameter save has been completed. The drive does not reset this flag except at power-up.

Bit 1: Drive mode changed

The drive sets bit 1 when the drive mode has changed and the associated parameter save has been completed. The drive does not reset this flag except at power-up.

Unidrive M400 Parameter Reference Guide

94 Issue: 01.05.02.02
 Parameter 06.042 Control Word
Short description Controls the sequencer state machine inputs if the control word is enabled
Mode Open‑Loop
0 32767
Minimum Maximum
(Display: 000000000000000) (Display: 111111111111111)
0
Default Units
(Display: 000000000000000)
Bits 9,7-0: 4ms, Other bits:
Type 16 Bit Volatile Update Rate
Background read
Display Format Binary Decimal Places 0
Coding RW, NC

If Control Word Enable (06.043) = 0 then Control Word (06.042) has no effect. If Control Word Enable (06.043) = 1 the bits in Control Word (06.042) are used instead of their corresponding
parameters or to initiate drive functions as shown in the table below:

Bit Corresponding paramter or function

0 Drive Enable (06.015)
1 Run Forward (06.030)
2 Jog Forward (06.031)
3 Run Reverse (06.032)
4 Forward/Reverse (06.033)
5 Run (06.034)
6 Not Stop (06.039)
7 Auto / manual
8 Analog / Preset reference
9 Jog Reverse (06.037)
10 Not used
11 Not used
12 Trip drive
13 Reset drive
14 Watchdog

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a decimal value rather than a binary value.

Bits 0-7 and bit 9: Sequencer control

When Auto/manual bit (bit7) = 1 then bits 0 to 6 and bit 9 of the Control Word (06.042) become active. The equivalent parameters are not modified by these bits, but become inactive when the
equivalent bits in the Control Word (06.042) are active. When the bits are active they replace the functions of the equivalent parameters.

Bit 8: Analogue/preset reference

The state of Analogue/Preset Reference (bit 8) is written continuously to Reference Select Flag 2 (01.042). With default drive settings (i.e. Reference Selector (01.014) = 0) this selects
Analog Reference 1 (01.036) when bit 8 = 0 or Preset Reference 1 (01.021) when bit8 = 1. If any other drive parameters are routed to Reference Select Flag 2 (01.042) the value of this
parameter is undefined.

Bit 10 and bit 11: Not used

The values of these bits have no effect on the drive.

Bit 12: Trip drive

If bit 12 = 1 then a Control Word trip is repeatedly initiated. The trip cannot be cleared until bit 12 = 0.

Bit 13: Reset drive

If bit 13 is changed from 0 to 1 a drive reset is initiated. Bit 13 does not modify Drive Reset (10.033).

Bit 14: Watchdog

A watchdog system can be enabled or serviced each time bit 14 is changed from 0 to 1. Once bit 14 has been changed from 0 to 1 to enable the watchdog, this must be repeated every 1s or
else a Watchdog trip will be initiated. The watchdog is disabled when the trip occurs and must be re-enabled if required when the trip is reset.

Parameter 06.043 Control Word Enable

Short description Set to 1 to enable the control word
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RW

See Control Word (06.042).

Parameter 06.045 Cooling Fan control

Short description Defines the maximum speed of the drive cooling fan
Mode Open‑Loop
Minimum 0 Maximum 5
Default 2 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Note: Size 1 drives only have a single fan speed and so some of the operational modes are not available.

If Cooling Fan control (06.045) = 0 the cooling fan in the drive is off.

Some option modules consume more power than others and so if one of the higher power consumption modules is fitted to the drive, the drive will trip OHt Control if Stack Temperature
(07.004) is above an internally set threshold (drive power rating dependant), and the option module will be forced to go into standby.

If Cooling Fan control (06.045) = 1 the cooling fan in the drive is forced to run at full speed.

If Cooling Fan control (06.045) = 2 the cooling fan in the drive is controlled by the values of Stack Temperature (07.004) and Current Magnitude (04.001) . The fan will run at full speed for at
least 20 seconds if Stack Temperature (07.004) is greater than a frame dependent threshold (60 °C for size 1 & 2 or 50 °C for size 3 & 4) or Current Magnitude (04.001) is greater than 75%
of Drive current rating (11.068), otherwise the cooling fan is off. If neither of the above conditions are causing the fan to run, the fan will run at low speed if one of the higher power consumption
option modules is fitted and Stack Temperature (07.004) is above the internally set threshold. The fan will not turn off until Stack Temperature (07.004) falls to 5°C below the internally set
threshold.

If Cooling Fan control (06.045) = 3 is the same as Cooling Fan control (06.045) = 2 but the cooling fan never turns off but runs at low speed when full speed is not being called for. This mode is
not available on size 1 and so if selected, mode 2 is used instead.

If Cooling Fan control (06.045) = 4 the cooling fan in the drive is at low speed continuously. This mode is not available on size 1 and so if selected, mode 1 is used instead.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 95
If Cooling Fan control (06.045) = 5 is the same as Cooling Fan control (06.045) = 2 but with an additional lower temperature threshold that causes the fan to run at low speed if
Stack Temperature (07.004) is above the lower threshold - “theatre mode”. In some applications this may prevent the fan running at full speed and so keep the audible noise down to a
minimum. This mode is not available on size 1 and so if selected, mode 2 is used instead.

Parameter 06.047 Input Phase Loss Detection Mode

Short description Defines how the input phase loss is detected
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Full
1 Ripple Only
2 Disabled

Input phase loss is detected by monitoring the d.c. link voltage ripple which increases with load. When compared to normal operation, if an input phase is missing or there is excessive input
phase imbalance the d.c. link ripple level is higher. The high ripple level is detected to initiate a PH.Lo trip. For drive sizes 8 and above an additional input phase loss detection is provided by
direct monitoring of the supply voltages (PH.Lo trip). Unlike the d.c. voltage ripple based detection which can only operate when the drive is enabled and on load, the additional input phase loss
detection can operate whether the drive is enabled or not. Input Phase Loss Detection Mode (06.047) defines the methods used for input phase loss detection provided by the drive.

Input Phase Loss Detection Mode (06.047) Drive Active (10.002) = 0 Drive Active (10.002) = 1
*Direct input phase loss detection
0 *Direct input phase loss detection
D.c. link voltage ripple detection
1 *Direct input phase loss detection D.c. link voltage ripple detection
2 No input phase loss detection No input phase loss detection

*Frame sizes 8 and above

Input phase loss detection can be disabled when the drive is required to operate from a d.c. supply connected to the d.c. link or from a single phase supply. If the drive operates from a single
phase supply or a supply with high levels of phase imbalanced under load the input stage and d.c. link thermal protection system may produce a OHt dc bus trip.

Parameter 06.048 Supply Loss Detection Level

Short description Defines the threshold for indicating when the supply loss condition is detected
Mode Open‑Loop
Minimum 0 Maximum VM_SUPPLY_LOSS_LEVEL
Default See exceptions below Units V
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, VM, RA

Voltage Default Value

110V 205
200V 205
400V 410
575V 540
690V 540

Defines the threshold for indicating when the supply loss condition is detected.

The threshold can be adjusted to higher levels using this parameter. If the value is reduced below the default value the default value is used by the drive. If the level is set too high so that supply
loss detection becomes active under normal operating conditions, the motor will coast to a stop.

Parameter 06.051 Hold Supply Loss Active

Short description Hold Supply Loss Active
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 1ms read
Display Format Standard Decimal Places 0
Coding RW, NC

If supply loss is detected (i.e. Supply Loss (10.015) = 1) or Hold Supply Loss Active (06.051) = 1 the supply loss indication and the action taken on supply loss will be active. For
example, Hold Supply Loss Active (06.051) can be controlled by an external rectifier or a Regen system (via a digital input) to prevent power from being taken from the supply if supply loss ride-
through mode is being used until the input system is ready to provide power. This can allow for the charge system in an external rectifier to complete the charging, or it can allow a Regen
system to become synchronised.

Parameter 06.052 Motor Pre-heat Current Magnitude

Short description Defines the current in the motor when the state machine is in the stop state
Mode Open‑Loop
Minimum 0 Maximum 100
Default 0 Units %
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Hold Zero Frequency (06.008).

Parameter 06.058 Output Phase Loss Detection Time

Short description Output Phase Loss Detection Time
Mode Open‑Loop
Minimum 0 Maximum 3
Default 0 Units
Type 8 Bit User Save Update Rate Background Read
Display Format Standard Decimal Places 0
Coding RW, TE

Unidrive M400 Parameter Reference Guide

96 Issue: 01.05.02.02
 Value Text
0 0.5s
1 1.0s
2 2.0s
3 4.0s

See Output Phase Loss Detection Enable (06.059).

Parameter 06.059 Output Phase Loss Detection Enable

Short description Set to 1 to enable output phase loss detection
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Output phase loss detection can be used to detect a disconnected motor phase if Output Phase Loss Detection Enable (06.059) is set to a non-zero value.

0: Disabled
Output phase loss detection is not active.

1: Enabled
A test is carried out each time the drive is enabled to run to check if all three phases are connected. If the test fails an Out Phase Loss.X trip is initiated where X indicates which phase is not
connected (1 = U, 2 = V, 3 = W). It should be noted that this test is not carried out in Open-loop mode if "catch a spinning motor is enabled (i.e. Catch A Spinning Motor (06.009) > 0).

A test is also carried out while the drive is running. If the drive output frequency is above 4Hz and a phase is disconnected for the time specified by Output Phase Loss Detection Time (06.058)
then a Out Phase Loss.4 trip is initiated. It should be noted that if the motor is operating at high speed and flux weakening is active so that the magnetising current is below half the rated level
then output phase loss will not be detected. If the motor is heavily loaded when a phase is disconnected it is likely that the motor will stall and the drive output frequency may fall below 4Hz
before output phase loss is detected.

Parameter 06.060 Standby Mode Enable

Short description Set to 1 enable standby mode
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

If Standby Mode Enable (06.060) = 1 then the drive will go into the standby power state 20 seconds after the last key press and whenever Drive Active (10.002) = 0. In this state the LED on the
front of the drive flashes 0.25s on and 2s off. And the following actions are taken as defined by the Standby Mode Mask (06.061). Actions are enabled by setting the appropriate bit to 1.

Standby Mode Mask

Action
(06.061) bits
0 NA
1 Instruct all keypads to go into their standby state
2 NA
Instruct the option module in option slot 1 to go into the standby
3
power state

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a decimal value rather
than a binary value.
Parameter 06.061 Standby Mode Mask
Short description Defines the behaviour of standby mode
Mode Open‑Loop
0 15
Minimum Maximum
(Display: 0000) (Display: 1111)
0
Default Units
(Display: 0000)
Type 8 Bit User Save Update Rate Background read
Display Format Binary Decimal Places 0
Coding RW

See Standby Mode Enable (06.060).

Parameter 06.071 Slow Rectifier Charge Rate Enable

Short description Set to 1 to reduce the charge rate of the d.c. bus
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

For Frame size 07 and larger, which use a d.c. link charge system based on a half controlled thyristor input bridge, the rate at which the d.c. link is charged can be reduced by setting
Slow Rectifier Charge Rate Enable (06.071) to one. This will reduce the charging current which may be required if significant additional capacitance is added to the d.c. link to prevent rupturing
of input fuses.

Parameter 06.073 Braking IGBT Lower Threshold

Short description Defines the lowest level of the d.c. bus voltage where the braking IGBT becomes active
Mode Open‑Loop
Minimum −VM_DC_VOLTAGE_SET Maximum VM_DC_VOLTAGE_SET
Default See exceptions below Units V
Type 16 Bit User Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RW, VM, RA

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 97
Voltage Default Value
110V 390
200V 390
400V 780
575V 930
690V 1120

Braking IGBT Lower Threshold (06.073) defines the lowest level of D.c. Link Voltage (05.005) where the braking IGBT will become active and Braking IGBT Upper Threshold (06.074) defines
the level of D.c. Link Voltage (05.005) where the braking IGBT will be on continuously. When the braking IGBT is turned on it will remain on for at least 1ms. The braking IGBT on-time is defined
by the thresholds and the d.c. link voltage as given in the table below where L = Braking IGBT Lower Threshold (06.073) and U = Braking IGBT Upper Threshold (06.074).

D.c. link voltage level On-time

D.c. Link Voltage (05.005) < L 0%
L ≤ D.c. Link Voltage (05.005) ≤ U [(D.c. Link Voltage (05.005) - L) / (U - L)] x 100%
D.c. Link Voltage (05.005) ≥ U 100%

As the D.c. Link Voltage (05.005) rises above the lower threshold the braking IGBT is active with an on/off ratio of 1/100. As the voltage rises further, the on/off ratio increases until at the upper
threshold the braking IGBT is on continuously. The upper and lower voltage threshold can be set up so that braking resistors in drives with parallel connected d.c. links will share the braking
load.

If Braking IGBT Lower Threshold (06.073) ≥ Braking IGBT Upper Threshold (06.074) then the braking IGBT is off when D.c. Link Voltage (05.005) Braking IGBT Upper Threshold (06.074) and
on if D.c. Link Voltage (05.005) ≥ Braking IGBT Upper Threshold (06.074). This method of control is the same as that used in Commander SK and the default values for the braking thresholds
are equal to the braking thresholds in Commander SK.

Unless sharing between braking resistors is required the braking thresholds do not normally need to be adjusted. Care should be taken when reducing the thresholds because if either threshold
is below the maximum value of the peak rectified supply voltage the braking resistor could take power from the supply.

The list below gives conditions that will disable the braking IGBT:

1. Braking IGBT Upper Threshold (06.074) = 0, or Low Voltage Braking IGBT Threshold Select (06.076) = 1 and Low Voltage Braking IGBT Threshold (06.075) = 0.
2. The drive is in the under-voltage state.
3. A priority 1, 2 or 3 trip is active.
4. There is a fault in the control system power supply.
5. The hardware or software over-temperature systems indicate that the braking resistor is too hot.
6. A braking IGBT over-current trip is active OI Brake.

Parameter 06.074 Braking IGBT Upper Threshold

Short description Defines the level of the d.c. bus voltage where the braking IGBT will be on continuously
Mode Open‑Loop
Minimum −VM_DC_VOLTAGE_SET Maximum VM_DC_VOLTAGE_SET
Default See exceptions below Units V
Type 16 Bit User Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RW, VM, RA

Voltage Default Value

110V 390
200V 390
400V 780
575V 930
690V 1120

See Braking IGBT Lower Threshold (06.073).

Parameter 06.075 Low Voltage Braking IGBT Threshold

Short description Defines the threshold used for low voltage braking
Mode Open‑Loop
Minimum −VM_DC_VOLTAGE_SET Maximum VM_DC_VOLTAGE_SET
Default 0 Units V
Type 16 Bit User Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RW, VM, RA

If Low Voltage Braking IGBT Threshold Select (06.076) = 0 the normal thresholds are used. If Low Voltage Braking IGBT Threshold Select (06.076) = 1 then
Low Voltage Braking IGBT Threshold (06.075) is used for both upper and lower thresholds. This allows a different braking threshold to be set for low voltage operation.

Parameter 06.076 Low Voltage Braking IGBT Threshold Select

Short description Set to 1 enable low voltage IGBT braking
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background
Display Format Standard Decimal Places 0
Coding RW

See Low Voltage Braking IGBT Threshold (06.075)

Parameter 06.077 Low DC Link Operation

Short description Set to 1 to allow a 400V drive to be ran from a 240V supply
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

On the 400V product setting this bit will enable the drive to run from a 240VAC input. Low DC Link Operation is enabled when Low DC Link Operation (06.077) is set to one. See figure below.

Unidrive M400 Parameter Reference Guide

98 Issue: 01.05.02.02
Low AC Alarm (10.107) is displayed from step 2 on the figure above.

The functionality described for Low DC Link Operation (06.077) is supported across Frames 02-09. For Frames 05 and above, the minimum supply voltage supported is 330V DC (233VAC
RMS)

Parameter 06.084 UTC Offset

Short description UTC Offset
Mode Open‑Loop
Minimum -24.00 Maximum 24.00
Default 0.00 Units Hours
Type 16 Bit User Save Update Rate Background Read
Display Format Standard Decimal Places 2
Coding RW

UTC Offset (06.084) is an offset, specified in hours, applied to the selected clock source (see Date/Time Selector (06.019)). This could be used for time zone offsets etc. The offset will be
applied to the time obtained from the selected clock source, in addition to any offset already applied to the time from that source.

Parameter 06.089 DC Injection Active

Short description Indicates when d.c. injection is active.
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit User Save Update Rate 4ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

This flag is high when the sequencer is in the dc injection state and low for all other conditions.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 99
Menu 7 Single Line Descriptions − Analog I/O
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

100 Issue: 01.05.02.02
 Parameter Range Default Type
07.001 Analog Input 1 ±100.00 % RO Num ND NC PT FI
07.002 Analog Input 2 ±100.00 % RO Num ND NC PT FI
07.004 Stack Temperature ±250 °C RO Num ND NC PT
07.005 Auxiliary Temperature ±250 °C RO Num ND NC PT
4‑20mA Stop (-6),
20‑4mA Stop (-5),
4‑20mA Low (-4),
20‑4mA Low (-3),
4‑20mA Hold (-2),
07.007 Analog Input 1 Mode Voltage (6) RW Txt US
20‑4mA Hold (-1),
0‑20mA (0), 20‑0mA (1),
4‑20mA Trp (2),
20‑4mA Trp (3), 4‑20mA (4),
20‑4mA (5), Voltage (6)
07.008 Analog Input 1 Scaling 0.000 to 10.000 1.000 RW Num US
07.009 Analog Input 1 Invert Off (0) or On (1) Off (0) RW Bit US
07.010 Analog Input 1 Destination A 0.000 to 30.999 1.036 RW Num DE PT US
4‑20mA Stop (-6),
20‑4mA Stop (-5),
4‑20mA Low (-4),
20‑4mA Low (-3),
4‑20mA Hold (-2),
07.011 Analog Input 2 Mode 20‑4mA Hold (-1), Voltage (6) RW Txt US
0‑20mA (0), 20‑0mA (1),
4‑20mA Trp (2),
20‑4mA Trp (3), 4‑20mA (4),
20‑4mA (5), Voltage (6),
Digital (7)
07.012 Analog Input 2 Scaling 0.000 to 10.000 1.000 RW Num US
07.013 Analog Input 2 Invert Off (0) or On (1) Off (0) RW Bit US
07.014 Analog Input 2 Destination A 0.000 to 30.999 1.037 RW Num DE PT US
07.019 Analog Output 1 Source A 0.000 to 30.999 2.001 RW Num PT US
07.020 Analog Output 1 Scaling 0.000 to 40.000 1.000 RW Num US
Voltage (0), 0‑20mA (1),
07.021 Analog Output 1 Mode Voltage (0) RW Txt US
4‑20mA (2), Digital (3)
07.022 Analog Output 2 Source A 0.000 to 30.999 4.002 RW Num PT US
07.023 Analog Output 2 Scaling 0.000 to 40.000 1.000 RW Num US
Voltage (0), 0‑20mA (1),
07.024 Analog Output 2 Mode Voltage (0) RW Txt US
4‑20mA (2), Digital (3)
07.026 Analog Input 1 Preset on Current Loss 4.00 to 20.00 mA 4.00 mA RW Num US
07.027 Analog Input 2 Preset on Current Loss 4.00 to 20.00 mA 4.00 mA RW Num US
07.028 Analog Input 1 Current Loop Loss Off (0) or On (1) RO Bit ND NC PT
07.029 Analog Input 2 Current Loop Loss Off (0) or On (1) RO Bit ND NC PT
07.030 Analog Input 1 Offset ±100.00 % 0.00 % RW Num US
07.031 Analog Input 2 Offset ±100.00 % 0.00 % RW Num US
07.034 Inverter Temperature ±250 °C RO Num ND NC PT
07.035 Percentage Of d.c. Link Thermal Trip Level 0 to 100 % RO Num ND NC PT
07.036 Percentage Of Drive Thermal Trip Level 0 to 100 % RO Num ND NC PT
07.037 Temperature Nearest To Trip Level 0 to 29999 RO Num ND NC PT
DIN44081 (0), KTY84 (1),
07.046 Thermistor Type PT1000 (2), PT2000 (3), DIN44081 (0) RW Txt US
Other (4)
07.047 Thermistor Feedback 0 to 4000 Ω RO Num ND NC PT FI
07.048 Thermistor Trip Threshold 0 to 4000 Ω 3300 Ω RW Num US
07.049 Thermistor Reset Threshold 0 to 4000 Ω 1800 Ω RW Num US
07.050 Thermistor Temperature -50 to 300 °C RO Num ND NC PT FI
07.051 Analog Input 1 Control 0 to 5 0 RW Num US
07.052 Analog Input 2 Control 0 to 5 0 RW Num US
07.055 Analog Output 1 Control 0 to 15 0 RW Num US
07.056 Analog Output 2 Control 0 to 15 0 RW Num US
07.061 Analog Input 1 Minimum Reference ±100.00 % -100.00 % RW Num US
07.062 Analog Input 1 At Minimum Reference ±100.00 % -100.00 % RW Num US
07.063 Analog Input 1 Maximum Reference ±100.00 % 100.00 % RW Num US
07.064 Analog Input 1 At Maximum Reference ±100.00 % 100.00 % RW Num US
07.065 Analog Input 2 Minimum Reference 0.00 to 100.00 % 0.00 % RW Num US
07.066 Analog Input 2 At Minimum Reference ±100.00 % 0.00 % RW Num US
07.067 Analog Input 2 Maximum Reference 0.00 to 100.00 % 100.00 % RW Num US
07.068 Analog Input 2 At Maximum Reference ±100.00 % 100.00 % RW Num US
07.090 Analog Input 1 Destination B 0.000 to 30.999 RO Num DE NC PT US

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 101
 07.094 Analog Input 2 Destination B 0.000 to 30.999 RO Num DE NC PT US
07.099 Analog Output 1 Source B 0.000 to 30.999 RO Num ND NC PT US
07.102 Analog Output 2 Source B 0.000 to 30.999 RO Num ND NC PT US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

102 Issue: 01.05.02.02
Menu 7 − Analog I/O
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 103
 Unidrive M400 Parameter Reference Guide
104 Issue: 01.05.02.02
 Parameter 07.001 Analog Input 1
Short description Displays the value of analog input 1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 2
Coding RO, FI, ND, NC, PT

The Analog input 1 can operate in different modes as defined by Analog Input 1 Mode (07.007) including current modes. See Analog I/O.

Voltage mode: Resolution of 12 bits (11 bits + sign). It is a single ended bipolar voltage input +/-10V
Current mode: Resolution of 11 bits. It is a differential unipolar current through input 0-20mA (burden in series)

The "Input Level" is defined for the different modes in the table below.

Mode Input Level

Voltage (Input Voltage/ 10V) x 100.00%
0-20mA (Input Current / 20mA) x 100.00%
20-0mA (20mA - Input Current) / 20mA x 100.00%
4-20mA (Input Current - 4mA) / 16mA x 100.00%

20-4mA (20mA - Input Current) / 16mA x 100.00%

Parameter 07.002 Analog Input 2

Short description Displays the value of analog input 2
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms
Display Format Standard Decimal Places 2
Coding RO, FI, ND, NC, PT

See Analog I/O.

Voltage mode: This input is a unipolar voltage 0-10V.

Digital mode: This input can also be configured as a digital input in which case this parameter will indicate 0.00% or 100.00% depending on the state of the input.

Current mode: This input can be a single ended unipolar current input 0-20mA.

The "Input Level" is defined for the different modes in the table below.

Mode Input Level

Voltage (Input Voltage/ 10V) x 100.00%
0-
(Input Current / 20mA) x 100.00%
20mA
20-
(20mA - Input Current) / 20mA x 100.00%
0mA
4-
(Input Current - 4mA) / 16mA x 100.00%
20mA
20-
(20mA - Input Current) / 16mA x 100.00%
4mA
0.00% (corresponds to logical 0 if less than 9V) or 100.0% (corresponds to logical 1 if more than
Digital
11V)

Parameter 07.004 Stack Temperature

Short description Displays the temperature currently being measured on the heat sink
Mode Open‑Loop
Minimum -250 Maximum 250
Default Units °C
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

This parameter displays the temperature currently being measured on the heat sink. This is used as part of the drive thermal model, see Drive Over-temperature Alarm
(10.018) for further details.

Parameter 07.005 Auxiliary Temperature

Short description Displays the temperature currently being measured on the power system
Mode Open‑Loop
Minimum -250 Maximum 250
Default Units °C
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

This parameter displays the temperature currently being measured on the power system on large frames. This is used as part of the drive thermal model.

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Issue: 01.05.02.02 105
Parameter 07.007 Analog Input 1 Mode
Short description Defines the mode of analog input 1
Mode Open‑Loop
Minimum -6 Maximum 6
Default 6 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
-6 4-20mA Stop
-5 20-4mA Stop
-4 4-20mA Low
-3 20-4mA Low
-2 4-20mA Hold
-1 20-4mA Hold
0 0-20mA
1 20-0mA
2 4-20mA Trp
3 20-4mA Trp
4 4-20mA
5 20-4mA
6 Voltage

See Analog Input 1 (07.001).

The table below gives all the possible analog input modes.

In 4-20mA and 20-4mA current input modes the software detects a current input less than 3mA as a current loop loss and initiates an action depending on the mode set in the
table below.

Value Mode Function

-6 4-20mA Stop 4-20mA with stop on current loop loss

-5 20-4mA Stop 20-4mA with stop on current loop loss

-4 4-20mA Low 4-20mA with switching to a low speed set in Analog Input 1 Preset on Current Loss (07.026) on current loop loss
-3 20-4mA Low 20-4mA with switching to a low speed set in Analog Input 1 Preset on Current Loss (07.026) on current loop loss
-2 4-20mA Hold 4-20mA with hold at level before loss on current loop loss (1)
-1 20-4mA Hold 20-4mA with hold at level before loss on current loop loss (1)
0 0-20mA 0-20mA
1 20-0mA 20-0mA
2 4-20mA Trip 4-20mA with An Input 1 Loss trip on current loss.
3 20-4mA Trip 20-4mA with An Input 1 Loss trip on current loss.
4 4-20mA 4-20mA with no action on current loop loss (input taken as 0%).
5 20-4mA 20-4mA with no action on current loop loss (input taken as 0%).
6 Voltage Voltage input

(1) Analog input level remains at the value it had in the previous sample before the current fell below 3mA.

Parameter 07.008 Analog Input 1 Scaling

Short description Defines the scaling factor of analog input 1
Mode Open‑Loop
Minimum 0.000 Maximum 10.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

See Analog I/O.

Analog Input 1 (07.001) is modified by Analog Input 1 Scaling (07.008), Analog Input 1 Offset (07.030) and Analog Input 1 Invert (07.009) before it is routed to its destination as
follows:

A1O = Analog Input 1 (07.001) + Analog Input 1 Offset (07.030)

A1O is the value after the offset has been applied and is limited between -100.00% and 100.00%

A1S = A1O x Analog Input 1 Scaling (07.008)

A1S is the value after the scaling and the offset have been applied and is limited between -100.00% and 100.00%

If Analog Input 1 Invert (07.009) = 0 then A1I = A1S otherwise A1I = -A1S

A1I is the value after the invert, scaling and offset have been applied and is the final value that is routed to the destination defined by

Analog Input 1 Destination A (07.010) if Analog Input 1 Control (07.051) = 0

Analog Input 1 Destination B (07.090) if Analog Input 1 Control (07.051) > 0

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106 Issue: 01.05.02.02
 Parameter 07.009 Analog Input 1 Invert
Short description Inverts the signal for analog input 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Analog Input 1 Scaling (07.008).

Parameter 07.010 Analog Input 1 Destination A

Short description Defines the output parameter for analog input 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.036 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

See Analog Input 1 Scaling (07.008).

Parameter 07.011 Analog Input 2 Mode

Short description Defines the mode for analog input 2
Mode Open‑Loop
Minimum -6 Maximum 7
Default 6 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
-6 4-20mA Stop
-5 20-4mA Stop
-4 4-20mA Low
-3 20-4mA Low
-2 4-20mA Hold
-1 20-4mA Hold
0 0-20mA
1 20-0mA
2 4-20mA Trp
3 20-4mA Trp
4 4-20mA
5 20-4mA
6 Voltage
7 Digital

See Analog Input 2 (07.002).

The table below gives all the possible analog input modes.

In 4-20mA and 20-4mA current input modes the software detects a current input less than 3mA as a current loop loss and initiates an action depending on the mode set in the
table below.

Value Mode Function

-6 4-20mA Stop 4-20mA with stop on current loop loss

-5 20-4mA Stop 20-4mA with stop on current loop loss

-4 4-20mA Low 4-20mA with switching to a low speed set in Analog Input 2 Preset on Current Loss (07.027) on current loop loss
-3 20-4mA Low 20-4mA with switching to a low speed set in Analog Input 2 Preset on Current Loss (07.027) on current loop loss
-2 4-20mA Hold 4-20mA with hold at level before loss on current loop loss (1)
-1 20-4mA Hold 20-4mA with hold at level before loss on current loop loss (1)
0 0-20mA 0-20mA
1 20-0mA 20-0mA
2 4-20mA Trip 4-20mA with An Input 2 Loss trip on current loss.
3 20-4mA Trip 20-4mA with An Input 2 Loss trip on current loss.
4 4-20mA 4-20mA with no action on current loop loss (input taken as 0%).
5 20-4mA 20-4mA with no action on current loop loss (input taken as 0%).
6 Voltage Voltage input
7 Digital Digital input

(1) Analog input level remains at the value it had in the previous sample before the current fell below 3mA.

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Issue: 01.05.02.02 107
Parameter 07.012 Analog Input 2 Scaling
Short description Defines the scaling factor for analog input 2
Mode Open‑Loop
Minimum 0.000 Maximum 10.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

See Analog I/O.

Analog Input 2 (07.002) is modified by Analog Input 2 Scaling (07.012), Analog Input 2 Offset (07.031) and Analog Input 2 Invert (07.013) before it is routed to its destination as
follows:

A2O = Analog Input 2 (07.002)+ Analog Input 2 Offset (07.031)

A2O is the value after the offset has been applied and is limited between 0.00% and 100.00%

A2S = A2O x Analog Input 2 Scaling (07.012)

A2S is the value after the scaling and the offset have been applied and is limited between 0.00% and 100.00%

If Analog Input 2 Invert (07.013) = 0 then A2I = A2S otherwise A2I = -A2S

A2I is the value after the invert, scaling and offset have been applied and is the final value that is routed to the destination defined by

Analog Input 2 Destination A (07.014) if Analog Input 2 Control (07.052) = 0

Analog Input 2 Destination B (07.094) if Analog Input 2 Control (07.052) > 0

Parameter 07.013 Analog Input 2 Invert

Short description Inverts the signal for analog input 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Analog Input 2 Scaling (07.012).

Parameter 07.014 Analog Input 2 Destination A

Short description Defines the output parameter for analog input 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.037 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

See Analog Input 2 Scaling (07.012).

Parameter 07.019 Analog Output 1 Source A

Short description Defines the input parameter for analog output 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 2.001 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT

Analog Output 1 Source A (07.019) defines the source parameter for Analog Output 1. The modulus of the value of the source parameter is then scaled with
Analog Output 1 Scaling (07.020) and if the scaling is greater than 1.000 the value is clamped to 100.0%.

The output gets converted to an anolog signal according to the setting of Analog Output 1 Mode (07.021) :

In voltage mode: 0V to +10V

In current mode: 4-20mA or 0-20mA depending on the mode selected
In digital mode: 0V or +24V. Scaling parameter has no effect.
If source is a bit parameter then "Off" gives 0V and "On" gives +24V
If source is not a bit parameter then the source parameter must be more than half its positive range to be in the "On" state.

Parameter 07.020 Analog Output 1 Scaling

Short description Defines the scaling factor for analog output 1
Mode Open‑Loop
Minimum 0.000 Maximum 40.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, BU

See Analog Output 1 Source A (07.019).

An automatic scaling takes place when parameters are selected for an analog output. The maximum value of the parameter is used as the full scale value such that the analog
output will be at full scale when the parameter value is at its maximum value. Some parameters do not reach their maximum values and so this parameter is provided for the user
to apply further scaling and configure a bigger range of the analog output to be used.

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108 Issue: 01.05.02.02
 Parameter 07.021 Analog Output 1 Mode
Short description Defines the mode of analog output 1
Mode Open‑Loop
Minimum 0 Maximum 3
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Voltage
1 0-20mA
2 4-20mA
3 Digital

The table above gives all possible analog output 1 modes.

Parameter 07.022 Analog Output 2 Source A

Short description Defines the input source for analog output 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 4.002 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT

Analog output 2 operates in the same way as analog output 1. See Analog Output 1 Source A (07.019).

Parameter 07.023 Analog Output 2 Scaling

Short description Defines the scaling factor for analog output 2
Mode Open‑Loop
Minimum 0.000 Maximum 40.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, BU

Analog output 2 operates in the same way as analog output 1. See Analog Output 1 Source A (07.019).

An automatic scaling takes place when parameters are selected for an analog output. The maximum value of the parameter is used as the full scale value such that the analog
output will be at full scale when the parameter value is at its maximum value. Some parameters do not reach their maximum values and so this parameter is provided for the user
to apply further scaling and configure a bigger range of the analog output to be used.

Parameter 07.024 Analog Output 2 Mode

Short description Defines the mode of analog output 2
Mode Open‑Loop
Minimum 0 Maximum 3
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Voltage
1 0-20mA
2 4-20mA
3 Digital

The table above gives all possible analog output 2 modes.

Parameter 07.026 Analog Input 1 Preset on Current Loss

Short description Defines the current level held on analog input 1 current loss
Mode Open‑Loop
Minimum 4.00 Maximum 20.00
Default 4.00 Units mA
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

If Analog Input 1 Mode (07.007) is set to the 4-20mA Low or 20-4mA Low modes and the current falls below 3mA (Analog Input 1 Current Loop Loss (07.028) = 1) then the analog
input 1 is held to Analog Input 1 Preset on Current Loss (07.026).

If the current rise above 4mA (Analog Input 1 Current Loop Loss (07.028) = 0) then the analog input 1 current is used as normal.

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Issue: 01.05.02.02 109
Parameter 07.027 Analog Input 2 Preset on Current Loss
Short description Defines the current level held on analog input 2 current loss
Mode Open‑Loop
Minimum 4.00 Maximum 20.00
Default 4.00 Units mA
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

If Analog Input 2 Mode (07.011) is set to the 4-20mA Low or 20-4mA Low modes and the current falls below 3mA (Analog Input 2 Current Loop Loss (07.029) = 1) then the analog
input 2 is held to Analog Input 2 Preset on Current Loss (07.027).

If the current rise above 4mA (Analog Input 2 Current Loop Loss (07.029) = 0) then the analog input 2 current is used as normal.

Parameter 07.028 Analog Input 1 Current Loop Loss

Short description Displays when analog input 1 falls below 3mA
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Analog Input 1 Preset on Current Loss (07.026).

Parameter 07.029 Analog Input 2 Current Loop Loss

Short description Displays when analog input 2 falls below 3mA
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Analog Input 2 Preset on Current Loss (07.027).

Parameter 07.030 Analog Input 1 Offset

Short description Defines the offset of analog input 1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 1 Scaling (07.008).

Parameter 07.031 Analog Input 2 Offset

Short description Defines the offset of analog input 2
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 2 Scaling (07.012).

Parameter 07.034 Inverter Temperature

Short description Displays the estimated junction temperature of the hottest power device within the drive inverter
Mode Open‑Loop
Minimum -250 Maximum 250
Default Units °C
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Inverter Temperature (07.034) shows the estimated junction temperature of the hottest power device within the drive inverter. If this temperature exceeds the switch down
threshold defined for the power stage the switching frequency is reduced provided this feature has not been disabled (i.e. Auto-switching Frequency Change Disable (05.035) = 0)
or the minimum switching frequency has not been reached. The switching frequency can be reduced from 12kHz to 6kHz to 3kHz, or from 16kHz to 8kHz to 4kHz to 2kHz. If the
switching frequency has been reduced the drive will attempt to restore it to the required level when the Inverter Temperature (07.034) reduces.

Parameter 07.035 Percentage Of d.c. Link Thermal Trip Level

Displays the percentage of the maximum allowed temperature as estimated by the thermal model of the
Short description
d.c. link components
Mode Open‑Loop
Minimum 0 Maximum 100
Default Units %
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Unidrive M400 Parameter Reference Guide

110 Issue: 01.05.02.02
Percentage Of d.c. Link Thermal Trip Level (07.035) gives the percentage of the maximum allowed temperature as estimated by the thermal model of the d.c. link components.

Parameter 07.036 Percentage Of Drive Thermal Trip Level

Displays the percentage of the thermal trip level of the temperature monitoring point or thermal model in
Short description
the drive that is highest
Mode Open‑Loop
Minimum 0 Maximum 100
Default Units %
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Percentage Of Drive Thermal Trip Level (07.036) gives the percentage of the thermal trip level of the temperature monitoring point or thermal model in the drive that is highest.
This includes all thermal monitoring points Stack Temperature (07.004), Auxiliary Temperature (07.005), Inverter Temperature (07.034)
and Percentage Of d.c. Link Thermal Trip Level (07.035).

Percentage Of d.c. Link Thermal Trip Level (07.035) is used directly to give Percentage Of Drive Thermal Trip Level (07.036), but for all other monitored values which are
temperatures this is given by

Percentage of thermal trip level = (Measured Temperature - 40°C) / (Trip temperature - 40°C) x 100%

The location of the measurement or the thermal model that is related to this temperature is given in Temperature Nearest To Trip Level (07.037). If
Percentage Of Drive Thermal Trip Level (07.036) exceeds 90% Drive Over-temperature Alarm (10.018) is set to one. If Percentage Of Drive Thermal Trip Level (07.036) reaches
100% one of the trips given in the table below is initiated. The trip can be reset when the percentage of thermal trip level falls below 95%.

Temperature Trip
Inverter Temperature (07.034) OHt Inverter
Stack Temperature (07.004) andAuxiliary Temperature (07.005) OHt Power
Percentage Of d.c. Link Thermal Trip Level (07.035) OHt dc bus

Parameter 07.037 Temperature Nearest To Trip Level

Displays the location or the model that corresponds to the value shown in Percentage Of Drive Thermal
Short description
Trip Level
Mode Open‑Loop
Minimum 0 Maximum 29999
Default Units
Type 32 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Temperature Nearest To Trip Level (07.037) shows the location or the model that corresponds to the value shown in Percentage Of Drive Thermal Trip Level (07.036) in the form
xxyzz as shown in the table below.

Source xx y zz
Control system 00 1 00: Inverter thermal model ( Inverter Temperature (07.034) )
Control system 00 2 00: D.c. link thermal model ( Percentage Of d.c. Link Thermal Trip Level (07.035) )
zz: Thermistor location defined by zz in the power system ( Stack Temperature (07.004) or
Power system 01 0
Auxiliary Temperature (07.005) )
Power system (Large
01 1 zz: Thermistor location defined by zz in the rectifier
frame only)

Parameter 07.046 Thermistor Type

Short description Defines the thermistor type when used
Mode Open‑Loop
Minimum 0 Maximum 4
Default 0 Units
Type 8 Bit User Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 DIN44081
1 KTY84
2 PT1000
3 PT2000
4 Other

Thermistor Type (07.046) defines the operation of the temperature feedback interface for DI/O 05 when Digital input 5 mode (08.035) is 1, 2 or 3.

If Thermistor Type (07.046) = 0, the thermistor DIN44081 is designed to react like a temperature switch and therefore Thermistor Temperature (07.050) always reads 0.0°C.

If Thermistor Type (07.046) = 1 to 3 is selected, the digital input operation of the terminal is disabled.

If Thermistor Type (07.046) = 4, any thermistor can be used but Thermistor Temperature (07.050) always reads 0.0°C.

Parameter 07.047 Thermistor Feedback

Short description Displays the measured resistance of the thermistor when used
Mode Open‑Loop
Minimum 0 Maximum 4000
Default Units Ω
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, FI, ND, NC, PT

Thermistor Feedback (07.047) shows the measured resistance. If Digital input 5 mode (08.035) is 2 then {Th} trip is initiated if the feedback value is higher than

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Issue: 01.05.02.02 111
Thermistor Trip Threshold (07.048). The trip cannot be reset unless the feedback is below Thermistor Reset Threshold (07.049). The default values for Thermistor Trip Threshold
(07.048) and Thermistor Reset Threshold (07.049) are the levels specified in the DIN 44082 standard.

Parameter 07.048 Thermistor Trip Threshold

Short description Defines the thermistor trip threshold when used
Mode Open‑Loop
Minimum 0 Maximum 4000
Default 3300 Units Ω
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Thermistor Feedback (07.047).

Parameter 07.049 Thermistor Reset Threshold

Short description Defines the thermistor reset threshold when used
Mode Open‑Loop
Minimum 0 Maximum 4000
Default 1800 Units Ω
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Thermistor Feedback (07.047).

Parameter 07.050 Thermistor Temperature

Displays the temperature of the device based on the resistance to temperature characteristic for the
Short description
specified device
Mode Open‑Loop
Minimum -50 Maximum 300
Default Units °C
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, FI, ND, NC, PT

If a KTY84, PT1000 or PT2000 type device is selected for temperature feedback (i.e. Thermistor Type (07.046) = 1 to 3) then Thermistor Temperature (07.050) shows the
temperature of the device based on the resistance to temperature characteristic specified for this device. Otherwise Thermistor Temperature (07.050) = 0.0.

Parameter 07.051 Analog Input 1 Control

Short description Defines the functionality of analog input 1
Mode Open‑Loop
Minimum 0 Maximum 5
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

Analog Input 1 Destination B

Value Description
(07.090)
User defined by Analog Input 1 Destination A
0 00.000
(07.010)
1 Frequency reference 1 01.036
2 Frequency reference 2 01.037
3 Maximum reference clamp 01.006
4 Current limit 04.007
5 Torque reference 04.008

This offers a simple control of parameter Analog Input 1 Destination B (07.090) to change the analog input 1 functionality.

If Analog Input 1 Control (07.051) is more than 0 then the destination is defined by Analog Input 1 Destination B (07.090). The destination Analog Input 1 Destination B (07.090)
is written by Analog Input 1 Control (07.051) selection. (i.e. If Analog Input 1 Control (07.051) = 3 then Analog Input 1 Destination B (07.090) = 01.006)

If Analog Input 1 Control (07.051) is 0 then then the destination is defined by Analog Input 1 Destination A (07.010).

Parameter 07.052 Analog Input 2 Control

Short description Defines the functionality of analog input 2
Mode Open‑Loop
Minimum 0 Maximum 5
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

Analog Input 2 Destination B

Value Description
(07.094)
User defined by Analog Input 2 Destination A
0 00.000
(07.014)
1 Frequency reference 1 01.036
2 Frequency reference 2 01.037
3 Maximum reference clamp 01.006
4 Current limit 04.007
5 Torque reference 04.008

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112 Issue: 01.05.02.02
This offers a simple control of parameter Analog Input 2 Destination B (07.094) to change the analog input 2 functionality.

If Analog Input 2 Control (07.052) is more than 0 then the destination is defined by Analog Input 2 Destination B (07.094). The destination Analog Input 2 Destination B
(07.094) is written by Analog Input 2 Control (07.052) selection. (i.e. If Analog Input 2 Control (07.052)= 3 then Analog Input 2 Destination B (07.094) = 01.006)

If Analog Input 2 Control (07.052) is 0 then then the destination is defined by Analog Input 2 Destination A (07.014).

Parameter 07.055 Analog Output 1 Control

Short description Defines the functionality of analog output 1
Mode Open‑Loop
Minimum 0 Maximum 15
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW, BU

Value Description Analog Output 1 Source B (07.099)

0 User defined by Analog Output 1 Source A (07.019) 00.000
1 Post Ramp frequency reference (0 - ±VM_SPEED_FREQ_REF) 02.001
2 Pre Ramp frequency reference (0 - ±VM_SPEED_FREQ_REF) 01.003
3 Motor speed (0 - ±33,000) 05.004
4 Current output (0 - Full Scale Current Kc (11.061)) 04.001
5 Reserved Reserved
6 Percentage load (0 - ± User Current Maximum Scaling (04.024)) 04.020
7 Torque producing current (0 - Full Scale Current Kc (11.061)) 04.002
8 Voltage output (0 - VM_AC_VOLTAGE) 05.002
9 DC bus voltage (0 - VM_DC_VOLTAGE) 05.005
10 Analogue Input 1 (0 - ±100%) 07.001
11 Analogue Input 2 (0 - ±100%) 07.002
12 Power output (0 - ±VM_POWER) 05.003
13 Current limit (0 - ±VM_TORQUE_CURRENT) 04.018
14 Torque reference (0 - ±User Current Maximum Scaling (04.024)) 04.008
15 Reserved Reserved

This offers a simple control of parameter Analog Output 1 Source B (07.099) to change the analog output 1 source.

If Analog Output 1 Control (07.055) is more than 0 then the source is defined by Analog Output 1 Source B (07.099). The source Analog Output 1 Source B (07.099) is written by
Analog Output 1 Control (07.055) selection. (i.e. If Analog Output 1 Control (07.055) = 13 then Analog Output 1 Source B (07.099) = 04.018)

If 07.055 is 0 then then the source is defined by Analog Output 1 Source A (07.019) .

Parameter 07.056 Analog Output 2 Control

Short description Defines the functionality of analog output 2
Mode Open‑Loop
Minimum 0 Maximum 15
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW, BU

Value Description Analog Output 2 Source B (07.102)

0 User defined by Analog Output 2 Source A (07.022) 00.000
1 Post Ramp frequency reference (0 - ±VM_SPEED_FREQ_REF) 02.001
2 Pre Ramp frequency reference (0 - ±VM_SPEED_FREQ_REF) 01.003
3 Motor speed (0 - ±33,000) 05.004
4 Current output (0 - Full Scale Current Kc (11.061)) 04.001
5 Reserved Reserved
6 Percentage load (0 - ± User Current Maximum Scaling (04.024)) 04.020
7 Torque producing current (0 - Full Scale Current Kc (11.061)) 04.002
8 Voltage output (0 - VM_AC_VOLTAGE) 05.002
9 DC bus voltage (0 - VM_DC_VOLTAGE) 05.005
10 Analogue Input 1 (0 - ±100%) 07.001
11 Analogue Input 2 (0 - ±100%) 07.002
12 Power output (0 - ±VM_POWER) 05.003
13 Current limit (0 - ±VM_TORQUE_CURRENT) 04.018
14 Torque reference (0 - ±User Current Maximum Scaling (04.024)) 04.008
15 Reserved Reserved

This offers a simple control of parameter Analog Output 2 Source B (07.102) to change the analog output 2 source.

If Analog Output 2 Control (07.056) is more than 0 then the source is defined by Analog Output 2 Source B (07.102). The source Analog Output 2 Source B (07.102) is written by
Analog Output 2 Control (07.056) selection. (i.e. If Analog Output 2 Control (07.056) = 13 then Analog Output 2 Source B (07.102) = 04.018)

If Analog Output 2 Control (07.056) is 0 then then the source is defined by Analog Output 2 Source A (07.022).

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Issue: 01.05.02.02 113
Parameter 07.061 Analog Input 1 Minimum Reference
Short description Defines the minimum reference for analog input 1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default -100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

Analog Input 1 (07.001) can be scaled and limited using the following parameters:

Analog Input 1 Minimum Reference (07.061)

Analog Input 1 At Minimum Reference (07.062)
Analog Input 1 Maximum Reference (07.063)
Analog Input 1 At Maximum Reference (07.064)

Parameters above can be selected to limit the range of Analog Input 1 (07.001) and also scale it between the minimum and maximum reference.

If Analog Input 1 Minimum Reference (07.061) ≥ Analog Input 1 Maximum Reference (07.063) then Ai1 = 0.00%whatever the input level.

Input Level is limited between Analog Input 1 At Minimum Reference (07.062) and Analog Input 1 At Maximum Reference (07.064)

Analog Input 1 (07.001) = [(Analog Input 1 At Maximum Reference (07.064) - Analog Input 1 At Minimum Reference (07.062)) / (Analog Input 1 Maximum Reference (07.063) -
Analog Input 1 Minimum Reference (07.061))] x (Input level - Analog Input 1 Minimum Reference (07.061)) + Analog Input 1 At Minimum Reference (07.062).

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114 Issue: 01.05.02.02
 Parameter 07.062 Analog Input 1 At Minimum Reference
Short description Defines the value of analog input 1 at minimum reference
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default -100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 1 Minimum Reference (07.061).

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Parameter 07.063 Analog Input 1 Maximum Reference
Short description Defines the maximum reference for analog input 1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 1 Minimum Reference (07.061).

Parameter 07.064 Analog Input 1 At Maximum Reference

Short description Defines the value of analog input 1 at maximum reference
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 1 Minimum Reference (07.061).

Parameter 07.065 Analog Input 2 Minimum Reference

Short description Defines the minimum reference for analog input 2
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See graph in Analog Input 1 Minimum Reference (07.061).

Analog Input 2 (07.002) can be scaled and limited using the following parameters:

Analog Input 2 Minimum Reference (07.065)

Analog Input 2 At Minimum Reference (07.066)
Analog Input 2 Maximum Reference (07.067)
Analog Input 2 At Maximum Reference (07.068)

Parameters above can be selected to limit the range of Analog Input 2 (07.002) and also scale it between the minimum and maximum reference.

If Analog Input 2 Minimum Reference (07.065) ≥ Analog Input 2 Maximum Reference (07.067) then Ai2 = 0.00% whatever the input level.

Input Level is limited between Analog Input 2 At Minimum Reference (07.066) and Analog Input 2 At Maximum Reference (07.068)

Analog Input 2 (07.002) = [(Analog Input 2 At Maximum Reference (07.068) - Analog Input 2 At Minimum Reference (07.066))/(Analog Input 2 Maximum Reference (07.067) -
Analog Input 2 Minimum Reference (07.065))] x (Input level - Analog Input 2 Minimum Reference (07.065))+ Analog Input 2 At Minimum Reference (07.066).

Parameter 07.066 Analog Input 2 At Minimum Reference

Short description Defines the value of analog input 2 at minimum reference
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 2 Minimum Reference (07.065).

Parameter 07.067 Analog Input 2 Maximum Reference

Short description Defines the maximum reference for analog input 2
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 2 Minimum Reference (07.065).

Parameter 07.068 Analog Input 2 At Maximum Reference

Short description Defines the value of analog input 2 at maximum reference
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 100.00 Units %
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Analog Input 2 Minimum Reference (07.065).

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116 Issue: 01.05.02.02
 Parameter 07.090 Analog Input 1 Destination B
Short description Defines the secondary destination for analog input 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

See Analog Input 1 Destination A (07.010).

Parameter 07.094 Analog Input 2 Destination B

Short description Defines the secondary destination for analog input 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

See Analog Input 2 Destination A (07.014).

Parameter 07.099 Analog Output 1 Source B

Short description Defines the secondary source for analog output 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RO, ND, NC, PT

See Analog Output 1 Source A (07.019).

Parameter 07.102 Analog Output 2 Source B

Short description Defines the secondary source for analog output 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RO, ND, NC, PT

See Analog Output 2 Source A (07.022).

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Menu 8 Single Line Descriptions − Digital I/O
Mode: Open‑Loop

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118 Issue: 01.05.02.02
 Parameter Range Default Type
08.001 Digital I/O 1 State Off (0) or On (1) RO Bit ND NC PT
08.002 Digital I/O 2 State Off (0) or On (1) RO Bit ND NC PT
08.003 Digital Input 3 State Off (0) or On (1) RO Bit ND NC PT
08.004 Digital Input 4 State Off (0) or On (1) RO Bit ND NC PT
08.005 Digital Input 5 State Off (0) or On (1) RO Bit ND NC PT
08.006 Digital Input 6 State Off (0) or On (1) RO Bit ND NC PT
08.007 Digital Input 7 State Off (0) or On (1) RO Bit ND NC PT
08.008 Relay 1 Output State Off (0) or On (1) RO Bit ND NC PT
08.010 Input Logic Polarity Negative Logic (0), Positive Logic (1) Positive Logic (1) RW Txt US
08.011 Digital I/O 1 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.012 Digital I/O 2 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.013 Digital Input 3 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.014 Digital Input 4 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.015 Digital Input 5 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.016 Digital Input 6 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.017 Digital Input 7 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.018 Relay 1 Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.020 Digital I/O Read Word 000000000000 to 100000000000 RO Bin ND NC PT
08.021 Digital IO1 Source/Destination A 0.000 to 30.999 10.003 RW Num DE PT US
08.022 Digital IO2 Source/Destination A 0.000 to 30.999 0.000 RW Num DE PT US
08.023 Digital Input 03 Destination A 0.000 to 30.999 6.030 RW Num DE PT US
08.024 Digital Input 04 Destination A 0.000 to 30.999 6.032 RW Num DE PT US
08.025 Digital Input 05 Destination A 0.000 to 30.999 1.041 RW Num DE PT US
08.026 Digital Input 06 Destination A 0.000 to 30.999 6.031 RW Num DE PT US
08.027 Digital Input 07 Destination A 0.000 to 30.999 0.000 RW Num DE PT US
08.028 Relay 1 Output Source A 0.000 to 30.999 10.001 RW Num PT US
Input (0), Output (1),
08.031 Digital I/O 01 mode Frequency output (2), Output (1) RW Txt US
PWM output (3)
08.032 Digital I/O 02 mode Input (0), Output (1) Input (0) RW Txt US
Digital Input (0), Therm Short Cct (1),
08.035 Digital input 5 mode Digital Input (0) RW Txt US
Thermistor (2), Therm No Trip (3)
Digital Input (0), Frequency (1),
08.036 Digital input 6/7 mode Digital Input (0) RW Txt US
Encoder AB (2)
08.039 STO Input 01 State Off (0) or On (1) RO Bit ND NC PT
08.040 STO Input 02 State Off (0) or On (1) RO Bit ND NC PT
08.041 Keypad Run Button State Off (0) or On (1) RO Bit ND NC PT
08.042 Keypad Auxiliary Button State Off (0) or On (1) RO Bit ND NC PT
08.043 24V Supply Input State Off (0) or On (1) RO Bit ND NC PT
08.044 Keypad Stop Button State Off (0) or On (1) RO Bit ND NC PT
08.051 Keypad Run Button Invert/Toggle Not Invert (0), Invert (1), Toggle (2) Not Invert (0) RW Txt US
08.052 Keypad Auxiliary Button Invert/Toggle Not Invert (0), Invert (1), Toggle (2) Not Invert (0) RW Txt US
08.053 24V Supply Input Invert Not Invert (0), Invert (1) Not Invert (0) RW Txt US
08.061 Keypad Run Button Destination 0.000 to 30.999 0.000 RW Num DE PT US
08.062 Keypad Auxiliary Button Destination 0.000 to 30.999 0.000 RW Num DE PT US
08.063 24V Supply Input Destination 0.000 to 30.999 0.000 RW Num DE PT US
08.081 DI1 Control 0 to 26 0 RW Num US
08.082 DI2 Control 0 to 26 0 RW Num US
08.083 DI3 Control 0 to 26 0 RW Num US
08.084 DI4 Control 0 to 26 0 RW Num US
08.085 DI5 Control 0 to 26 0 RW Num US
08.086 DI6 Control 0 to 26 0 RW Num US
08.087 DI7 Control 0 to 26 0 RW Num US
08.091 DO1 Control 0 to 21 0 RW Num US
08.092 DO2 Control 0 to 21 0 RW Num US
08.098 Relay 1 Control 0 to 21 0 RW Num US
08.121 DI/O 01 Source/Destination B 0.000 to 30.999 RO Num DE NC PT US
08.122 DI/O 02 Source/Destination B 0.000 to 30.999 RO Num DE NC PT US
08.123 DI 03 Destination B 0.000 to 30.999 RO Num DE NC PT US
08.124 DI 04 Destination B 0.000 to 30.999 RO Num DE NC PT US
08.125 DI 05 Destination B 0.000 to 30.999 RO Num DE NC PT US
08.126 DI 06 Destination B 0.000 to 30.999 RO Num DE NC PT US
08.127 DI 07 Destination B 0.000 to 30.999 RO Num DE NC PT US
08.128 Relay 01 Source B 0.000 to 30.999 RO Num ND NC PT US

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 RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

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120 Issue: 01.05.02.02
Menu 8 − Digital I/O
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

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 Unidrive M400 Parameter Reference Guide
122 Issue: 01.05.02.02
 Parameter 08.001 Digital I/O 1 State
Short description Displays the state for digtial input/output1
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital I/O 1 State (08.001) represents the digital input/output 1 state whether it is a digital input or an output.

If Digital I/O 01 mode (08.031) = 0 then it is a digital input:

Comply with IEC 61131-2. Positive or negative logic.

Digital I/O 1 State (08.001) = 0 if the digital I/O is low (<9V) in positive logic Input Logic Polarity (08.010) = 1.
Digital I/O 1 State (08.001) = 1 if the digital I/O is high (>11V) in positive logic Input Logic Polarity (08.010) = 1.
Digital I/O 1 State (08.001) = 1 if the digital I/O is low (<9V) in negative logic Input Logic Polarity (08.010) = 0.

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 Digital I/O 1 State (08.001) = 0 if the digital I/O is high (>11V) in negative logic Input Logic Polarity (08.010) = 0.

If Digital I/O 01 mode (08.031) = 1 then it is a digital output:

200mA total current including +24Vout; (50mA max per output).

Positive logic only (with 6-7kΩ pull down).
Digital I/O 1 State (08.001) = 0 if the source parameter value less than 50% of its range.
Digital I/O 1 State (08.001) = 1 if the source parameter value more than 50% of its range.

If Digital I/O 01 mode (08.031) = 2 then it is a frequency output (see Frequency Output or PWM Output Scaling (03.037) and Maximum Output Frequency (03.038) for scaling and maximum
output frequency options ).

If Digital I/O 01 mode (08.031) = 3 then it is a PWM output (see Frequency Output or PWM Output Scaling (03.037) and Maximum Output Frequency (03.038) for scaling and maximum output
frequency options ).

Parameter 08.002 Digital I/O 2 State

Short description Displays the state for digtial input/output 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital I/O 2 State (08.002) represents the digital input/output 2 state whether it is a digital input or an output.

If Digital I/O 02 mode (08.032) = 0 then it is a digital input:

Comply with IEC 61131-2. Positive or negative logic.

Digital I/O 2 State (08.002) = 0 if the digital I/O is low (<9V) in positive logic Input Logic Polarity (08.010) = 1.
Digital I/O 2 State (08.002) = 1 if the digital I/O is high (>11V) in positive logic Input Logic Polarity (08.010) = 1.
Digital I/O 2 State (08.002) = 1 if the digital I/O is low (<9V) in negative logic Input Logic Polarity (08.010) = 0.
Digital I/O 2 State (08.002) = 0 if the digital I/O is high (>11V) in negative logic Input Logic Polarity (08.010) = 0.

If Digital I/O 02 mode (08.032) = 1 then it is a digital output:

200mA total current including +24Vout; (50mA max per output).

Positive logic only (with 6-7kΩ pull down).
Digital I/O 2 State (08.002) = 0 if the source parameter value less than 50% of its range.
Digital I/O 2 State (08.002) = 1 if the source parameter value more than 50% of its range.

Parameter 08.003 Digital Input 3 State

Short description Displays the state for digtial input 3
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital Input 3 State (08.003) represents the digital input 3 state.

Comply with IEC 61131-2. Positive or negative logic.

Digital Input 3 State (08.003) = 0 if the digital I/O is low (<9V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 3 State (08.003) = 1 if the digital I/O is high (>11V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 3 State (08.003) = 1 if the digital I/O is low (<9V) in negative logic Input Logic Polarity (08.010) = 0.
Digital Input 3 State (08.003) = 0 if the digital I/O is high (>11V) in negative logic Input Logic Polarity (08.010) = 0.

Parameter 08.004 Digital Input 4 State

Short description Displays the state for digtial input 4
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital Input 4 State (08.004) represents the digital input 4 state.

Comply with IEC 61131-2. Positive or negative logic.

Digital Input 4 State (08.004) = 0 if the digital I/O is low (<9V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 4 State (08.004) = 1 if the digital I/O is high (>11V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 4 State (08.004) = 1 if the digital I/O is low (<9V) in negative logic Input Logic Polarity (08.010) = 0.
Digital Input 4 State (08.004) = 0 if the digital I/O is high (>11V) in negative logic Input Logic Polarity (08.010) = 0.

Parameter 08.005 Digital Input 5 State

Short description Displays the state for digtial input 5
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital Input 5 State (08.005) represents the digital input 5 state.

Comply with IEC 61131-2. Positive or negative logic.

Digital Input 5 State (08.005) = 0 if the digital I/O is low (<9V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 5 State (08.005) = 1 if the digital I/O is high (>11V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 5 State (08.005) = 1 if the digital I/O is low (<9V) in negative logic Input Logic Polarity (08.010) = 0.
Digital Input 5 State (08.005) = 0 if the digital I/O is high (>11V) in negative logic Input Logic Polarity (08.010) = 0.

This input can also be used as a thermistor input, see parameter Digital input 5 mode (08.035).

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124 Issue: 01.05.02.02
 Parameter 08.006 Digital Input 6 State
Short description Displays the state for digtial input 6
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital Input 6 State (08.006) represents the digital input 6 state if Digital input 6/7 mode (08.036) = 0.

Comply with IEC 61131-2. Positive or negative logic.

Digital Input 6 State (08.006) = 0 if the digital I/O is low (<9V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 6 State (08.006) = 1 if the digital I/O is high (>11V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 6 State (08.006) = 1 if the digital I/O is low (<9V) in negative logic Input Logic Polarity (08.010) = 0.
Digital Input 6 State (08.006) = 0 if the digital I/O is high (>11V) in negative logic Input Logic Polarity (08.010) = 0.

Parameter 08.007 Digital Input 7 State

Short description Displays the state for digtial input 7
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital Input 7 State (08.007) represents the digital input 7 state if Digital input 6/7 mode (08.036) = 0 or 1.

Comply with IEC 61131-2. Positive logic only.

Digital Input 7 State (08.007) = 0 if the digital input is low (<9V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 7 State (08.007) = 1 if the digital input is high (>11V) in positive logic Input Logic Polarity (08.010) = 1.
Digital Input 7 State (08.007)= 1 if the digital I/O is low (<9V) in negative logic Input Logic Polarity (08.010) = 0.
Digital Input 7 State (08.007)= 0 if the digital I/O is high (>11V) in negative logic Input Logic Polarity (08.010) = 0.

This input can also be used as the channel B input of a quadrature encoder ( see Digital input 6/7 mode (08.036) ).

It should be noted that when used as an encoder input digital inputs 6 and 7 are not differential inputs, signals switching between 0 and +24V are still required.

Parameter 08.008 Relay 1 Output State

Short description Displays the state for relay 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Relay 1 Output State (08.008) shows the state of Relay 1, 0 = Relay open, 1 = Relay closed.

Parameter 08.010 Input Logic Polarity

Short description Set to 1 to use positive logic inputs
Mode Open‑Loop
Minimum 0 Maximum 1
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Negative Logic
1 Positive Logic

Sets the polarity of all digital inputs.

See Digital I/O 1 State (08.001) to Digital Input 7 State (08.007).

Parameter 08.011 Digital I/O 1 Invert

Short description Set to 1 to invert digital input/output 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Digital I/O 1 Invert (08.011) allows the I/O state to be non-inverted(0) or inverted(1) respectively.

If Digital I/O 01 mode (08.031) = 0 (Input) then Digital I/O 1 Invert (08.011) inverts the destination parameter Digital IO1 Source/Destination A (08.021) or DI/O 01 Source/Destination B (08.121).

If Digital I/O 01 mode (08.031) = 1 (Output) then Digital I/O 1 Invert (08.011) inverts Digital I/O 1 State (08.001) and the voltage on the output terminal.

If Digital I/O 01 mode (08.031) = 2 or 3 (Frequency or PWM output) then Digital I/O 1 Invert (08.011) has no effect.

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Parameter 08.012 Digital I/O 2 Invert
Short description Set to 1 to invert digital input/output 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Digital I/O 2 Invert (08.012) allows the I/O state to be non-inverted(0) or inverted(1) respectively.

If Digital I/O 02 mode (08.032) = 0 (Input) then Digital I/O 2 Invert (08.012) inverts the destination parameter Digital IO2 Source/Destination A (08.022) or DI/O 02 Source/Destination B (08.122).

If Digital I/O 02 mode (08.032) = 1 (Output) then Digital I/O 2 Invert (08.012) inverts Digital I/O 2 State (08.002) and the voltage on the output terminal.

Parameter 08.013 Digital Input 3 Invert

Short description Set to 1 to invert digital input 3
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Digital Input 3 Invert (08.013) allows the input state to be non-inverted(0) or inverted(1) respectively.

Digital Input 3 Invert (08.013) inverts the destination parameter Digital Input 03 Destination A (08.023) or DI 03 Destination B (08.123).

Parameter 08.014 Digital Input 4 Invert

Short description Set to 1 to invert digital input 4
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Digital Input 4 Invert (08.014) allows the input state to be non-inverted(0) or inverted(1) respectively.

Digital Input 4 Invert (08.014) inverts the destination parameter Digital Input 04 Destination A (08.024) or DI 04 Destination B (08.124).

Parameter 08.015 Digital Input 5 Invert

Short description Set to 1 to invert digital input 5
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Digital Input 5 Invert (08.015) allows the input state to be non-inverted(0) or inverted(1) respectively.

If Digital input 5 mode (08.035) = 0 then Digital Input 5 Invert (08.015) inverts the destination parameter Digital Input 05 Destination A (08.025) or DI 05 Destination B (08.125).

If Digital input 5 mode (08.035) > 0 then Digital Input 5 Invert (08.015) has no effect.

Parameter 08.016 Digital Input 6 Invert

Short description Set to 1 to invert digital input 6
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Digital Input 6 Invert (08.016) allows the input state to be non-inverted(0) or inverted(1) respectively.

If Digital input 6/7 mode (08.036) = 0 then Digital Input 6 Invert (08.016) inverts the destination parameter Digital Input 06 Destination A (08.026) or DI 06 Destination B (08.126).

If Digital input 6/7 mode (08.036) > 0 then Digital Input 6 Invert (08.016) has no effect.

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126 Issue: 01.05.02.02
 Parameter 08.017 Digital Input 7 Invert
Short description Set to 1 to invert digital input 7
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Digital Input 7 Invert (08.017) allows the input state to be non-inverted(0) or inverted(1) respectively.

If Digital input 6/7 mode (08.036) = 0 or 1 then Digital Input 7 Invert (08.017) inverts the destination parameter Digital Input 07 Destination A (08.027) or DI 07 Destination B (08.127).

If Digital input 6/7 mode (08.036) = 2 then Digital Input 7 Invert (08.017) has no effect.

Parameter 08.018 Relay 1 Invert

Short description Set to 1 to invert relay 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

A value of 0 or 1 in Relay 1 Invert (08.018) allows the input state to be non-inverted(0) or inverted(1) respectively.

Parameter 08.020 Digital I/O Read Word

Short description Displays the states for the digital I/O
Mode Open‑Loop
0 2048
Minimum Maximum
(Display: 000000000000) (Display: 100000000000)
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Binary Decimal Places 0
Coding RO, ND, NC, PT

Digital I/O Read Word (08.020) reflects the state of DI/O 01 to DI 07, both STO inputs and the relay as given below. Each bit matches the value of the state parameter for the respective digital
input or output so the bit value for digital inputs will be the state of the actual input before any inversion selections are applied. The bit value for digital outputs will include the state inversion if
selected in the invert parameter for the output.

Name Digital I/O Read Word (08.020) bit

DI/O 01 0
DI/O 02 1
DI 03 2
DI 04 3
DI 05 4
DI 06 5
DI 07 6
STO 01 7
STO 02 8
RLY 01 9
Reserved 10

Parameter 08.021 Digital IO1 Source/Destination A

Short description Defines the source or destination parameter for digital I/O 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 10.003 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

Digital IO1 Source/Destination A (08.021) provides the destination parameter if DI/O 1 is an input when Digital I/O 01 mode (08.031) = 0, and DI1 Control (08.081) is at it's default value of 0.

Digital IO1 Source/Destination A (08.021) provides the source parameter if DI/O 1 is an output when Digital I/O 01 mode (08.031) ≥ 1,and DO1 Control (08.091) is at it's default value of 0.

Parameter 08.022 Digital IO2 Source/Destination A

Short description Defines the source or destination parameter for digital I/O 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

Digital IO2 Source/Destination A (08.022) provides the destination parameter if DI/O 2 is an input when Digital I/O 02 mode (08.032) = 0 and DI2 Control (08.082) is at its default value of 0.

Digital IO2 Source/Destination A (08.022) provides the source parameter if DI/O 2 is an output when Digital I/O 02 mode (08.032) = 1 and DO2 Control (08.092) is at its default value of 0.

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Issue: 01.05.02.02 127
Parameter 08.023 Digital Input 03 Destination A
Short description Defines the destination parameter for digital Input 3
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 6.030 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

Digital Input 03 Destination A (08.023) provides the destination parameter if DI3 Control (08.083) is at its default value of 0.

Parameter 08.024 Digital Input 04 Destination A

Short description Defines the destination parameter for digital input 4
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 6.032 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

Digital Input 04 Destination A (08.024) provides the destination parameter if DI4 Control (08.084) is at its default value of 0.

Parameter 08.025 Digital Input 05 Destination A

Short description Defines the destination parameter for digital input 5
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.041 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

Digital Input 05 Destination A (08.025) provides the destination parameter if DI5 Control (08.085) is at its default value of 0.

Parameter 08.026 Digital Input 06 Destination A

Short description Defines the destination parameter for digital input 6
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 6.031 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

Digital Input 06 Destination A (08.026) provides the destination parameter if DI6 Control (08.086) is at its default value of 0.

Parameter 08.027 Digital Input 07 Destination A

Short description Defines the destination parameter for digital input 7
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

Digital Input 07 Destination A (08.027) provides the destination parameter if DI7 Control (08.087) is at its default value of 0.

Parameter 08.028 Relay 1 Output Source A

Short description Defines the source parameter for relay 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 10.001 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, PT

Relay 1 Output Source A (08.028) provides the source parameter if Relay 1 Control (08.098) is at its default value of 0.

Parameter 08.031 Digital I/O 01 mode

Short description Defines the mode for the functionality of digital input/output 1
Mode Open‑Loop
Minimum 0 Maximum 3
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Input Digital input
1 Output Digital output
2 Frequency output Frequency output
3 PWM output PWM output

This parameter selects the function of input/output DI/O 1.

See also Digital I/O 1 State (08.001).

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128 Issue: 01.05.02.02
 Parameter 08.032 Digital I/O 02 mode
Short description Defines the mode for the functionality of digital input/output 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Input Digital Input
1 Output Digital Output

This parameter selects the function of input/output DI/O 2.

See also Digital I/O 2 State (08.002).

Parameter 08.035 Digital input 5 mode

Short description Defines the function for digital input 5
Mode Open‑Loop
Minimum 0 Maximum 3
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text Description

0 Digital Input Input
Temperature measurement input with short circuit detection
1 Therm Short Cct
(Resistance <50Ohm)
Temperature measurement input with Thermistor trip, but
2 Thermistor
without short circuit detection
3 Therm No Trip Temperature measurement input with no trips

This parameter selects the function of input DI 05.

For digital input operation see Digital Input 5 State (08.005).

For operation as a thermistor input see Thermistor Type (07.046) and Thermistor Feedback (07.047).

The motor thermistor should be connected between terminal 14 and terminal 1 (0 V).

Parameter 08.036 Digital input 6/7 mode

Short description Defines the function for digital inputs 6 and 7
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Digital Input
1 Frequency
2 Encoder AB

This parameter selects the function of input DI 6 and 7.

See also Digital Input 6 State (08.006) and Digital Input 7 State (08.007).

If Digital input 6/7 mode (08.036) = 0, DI 06 and DI 07 are both digital inputs.

If Digital input 6/7 mode (08.036) = 1, DI 06 is selected as frequency input. See Position (03.029) for more details. DI 07 is selected as digital input.

If Digital input 6/7 mode (08.036) = 2, both input DI 06 and DI 07 are encoder inputs. DI 06 is channel A and DI 07 is channel B. See Position (03.029) for more details.

Parameter 08.039 STO Input 01 State

Short description Displays the state of safe torque off channel 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

STO 01 and STO 02 correspond to two safe torque off channels within the drive.

Both channels must be in the high state for the drive to be enabled. The state parameters are 0 (OFF), if the digital input is low or 1 (ON) if the digital input is high

Parameter 08.040 STO Input 02 State

Short description Displays the state of safe torque off channel 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 1ms
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See STO Input 01 State (08.039).

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Issue: 01.05.02.02 129
Parameter 08.041 Keypad Run Button State
Short description Displays the state for the Keypad Run Forward button
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital Input 11 (Keypad Run Button), Digital Input 12 (Keypad Auxiliary Button) and Digital Input 14 (Keypad Stop Button) represent the state of the Run, Auxiliary and Stop buttons on any
keypad fitted or connected to the drive; the input state is determined by OR'ing the state of the button on each keypad connected to the drive, if the button is pressed the state parameter is one
otherwise it is zero. If a keypad is not fitted the state parameters are zero.

Parameter 08.042 Keypad Auxiliary Button State

Short description Displays the state for the Keypad Auxilary button
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Keypad Run Button State (08.041).

Parameter 08.043 24V Supply Input State

Short description Displays the state for the 24V Supply Input
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Digital Input 13 (24V Supply Input) is an external 24V supply input that is monitored and can be used as a 24V digital input if an external 24V supply is not required. The state parameter is low
for the voltage range from 0V to 17V and high for the voltage range above 18V. As the input is a power supply it will consume significant current if the level is taken above 24V when the drive is
running from its internal power supply, or at any voltage level if this input is the only power supply to the drive. The 24V Input is available on the AI SD card adaptor. The 24V alarm is triggered if
24V Loss Alarm Enable (11.098) = 1 and 24V Supply Input State (08.043) = 0.

Parameter 08.044 Keypad Stop Button State

Short description Displays the state for the Keypad Stop button
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Keypad Run Button State (08.041).

Parameter 08.051 Keypad Run Button Invert/Toggle

Short description Set to invert/toggle Keypad Run Button
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert
2 Toggle

When a button state is used to change a parameter (see Keypad Run Button Destination (08.061)) the state can be used in any one of modes selected by Keypad Run Button Invert/Toggle
(08.051).

0 The parameter will be the same as the input state.

1 The parameter will be the inverse of the input state.

2 The parameter will toggle each time the state transitions from 0 to 1.

Parameter 08.052 Keypad Auxiliary Button Invert/Toggle

Short description Set to invert/toggle Keypad Auxiliary Button
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert
2 Toggle

When a button state is used to change a parameter (see Keypad Auxiliary Button Destination (08.062)) the state can be used in any one of modes selected
by Keypad Auxiliary Button Invert/Toggle (08.052).

0 The parameter will be the same as the input state.

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130 Issue: 01.05.02.02
1 The parameter will be the inverse of the input state.

2 The parameter will toggle each time the state transitions from 0 to 1.

Parameter 08.053 24V Supply Input Invert

Short description Set to invert 24V Supply Input
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Not Invert
1 Invert

When a button state is used to change a parameter (see 24V Supply Input Destination (08.063)) the state can be used in any one of modes selected by 24V Supply Input Invert (08.053).

0 The parameter will be the same as the input state.

1 The parameter will be the inverse of the input state.

Parameter 08.061 Keypad Run Button Destination

Short description Defines the destination parameter for digital input 11
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

This destination parameter provides the routing for the Keypad Run (DI 11) input, see Keypad Run Button Invert/Toggle (08.051).

Parameter 08.062 Keypad Auxiliary Button Destination

Short description Defines the destination parameter for digital input 12
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT

This destination parameter provides the routing for the Keypad Auxiliary (DI 12) input, see Keypad Auxiliary Button Invert/Toggle (08.052).

The Auxiliary button is available on the remote KI-Keypad.

Parameter 08.063 24V Supply Input Destination

Short description Defines the destination paramter for DI 13
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

This destination parameter provides the routing for the 24V (DI 13) input, see 24V Supply Input Invert (08.053).

The 24V Input is available on the AI SD card adaptor and the AI 485 Backup adaptor.

Parameter 08.081 DI1 Control

Short description Defines the behaviour of digital input 1
Mode Open‑Loop
Minimum 0 Maximum 26
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

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Issue: 01.05.02.02 131
 DI/O xx Source/Destination Other
Value Description
B setup
User defined by Digital IO1 Source/Destination A (08.021) to Digital Input 07 Destination A
0 00.000
(08.027)
1 Multi preset ref selection 1 01.045
2 Multi preset ref selection 2 01.046
3 Multi preset ref selection 3 01.047
4 External stop command 06.039
5 Acc time selection 1 02.032
6 Acc time selection 2 02.033
7 Acc time selection 3 02.034
8 Speed control and torque control switcher 04.011
9 External fault N.C. contact input 10.032
10 External reset 10.033
11 External jog fwd 06.031
12 External jog rev 06.037
13 Drive enable 06.015
14 Ramp hold 02.003
15 RUN FWD 06.030
16 RUN REV 06.032
17 3-line run control (Latching) 06.040
18 Forward limit switch 06.035
19 Reverse limit switch 06.036
20 Main ref channel selection 3 01.043
21 Main ref channel selection 2 01.042
22 Main ref channel selection 3 01.041
23 PID1 Enable 14.008
24 Motor 1/2 switcher 11.045
25 Motorised pot UP 09.026
26 Motorised pot DOWN 09.027

This offers a simple control of DI/O 01 Source/Destination B (08.121) to DI 07 Destination B (08.127), to change the digital input destination.If DIx Control (08.08x) is ≥ 1 then the destination is
defined by DI/O 0x Source/Destination B (08.12x). DI/O 0x Source/Destination B (08.12x) is written by DIx Control (08.08x) selection. (e.g. If DI1 Control (08.081) = 9 then
DI/O 01 Source/Destination B (08.121) = 10.032).

If DIx Control (08.08x) is 0 then the destination is defined by DI/O 0x Source/Destination A (08.02x).

Parameter 08.082 DI2 Control

Short description Defines the behaviour of digital input 2
Mode Open‑Loop
Minimum 0 Maximum 26
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

See DI1 Control (08.081).

Parameter 08.083 DI3 Control

Short description Defines the behaviour of digital input 3
Mode Open‑Loop
Minimum 0 Maximum 26
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

See DI1 Control (08.081).

Parameter 08.084 DI4 Control

Short description Defines the behaviour of digital input 4
Mode Open‑Loop
Minimum 0 Maximum 26
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

See DI1 Control (08.081).

Parameter 08.085 DI5 Control

Short description Defines the behaviour of digital input 5
Mode Open‑Loop
Minimum 0 Maximum 26
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

See DI1 Control (08.081).

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132 Issue: 01.05.02.02
 Parameter 08.086 DI6 Control
Short description Defines the behaviour of digital input 6
Mode Open‑Loop
Minimum 0 Maximum 26
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

Only available on M400.

See DI1 Control (08.081).

Parameter 08.087 DI7 Control

Short description Defines the behaviour of digital input 7
Mode Open‑Loop
Minimum 0 Maximum 26
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

Only available on M400.

See DI1 Control (08.081).

Parameter 08.091 DO1 Control

Short description Defines the behaviour of digital output 1
Mode Open‑Loop
Minimum 0 Maximum 21
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

DI/O 01 Source/Destination B (08.121), DI/O 02 Source/Destination B

Value Description
(08.122) or Relay 01 Source B (08.128)
User defined by Digital IO1 Source/Destination A (08.021), Digital IO2 Source/Destination A
0 00.000
(08.022) or Relay 1 Output Source A (08.028)
1 Drive Active 10.002
2 Frequency arrived signal (FAR) 10.006 (at frequency)
3 Reserved Reserved
4 Reserved Reserved
5 Overload detection signal (OL) 10.017
6 Under Voltage (Power off state) 10.016
7 External fault stop (EXT) 10.032
8 Above set Frequency 10.007
9 Below set Frequency 10.004
10 Drive running at zero frequency 10.003
11 Reserved Reserved
12 Reserved Reserved
13 Reserved Reserved
14 Drive (RDY) 10.090
15 Drive healthy 10.001
16 Reserved Reserved
17 Reserved Reserved
18 Brake release 12.040
19 In Current limit 10.009
20 Reverse direction running 10.014
21 Motor 2 selected 11.045

This offers a simple control of parameter DI/O 01 Source/Destination B (08.121), DI/O 02 Source/Destination B (08.122) or Relay 01 Source B (08.128) to change the source.

If the control parameter (08.09x) is ≥ 1 then the source is defined by the relevant source parameter B (08.12x). The source parameter is written by the control selection. (e.g. If DO1 Control
(08.091) = 10 then DI/O 01 Source/Destination B (08.121) = 10.003)

If the control parameter is 0 then the source is defined by the relevant source parameter A (08.02x).

Parameter 08.092 DO2 Control

Short description Defines the behaviour of digital output 2
Mode Open‑Loop
Minimum 0 Maximum 21
Default 0 Units
Type 8 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 0
Coding RW

See DO1 Control (08.091).

Parameter 08.098 Relay 1 Control

Short description Defines the behaviour of relay 1
Mode Open‑Loop
Minimum 0 Maximum 21
Default 0 Units
Type 8 Bit User Save Update Rate Action on exit from edit and reset
Display Format Standard Decimal Places 0
Coding RW

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 133
See DO1 Control (08.091).

Parameter 08.121 DI/O 01 Source/Destination B

Short description Defines the secondary source or destination parameter for digital input/output 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

Refer to control parameters ( DI1 Control (08.081) and DO1 Control (08.091)) for more information.

Parameter 08.122 DI/O 02 Source/Destination B

Short description Defines the secondary source or destination parameter for digital input/output 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

Refer to control parameters ( DI1 Control (08.081) and DO1 Control (08.091)) for more information.

Parameter 08.123 DI 03 Destination B

Short description Defines the secondary destination parameter for digital input 3
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

Refer to control parameters ( DI1 Control (08.081) for more information.

Parameter 08.124 DI 04 Destination B

Short description Defines the secondary destination parameter for digital input 4
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

Refer to control parameters ( DI1 Control (08.081) for more information.

Parameter 08.125 DI 05 Destination B

Short description Defines the secondary destination parameter for digital input 5
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

Refer to control parameters ( DI1 Control (08.081) for more information.

Parameter 08.126 DI 06 Destination B

Short description Defines the secondary destination parameter for digital input 6
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

Refer to control parameters ( DI1 Control (08.081) for more information.

Parameter 08.127 DI 07 Destination B

Short description Defines the secondary destination parameter for digital input 7
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, DE, ND, NC, PT

Refer to control parameters ( DI1 Control (08.081) for more information.

Parameter 08.128 Relay 01 Source B

Short description Defines the secondary source parameter for relay 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default Units
Type 16 Bit User Save Update Rate Drive Reset Read
Display Format Standard Decimal Places 3
Coding RO, ND, NC, PT

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134 Issue: 01.05.02.02
See DO1 Control (08.091).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 135
Menu 9 Single Line Descriptions − User Functions 1
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

136 Issue: 01.05.02.02
 Parameter Range Default Type
09.001 Logic Function 1 Output Off (0) or On (1) RO Bit ND NC PT
09.002 Logic Function 2 Output Off (0) or On (1) RO Bit ND NC PT
09.003 Motorised Pot Output ±100.00 % RO Num ND NC PT PS
09.004 Logic Function 1 Source 1 0.000 to 30.999 0.000 RW Num PT US
09.005 Logic Function 1 Source 1 Invert Off (0) or On (1) Off (0) RW Bit US
09.006 Logic Function 1 Source 2 0.000 to 30.999 0.000 RW Num PT US
09.007 Logic Function 1 Source 2 Invert Off (0) or On (1) Off (0) RW Bit US
09.008 Logic Function 1 Output Invert Off (0) or On (1) Off (0) RW Bit US
09.009 Logic Function 1 Delay ±25.0 s 0.0 s RW Num US
09.010 Logic Function 1 Destination 0.000 to 30.999 0.000 RW Num DE PT US
09.014 Logic Function 2 Source 1 0.000 to 30.999 0.000 RW Num PT US
09.015 Logic Function 2 Source 1 Invert Off (0) or On (1) Off (0) RW Bit US
09.016 Logic Function 2 Source 2 0.000 to 30.999 0.000 RW Num PT US
09.017 Logic Function 2 Source 2 Invert Off (0) or On (1) Off (0) RW Bit US
09.018 Logic Function 2 Output Invert Off (0) or On (1) Off (0) RW Bit US
09.019 Logic Function 2 Delay ±25.0 s 0.0 s RW Num US
09.020 Logic Function 2 Destination 0.000 to 30.999 0.000 RW Num DE PT US
09.021 Motorised Pot Mode 0 to 4 0 RW Num US
09.022 Motorised Pot Bipolar Select Off (0) or On (1) Off (0) RW Bit US
09.023 Motorised Pot Rate 0 to 250 s 20 s RW Num US
09.024 Motorised Pot Scaling 0.000 to 4.000 1.000 RW Num US
09.025 Motorised Pot Destination 0.000 to 30.999 0.000 RW Num DE PT US
09.026 Motorised Pot Up Off (0) or On (1) Off (0) RW Bit NC
09.027 Motorised Pot Down Off (0) or On (1) Off (0) RW Bit NC
09.028 Motorised Pot Reset Off (0) or On (1) Off (0) RW Bit NC
09.029 Binary Sum Ones Off (0) or On (1) Off (0) RW Bit
09.030 Binary Sum Twos Off (0) or On (1) Off (0) RW Bit
09.031 Binary Sum Fours Off (0) or On (1) Off (0) RW Bit
09.032 Binary Sum Output 0 to 255 RO Num ND NC PT
09.033 Binary Sum Destination 0.000 to 30.999 0.000 RW Num DE PT US
09.034 Binary Sum Offset 0 to 248 0 RW Num US
09.035 Timer 1 Start Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.036 Timer 1 Start Time 00:00:00 to 23:59:59 00:00:00 RW Time US
09.037 Timer 1 Stop Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.038 Timer 1 Stop Time 00:00:00 to 23:59:59 00:00:00 RW Time US
None (0), Hour (1), Day (2),
09.039 Timer 1 Repeat Function Week (3), Month (4), Year (5), None (0) RW Txt US
One off (6), Minute (7)
09.040 Timer 1 Enable Off (0) or On (1) Off (0) RW Bit US
09.041 Timer 1 Invert Off (0) or On (1) Off (0) RW Bit US
09.042 Timer 1 Output Off (0) or On (1) RO Bit ND NC PT
09.043 Timer 1 Destination 0.000 to 30.999 0.000 RW Num DE PT US
09.045 Timer 2 Start Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.046 Timer 2 Start Time 00:00:00 to 23:59:59 00:00:00 RW Time US
09.047 Timer 2 Stop Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.048 Timer 2 Stop Time 00:00:00 to 23:59:59 00:00:00 RW Time US
None (0), Hour (1), Day (2),
09.049 Timer 2 Repeat Function Week (3), Month (4), Year (5), None (0) RW Txt US
One off (6), Minute (7)
09.050 Timer 2 Enable Off (0) or On (1) Off (0) RW Bit US
09.051 Timer 2 Invert Off (0) or On (1) Off (0) RW Bit US
09.052 Timer 2 Output Off (0) or On (1) RO Bit ND NC PT
09.053 Timer 2 Destination 0.000 to 30.999 0.000 RW Num DE PT US
09.055 Scope Trace 1 Source 0.000 to 30.999 0.000 RW Num PT US
09.056 Scope Trace 2 Source 0.000 to 30.999 0.000 RW Num PT US
09.057 Scope Trace 3 Source 0.000 to 30.999 0.000 RW Num PT US
09.058 Scope Trace 4 Source 0.000 to 30.999 0.000 RW Num PT US
09.059 Scope Trigger Off (0) or On (1) Off (0) RW Bit
09.060 Scope Trigger Source 0.000 to 30.999 0.000 RW Num PT US
09.061 Scope Trigger Threshold -2147483648 to 2147483647 0 RW Num US
09.062 Scope Trigger Invert Off (0) or On (1) Off (0) RW Bit US
09.063 Scope Mode Single (0), Normal (1), Auto (2) Single (0) RW Txt US
09.064 Scope Arm Off (0) or On (1) Off (0) RW Bit NC
09.065 Scope Data Not Ready Off (0) or On (1) RO Bit ND NC PT

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Issue: 01.05.02.02 137
 09.066 Scope Saving Data Off (0) or On (1) RO Bit ND NC PT
09.067 Scope Sample Time 1 to 200 1 RW Num US
09.068 Scope Trigger Delay 0 to 100 % 0% RW Num US
09.069 Scope Time Period 0.00 to 200000.00 ms RO Num ND NC PT
09.070 Scope Auto‑save Mode Disabled (0), Overwrite (1), Keep (2) Disabled (0) RW Txt US
09.071 Scope Auto‑save File Number 0 to 99 RO Num ND NC PT PS
09.072 Scope Auto‑save Reset Off (0) or On (1) Off (0) RW Bit
Disabled (0), Active (1), Stopped (2),
09.073 Scope Auto‑save Status RO Txt ND NC PT PS
Failed (3)

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

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138 Issue: 01.05.02.02
Menu 9 − User Functions 1
Mode: Open‑Loop

Menu 9 provides the parameters for the following features:

1. Logic functions
2. Motorised Pot
3. Binary Sum
4. Timers
5. Scope function

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Issue: 01.05.02.02 139
Logic functions

The logic functions are always active even if the sources and destinations are not routed to valid parameters. If the sources are not valid parameters
then the source values are taken as 0. The update rate for each of the logic functions is always 4ms

The logic function consists of an AND gate with inverters on each input and an inverter on the output. Some of the other standard logic functions can be
produced as shown in the table below.

Logic function Source 1 Invert Source 2 Invert Output Invert

AND 0 0 0
NAND 0 0 1
OR 1 1 1
NOR 1 1 0

A delay function is provided at the output of the logic functions. If Logic Function 1 Delay (09.009) or Logic Function 2 Delay (09.019) is positive then the
output does not become 1 until the input to the delay has been at 1 for the delay time. If Logic Function 1 Delay (09.009) or Logic Function 2 Delay
(09.019) is negative then the output remains at 1 until the input to the delay has been 0 for the delay time.

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Unidrive M400 Parameter Reference Guide
Issue: 01.05.02.02 141
Motorised pot

If Motorised Pot Reset (09.028) = 1 then the motorised pot is disabled and held in its reset state with Motorised Pot Output (09.003) = 0.0%. If
Motorised Pot Reset (09.028) = 0 the motorised pot is enabled even if Motorised Pot Destination (09.025) is not routed to a valid parameter. The
sample rate of the motorised pot is always 4ms.

When the motorised pot is active Motorised Pot Output (09.003) can be increased or decreased by setting Motorised Pot Up (09.026) or
Motorised Pot Down (09.027) to 1 respectively. If both Motorised Pot Up (09.026) and Motorised Pot Down (09.027) are 1 then Motorised Pot Output
(09.003) is increased. The rate of change of Motorised Pot Output (09.003) is defined by Motorised Pot Rate (09.023) which gives the time to change
from 0 to 100%. The time to change from -100% to 100% is Motorised Pot Rate (09.023) x 2. If Motorised Pot Bipolar Select (09.022) = 0 then
Motorised Pot Output (09.003) is limited in the range 0.00% to 100.00%, otherwise it is allowed to change in the range from -100.00% to 100.00%.

Motorised Pot Mode (09.021) defines the mode of operation as given in the table below.

Motorised Pot Mode Motorised Pot Up (09.026) and

Motorised Pot Output (09.003)
(09.021) Motorised Pot Down (09.027) active
0 Reset to zero at power-up Always
1 Set to power-down value at power-up Always
2 Reset to zero at power-up When Drive Active (10.002) = 1
3 Set to power-down value at power-up When Drive Active (10.002) = 1
Reset to zero at power-up and when
4 When Drive Active (10.002) = 1
Drive Active (10.002) = 0

Motorised Pot Scaling (09.024) introduces a scaling factor at the output of the motorised pot before the output is routed to the destination. If
Motorised Pot Scaling (09.024) Motorised Pot Scaling (09.024) > 1.000 the output will exceed the range of the destination parameter, and so the
destination parameter will be at its maximum or minimum before the output of the motorised pot reaches the limits of its range.

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Binary sum

The binary sum function is always active even if the destination is not routed to valid a parameter. The update rate for the binary sum is always 4ms.

The output of the binary sum block is given by

Binary Sum Output (09.032) = Binary Sum Offset (09.034) + (Binary Sum Ones (09.029) x 1) + (Binary Sum Twos (09.030) x 2) + (Binary Sum Fours
(09.031) x 4)

Binary Sum Destination (09.033) defines the destination for the binary sum output. The routing for this destination is special if the maximum of the
destination parameter ≤ 7 + [Binary Sum Offset (09.034)] as follows:

Destination parameter = Binary Sum Output (09.032), subject to the parameter minimum

Otherwise Binary Sum Output (09.032) is routed in the same way as any other destination where the destination target is at its full scale value when the
Binary Sum Output (09.032) = 7 + Offset.

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Timers

If the enable input to a timer is active and the repeat function is set to a non-zero value then the timer is active even if the destination is not routed to
valid a parameter. The timers are updated in the background task and have a resolution of 1s.

The following is a description of Timer 1, but Timer 2 behaves in the same way. If Timer 1 Invert = 0 then Timer 1 Output (09.042) is inactive before the
Timer 1 Start Date (09.035) / Timer 1 Start Time (09.036), active between this date/time and Timer 1 Stop Date (09.037) / Timer 1 Stop Time (09.038)
and then inactive after the stop time/date within the timer 1 repeat period as shown in the diagram below.

Timer 1 Repeat Function (09.039) defines the length of the repeat period. For example if Timer 1 Repeat Function (09.039) = 2 then the repeat period is
one day. The output is inactive until the time reaches the hour, minute and second defined in Timer 1 Start Time (09.036), and remains active until the
time reaches the hour, minute and second defined in Timer 1 Stop Time (09.038). Different repeat periods may be selected as given in the table below.
The table shows the constituent parts of the date and time that are used to determine the start and stop events. If the repeat period is set to every week
then Timer 1 Start Date (09.035) and Timer 1 Stop Date (09.037) define the day of the week and not the date (i.e. 00.00.00 = Sunday, 00.00.01 =
Monday, etc.). If the stop time event is set to occur at or before the start time event or the Timer 1 Repeat Function (09.039) = 0 or Timer 1 Enable
(09.040) = 0 the output remains inactive at all times (i.e. Timer 1 Output (09.042) = 0 if Timer 1 Invert = 0).

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 Timer 1 Repeat Function (09.039) Repeat period Second Minute Hour Day Month Year Day of week
0 None

1 Hour • •

2 Day • • •

3 Week • • • •

4 Month • • • •

5 Year • • • • •

6 One off • • • • • •

7 Minute •

As Timer 1 Invert inverts the timer output it can be used to give an active state of 0 instead of 1. Alternatively it can be used to give an active state of 1,
but for a time period that spans the ends of the repeat period as shown in the example above. It should be noted that if this method is used to allow the
active period to span the ends of the repeat period then if the timer is disabled the output of the timer block before the invert becomes 0, and so the final
output of the timer after the invert is 1.

If Date/Time Selector (06.019) is changed and the drive is reset then the source for the timers will change, therefore Timer 1 Repeat Function (09.039)
and Timer 2 Repeat Function (09.049) are reset to 0 to disable the timers and the date and time entries in the trip log are cleared.

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Scope function

Parameter 09.001 Logic Function 1 Output

Short description Shows the output state of logic function 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Logic Function 1 Output (09.001) shows the output of logic function 1.

Parameter 09.002 Logic Function 2 Output

Short description Shows the output state of logic function 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Logic Function 2 Output (09.002) shows the output of logic function 2.

Parameter 09.003 Motorised Pot Output

Short description Shows the output level of the motorised pot function
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Power Down Save Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

Motorised Pot Output (09.003) shows the output of the motorised pot function.

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 Parameter 09.004 Logic Function 1 Source 1
Short description Defines input source 1 of logic function 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Logic Function 1 Source 1 (09.004) defines input souce 1 of logic function 1.

Parameter 09.005 Logic Function 1 Source 1 Invert

Short description Set to invert input 1 of logic function 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

Setting Logic Function 1 Source 1 Invert (09.005) inverts input 1 of logic function 1.

Parameter 09.006 Logic Function 1 Source 2

Short description Defines input source 2 of logic function 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Logic Function 1 Source 2 (09.006) defines input source 2 of logic function 1.

Parameter 09.007 Logic Function 1 Source 2 Invert

Short description Set to invert input 2 of logic function 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

Setting Logic Function 1 Source 2 Invert (09.007) inverts input 2 of logic function 1.

Parameter 09.008 Logic Function 1 Output Invert

Short description Set to invert the ouptut of logic function 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

Setting Logic Function 1 Output Invert (09.008) inverts the output of logic function 1.

Parameter 09.009 Logic Function 1 Delay

Short description Defines the output delay of logic function 1
Mode Open‑Loop
Minimum -25.0 Maximum 25.0
Default 0.0 Units s
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 1
Coding RW

Logic Function 1 Delay (09.009) defines the delay at the output of logic function 1. If Logic Function 1 Delay (09.009) is positive then the output does not
become 1 until the input to the delay has been at 1 for the delay time. If Logic Function 1 Delay (09.009) is negative then the output remains at 1 until
the input to the delay has been 0 for the delay time.

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Parameter 09.010 Logic Function 1 Destination
Short description Defines the output destination of logic function 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

Logic Function 1 Destination (09.010) defines the output destination of logic function 1.

Parameter 09.014 Logic Function 2 Source 1

Short description Defines input source 1 of logic function 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Logic Function 2 Source 1 (09.014) defines input source 1 of logic function 2.

Parameter 09.015 Logic Function 2 Source 1 Invert

Short description Set to invert input 1 of logic function 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

Setting Logic Function 2 Source 1 Invert (09.015) inverts input 1 of logic function 2.

Parameter 09.016 Logic Function 2 Source 2

Short description Defines input source 2 of logic function 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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Logic Function 2 Source 2 (09.016) defines input source 2 of logic function 2.

Parameter 09.017 Logic Function 2 Source 2 Invert

Short description Set to invert input 2 of logic function 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

Setting Logic Function 2 Source 2 Invert (09.017) inverts input 2 of logic function 2.

Parameter 09.018 Logic Function 2 Output Invert

Short description Set to invert the ouptut of logic function 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

Setting Logic Function 2 Output Invert (09.018) inverts the output of logic function 2.

Parameter 09.019 Logic Function 2 Delay

Short description Defines the output delay of logic function 2
Mode Open‑Loop
Minimum -25.0 Maximum 25.0
Default 0.0 Units s
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 1
Coding RW

Logic Function 2 Delay (09.019) defines the delay at the output of logic function 1. If Logic Function 2 Delay (09.019) is positive then the output does not
become 1 until the input to the delay has been at 1 for the delay time. If Logic Function 2 Delay (09.019) is negative then the output remains at 1 until
the input to the delay has been 0 for the delay time.

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Parameter 09.020 Logic Function 2 Destination
Short description Defines the output destination of logic function 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

Logic Function 2 Destination (09.020) defines the output destination of logic function 2.

Parameter 09.021 Motorised Pot Mode

Short description Defines the motorised pot mode
Mode Open‑Loop
Minimum 0 Maximum 4
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Motorised Pot Mode (09.021) defines the mode of operation as given in the table below.

Motorised Pot Mode Motorised Pot Up (09.026) and

Motorised Pot Output (09.003)
(09.021) Motorised Pot Down (09.027) active
0 Reset to zero at power-up Always
1 Set to power-down value at power-up Always
2 Reset to zero at power-up When Drive Active (10.002) = 1
3 Set to power-down value at power-up When Drive Active (10.002) = 1
Reset to zero at power-up and when
4 When Drive Active (10.002) = 1
Drive Active (10.002) = 0

Parameter 09.022 Motorised Pot Bipolar Select

Short description Set to enable bipolar operation of the motorised pot
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

If Motorised Pot Bipolar Select (09.022) = 0 then Motorised Pot Output (09.003) is limited in the range 0.00% to 100.00%, otherwise it is allowed to
change in the range from -100.00% to 100.00%.

Parameter 09.023 Motorised Pot Rate

Short description Defines the rate of change of the motorised pot output
Mode Open‑Loop
Minimum 0 Maximum 250
Default 20 Units s
Type 8 Bit User Save Update Rate Background
Display Format Standard Decimal Places 0
Coding RW, BU

The rate of change of Motorised Pot Output (09.003) is defined by Motorised Pot Rate (09.023) which gives the time to change from 0 to 100%. The
time to change from -100% to 100% is Motorised Pot Rate (09.023) x 2.

Parameter 09.024 Motorised Pot Scaling

Short description Defines the scaling applied to the motorised pot output
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

Motorised Pot Scaling (09.024) introduces a scaling factor at the output of the motorised pot before the output is routed to the destination. If
Motorised Pot Scaling (09.024) > 1.000 the output will exceed the range of the destination parameter, and so the destination parameter will be at its
maximum or minimum before the output of the motorised pot reaches the limits of its range.

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 Parameter 09.025 Motorised Pot Destination
Short description Defines the output destination of the motorised pot
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

Motorised Pot Destination (09.025) defines the output destination of the motorised pot function.

Parameter 09.026 Motorised Pot Up

Short description Set to increase the motorised pot output
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

If Motorised Pot Up (09.026) = 1, then the Motorised Pot Output (09.003) will increase.

Parameter 09.027 Motorised Pot Down

Short description Set to decrese the motorised pot output
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

If Motorised Pot Down (09.027) = 1 and Motorised Pot Up (09.026) = 0 , then the Motorised Pot Output (09.003) will decrease.

Parameter 09.028 Motorised Pot Reset

Short description Set to reset the motorised pot output to zero
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, NC

If Motorised Pot Reset (09.028) = 1 then the motorised pot is disabled and held in its reset state with Motorised Pot Output (09.003) = 0.0%.
If Motorised Pot Reset (09.028) the motorised pot is enabled even if Motorised Pot Destination (09.025) is not routed to a valid parameter.

Parameter 09.029 Binary Sum Ones

Short description Set to add one to the binary sum output
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Binary Sum Output (09.032).

Parameter 09.030 Binary Sum Twos

Short description Set to add two to the binary sum output
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Binary Sum Output (09.032).

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Parameter 09.031 Binary Sum Fours
Short description Set to add three to the binary sum output
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Binary Sum Output (09.032).

Parameter 09.032 Binary Sum Output

Short description Shows the output level of the binary sum
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

The binary sum function is always active even if the destination is not routed to valid a parameter. The update rate for the binary sum is always 4ms.

The output of the binary sum block is given by

Binary Sum Output (09.032) = Binary Sum Offset (09.034) + (Binary Sum Ones (09.029) x 1) + (Binary Sum Twos (09.030) x 2) +
(Binary Sum Fours (09.031) x 4)

Binary Sum Destination (09.033) defines the destination for the binary sum output. The routing for this destination is special if the maximum of the
destination parameter ≤ 7 + [Binary Sum Offset (09.034)] as follows:

Destination parameter = Binary Sum Output (09.032), subject to the parameter minimum

Otherwise Binary Sum Output (09.032) is routed in the same way as any other destination where the destination target is at its full scale value when the
Binary Sum Output (09.032) = 7 + Binary Sum Offset (09.034)

Example:

09.033 = 01.015

09.029 = 0

09.030 = 1

09.031 = 0

09.034 = 0

So 09.032 = 2

And 01.015 = (01.015[MAX] x 09.032) / (7 + 09.034)

01.015 = (9 x 2)/(7+0) = 2.57 = 3 (rounded to nearest integer)

If 09.034 = 1 then 01.015 = (9 x 3)/(7+1) = 3.37 = 3 (rounded to nearest integer)

If 09.034 = 2 then 01.015 = (9 x 4)/(7+2) = 4

Parameter 09.033 Binary Sum Destination

Short description Defines the output destination of the binary sum
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

Binary Sum Destination (09.033) defines the destination for the binary sum output.

See Binary Sum Output (09.032) for more information.

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 Parameter 09.034 Binary Sum Offset
Short description Defines the offset added to the output of the binary sum
Mode Open‑Loop
Minimum 0 Maximum 248
Default 0 Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, BU

See Binary Sum Output (09.032).

Parameter 09.035 Timer 1 Start Date

Short description Defines the start date for timer 1
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
0
Default Units
(Display: 00-00-00)
Type 32 Bit User Save Update Rate Background read
Display Format Date Decimal Places 0
Coding RW

Timer 1 Start Date (09.035) defines the start date within the repeat period of timer 1.

See Timer 1 Repeat Function (09.039) for more information.

Parameter 09.036 Timer 1 Start Time

Short description Defines the start time for timer 1
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
0
Default Units
(Display: 00:00:00)
Type 32 Bit User Save Update Rate Background read
Display Format Time Decimal Places 0
Coding RW

Timer 1 Start Time (09.036) defines the start time within the repeat period of timer 1.

See Timer 1 Repeat Function (09.039) for more information.

Parameter 09.037 Timer 1 Stop Date

Short description Defines the stop date for timer 1
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
0
Default Units
(Display: 00-00-00)
Type 32 Bit User Save Update Rate Background read
Display Format Date Decimal Places 0
Coding RW

Timer 1 Stop Date (09.037) defines the stop date within the repeat period of timer 1.

See Timer 1 Repeat Function (09.039) for more information.

Parameter 09.038 Timer 1 Stop Time

Short description Defines the stop time for timer 1
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
0
Default Units
(Display: 00:00:00)
Type 32 Bit User Save Update Rate Background read
Display Format Time Decimal Places 0
Coding RW

Timer 1 Stop Time (09.038) defines the stop time within the repeat period of timer 1.

See Timer 1 Repeat Function (09.039) for more information.

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Parameter 09.039 Timer 1 Repeat Function
Short description Defines the length of the repeat period
Mode Open‑Loop
Minimum 0 Maximum 7
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 None
1 Hour
2 Day
3 Week
4 Month
5 Year
6 One off
7 Minute

Timer 1 Repeat Function (09.039) defines the length of the repeat period. For example if Timer 1 Repeat Function (09.039) = 2 then the repeat period is
one day. The output is inactive until the time reaches the hour, minute and second defined in Timer 1 Start Time (09.036), and remains active until the
time reaches the hour, minute and second defined in Timer 1 Stop Time (09.038). Different repeat periods may be selected as given in the table below.
The table shows the constituent parts of the date and time that are used to determine the start and stop events. If the repeat period is set to every week
then Timer 1 Start Date (09.035) and Timer 1 Stop Date (09.037) define the day of the week and not the date (i.e. 00.00.00 = Sunday, 00.00.01 =
Monday, etc.). If the stop time event is set to occur at or before the start time event or the Timer 1 Repeat Function (09.039) = 0 or Timer 1 Enable
(09.040) = 0 the output remains inactive at all times (i.e. Timer 1 Output (09.042) = 0 if Timer 1 Invert = 0).

Timer 1 Repeat Function (09.039) Repeat period Second Minute Hour Day Month Year Day of week
0 None

1 Hour • •

2 Day • • •

3 Week • • • •

4 Month • • • •

5 Year • • • • •

6 One off • • • • • •

7 Minute •

Parameter 09.040 Timer 1 Enable

Short description Set to enable the timer 1 function
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Timer 1 Enable (09.040) enables the timer 1 function. If Timer 1 Enable (09.040) = 0, then the output of the timer is always inactive, i.e. Timer 1 Output
(09.042) =0.

Parameter 09.041 Timer 1 Invert

Short description Set to invert the output of timer 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Timer 1 Invert (09.041) inverts the timer output to give an active state of 0 instead of 1. Alternatively it can be used to give an active state of 1, but for a

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154 Issue: 01.05.02.02
time period that spans the ends of the repeat period as shown in the example above. It should be noted that if this method is used to allow the active
period to span the ends of the repeat period then if the timer is disabled the output of the timer block before the invert becomes 0, and so the final
output of the timer after the invert is 1.

See User Functions 1 for more information.

Parameter 09.042 Timer 1 Output

Short description Shows the output state of timer function 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Timer 1 Output (09.042) shows the output of the timer function 1.

Parameter 09.043 Timer 1 Destination

Short description Defines the output destination of timer function 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

Timer 1 Destination (09.043) defines the output destination of timer function 1.

Parameter 09.045 Timer 2 Start Date

Short description Defines the start date for timer 2
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
0
Default Units
(Display: 00-00-00)
Type 32 Bit User Save Update Rate Background read
Display Format Date Decimal Places 0
Coding RW

Timer 2 Start Date (09.045) defines the start date within the repeat period of timer 2.

See Timer 1 Repeat Function (09.039) for more information.

Parameter 09.046 Timer 2 Start Time

Short description Defines the start time for timer 2
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
0
Default Units
(Display: 00:00:00)
Type 32 Bit User Save Update Rate Background read
Display Format Time Decimal Places 0
Coding RW

Timer 2 Start Time (09.046) defines the start time within the repeat period of timer 2.

See Timer 1 Repeat Function (09.039) for more information.

Parameter 09.047 Timer 2 Stop Date

Short description
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
0
Default Units
(Display: 00-00-00)
Type 32 Bit User Save Update Rate Background read
Display Format Date Decimal Places 0
Coding RW

Timer 2 Stop Date (09.047) defines the stop date within the repeat period of timer 2.

See Timer 1 Repeat Function (09.039) for more information.

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Parameter 09.048 Timer 2 Stop Time
Short description Defines the stop time for timer 2
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
0
Default Units
(Display: 00:00:00)
Type 32 Bit User Save Update Rate Background read
Display Format Time Decimal Places 0
Coding RW

Timer 2 Stop Time (09.048) defines the stop time within the repeat period of timer 2.

See Timer 1 Repeat Function (09.039) for more information.

Parameter 09.049 Timer 2 Repeat Function

Short description Defines the length of the repeat period
Mode Open‑Loop
Minimum 0 Maximum 7
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 None
1 Hour
2 Day
3 Week
4 Month
5 Year
6 One off
7 Minute

See Timer 1 Repeat Function (09.039).

Parameter 09.050 Timer 2 Enable

Short description Set to enable the timer 2 function
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Timer 2 Enable (09.050) enables the timer 2 function. If Timer 2 Enable (09.050) = 0, then the output of the timer is always inactive, i.e. Timer 2 Output
(09.052) = 0.

Parameter 09.051 Timer 2 Invert

Short description Set to invert the output of timer 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Timer 2 Invert (09.051) inverts the timer output to give an active state of 0 instead of 1.

See Timer 1 Invert (09.041) for more information.

Parameter 09.052 Timer 2 Output

Short description Shows the output state of timer function 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Unidrive M400 Parameter Reference Guide

156 Issue: 01.05.02.02
Timer 2 Output (09.052) shows the output of timer function 2.

Parameter 09.053 Timer 2 Destination

Short description Defines the output destination of timer function 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

Timer 2 Destination (09.053) defines the output destination of timer function 2.

Parameter 09.055 Scope Trace 1 Source

Short description Defines the source of scope trace 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Up to four scope sources can be selected using Scope Trace 1 Source (09.055) to Scope Trace 4 Source (09.058). If the source value is set to 0.000,
or the source parameter does not exist, then no source is selected. The sources do not operate in the same way as normal source parameters in that
the input to the scope is the actual value of the parameter and not a value scaled to a percentage based on the range of the parameter. If a scope trace
source parameter is modified the actual change is not effective until the drive is reset.

Parameter 09.056 Scope Trace 2 Source

Short description Defines the source of scope trace 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Scope Trace 1 Source (09.055).

Parameter 09.057 Scope Trace 3 Source

Short description Defines the source of scope trace 3
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Scope Trace 1 Source (09.055).

Parameter 09.058 Scope Trace 4 Source

Short description Defines the source of scope trace 3
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Scope Trace 1 Source (09.055).

Parameter 09.059 Scope Trigger

Short description Set to trigger the scope function
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 250µs read
Display Format Standard Decimal Places 0
Coding RW

The scope is triggered by a rising edge at the input to the main scope block. If Scope Trigger Source (09.060) is set at its default value of 0.000 then the

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 157
output of the trigger threshold comparator is 0, and so the scope can be triggered with Scope Trigger (09.059). Scope Trigger Invert (09.062) can be
used to invert the trigger signal.

Parameter 09.060 Scope Trigger Source

Short description Defines the source of the scope trigger
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

If Scope Trigger (09.059) = 0, the scope can be triggered based on the level of a parameter defined by Scope Trigger Source (09.060) and
the Scope Trigger Threshold (09.061). This source operates in the same way as the trace sources and a direct comparison is made between the actual
parameter value and the threshold. Decimal places are ignored. The threshold detector output is 1 when the value from the scope trigger source is
greater than Scope Trigger Threshold (09.061). If Scope Trigger Source (09.060) = 0.000, or it is used to select a parameter that does not exist, then
the output of the threshold detector is 0.

Parameter 09.061 Scope Trigger Threshold

Short description Defines the scope trigger threshold
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Scope Trigger Source (09.060).

Parameter 09.062 Scope Trigger Invert

Short description Set to invert the scope trigger
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Scope Trigger (09.059).

Parameter 09.063 Scope Mode

Short description Defines the mode of the scope
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Single
1 Normal
2 Auto

Single (0):
If Scope Arm (09.064) is set to 1 the scope starts to acquire pre-trigger data (i.e. enough data to provide information for the pre-trigger period)
and Scope Data Not Ready (09.065) is set to 1. The scope can then be triggered on the next trigger event (i.e. a rising edge on the trigger input of the
main scope block). Note that the scope can only be triggered once the required amount of pre-trigger data has been sampled. Failure to do this will
result in the scope function not triggering correctly. When the trigger event occurs Scope Arm (09.064) is set to 0, and when the post-trigger data has
been stored Scope Data Not Ready (09.065) is set to 0. If Scope Auto-save Mode (09.070) is non-zero, the data in the scope trace buffer is saved to a
non-volatile media card fitted in the drive. When the save is complete (or data cannot be saved, i.e. no card fitted or no space left) the scope is ready
again to receive data. If Scope Arm (09.064) is set to 1 the scope will start to acquire data again.

Unidrive M400 Parameter Reference Guide

158 Issue: 01.05.02.02
It is possible to read scope files via comms or into an option module. However, scope file transfer can only be initiated when Scope Arm (09.064) =
0, Scope Data Not Ready (09.065) = 0, Scope Saving Data (09.066) = 0 and at least one trace has been set up. While the file transfer is in progress
Scope Saving Data (09.066) is set to 1.

The scope system is reset under any of the following conditions:

1. At power-up.
2. If the drive is reset when Scope Trace 1 Source (09.055) to Scope Trace 4 Source (09.058) have been modified.
3. The drive mode is changed.
4. If Scope Mode (09.063), Scope Sample Time (09.067) or Scope Trigger Delay (09.068) are modified.

When the scope is reset Scope Arm (09.064) is reset to 0 and the trace data is all cleared to 0..

Normal (1):
The scope operates in the same way as single mode except that Scope Arm (09.064) is automatically set back to 1 after a time delay of 1s once the
post-trigger data has been acquired, and the scope data has been saved to a non-volatile media card if Scope Auto-save Mode (09.070) > 0.

Auto (2):
After the scope system is reset Scope Data Not Ready (09.065) is set to 1 and the scope begins to acquire data. Once the buffer is full
Scope Data Not Ready (09.065) is set to 0 and the scope continues to acquire data. Scope Arm (09.064) has no effect on data acquisition. Provided
Scope Data Not Ready (09.065) = 0 and Scope Saving Data (09.066) = 0 it is possible to read the data from the scope buffer as a scope file. Data
acquisition is stopped when the file transfer begins. When the file transfer is complete, data acquisition begins again and Scope Data Not Ready
(09.065) is set to 1 for a period that is long enough to fill the scope buffer with new data.

Parameter 09.064 Scope Arm

Short description Set to arm the scope
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 250µs read
Display Format Standard Decimal Places 0
Coding RW, NC

See Scope Mode (09.063).

Parameter 09.065 Scope Data Not Ready

Short description Shows that the data in the scope buffer is not ready to be read out
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 250µs write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Scope Mode (09.063).

Parameter 09.066 Scope Saving Data

Short description Shows when the scope is saving data
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Scope Mode (09.063).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 159
Parameter 09.067 Scope Sample Time
Short description Defines the sample time of the scope
Mode Open‑Loop
Minimum 1 Maximum 200
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, BU

Scope Sample Time (09.067) defines the sample rate of the scope function for all traces in 1ms units (i.e. if Scope Sample Time (09.067) = 4, the
sample time is 4ms).

Parameter 09.068 Scope Trigger Delay

Short description Defines how much pre-trigger data is stored by the scope
Mode Open‑Loop
Minimum 0 Maximum 100
Default 0 Units %
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Scope Trigger Delay (09.068) defines how much data is stored before and after the scope is triggered. If Scope Trigger Delay (09.068) = 0% then no
data is stored before the trigger and all the data is after the trigger. If Scope Trigger Delay (09.068) = 100% then no data is stored after the trigger, but
all the data is before the trigger.

Parameter 09.069 Scope Time Period

Short description Shows the time period covered by the scope buffer
Mode Open‑Loop
Minimum 0.00 Maximum 200000.00
Default Units ms
Type 32 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

The scope function can capture up to 4000 bytes of parameter data. The Scope Time Period (09.069) gives the length of the time period covered by the
scope buffer which depends on the number of traces stored, the sample time and the size of the parameters used as trace sources.

Scope Time Period (09.069) = 4000 x 1ms x Scope Sample Time (09.067) / Size of trace data

Size of trace data is the sum of the number of bytes in each of the trace sources selected by Scope Trace 1 Source (09.055) to Scope Trace 4 Source
(09.058).

Parameter 09.070 Scope Auto-save Mode

Short description Defines the mode for auto-saving scope files to the NV media card
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Disabled
1 Overwrite
2 Keep

Auto-save mode can be used to store a scope file on a non-volatile media card at each trigger event. The auto-save system is held in reset
if Scope Auto-save Reset (09.072) = 1. When the auto-save system is reset all the scope files in scope file folder on the NV media card are
deleted, Scope Auto-save File Number (09.071) is reset to 0 and the auto-save system is inactive. If any of the file operations fail during
reset Scope Auto-save Status (09.073) is 3 (Failed) when the reset is removed.

The following conditions must be met for auto-saving to be active:

1. Scope Auto-save Mode (09.070) is non-zero

2. Scope Auto-save Reset (09.072) = 0
3. Scope Auto-save Status (09.073) = 1 (Active)
4. Scope Mode (09.063) = 0 (Single) or 1 (Normal)

If auto-saving is active an attempt is made to copy the scope file to a non-volatile media card fitted to the drive each time the post-trigger data has been
acquired. The file name is SCP00XY.DAT, where XY is defined by Scope Auto-save File Number (09.071). If Scope Auto-save Mode (09.070) = 1
(Overwrite) then a file is over-written if it already exists. If Scope Auto-save Mode (09.070) = 2 (Keep) then if the file already exists the auto-save
process is aborted. Scope Auto-save File Number (09.071) is incremented after a file is saved successfully and rolls over to 0 if it exceeds its maximum
value.

Unidrive M400 Parameter Reference Guide

160 Issue: 01.05.02.02
If Scope Auto-save Status (09.073) = 0 (Disabled) and all the other conditions listed above for auto-saving to be active are met, then Scope Auto-
save Status (09.073) changes to 1 (Active), so that auto-saving becomes active. If the scope file cannot be saved because the file exists
and Scope Auto-save Mode (09.070) = 2 (Keep) then Scope Auto-save Status (09.073) is set to 2 (Stopped). If the scope file cannot be saved for any
other reason then Scope Auto-save Status (09.073) is set to 3 (Failed). If Scope Auto-save Status (09.073) is no longer 1 (Active), auto-saving is
aborted. Auto-saving can be made active again by setting Scope Auto-save Reset (09.072) to 1 and then to 0. If Scope Auto-save Mode (09.070) = 0
(Disabled) then Scope Auto-save Status (09.073) is set to 0 (Disabled), or if Scope Auto-save Mode (09.070) is non-zero then Scope Auto-save Status
(09.073) is set to 1 (Active). It should be noted that Scope Auto-save Status (09.073) is a power-down save parameter, and so auto-save will remain
inactive if Scope Auto-save Status (09.073) is 2 or 3 even if the drive is powered down and then powered up again.

Parameter 09.071 Scope Auto-save File Number

Short description Shows the file number to be used for the next auto-saved scope file
Mode Open‑Loop
Minimum 0 Maximum 99
Default Units
Type 8 Bit Power Down Save Update Rate Background read/write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Scope Auto-save Mode (09.070).

Parameter 09.072 Scope Auto-save Reset

Short description Set to reset the scope auto-save function
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See Scope Auto-save Mode (09.070).

Parameter 09.073 Scope Auto-save Status

Short description Shows the status of the scope auto-save function
Mode Open‑Loop
Minimum 0 Maximum 3
Default Units
Type 8 Bit Power Down Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Value Text
0 Disabled
1 Active
2 Stopped
3 Failed

See Scope Auto-save Mode (09.070).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 161
Menu 10 Single Line Descriptions − Status and Trips
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

162 Issue: 01.05.02.02
 Parameter Range Default Type
10.001 Drive Healthy Off (0) or On (1) RO Bit ND NC PT
10.002 Drive Active Off (0) or On (1) RO Bit ND NC PT
10.003 Zero Frequency Off (0) or On (1) RO Bit ND NC PT
10.004 Running At Or Below Minimum Frequency Off (0) or On (1) RO Bit ND NC PT
10.005 Below Set Frequency Off (0) or On (1) RO Bit ND NC PT
10.006 At Frequency Off (0) or On (1) RO Bit ND NC PT
10.007 Above Set Frequency Off (0) or On (1) RO Bit ND NC PT
10.008 Rated Load Reached Off (0) or On (1) RO Bit ND NC PT
10.009 Current Limit Active Off (0) or On (1) RO Bit ND NC PT
10.010 Regenerating Off (0) or On (1) RO Bit ND NC PT
10.011 Braking IGBT Active Off (0) or On (1) RO Bit ND NC PT
10.012 Braking Resistor Alarm Off (0) or On (1) RO Bit ND NC PT
10.013 Reverse Direction Commanded Off (0) or On (1) RO Bit ND NC PT
10.014 Reverse Direction Running Off (0) or On (1) RO Bit ND NC PT
10.015 Supply Loss Off (0) or On (1) RO Bit ND NC PT
10.016 Under Voltage Active Off (0) or On (1) RO Bit ND NC PT
10.017 Motor Overload Alarm Off (0) or On (1) RO Bit ND NC PT
10.018 Drive Over‑temperature Alarm Off (0) or On (1) RO Bit ND NC PT
10.019 Drive Warning Off (0) or On (1) RO Bit ND NC PT
10.020 Trip 0 0 to 255 RO Txt ND NC PT PS
10.021 Trip 1 0 to 255 RO Txt ND NC PT PS
10.022 Trip 2 0 to 255 RO Txt ND NC PT PS
10.023 Trip 3 0 to 255 RO Txt ND NC PT PS
10.024 Trip 4 0 to 255 RO Txt ND NC PT PS
10.025 Trip 5 0 to 255 RO Txt ND NC PT PS
10.026 Trip 6 0 to 255 RO Txt ND NC PT PS
10.027 Trip 7 0 to 255 RO Txt ND NC PT PS
10.028 Trip 8 0 to 255 RO Txt ND NC PT PS
10.029 Trip 9 0 to 255 RO Txt ND NC PT PS
10.030 Braking Resistor Rated Power 0.0 to 99999.9 kW 0.0 kW RW Num US
10.031 Braking Resistor Thermal Time Constant 0.00 to 1500.00 s 0.00 s RW Num US
10.032 External Trip Off (0) or On (1) Off (0) RW Bit NC
10.033 Drive Reset Off (0) or On (1) Off (0) RW Bit NC
None (0), 1 (1), 2 (2), 3 (3), 4 (4), 5 (5),
10.034 Number Of Auto‑reset Attempts None (0) RW Txt US
Infinite (6)
10.035 Auto‑reset Delay 1.0 to 600.0 s 1.0 s RW Num US
10.036 Auto‑reset Hold Drive Healthy Off (0) or On (1) Off (0) RW Bit US
10.037 Action On Trip Detection 00000 to 11111 00000 RW Bin US
10.038 User Trip 0 to 255 RW Num ND NC
10.039 Braking Resistor Thermal Accumulator 0.0 to 100.0 % RO Num ND NC PT
10.040 Status Word 000000000000000 to 111111111111111 RO Bin ND NC PT
10.041 Trip 0 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.042 Trip 0 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.043 Trip 1 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.044 Trip 1 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.045 Trip 2 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.046 Trip 2 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.047 Trip 3 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.048 Trip 3 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.049 Trip 4 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.050 Trip 4 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.051 Trip 5 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.052 Trip 5 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.053 Trip 6 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.054 Trip 6 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.055 Trip 7 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.056 Trip 7 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.057 Trip 8 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.058 Trip 8 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.059 Trip 9 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.060 Trip 9 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.061 Braking Resistor Resistance 0.00 to 10000.00 Ω 0.00 Ω RW Num US
10.064 Remote Keypad Battery Low Off (0) or On (1) RO Bit ND NC PT
10.065 Auto‑tune Active Off (0) or On (1) RO Bit ND NC PT

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Issue: 01.05.02.02 163
10.066 Limit Switch Active Off (0) or On (1) RO Bit ND NC PT
10.068 Hold Drive Healthy on Under Voltage Off (0) or On (1) Off (0) RW Bit US
10.069 Additional Status Bits 000000000000 to 111111111111 RO Bin ND NC PT
10.070 Trip 0 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.071 Trip 1 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.072 Trip 2 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.073 Trip 3 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.074 Trip 4 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.075 Trip 5 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.076 Trip 6 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.077 Trip 7 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.078 Trip 8 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.079 Trip 9 Sub‑trip Number 0 to 65535 RO Num ND NC PT PS
10.080 Stop Motor Off (0) or On (1) RO Bit ND NC PT
10.081 Phase Loss Off (0) or On (1) RO Bit ND NC PT
10.090 Drive Ready Off (0) or On (1) RO Bit ND NC PT
Inhibit (0), Ready (1), Stop (2), Run (4),
Supply Loss (5), Deceleration (6),
10.101 Drive Status RO Txt ND NC PT
dc Injection (7), Trip (9), Heat (14),
Under Voltage (15)
10.102 Trip Reset Source 0 to 1023 RO Num ND NC PT PS
10.103 Trip Time Identifier -2147483648 to 2147483647 ms RO Num ND NC PT
None (0), Brake Resistor (1),
Motor Overload (2), Drive Overload (4),
Auto Tune (5), Limit Switch (6),
10.104 Active Alarm RO Txt ND NC PT
Option Slot 1 (9), Low AC (13),
Current limit (14), 24V Backup Lost (15),
Fan (16)
10.106 Potential Drive Damage Conditions 00 to 11 RO Bin ND NC PT PS
10.107 Low AC Alarm Off (0) or On (1) RO Bit ND NC PT
10.108 Reversed cooling fan detected Off (0) or On (1) RO Bit ND NC PT

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

164 Issue: 01.05.02.02
Menu 10 − Status and Trips
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 165
 Unidrive M400 Parameter Reference Guide
166 Issue: 01.05.02.02
 Parameter 10.001 Drive Healthy
Short description Indicates that the drive is healthy
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Drive Healthy (10.001) indicates that the drive is not in the trip or the under voltage state if it is set to one. If Auto-reset Hold Drive Healthy (10.036) = 1 and auto-
reset is being used, Drive Healthy (10.001) is not cleared until all auto-resets have been attempted and the next trip occurs.

Parameter 10.002 Drive Active

Short description Indicates that the inverter is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

If the drive inverter is active Drive Active (10.002) is set to one, otherwise it is zero.

Parameter 10.003 Zero Frequency

Short description Indicates that the frequency is below the zero frequency threshold
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Zero Frequency (10.003) is set to one under the zero frequency conditions, otherwise it is zero. See Zero Frequency Threshold (03.005).

Parameter 10.004 Running At Or Below Minimum Frequency

Short description Indicates that the drive is running at or below the minimum frequency
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

If Bipolar Reference Enable (01.010) = 1 then Running At Or Below Minimum Frequency (10.004) operates in the same way as Zero Frequency (10.003). If
Bipolar Reference Enable (01.010) = 0 then Running At Or Below Minimum Frequency (10.004) is set if Post Ramp Reference (02.001) ≤ Minimum Speed (01.007) +
0.5Hz.

If motor map 2 is active then M2 Minimum Speed (21.002) is used instead of Minimum Speed (01.007).

Parameter 10.005 Below Set Frequency

Short description Indicates that the drive is running below the set frequency
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See At Frequency Lower Limit (03.006).

Parameter 10.006 At Frequency

Short description Indicates that the drive is running at the set frequency
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See At Frequency Lower Limit (03.006).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 167
Parameter 10.007 Above Set Frequency
Short description Indicates that the drive is running above the set frequency
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See At Frequency Lower Limit (03.006).

Parameter 10.008 Rated Load Reached

Short description Indicates that rated load has been reached
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Rated Load Reached (10.008) is set to one when the torque producing current is at or above its rated level. This condition is detected when the modulus of
Percentage Load (04.020) is greater or equal to 100.0%. It should be noted that this is an indication based on the level of current and not torque, which means that if
field weakening is active a value of one in Rated Load Reached (10.008) does not necessarily mean that the motor is producing rated torque.

Parameter 10.009 Current Limit Active

Short description Indicates that the current limit is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Current Limit Active (10.009) is set to one if the current limit is active.

Parameter 10.010 Regenerating

Short description Indicates that power is being transferred from the motor to the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Regenerating (10.010) is set to one if power is being transferred from the motor to the drive

Parameter 10.011 Braking IGBT Active

Short description Indicates that the braking IGBT is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Braking IGBT Active (10.011) is set to one if the braking IGBT is active. As the braking IGBT active periods may be short, each time the braking IGBT is switched on
Braking IGBT Active (10.011) is set to one and remains at one for at least 0.5s.

Parameter 10.012 Braking Resistor Alarm

Indicates that the braking IGBT is active and the braking resistor thermal accumulator is greater than
Short description
75%
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Braking Resistor Alarm (10.012) is set when the braking IGBT is active and Braking Resistor Thermal Accumulator (10.039) is greater than 75.00%. As the braking
IGBT active periods may be short Braking Resistor Alarm (10.012) is always held on for at least 0.5s.

Unidrive M400 Parameter Reference Guide

168 Issue: 01.05.02.02
 Parameter 10.013 Reverse Direction Commanded
Short description Indicates that the reverse direction has been commanded
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Reverse Direction Commanded (10.013) indicates the reference direction at the input to the ramp system. If the Pre-ramp Reference (01.003) is negative
Reverse Direction Commanded (10.013) is one otherwise Reverse Direction Commanded (10.013) is zero.

Parameter 10.014 Reverse Direction Running

Short description Indicates that the drive is running in the reverse direction
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Reverse Direction Running (10.014) is set to one if the Post Ramp Reference (02.001) is negative otherwise it is set to zero.

Parameter 10.015 Supply Loss

Short description Indicates that the drive is in the supply loss state
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Supply Loss (10.015) indicates that the drive is in the supply loss state. This condition can only occur if supply loss detection is enabled, i.e. Supply Loss Mode
(06.003) is set to a non-zero value. In the supply loss state the drive will attempt to stop the motor or ride through the mains loss by absorbing energy from the motor
load's rotation.

Parameter 10.016 Under Voltage Active

Short description Indicates that the drive is in the under voltage state
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Under Voltage Active (10.016) indicates that the drive is in the under voltage state.

Parameter 10.017 Motor Overload Alarm

Short description Indicates that the motor overload accumulator is above 75% and the output current is high
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Motor Overload Alarm (10.017) is set if the drive output current is higher than the defined protection level and the Motor Protection Accumulator (04.019) > 75%. See
Motor Thermal Time Constant 1 (04.015) and Thermal Protection Mode (04.016) for more details.

Parameter 10.018 Drive Over-temperature Alarm

Short description Indicates that the drive over-temperature alarm is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Drive Over-temperature Alarm (10.018) is set if Percentage Of Drive Thermal Trip Level (07.036) is greater than 90%.

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Issue: 01.05.02.02 169
Parameter 10.019 Drive Warning
Short description Indicates that one or more of the drive warning alarms are active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Drive Warning (10.019) is set to one if any of the drive warnings is active it is defined as

Drive Warning (10.019) = Braking Resistor Alarm (10.012) OR Motor Overload Alarm (10.017) OR Drive Over-temperature Alarm (10.018) OR Low AC Alarm
(10.107)

Parameter 10.020 Trip 0

Short description Shows the current or last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

Click here to view trips in numerical order.

Unidrive M400 Parameter Reference Guide

170 Issue: 01.05.02.02
 Value Text Description
28 An Input 1 Loss Current loop loss on analog input 1
189 An Input 1 OI Current loop overload on analog input 1
29 An Input 2 Loss Current loop loss on analog input 2
190 An Input 2 OI Current loop overload on analog input 2
39 An Input 3 Loss Current loop loss on Analog input 3 (Commander ID30x only)
Current loop overload on analog input 3 (Commander ID30x
191 An Input 3 OI
only)
11 Autotune 1 Autotune trip 1
13 Autotune 3 Autotune trip 3
18 Autotune Stopped The Autotune was interrupted
19 Brake R Too Hot Brake resistor over temperature
185 Card Access Communication failure with NV media card detected
178 Card Busy NV media card in use
188 Card Compare NV media card data and drive data is not the same
179 Card Data Exists NV media card data already exists
Transfer of data between drives operating in different modes
187 Card Drive Mode
detected
182 Card Error NV media card data structure error detected
184 Card Full NV media card is full
183 Card No Data Attempt to read non-existant data detected
180 Card Option Option difference detected
175 Card Product Product difference detected
186 Card Rating Transfer of data between drives of different ratings detected
181 Card Read Only Attempt to overwrite protected data detected
35 Control Word Control word trip (bit 12)
97 Data Changing Drive has become active while data is being updated
110 DCCT Ref DC Current transformer failure (size 5 and above)
246 Derivative ID Derivative Image error
248 Derivative Image Derivative program error
A parameter is being changed by more than 1 routing
199 Destination
destination
232 Drive config Incorrect configuration data
31 EEPROM Fail Non-volatile memory failure
6 External Trip External trip generated by the application
173 Fan fail Cooling fan failure
247 File changed Configuration data within the drive has changed
The power stage and control board firmware versions are not
237 FW incompatible
compatible
250 Hot Rect/Brake
231 I cal. range Current feedback calibration range error
26 I/O Overload Overload on 24V or digital outputs
34 Keypad Mode Keypad communication failure
Communication link failure in the power stage (size 5 and
90 LF Power Comms
above)
20 Motor Too Hot Motor over temperature
236 No power board No power stage detected by the Control board
0 None No trip recorded
219 OHt Control Control board over temperature
27 OHt dc bus Overload on DC bus components
21 OHt Inverter Inverter IGBT junction over temperature
22 OHt Power Power stage over temperature
3 OI ac Over current at the motor terminals
4 OI Brake Over current in the brake IGBT
92 OI Snubber Over current in snubber components (size 5 and above)
98 Out Phase Loss One of the motor windings is not drawing current
228 Output phase U Over current on U phase
229 Output phase V Over current on V phase
230 Output phase W Over current on W phase
7 Over Speed Motor over speed
2 Over Volts DC Bus voltage is high
32 Phase Loss Input Phase Loss
235 Power Board HF Harware Fault in the power stage processor detected
245 Power Boot Mode Power stage processor is in its boot loader
Communication link failure between Control board and power
93 Power Comms
stage
220 Power Data Configuration data failure
37 Power Down Save Power down saved parameters have been corrupted
5 PSU Internal Power Supply fault
1 Reserved
9 Reserved

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Issue: 01.05.02.02 171
10 Reserved
12 Reserved
14 Reserved
15 Reserved
16 Reserved
17 Reserved
23 Reserved
38 Reserved
91 Reserved
94 Reserved
95 Reserved
99 Reserved
101 Reserved
102 Reserved
103 Reserved
104 Reserved
105 Reserved
106 Reserved
107 Reserved
108 Reserved
109 Reserved
111 Reserved
168 Reserved
169 Reserved
170 Reserved
171 Reserved
172 Reserved
174 Reserved
176 Reserved
177 Reserved
192 Reserved
193 Reserved
194 Reserved
195 Reserved
196 Reserved
197 Reserved
198 Reserved
205 Reserved
206 Reserved
207 Reserved
208 Reserved
209 Reserved
210 Reserved
211 Reserved
212 Reserved
213 Reserved
214 Reserved
215 Reserved
216 Reserved
217 Reserved
222 Reserved
223 Reserved
224 Reserved
225 Reserved
233 Reserved
238 Reserved
239 Reserved
240 Reserved
241 Reserved
242 Reserved
243 Reserved
244 Reserved
251 Reserved
252 Reserved
253 Reserved
254 Reserved
100 Reset Not valid
255 Reset Logs Not valid - value used to reset the trip log
33 Resistance Resistance measurement failure
204 Slot1 Different Option module has changed

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172 Issue: 01.05.02.02
 202 Slot1 Error Error generated by the option module
200 Slot1 HF Error in communication with an option module
203 Slot1 Not Fitted Option module no longer fitted
201 Slot1 Watchdog Option module has not updated the option watchdog
226 Soft Start Soft start hardware failure
234 STO error No STO harware detected
Indicates that the drive had a Hardware fault on the last power
221 Stored HF
down
227 Sub-array RAM RAM allocation failure
218 Temp Feedback Internal temperature monitoring fault
25 Th Short Circuit Motor thermistor short circuit
24 Thermistor Motor thermistor over temperature
8 User OI ac User defined motor Over current trip
96 User Prog Trip On board user program trip
249 User Program User program error
36 User Save User saved parameter set has been corrupted
40 User Trip 40
41 User Trip 41
42 User Trip 42
43 User Trip 43
44 User Trip 44
45 User Trip 45
46 User Trip 46
47 User Trip 47
48 User Trip 48
49 User Trip 49
50 User Trip 50
51 User Trip 51
52 User Trip 52
53 User Trip 53
54 User Trip 54
55 User Trip 55
56 User Trip 56
57 User Trip 57
58 User Trip 58
59 User Trip 59
60 User Trip 60
61 User Trip 61
62 User Trip 62
63 User Trip 63
64 User Trip 64
65 User Trip 65
66 User Trip 66
67 User Trip 67
68 User Trip 68
69 User Trip 69
70 User Trip 70
71 User Trip 71
72 User Trip 72
73 User Trip 73
74 User Trip 74
75 User Trip 75
76 User Trip 76
77 User Trip 77
78 User Trip 78
79 User Trip 79
80 User Trip 80
81 User Trip 81
82 User Trip 82
83 User Trip 83
84 User Trip 84
85 User Trip 85
86 User Trip 86
87 User Trip 87
88 User Trip 88
89 User Trip 89
112 User Trip 112
113 User Trip 113
114 User Trip 114
115 User Trip 115

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Issue: 01.05.02.02 173
116 User Trip 116
117 User Trip 117
118 User Trip 118
119 User Trip 119
120 User Trip 120
121 User Trip 121
122 User Trip 122
123 User Trip 123
124 User Trip 124
125 User Trip 125
126 User Trip 126
127 User Trip 127
128 User Trip 128
129 User Trip 129
130 User Trip 130
131 User Trip 131
132 User Trip 132
133 User Trip 133
134 User Trip 134
135 User Trip 135
136 User Trip 136
137 User Trip 137
138 User Trip 138
139 User Trip 139
140 User Trip 140
141 User Trip 141
142 User Trip 142
143 User Trip 143
144 User Trip 144
145 User Trip 145
146 User Trip 146
147 User Trip 147
148 User Trip 148
149 User Trip 149
150 User Trip 150
151 User Trip 151
152 User Trip 152
153 User Trip 153
154 User Trip 154
155 User Trip 155
156 User Trip 156
157 User Trip 157
158 User Trip 158
159 User Trip 159
160 User Trip 160
161 User Trip 161
162 User Trip 162
163 User Trip 163
164 User Trip 164
165 User Trip 165
166 User Trip 166
167 User Trip 167
30 Watchdog Control word watchdog timeout

Trip 0 (10.020) to Trip 9 (10.029) store the most recent 10 trips that have occurred where Trip Trip 0 (10.020) is the most recent and Trip 9 (10.029) is the oldest.
When a new trip occurs it is written to Trip 0 (10.020) and all the other trips move down the log, with the oldest being lost.

The date and time when each trip occurs are also stored in the date and time log, i.e. Trip 0 Date (10.041) to Trip 9 Time (10.060). The date and time are taken from
Date (06.016) and Time (06.017) (See Date/Time Selector (06.019)). Some trips have sub-trip numbers which give more detail about the reason for the trip. If a trip
has a sub-trip number its value is stored in the sub-trip log, i.e. Trip 0 Sub-trip Number (10.070) to Trip 9 Sub-trip Number (10.079). If the trip does not have a sub-trip
number then zero is stored in the sub-trip log.

Trip categories and priorities

Trips are grouped into the categories given in the table below. A trip can only occur when the drive is not tripped, or if it is already tripped and the new trip has a
higher priority than the active trip (i.e. lower priority number). Unless otherwise stated a trip cannot be reset until 1.0s after it has been initiated.

Unidrive M400 Parameter Reference Guide

174 Issue: 01.05.02.02
 Priority Category Trips Comments
These are fatal problems that cannot be reset. All drive features are inactive after any of these trips occur. If a basic
1 Internal faults HF01 - HF19
keypad is fitted it will show the trip, but the keypad will not function. These trips are not stored in the trip log.
1 Stored HF trip Stored HF This trip cannot be cleared unless 1299 is entered into Parameter mm.000 (mm.000) and a reset is initiated.
Trip numbers
2 Non-resettable trips 218 - 247 and These trips cannot be reset.
Slot1 HF
Volatile memory This can only be reset if Parameter mm.000 (mm.000) is set to 1233 or 1244, or if Load Defaults (11.043) is set to
3 EEPROM Fail
failure a non-zero value
Trip numbers
Non-volatile media
4 174, 175 and These trips are priority 5 during power-up
trips
177 - 188

Trips with extended OI ac and

5 These trips cannot be reset until 10s after the trip was initiated.
reset times OI Brake

Phase loss and d.c. The drive will attempt to stop the motor before tripping if a Phase Loss.000 trip occurs unless this feature has been
Phase Loss and
5 link power circuit disabled (see Action On Trip Detection (10.037)). The drive will always attempt to stop the motor before tripping if
OHt dc bus
protection an OHt dc bus occurs.
5 Standard trips All other trips

Trips {HF01} to {HF19} are internal faults that do not have trip numbers. If one of these trips occurs, the main drive processor has detected an irrecoverable error. All
drive functions are stopped and the trip message will be displayed on the drive keypad. The error can only be reset by powering the drive down and up again. The
table below gives the reasons for internal faults and their corresponding trip

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 175
Trip Reason
{HF01} CPU hardware fault during exception processing
{HF02} CPU memory management fault is an exception that occurs because of a memory protection related fault
CPU has detected a Bus Fault. A Bus Fault is an exception that occurs because of a memory related fault for an
{HF03}
instruction or data memory transaction. This might be from an error detected on a bus in the memory system.

CPU has detected a usage fault:

A Usage Fault is an exception that occurs because of a fault related to instruction execution. This includes:

an undefined instruction
an illegal unaligned access
{HF04} invalid state on instruction execution
an error on exception return.

The following can cause a Usage Fault when the core is configured to report them:

an unaligned address on word and half word memory access

division by zero.

{HF05} Reserved
{HF06} Reserved
{HF07} Watchdog failure
{HF08} CPU Interrupt crash. Interrupt crash level indicated by subtrip number.
{HF09} Free store overflow
{HF10} Reserved

The HF11 trip indicates that a non-volatile memory comms error has occurred.

Sub-
Reason Recommended action
trip

{HF11}
Non-volatile memory comms
1 Hardware fault – contact the supplier of the drive.
error.

EEPROM size is incompatible After 1min the drive will go to its bootloader. Re-program drive with
2
with the user firmware. compatible user firmware using UniMConnect

Stack overflow

Sub-trip Reason

1 User program or derivative background stack overflow

{HF12}
2 User program or derivative timed stack overflow

3 Main system interrupt stack overflow

4 Main system background stack overflow

{HF13} Reserved

{HF14} Reserved

{HF15} Reserved

{HF16} RTOS error (the background task has returned)

{HF17} Reserved

The HF18 trip indicates that the internal flash memory has failed when writing option module parameter data. The
reason for the trip can be identified by the sub-trip number.

Unidrive M400 Parameter Reference Guide

176 Issue: 01.05.02.02
 Sub-trip Reason

1 Option module initialization timed out

2 Programming error while writing menu in flash

{HF18}

3 Erase flash block containing setup menus failed

4 Erase flash block containing application menus failed

5 Incorrect setup menu CRC contained in flash

6 Incorrect application menu CRC contained in flash

The HF19 trip indicates that the drive firmware is partially or completely deleted. The drive is now in its bootloader
{HF19} and is waiting for a new image to be downloaded using UniMConnect. Once a new image is downloaded, the drive
can run normally.

When the drive is subsequently powered up a Stored HF trip is initiated where the sub-trip number is the number of the HF trip that last occurred. This trip will occur
at every power-up until it is reset. The trip can only be reset by first entering 1299 into Parameter mm.000 (mm.000). If the drive is powered up and a Stored HF trip
occurs, Onboard User Program: Enable (11.047) is reset to zero to prevent the on-board user program from running. This ensures that the user program can be
changed or erased in case it causes an HF trip at every power-up.

Trip descriptions
Trips shown in the table below can be generated either from the drive control system or from the power system. The sub-trip number which is in the form xxyzz is
used to identify the source of the trip. The digits xx are 00 for a trip generated by the control system or the number of a power module if generated by the power
system. If the drive is not a multi-power module drive then xx will always have a value of 1 if the trip is related to the power system. The y digit is used to identify the
location of a trip which is generated by a rectifier module connected to a power module. Where the y digit is relevant it will have a value of 1 or more, otherwise it will
be 0. The zz digits give the reason for the trip and are defined in each trip description.

Over Volts OHt dc bus

OI ac Phase Loss
OI Brake LF Power Comms
PSU OI Snubber
OHt Inverter Temp Feedback
OHt Power Power Data

Parameter 10.021 Trip 1

Short description Shows the 2nd from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.022 Trip 2

Short description Shows the 3rd from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.023 Trip 3

Short description Shows the 4th from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

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Issue: 01.05.02.02 177
Parameter 10.024 Trip 4
Short description Shows the 5th from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.025 Trip 5

Short description Shows the 6th from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.026 Trip 6

Short description Shows the 7th from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.027 Trip 7

Short description Shows the 8th from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.028 Trip 8

Short description Shows the 9th from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.029 Trip 9

Short description Shows the 10th from last trip to have occurred
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.030 Braking Resistor Rated Power

Short description Set to the rated power of the braking resistor
Mode Open‑Loop
Minimum 0.0 Maximum 99999.9
Default 0.0 Units kW
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

Unidrive M400 Parameter Reference Guide

178 Issue: 01.05.02.02
A thermal protection system is provided for the braking resistor. If Braking Resistor Rated Power (10.030) is set to zero this protection system is disabled and the
Braking Resistor Thermal Accumulator (10.039) is held at zero. If braking resistor thermal protection is required the Braking Resistor Rated Power
(10.030), Braking Resistor Thermal Time Constant (10.031) and Braking Resistor Resistance (10.061) should be set up with the braking resistor parameters. The
thermal time constant of the resistor can be calculated from the single pulse energy rating (E in Joules) and continuous power rating (P in Watts) of the resistor.

Braking Resistor Thermal Time Constant (10.031) = τ = E / P

The braking resistor is protected with a single time constant model as shown below.

The drive monitors the power flowing into the braking resistor and updates the Braking Resistor Thermal Accumulator (10.039). If bit 1 of Action On Trip Detection
(10.037) = 0 and the accumulator reaches 100% an Brake R Too Hot trip is initiated. If bit 1 of Action On Trip Detection (10.037) = 1 and the accumulator reaches
100% the braking IGBT is disabled until the accumulator falls below 95.0%.

Parameter 10.031 Braking Resistor Thermal Time Constant

Short description Set to the thermal time constant of the braking resistor
Mode Open‑Loop
Minimum 0.00 Maximum 1500.00
Default 0.00 Units s
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Braking Resistor Rated Power (10.030) .

Parameter 10.032 External Trip

Short description Set to initiate an external trip
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, NC

If External Trip (10.032) is set to one an External Trip.003 is initiated. A digital input can be routed to External Trip (10.032) to provide an external trip input function.

Parameter 10.033 Drive Reset

Short description Set to initiate a drive reset
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, NC

A 0 to 1 transition in Drive Reset (10.033) causes a drive reset. If a drive reset terminal is required a digital input should be routed to Drive Reset (10.033).

Parameter 10.034 Number Of Auto-reset Attempts

Short description Set to the number of required auto-reset attempts
Mode Open‑Loop
Minimum 0 Maximum 6
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 None
1 1
2 2
3 3
4 4
5 5
6 Infinite

If Number Of Auto-reset Attempts (10.034) = 0 then no auto-reset attempts are made. Any other value will cause the drive to automatically reset following a trip for
the number of times programmed after a delay defined by Auto-reset Delay (10.035) subject to the minimum reset time allowed for the type of trip. Note that for some

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 179
trips the minimum is 10s. The auto-reset count is only incremented when the trip is the same as the previous trip otherwise it is reset to 0. When the auto-reset count
reaches the programmed value, any further trip of the same value will not cause an auto-reset. If there has been no trip for 5 minutes then the auto-reset count is
cleared. Auto reset will not occur after any trips with priority levels 1, 2 or 3 as defined in the Trips section of this guide. When a manual reset occurs the auto-reset
counter is reset to zero.

If Number Of Auto-reset Attempts (10.034) = 6 the auto-reset counter is held at zero, and so there is no limit on the number of auto-reset attempts.

Parameter 10.035 Auto-reset Delay

Short description Set to the required auto-reset delay
Mode Open‑Loop
Minimum 1.0 Maximum 600.0
Default 1.0 Units s
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW, BU

See Number Of Auto-reset Attempts (10.034).

Parameter 10.036 Auto-reset Hold Drive Healthy

Short description Set to hold drive healthy if futher auto-reset attempts are possible
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

If Auto-reset Hold Drive Healthy (10.036) = 0 then Drive Healthy (10.001) is cleared every time the drive trips regardless of any auto-reset that may occur. If Auto-
reset Hold Drive Healthy (10.036) = 1 then Drive Healthy (10.001) is not cleared on a trip if any further auto-reset attempts are possible. Note that if the under
voltage state becomes active Drive Healthy (10.001) is always set to zero.

Parameter 10.037 Action On Trip Detection

Short description Defines the action of the drive on detection of a trip
Mode Open‑Loop
0 31
Minimum Maximum
(Display: 00000) (Display: 11111)
0
Default Units
(Display: 00000)
Type 8 Bit User Save Update Rate Background read
Display Format Binary Decimal Places 0
Coding RW

The bits in Action On Trip Detection (10.037) are defined as follows:

Bit 0: Stop on defined non-important trips

If bit 0 is set to one the drive will attempt to stop before tripping if any of the following trip conditions are detected: I/O Overload, Keypad Mode, Motor Too Hot,
EEPROM Fail or user 24V failure.

Bit 1: Braking resistor overload detection

0 = trip, 1 = Disable brake IGBT.

See Braking Resistor Rated Power (10.030).

Bit 2: Disable phase loss stop

Normally the drive will stop when the input phase loss condition is detected. If this bit is set to 1 the drive will continue to run and will only trip when the drive is
brought to a stop by the user.

Bit 4: Disable parameter freeze on trip

If this bit is 0 then the parameters listed below are frozen on trip until the trip is cleared. If this bit is 1 then this feature is disabled.

Reference Selected (01.001)

Pre-skip Filter Reference (01.002)
Pre-ramp Reference (01.003)
Frequency Reference (03.045)
Final Demand Reference (03.001)
Current Magnitude (04.001)
Torque Producing Current (04.002)
Magnetising Current (04.017)
Output Frequency (05.001)
Output Voltage (05.002)
Output Power (05.003)
D.c. Link Voltage (05.005)
Analog Input 1 (07.001)
Analog Input 2 (07.002)

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a
decimal value rather than a binary value.

Unidrive M400 Parameter Reference Guide

180 Issue: 01.05.02.02
 Parameter 10.038 User Trip
Short description Defines which user trip is to occur
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, ND, NC, BU

When a value other than zero is written to the User Trip (10.038) the actions described in the following table are performed. The drive immediately writes the value
back to zero. If the value is not included in the table, then the action is the same as if the trip with the same number (with sub-trip zero) occurred provided the drive is
not already tripped.

Because the drive clears this parameter to 0 immediately, the value must be written via serial communication or user program if supported.

Action User Trip (10.038)

Numbers corresponding to
No action
priority 1, 2 or 3 trips
Drive reset 100
Clear trip logs (Trip 0 (10.020) to Trip 9 (10.029), Trip 0 Date (10.041) to Trip 9 Time
255
(10.060) and Trip 0 Sub-trip Number (10.070) to Trip 9 Sub-trip Number (10.079))

Parameter 10.039 Braking Resistor Thermal Accumulator

Short description Shows the level of the braking resistor thermal accumulator
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default Units %
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 1
Coding RO, ND, NC, PT

See Braking Resistor Rated Power (10.030).

Parameter 10.040 Status Word

Short description Shows the status word for the drive
Mode Open‑Loop
0 32767
Minimum Maximum
(Display: 000000000000000) (Display: 111111111111111)
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Binary Decimal Places 0
Coding RO, ND, NC, PT

The bits in Status Word (10.040) mirror the status bit parameters as shown below. Where the parameters do not exist in any mode the bit remains at zero.

Bit Status parameter

0 Drive Healthy (10.001)
1 Drive Active (10.002)
2 Zero Frequency (10.003)
3 Running At Or Below Minimum Frequency (10.004)
4 Below Set Frequency (10.005)
5 At Frequency (10.006)
6 Above Set Frequency (10.007)
7 Rated Load Reached (10.008)
8 Current Limit Active (10.009)
9 Regenerating (10.010)
10 Braking IGBT Active (10.011)
11 Braking Resistor Alarm (10.012)
12 Reverse Direction Commanded (10.013)
13 Reverse Direction Running (10.014)
14 Supply Loss (10.015)

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a
decimal value rather than a binary value.
Parameter 10.041 Trip 0 Date
Short description Shows the date at which trip 0 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 181
See Trip 0 (10.020).

Parameter 10.042 Trip 0 Time

Short description Shows the time at which trip 0 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.043 Trip 1 Date

Short description Shows the date at which trip 1 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.044 Trip 1 Time

Short description Shows the time at which trip 1 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.045 Trip 2 Date

Short description Shows the date at which trip 2 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.046 Trip 2 Time

Short description Shows the time at which trip 2 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.047 Trip 3 Date

Short description Shows the date at which trip 3 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Unidrive M400 Parameter Reference Guide

182 Issue: 01.05.02.02
 Parameter 10.048 Trip 3 Time
Short description Shows the time at which trip 3 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.049 Trip 4 Date

Short description Shows the date at which trip 4 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.050 Trip 4 Time

Short description Shows the time at which trip 4 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.051 Trip 5 Date

Short description Shows the date at which trip 5 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.052 Trip 5 Time

Short description Shows the time at which trip 5 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.053 Trip 6 Date

Short description Shows the date at which trip 6 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 183
Parameter 10.054 Trip 6 Time
Short description Shows the time at which trip 6 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.055 Trip 7 Date

Short description Shows the date at which trip 7 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.056 Trip 7 Time

Short description Shows the time at which trip 7 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.057 Trip 8 Date

Short description Shows the date at which trip 8 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.058 Trip 8 Time

Short description Shows the time at which trip 8 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.059 Trip 9 Date

Short description Shows the date at which trip 9 occurred
Mode Open‑Loop
0 311299
Minimum Maximum
(Display: 00-00-00) (Display: 31-12-99)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Date Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Unidrive M400 Parameter Reference Guide

184 Issue: 01.05.02.02
 Parameter 10.060 Trip 9 Time
Short description Shows the time at which trip 9 occurred
Mode Open‑Loop
0 235959
Minimum Maximum
(Display: 00:00:00) (Display: 23:59:59)
Default Units
Type 32 Bit Power Down Save Update Rate Write on trip
Display Format Time Decimal Places 0
Coding RO, ND, NC, PT

See Trip 0 (10.020).

Parameter 10.061 Braking Resistor Resistance

Short description Set to the resistance value of the braking resistor
Mode Open‑Loop
Minimum 0.00 Maximum 10000.00
Default 0.00 Units Ω
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

See Braking Resistor Rated Power (10.030).

Parameter 10.064 Remote Keypad Battery Low

Short description Indicates that the real time clock battery in the remote keypad is low
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Remote Keypad Battery Low (10.064) is set to one when a keypad is connected to the drive user comms port with an internal real-time clock and the battery is not
fitted or the voltage is below the minimum threshold.

Parameter 10.065 Auto-tune Active

Short description Indicates that an auto-tune sequence is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Auto-tune Active (10.065) is set to one while an auto-tune sequence is active.

Parameter 10.066 Limit Switch Active

Short description Indicates that a limit switch is enabled and active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Limit Switch Active (10.066) is set to one when a limit switch is enabled and active.

Parameter 10.068 Hold Drive Healthy on Under Voltage

Short description Set to hold drive healthy if the drive is in the under voltage state
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Hold Drive Healthy on Under Voltage (10.068) can be used to hold the drive healthy active (Drive Healthy (10.001) = 1 and not flash the status LED on the front of
the drive) when the drive is in the under voltage state (Under Voltage Active (10.016) = 1).

If Hold Drive Healthy on Under Voltage (10.068) = 0 and Under Voltage Active (10.016) = 1, then Drive Healthy (10.001) will be set to 0 and the status LED on the
front of the drive will flash.

If Hold Drive Healthy on Under Voltage (10.068) = 1, Under Voltage Active (10.016) = 1 and the drive is not tripped (i.e. Drive Status (10.101) does not equal 9), then
Drive Healthy (10.001) will be set to 1 and the status LED on the front of the drive will not flash.

If the drive is tripped then Drive Healthy (10.001) will be set to 0 and the status LED will flash independent of what Hold Drive Healthy on Under Voltage (10.068) is
set to.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 185
Parameter 10.069 Additional Status Bits
Short description Shows the additional status bits for the drive
Mode Open‑Loop
0 4095
Minimum Maximum
(Display: 000000000000) (Display: 111111111111)
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Binary Decimal Places 0
Coding RO, ND, NC, PT

The bits in Additional Status Bits (10.069) mirror the status bits parameters as shown below. Where the parameters do not exist in any mode the bit remains at zero.

Bit Status parameter

0 Reserved
1 Motor Overload Alarm (10.017)
2 Drive Over-temperature Alarm (10.018)
3 Drive Warning (10.019)
4 Reserved
5 Reserved
6 Remote Keypad Battery Low (10.064)
7 Auto-tune Active (10.065)
8 Limit Switch Active (10.066)
9 Reserved
10 Low AC Alarm (10.107)
11 Current Limit Active (10.009)

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a
decimal value rather than a binary value.
Parameter 10.070 Trip 0 Sub-trip Number
Short description Shows the sub-trip number for trip 0
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.071 Trip 1 Sub-trip Number

Short description Shows the sub-trip number for trip 1
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.072 Trip 2 Sub-trip Number

Short description Shows the sub-trip number for trip 2
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.073 Trip 3 Sub-trip Number

Short description Shows the sub-trip number for trip 3
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Unidrive M400 Parameter Reference Guide

186 Issue: 01.05.02.02
 Parameter 10.074 Trip 4 Sub-trip Number
Short description Shows the sub-trip number for trip 4
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.075 Trip 5 Sub-trip Number

Short description Shows the sub-trip number for trip 5
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.076 Trip 6 Sub-trip Number

Short description Shows the sub-trip number for trip 6
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.077 Trip 7 Sub-trip Number

Short description Shows the sub-trip number for trip 7
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.078 Trip 8 Sub-trip Number

Short description Shows the sub-trip number for trip 8
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.079 Trip 9 Sub-trip Number

Short description Shows the sub-trip number for trip 9
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

See Trip 0 (10.020).

Parameter 10.080 Stop Motor

Short description Indicates that the motor is being stopped before the drive trips
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 187
It is possible for some trips to cause the motor to stop before the trip is initiated (see Action On Trip Detection (10.037)). During the period while the motor is being
stopped before the trip is initiated Stop Motor (10.080) is set to one. Once the motor stops Stop Motor (10.080) is set back to zero.

Parameter 10.081 Phase Loss

Short description Indicates that the drive has detected an input phase loss
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

If phase loss or imbalance is detected that would initiate a phase loss trip with sub-trip 0, i.e. Phase Loss.000, then Phase Loss (10.081) is set to one. Either the
motor will be stopped and the drive tripped or the drive will continue to operate normally until the user stops the motor and the drive trips (see
Action On Trip Detection (10.037)). In either case Phase Loss (10.081) is set to one when the phase loss condition is detected and remains set until the drive trips.

Parameter 10.090 Drive Ready

Short description Indicates that the drive is ready and a run command is not active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Drive Ready (10.090) indicates that the drive is ready and a run command is not active.

Parameter 10.101 Drive Status

Short description Shows the present status of the drive
Mode Open‑Loop
Minimum 0 Maximum 15
Default Units
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

Value Text Description

0 Inhibit Drive is not enabled
1 Ready Drive is enabled but has not received a Run command
2 Stop Drive has been stopped, but is still active
Drive is running (not seen on LED display on M100 - M300, the
4 Run
frequency is displayed instead)
5 Supply Loss Supply loss has been detected
Drive is decelerating (not seen on LED display on M100 - M300,
6 Deceleration
the frequency is displayed instead)
7 dc Injection Drive is applying current injection to the motor
9 Trip Drive has tripped
14 Heat Current is being applied to the motor to warm it up
15 Under Voltage Drive is in the Under Voltage state

Drive Status (10.101) shows the present status of the drive. The strings from this parameter are also used by the basic keypad to provide the status display text.

The LED on the front of the drive gives an indication of the drive state as shown in the table below.

Drive state Drive Healthy (10.001) Drive Active (10.002) Active Alarm (10.104) Drive Warning (10.019) LED
Healthy 1 0 0 0 Continuous
Tripped 0 X X X Flashing: 0.5s on and 0.5s off
HF trip 0 X X X Flashing: 0.25s on and 0.25s off
Standby 1 X 0 0 Flasing: 0.125s on and 0.125s off

X = Don't care

Parameter 10.102 Trip Reset Source

Short description Indicates whether a trip in the trip log has been reset
Mode Open‑Loop
Minimum 0 Maximum 1023
Default Units
Type 16 Bit Power Down Save Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

The bits in Trip Reset Source (10.102) correspond to each of the trips in the trip log (i.e. bit 0 corresponds to trip 0, bit 1 corresponds to trip 1, etc.). When a trip
occurs, bit 0 is set to one and the other bits corresponding to the trips already in the trip log are shifted left one bit. If the trip is reset then bit 0 is set back to zero,
otherwise if a higher priority trip occurs bit 0 is shifted left by one bit. The result is that each of the bits in Trip Reset Source (10.102) show whether trips in the trip log
were reset or moved up the trip log by a higher priority trip.

Unidrive M400 Parameter Reference Guide

188 Issue: 01.05.02.02
 Parameter 10.103 Trip Time Identifier
Short description Shows time in milliseconds since the drive powered up when a trip occurred
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default Units ms
Type 32 Bit Volatile Update Rate Write on trip
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

When a trip occurs the time in milliseconds since the drive powered up is stored in Trip Time Identifier (10.103). The time rolls-over when it reaches 232 - 1, but if the
time is 0 a value of 1 is written. Trip Time Identifier (10.103) can be used to determine when a new trip has occurred as the value will change (unless there were
exactly 232ms between trips) and will be non-zero.

Parameter 10.104 Active Alarm

Short description Shows the value of the active alarm
Mode Open‑Loop
Minimum 0 Maximum 16
Default Units
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

Value Text Description

0 None No alarm
1 Brake Resistor Braking overload
2 Motor Overload Motor overload
4 Drive Overload Drive overload
5 Auto Tune Auto tune in progress
6 Limit Switch Limit switch active
9 Option Slot 1 Slot 1 alarm
13 Low AC Low voltage mode
14 Current limit Current limit active
15 24V Backup Lost 24V backup not present
16 Fan Fan reversed or failed

If there is no alarm then Active Alarm (10.104) = 0. If one alarm is active then Active Alarm (10.104) shows the value of the alarm. If more than one alarm is active
then Active Alarm (10.104) shows the active alarm with the lowest value. The strings from this parameter are also used by the basic keypad to provide the status
display text except for option slot warnings where the option module may supply the string.

Parameter 10.106 Potential Drive Damage Conditions

Short description Indicates that the user has put the drive in a condition that could potentially damage the drive
Mode Open‑Loop
0 3
Minimum Maximum
(Display: 00) (Display: 11)
Default Units
Type 8 Bit Power Down Save Update Rate Background write
Display Format Binary Decimal Places 0
Coding RO, ND, NC, PT, BU

The bits in Potential Drive Damage Conditions (10.106) are set under the conditions shown in the table below to indicate that the user has put the drive in a condition
that could potentially damage the drive. The bits in this parameter cannot be cleared by users.

Potential Drive Damage Conditions

Condition
(10.106)
0 Reserved
If Cooling Fan control (06.045) = 0 and the
control board gets too hot, the drive trips
1
OHt Control and the option module is put
in standby.
2 Reserved
3 Reserved

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a
decimal value rather than a binary value.
Parameter 10.107 Low AC Alarm
Short description Indicates that the low AC alarm is active
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 189
See Low DC Link Operation (06.077).

Parameter 10.108 Reversed cooling fan detected

Short description Indicates that the drive cooling fan may be fitted with the air being blown in the wrong direction
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

The Reversed cooling fan detected (10.108) detected flag is used to indicate that the pattern of IGBT temperatures shows that the cooling fan could be reversed.
The fan is user replaceable so should be checked if this flag is set.

Unidrive M400 Parameter Reference Guide

190 Issue: 01.05.02.02
Menu 11 Single Line Descriptions − Miscellaneous
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 191
 Parameter Range Default Type
11.018 Status Mode Parameter 1 0.000 to 30.999 2.001 RW Num PT US
11.019 Status Mode Parameter 2 0.000 to 30.999 4.020 RW Num PT US
11.020 Reset Serial Communications Off (0) or On (1) RW Bit ND NC
11.021 Customer defined scaling 0.000 to 10.000 1.000 RW Num US
11.022 Active Parameter At Power‑up 0.000 to 0.095 0.010 RW Num PT US
11.023 Serial Address 1 to 247 1 RW Num US
8 2 NP (0), 8 1 NP (1),
8 1 EP (2), 8 1 OP (3),
11.024 Serial Mode 8 2 NP M (4), 8 1 NP M (5), 8 2 NP (0) RW Txt US
8 1 EP M (6), 8 1 OP M (7),
7 1 EP (8), 7 1 OP (9)
600 (1), 1200 (2), 2400 (3),
4800 (4), 9600 (5), 19200 (6),
11.025 Serial Baud Rate 19200 (6) Baud RW Txt US
38400 (7), 57600 (8),
76800 (9), 115200 (10) Baud
11.026 Minimum Comms Transmit Delay 0 to 250 ms 2 ms RW Num US
11.027 Silent Period 0 to 250 ms 0 ms RW Num US
11.028 Drive Derivative 0 to 255 RO Num ND NC PT
11.029 Software Version 0 to 99999999 RO Num ND NC PT
11.030 User Security Code 0 to 9999 RW Num ND PT US
11.031 User Drive Mode Open‑loop (1), RFC‑A (2) RW Txt ND NC PT
11.032 Maximum Heavy Duty Rating 0.00 to 9999.99 A RO Num ND NC PT
110V (0), 200V (1), 400V (2),
11.033 Drive Rated Voltage RO Txt ND NC PT
575V (3), 690V (4)
AV (0), AI (1), AV Preset (2),
AI Preset (3), Preset (4),
Keypad (5), Keypad Ref (6),
11.034 Drive Configuration AV (0) RW Txt PT US
Electronic Pot (7),
Torque Control (8),
Pid Control (9)
11.035 Power Software Version 0 to 99999999 RO Num ND NC PT
11.036 NV Media Card File Previously Loaded 0 to 999 0 RO Num NC PT
11.037 NV Media Card File Number 0 to 999 0 RW Num
None (0), Open‑loop (1),
11.038 NV Media Card File Type RO Txt ND NC PT
RFC‑A (2), User Program (5)
11.039 NV Media Card File Version 0 to 9999 RO Num ND NC PT
None (0), Read (1),
11.042 Parameter Cloning None (0) RW Txt NC US
Program (2), Auto (3), Boot (4)
11.043 Load Defaults None (0), Standard (1), US (2) None (0) RW Txt NC
Level 1 (0), Level 2 (1),
11.044 User Security Status All Menus (2), Status Only (3), RW Txt ND PT
No Access (4)
11.045 Select Motor 2 Parameters Motor 1 (0), Motor 2 (1) Motor 1 (0) RW Txt US
11.046 Defaults Previously Loaded 0 to 2000 RO Num ND NC PT US
11.047 Onboard User Program: Enable Stop (0), Run (1) Run (1) RW Txt US
11.048 Onboard User Program: Status -2147483648 to 2147483647 RO Num ND NC PT
11.049 Onboard User Program: Programming Events 0 to 65535 RO Num ND NC PT
11.050 Onboard User Program: FreewheelingTasks Per Second 0 to 65535 RO Num ND NC PT
11.051 Onboard User Program: Clock Task Time Used 0.0 to 100.0 % RO Num ND NC PT
11.052 Serial Number LS 000000 to 999999 RO Num ND NC PT
11.053 Serial Number MS 0 to 999999 RO Num ND NC PT
11.054 Drive Date Code 0000 to 9999 RO Num ND NC PT
11.055 Onboard User Program: Clock Task Schedule Rate 0 to 262128 ms RO Num ND NC PT
11.060 Maximum Rated Current 0.000 to 999.999 A RO Num ND NC PT
11.061 Full Scale Current Kc 0.000 to 999.999 A RO Num ND NC PT
11.063 Product Type 0 to 255 RO Num ND NC PT
11.064 Product Identifier Characters 1295265840 to 2147483647 RO Num ND NC PT
11.065 Frame size and voltage code 000 to 999 RO Num ND NC PT
11.066 Power Stage Identifier 0 to 255 RO Num ND NC PT
11.067 Control Board Identifier 0 to 255 RO Num ND NC PT
11.068 Drive current rating 00000 to 32767 RO Num ND NC PT
11.070 Core Parameter Database Version 0.00 to 99.99 RO Num ND NC PT
11.072 NV Media Card Create Special File 0 to 1 0 RW Num NC
None (0), Reserved (1),
11.073 NV Card Type Fitted RO Txt ND NC PT
SD Card (2)
11.075 NV Media Card Read‑only Flag Off (0) or On (1) RO Bit ND NC PT
11.076 NV Media Card Warning Suppression Flag Off (0) or On (1) RO Bit ND NC PT
11.077 NV Media Card File Required Version 0 to 9999 RW Num ND NC PT

Unidrive M400 Parameter Reference Guide

192 Issue: 01.05.02.02
 11.079 Drive Name Characters 1‑4 -2147483648 to 2147483647 757935405 RW Num PT US
11.080 Drive Name Characters 5‑8 -2147483648 to 2147483647 757935405 RW Num PT US
11.081 Drive Name Characters 9‑12 -2147483648 to 2147483647 757935405 RW Num PT US
11.082 Drive Name Characters 13‑16 -2147483648 to 2147483647 757935405 RW Num PT US
11.084 Drive Mode Open‑loop (1), RFC‑A (2) RO Txt ND NC PT US
None (0), Read‑only (1),
11.085 Security Status RO Txt ND NC PT PS
Status‑only (2), No Access (3)
Menu 0 Level 1 (0), Menu 0 (1),
11.086 Menu Access Status RO Txt ND NC PT PS
All Menus (2)
11.090 Keypad Port Serial Address 1 to 16 1 RW Num US
11.091 Additional Identifier Characters 1 -2147483648 to 2147483647 RO Num ND NC PT
11.092 Additional Identifier Characters 2 -2147483648 to 2147483647 RO Num ND NC PT
11.093 Additional Identifier Characters 3 -2147483648 to 2147483647 RO Num ND NC PT
None (0), SD Card (1),
RS‑485 (2), Reserved (3),
11.097 AI ID Code RO Txt ND NC PT
Reserved (4),
RS‑485 + Backup (5)
11.098 24V Loss Alarm Enable Off (0) or On (1) Off (0) RW Bit US
11.099 Modbus Parameter Conversion 0000 to 1111 0000 RW Bin US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 193
Menu 11 − Miscellaneous
Mode: Open‑Loop

Parameter 11.018 Status Mode Parameter 1

Short description Defines the parameter displayed on the upper row of the keypad when in status mode
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 2.001 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Status Mode Parameter 1 (11.018) and Status Mode Parameter 2 (11.019) defines which parameters are displayed in Status mode.

If one of the two Status parameter does not exist or is 0.000, only one Status parameter is displayed.

If the two Status parameters do not exist or are 0.000, the active parameter is displayed.

Parameter 11.019 Status Mode Parameter 2

Short description Defines the parameter displayed on the lower row of the keypad when in status mode
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 4.020 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Status Mode Parameter 1 (11.018).

Parameter 11.020 Reset Serial Communications

Short description Set to one to update communications set-up
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, ND, NC

When Serial Address (11.023), Serial Mode (11.024), Serial Baud Rate (11.025), Minimum Comms Transmit Delay (11.026) or Silent Period (11.027)
are modified the changes do not have an immediate effect on the serial communications system. The new values are used after the next power-up or if
Reset Serial Communications (11.020) is set to one. Reset Serial Communications (11.020) is automatically cleared to zero after the communications
system is updated.

Parameter 11.021 Customer defined scaling

Short description Defines the scaling of 11.018 in status view
Mode Open‑Loop
Minimum 0.000 Maximum 10.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

Customer defined scaling (11.021) defines the scaling applied to Status Mode Parameter 1 (11.018). The scaling is only applied in the Status mode.

Parameter 11.022 Active Parameter At Power-up

Short description Defines which parameter is displayed at power-up in view mode
Mode Open‑Loop
Minimum 0.000 Maximum 0.095
Default 0.010 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Active Parameter At Power-up (11.022) defines which Menu 0 parameter is initially active at power-up in view mode. If Active Parameter At Power-up
(11.022) > 10 and User Security Status (11.044) is set to Level 1 then Parameter 10 is set as the power up parameter.

See Status Mode Parameter 1 (11.018).

Unidrive M400 Parameter Reference Guide

194 Issue: 01.05.02.02
 Parameter 11.023 Serial Address
Short description Defines the serial address of the drive
Mode Open‑Loop
Minimum 1 Maximum 247
Default 1 Units
Type 8 Bit User Save Update Rate Read on serial communications reset
Display Format Standard Decimal Places 0
Coding RW, BU

Serial Address (11.023) defines the node address for the serial comms interface in the range from 1 to 247.

Serial Address (11.023) to Silent Period (11.027) can be used to change the configuration of the drive RS485 serial interface if present on the AI
adapter.

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (11.020) for more
details.

Parameter 11.024 Serial Mode

Short description Defines the serial mode of the drive
Mode Open‑Loop
Minimum 0 Maximum 9
Default 0 Units
Type 8 Bit User Save Update Rate Read on serial communications reset
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 8 2 NP
1 8 1 NP
2 8 1 EP
3 8 1 OP
4 8 2 NP M
5 8 1 NP M
6 8 1 EP M
7 8 1 OP M
8 7 1 EP
9 7 1 OP

The core drive always uses the Modbus rtu protocol and is always a slave. Serial Mode (11.024) defines the data format used by the serial comms
interface. The bits in the value of Serial Mode (11.024) define the data format as follows. Bit 3 should always be 0 as 8 data bits are required for
Modbus rtu.

Bits 3 2

Number of data bits Register mode

Format 0 = 8 bits 0 = Standard
1 = 7 bits 1 = Modified

Bit 2 selects either standard or modified register mode. The menu and parameter numbers are derived for each mode as given in the table below.
Standard mode is compatible with Commander SK. Modified mode is provided to allow parameter numbers up to 255 to be addressed. If any menus
contain more than 99 parameters, then these parameters cannot be accessed via Standard Modbus rtu.

Register mode Register address

Standard (mm x 100) + ppp - 1 where mm ≤ 162 and ppp ≤ 99
Modified (mm x 256) + ppp - 1 where mm ≤ 63 and ppp ≤ 255

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (11.020) for more
details.

Parameter 11.025 Serial Baud Rate

Short description Defines the serial baud rate of the drive
Mode Open‑Loop
Minimum 1 Maximum 10
Default 6 Units Baud
Type 8 Bit User Save Update Rate Read on serial communications reset
Display Format Standard Decimal Places 0
Coding RW, TE

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 195
Value Text
1 600
2 1200
3 2400
4 4800
5 9600
6 19200
7 38400
8 57600
9 76800
10 115200

Serial Baud Rate (11.025) defines the baud rate used by the serial comms interface.

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (11.020) for more
details.

Parameter 11.026 Minimum Comms Transmit Delay

Short description Defines the minimum delay between the host and drive
Mode Open‑Loop
Minimum 0 Maximum 250
Default 2 Units ms
Type 8 Bit User Save Update Rate Read on serial communications reset
Display Format Standard Decimal Places 0
Coding RW, BU

There will always be a finite delay between the end of a message from the host (master) and the time at which the host is ready to receive the response
from the drive (slave). The drive does not respond until at least 1ms after the message has been received from the host allowing 1ms for the host to
change from transmit to receive mode. This initial delay can be extended using Minimum Comms Transmit Delay (11.026) if required.

Minimum Comms Transmit Delay

Action
(11.026)
The transmitters are turned on and data transmission begins immediately
0
after the initial delay (≥1ms)
The transmitters are turned on after the initial delay (≥1ms) and data
1
transmission begins 1ms later

The transmitters are turned on after a delay of at least the time specified by
2 or more Minimum Comms Transmit Delay (11.026) and data transmission begins
1ms later

The drive holds its own transmitters active for up to 1ms after it has transmitted data before switching to the receive mode; the host should not send any
data during this time.

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (11.020) for more
details.

Parameter 11.027 Silent Period

Short description Defines the idle time required to detect the end of a received data message
Mode Open‑Loop
Minimum 0 Maximum 250
Default 0 Units ms
Type 8 Bit User Save Update Rate Read on serial communications reset
Display Format Standard Decimal Places 0
Coding RW, BU

The silent period defines the idle time required to detect the end of a received data message. If Silent Period (11.027) = 0 then the silent period is at
least 3.5 characters at the selected baud rate. This is the standard silent period for Modbus rtu. If Silent Period (11.027) is non-zero it defines the
minimum silent period in milliseconds.

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications (11.020) for more
details.

Parameter 11.028 Drive Derivative

Short description Displays the drive derivative identifier
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

Unidrive M400 Parameter Reference Guide

196 Issue: 01.05.02.02
A drive can be made into a derivative drive by adding a derivative customisation image. The derivative software should specify a derivative identifier
which is put into Drive Derivative (11.028) at power-up. Each derivative should have a unique identifier.

Parameter 11.029 Software Version

Short description Displays the software version in the drive
Mode Open‑Loop
Minimum 0 Maximum 99999999
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format Version Decimal Places 0
Coding RO, ND, NC, PT

Software Version (11.029) displays the drive control board software version number in the form ww.xx.yy.

Parameter 11.030 User Security Code

Short description Defines the user security code of the drive
Mode Open‑Loop
Minimum 0 Maximum 9999
Default Units
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, ND, PT

Defines the user security code of the drive. This parameter should be set to a value other than 0 to prevent unauthorised access to the drive. When a
value has been set, it cannot be seen to prevent the security code from being read (a value of 0 is displayed). If a value has been set, the security code
must be entered before any parameter can be adjusted via the keypad, but see also User Security Status (11.044).

Parameter 11.031 User Drive Mode

Short description Defines the mode of the drive
Mode Open‑Loop
Minimum 1 Maximum 2
Default Units
Type 8 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE, ND, NC, PT

Value Text
1 Open-loop
2 RFC-A

Select the drive mode on drive reset. The drive must be inactive (Drive Active (10.002) = 0) to take effect.

This parameter will change Drive Mode (11.084) to the active mode.

Parameter 11.032 Maximum Heavy Duty Rating

Short description Displays the maximum heavy duty current rating of the drive
Mode Open‑Loop
Minimum 0.00 Maximum 9999.99
Default Units A
Type 32 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

Maximum Heavy Duty Rating (11.032) defines the maximum setting for Motor Rated Current that gives heavy duty operation. If
Maximum Heavy Duty Rating (11.032) = Maximum Rated Current (11.060) then normal duty operation is not possible.

Parameter 11.033 Drive Rated Voltage

Short description Displays the voltage rating of the drive
Mode Open‑Loop
Minimum 0 Maximum 4
Default Units
Type 8 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 197
Value Text
0 110V
1 200V
2 400V
3 575V
4 690V

Drive Rated Voltage (11.033) shows the input voltage rating of the drive.

Parameter 11.034 Drive Configuration

Short description Defines the configuration of the drive
Mode Open‑Loop
Minimum 0 Maximum 9
Default 0 Units
Actioned on exit of edit mode and on
Type 8 Bit User Save Update Rate
drive reset
Display Format Standard Decimal Places 0
Coding RW, TE, PT, BU

Value Text Description

Analog input 1 (voltage) Analog input 2 (voltage) selected by
0 AV
terminal (Local/Remote)
Analog input 1 (current) or Analog input 2 (voltage) selected by
1 AI
terminal (Local/Remote)
2 AV Preset Analog input 1 (voltage) or 3 presets selected by terminal
3 AI Preset Analog input 1 (current) or 3 presets selected by terminal
4 Preset Four presets selected by terminal
5 Keypad Keypad reference
6 Keypad Ref Keypad reference with terminal control
7 Electronic Pot Electronic Potentiometer
Torque mode, Analog input 1 (current frequency reference) or
8 Torque Control
Analog input 2 (voltage torque reference) selected by terminal
PID mode, Analog input 1 (current feedback source) and Analog
9 Pid Control
input 2 (voltage reference source)

This parameter is used to automatically setup the user programmable area in the level 3 parameter set according to drive configurations. Other default
values may also be changed by drive configuration. Parameters are stored in EEPROM automatically following a configuration change if the change is
made by a keypad.

Action will only occur if the drive is inactive, not in UU state and no User Actions are running. Otherwise, the parameter will return to its pre altered value
on exit from edit mode.

Parameter number AV AI AV.Pr AI.Pr Preset Pad Pad.ref E.Pot Tor PID

Reference Selector (01.014) 0 0 1 1 3 4 6 3 0 1

Analog Input 1 Mode (07.007) 6 4 6 4 6 6 6 6 4 4
Analog Input 2 Mode (07.011) 6 6 7 7 7 6 6 7 6 6
Analog Input 1 Control (07.051) 0 0 0 0 0 0 0 0 0 0
Analog Input 1 Destination A (07.010) 1.036 1.036 1.036 1.036 1.036 1.036 1.036 1.036 1.036 0.000
Analog Input 2 Destination A (07.014) 1.037 1.037 1.046 1.046 1.046 1.037 1.037 9.027 4.008 0.000
Digital Input 05 Destination A (08.025) 1.041 1.041 1.045 1.045 1.045 1.041 1.041 9.026 4.011 14.008
DI5 Control (08.085) 0 0 0 0 0 0 0 0 0 0
Motorised Pot Destination (09.025) 0 0 0 0 0 0 0 1.021 0 0
PID1 Reference Source (14.003) 0 0 0 0 0 0 0 0 0 7.0021
PID1 Feedback Source (14.004) 0 0 0 0 0 0 0 0 0 7.001
PID1 Destination (14.016) 0 0 0 0 0 0 0 0 0 1.036

Parameter 11.035 Power Software Version

Short description Displays the power processor firmware
Mode Open‑Loop
Minimum 0 Maximum 99999999
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format Version Decimal Places 0
Coding RO, ND, NC, PT

Power Software Version (11.035) displays the drive power stage software version number in the form ww.xx.yy.

Unidrive M400 Parameter Reference Guide

198 Issue: 01.05.02.02
 Parameter 11.036 NV Media Card File Previously Loaded
Short description Displays the number of the last parameter file transferred from an NV Media Card to the drive
Mode Open‑Loop
Minimum 0 Maximum 999
Default 0 Units
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, NC, PT

NV Media Card File Previously Loaded (11.036) shows the number of the last parameter file transferred from an NV Media Card to the drive. If defaults
are subsequently reloaded NV Media Card File Previously Loaded (11.036) is set to 0.

Parameter 11.037 NV Media Card File Number

Short description Selects a file by its file identification number
Mode Open‑Loop
Minimum 0 Maximum 999
Default 0 Units
Type 16 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

NV Media Card File Number (11.037) is used to select a file by its file identification number and can only be changed to values that correspond to files
that are recognised by the drive on the NV media card or a value of 0. When NV Media Card File Number (11.037) corresponds to the number of a file
the following data about the file is shown.

Parameter
NV Media Card File Type (11.038)
NV Media Card File Version (11.039)

The actions of erasing a card, erasing a file, creating a new file, changing a Menu 0 parameter or removing a card resets NV Media Card File Number
(11.037) to 0.

Parameter 11.038 NV Media Card File Type

Short description Displays the file type of the file selected
Mode Open‑Loop
Minimum 0 Maximum 5
Default Units
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Value Text
0 None
1 Open-loop
2 RFC-A
5 User Program

NV Media Card File Type (11.038) shows the file type of the file selected with NV Media Card File Number (11.037) as shown in the table below.

NV Media Card File Type (11.038) File

0 No file selected
1 Open-loop mode parameter file
2 RFC-A mode parameter file
3 Reserved
4 Reserved
5 Onboard user program file

Parameter 11.039 NV Media Card File Version

Short description Displays the version number stored with the file selected
Mode Open‑Loop
Minimum 0 Maximum 9999
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

NV Media Card File Version (11.039) shows the version number stored with the file selected with NV Media Card File Number (11.037).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 199
Parameter 11.042 Parameter Cloning
Short description Defines the behaviour of cloning to an NV media card
Mode Open‑Loop
Minimum 0 Maximum 4
Default 0 Units
Type 8 Bit User Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RW, TE, NC

Value Text
0 None
1 Read
2 Program
3 Auto
4 Boot

Parameter Cloning (11.042) can also be used to initiate data transfer to or from an NV media card as described below for each possible value of this
parameter.

1: Read
Providing a parameter file with file identification number 1 exists on the NV media card, then setting Parameter Cloning (11.042) = 1 and initiating a
drive reset will transfer the parameter data to the drive (i.e. the same action as writing 6001 to Parameter mm.000 (mm.000)). When the action is
complete Parameter Cloning (11.042) is automatically reset to zero.

2: Program
Setting Parameter Cloning (11.042) = 2 and initiating a drive reset will transfer the parameter data from the drive to a parameter file with file
identification number 1. This is the same action as writing 4001 to Parameter mm.000 (mm.000) except that the file will be overwritten if it already exists.
When the action is complete Parameter Cloning (11.042) is automatically reset to zero.

3: Auto
Setting Parameter Cloning (11.042) = 3 and initiating a drive reset will transfer the parameter data from the drive to a parameter file with file
identification number 1. This is the same action as writing 4001 to Parameter mm.000 (mm.000) except that the file will be overwritten if it already exists.
When the action is complete Parameter Cloning (11.042) remains at 3.

If the card is removed when Parameter Cloning (11.042) = 3, then Parameter Cloning (11.042) is set to 0, which forces the user to change
Parameter Cloning (11.042) back to 3 if auto mode is still required. The user will need to set Parameter Cloning (11.042) = 3 and initiate a drive reset to
write the complete parameter set to the new card.

When a parameter in Menu zero is changed via the keypad and Parameter Cloning (11.042) = 3 the parameter is saved both to the drive non-volatile
memory and to the parameter file with identification number 1 on the card. Only the new value of the modified parameter, and not the value of all the
other drive parameters, is stored each time. If Parameter Cloning (11.042) is not cleared automatically when a card is removed, then when a new card
is inserted that contains a parameter file with identification number 1 the modified parameter would be written to the existing file on the new card and the
rest of the parameters in this file may not be the same as those in the drive.

When Parameter Cloning (11.042) = 3 and the drive parameters are saved to non-volatile memory, the file on the card is also updated, therefore this file
becomes a copy of the drive parameters. At power up, if Parameter Cloning (11.042) = 3, the drive will save its complete parameter set to the card. This
is done to ensure that if a card is inserted whilst the drive is powered down the new card will have the correct data after the drive is powered up again.

4: Boot
When Parameter Cloning (11.042) = 4 the drive operates in the same way as with Parameter Cloning (11.042) = 3 and automatically creates a copy of it
parameters on the NV Media card. The NC (not clonable) attribute for Parameter Cloning (11.042) is 1, and so it does not have a value stored in the
parameter file on the card in the normal way. However, the value of Parameter Cloning (11.042) is held in the parameter file header. If
Parameter Cloning (11.042) = 4 in the parameter file with a file identification value of 1 on an NV media card fitted to a drive at power-up then the
following actions are taken:

1. The parameters from the parameter file with file identification number 1 are transferred to the drive and then saved in non-volatile memory.
2. If an onboard user program file with file identification number 2 exists then the onboard user program from this file is transferred to the drive.
3. Parameter Cloning (11.042) is set to 0 after the data transfer is complete.

It is possible to create a bootable parameter file by setting Parameter mm.000 (mm.000) = 2001 and initiating a drive reset. This file is created in one
operation and is not updated when further parameter changes are made.

When the drive is powered up it detects which option modules are fitted before loading parameters from an NV media card which has been set up for
boot mode. If a new option module has been fitted since the last time the drive was powered up, a Slot1 Different trip is initiated and then the
parameters are transferred from the card. If the parameter file includes the parameters for the newly fitted option module then these are also transferred
to the drive and the Slot1 Different trip is reset. If the parameter file does not include the parameters for the newly fitted option module then the drive
does not reset the Slot1 Different trip. Once the transfer is complete the drive parameters are saved to non-volatile memory. The trip can be reset either
by initiating a drive reset or by powering down and then powering up again.

Parameter 11.043 Load Defaults

Short description Defines which defaults are to be loaded into the drive
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Exit from edit of menus 0 or a drive
Type 8 Bit Volatile Update Rate
reset.
Display Format Standard Decimal Places 0
Coding RW, TE, NC

Unidrive M400 Parameter Reference Guide

200 Issue: 01.05.02.02
 Value Text
0 None
1 Standard
2 US

If Load Defaults (11.043) is non-zero and a drive reset (or exit from edit in menu 0) is initiated then the drive will load and save default parameters. If
Load Defaults (11.043) = 1 then standard defaults are loaded and if Load Defaults (11.043) = 2 then US defaults are loaded. This parameter has priority
over actions defined by Parameter mm.000 (mm.000) and Parameter Cloning (11.042). If Load Defaults (11.043) is used to initiate loading defaults then
it is cleared along with Parameter mm.00 and Parameter Cloning (11.042) when the action is completed.

Parameter 11.044 User Security Status

Short description Defines the security level within the drive
Mode Open‑Loop
Minimum 0 Maximum 4
Default Units
Type 8 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE, ND, PT

Value Text
0 Level 1
1 Level 2
2 All Menus
3 Status Only
4 No Access

Security

The drive provides a number of different access levels that can be set by the user via User Security Status (11.044) ; these are shown in the table
below.

Security User Security Status

Description
Level (11.044)
Level 1 Only the first 10 parameters in Menu 0 are visible and available to be edited. 0
Level 2 All parameters in Menu 0 are visible and available for editing 1
All Menus Parameters in all Menu's are visible and available for editing. 2
Status Only
The keypad remains in status mode and no parameters can be viewed or edited 4
The keypad remains in status mode and no parameters can be viewed or edited. Drive parameters cannot be
No Access 5
accessed via a comms/fieldbus interface in the drive or any option module.

In addition to these access levels, a security code can be used to provide further restriction. When a security code has been set up the drive can either
be in the locked or unlocked state. In the locked state the access level that has been set up applies and the security code will need to be entered to
change the access level or edit any parameters in the current access level. In the unlocked state the access level can be changed and parameters
edited, but when the drive is powered down and powered up again the drive will be in the locked state. The drive may be relocked without powering
down by selecting the required security level in Parameter 10 and pressing Enter.

Security can be set up as follows:

1. The User Security Code (11.030) should be set to the desired security unlock code (not zero).
2. Select the required access level in Parameter 10 and press enter.
3. The desired access level is automatically saved and retained after power down, the keypad state changes to status mode and security
is locked if it has been setup. The access level that is saved is shown in Security Status (11.085)

When security is set up and locked:

1. Parameter access is restricted as shown in the table above.

2. User Security Code (11.030) reads as zero except in parameter edit mode. Therefore it is not possible to read the value of the security
code when security is active and locked.

Security can be unlocked as follows:

1. Any attempt to change access level using Parameter 10 or edit any read/write parameter causes "Security code" to be displayed on the
first row of the display. When the Up or Down keys are pressed the second row shows the code being adjusted. On setting the code the
user presses the Enter key. If the correct code has been entered then the drive switches to Parameter edit mode on the parameter the
user selected to edit, but if the correct code has not been entered the notification "Incorrect security code" is displayed for 2s and the
drive returns to Parameter view mode.
2. If Status only or No access has been set and locked then any attempt to leave status mode causes the security code to be requested
as per the process described above. The security code entered must be correct for the keypad state machine to switch to the
Parameter view mode. It is then possible to access all parameters normally.

Security can be cleared as follows:

1. Security must be unlocked.

2. The User Security Code (11.030) should be set to zero. For security to remain cleared after power down then a parameter save should
be performed or Parameter 10 should be set to the required access level as with setting security.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 201
It should be noted that User Security Status (11.044) is a volatile parameter and that the actual state of the security system is stored in Security Status
(11.085) and Menu Access Status (11.086), which are both power-down save parameters. Therefore the security status will be stored when the drive
goes into the under-voltage state. If the drive is already in the under-voltage state the security state should be saved by writing 1001 to Parameter
mm.000 (mm.000) and initiating a reset.

Parameter 11.045 Select Motor 2 Parameters

Short description Set to 1 to select motor 2 parameters
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Motor 1
1 Motor 2

Select Motor 2 Parameters (11.045) is used to select the motor map 2 parameters from Menu 21 instead of the standard motor parameters. If
Select Motor 2 Parameters (11.045) is modified when Drive Active (10.002) = 1 the change only becomes effective when Drive Active (10.002) = 0.
When Select Motor 2 Parameters (11.045) = 1 the results from auto-tuning are written to the motor map 2 parameters in Menu 21 instead of to the
standard parameters. Each time Select Motor 2 Parameters (11.045) is changed Motor Protection Accumulator (04.019) is reset to zero. Motor 2 Active
(21.015) shows the motor map that is active.

Parameter 11.046 Defaults Previously Loaded

Short description Displays the defaults previously loaded in the drive
Mode Open‑Loop
Minimum 0 Maximum 2000
Default Units
Type 16 Bit User Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Defaults Previously Loaded (11.046) shows the value used to load the previously loaded defaults (i.e. 1233 for standard defaults, or 1244 for US
defaults).

Parameter 11.047 Onboard User Program: Enable

Short description Enables the onboard user program
Mode Open‑Loop
Minimum 0 Maximum 1
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Stop
1 Run

Onboard user programming provides a background task that loops continuously and a timed task that is executed each time at a defined rate.

Onboard User Program: Enable (11.047) allows the onboard user program to be stopped and started.

0: Stop
The onboard user program is stopped.

1: Run
The onboard user program will execute. Background tasks start from the beginning.

Parameter 11.048 Onboard User Program: Status

Short description Displays the status of the onboard user program
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default Units
Type 32 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Onboard User Program: Status (11.048) shows the status of the onboard user program. The value written to this parameter is from the user program
itself.

0: Stopped
Indicates that a valid user program is present, but not currently running.

Unidrive M400 Parameter Reference Guide

202 Issue: 01.05.02.02
1: Running
Indicates that a valid user program is present and running.

3: Not present
Indicates that no user program is present.

Parameter 11.049 Onboard User Program: Programming Events

Short description Displays the number of programming events of the onboard user program
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

Onboard User Program: Programming Events (11.049) = 0 when the drive is manufactured and is incremented each time an onboard user program
image is written to the drive. If an onboard user program image is written more than 65535 times Onboard User Program: Programming Events (11.049)
= 65535. Onboard User Program: Programming Events (11.049) shows how many times the flash memory within the drive has been reprogrammed.

Parameter 11.050 Onboard User Program: FreewheelingTasks Per Second

Short description Displays the rate of freewheeling tasks of the onboard user program
Mode Open‑Loop
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

During each scan in a background task it is possible to give an indication to the drive that the scan loop is starting. If this indication is given then
Onboard User Program: FreewheelingTasks Per Second (11.050) will give the number of times this indication is given per second.

Parameter 11.051 Onboard User Program: Clock Task Time Used

Short description Displays the percentage of the available time used by the onboard user program clock task
Mode Open‑Loop
Minimum 0.0 Maximum 100.0
Default Units %
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 1
Coding RO, ND, NC, PT

Onboard User Program: Clock Task Time Used (11.051) shows the percentage of the available time used by the onboard user program timed task.

Parameter 11.052 Serial Number LS

Short description Shows the least significant 9 decimal digits of the drive serial number
Mode Open‑Loop
0 999999
Minimum Maximum
(Display: 000000) (Display: 999999)
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format Lead Zero Pad Decimal Places 0
Coding RO, ND, NC, PT

The drive serial number is available as a pair of 32 bit values where Serial Number LS (11.052) provides the least significant 6 decimal digits and
Serial Number MS (11.053) provides the most significant 4 decimal digits. The reconstructed serial number is ((Serial Number MS (11.053) x 1000000)
+ Serial Number LS (11.052)).

Example 1
Serial number "1234567890" would be stored as 11.053 = 1234, 11.052 = 567890.

Example 2
Serial number "1234000056" would be stored as 11.053 = 1234, 11.052 = 56. Serial Number LS (11.052) will be shown on the keypad as 000056 (i.e.
including the leading zeros).

Parameter 11.053 Serial Number MS

Short description Shows the most significant 9 decimal digits of the drive serial number
Mode Open‑Loop
Minimum 0 Maximum 999999
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Serial Number LS (11.052).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 203
Parameter 11.054 Drive Date Code
Short description Shows the drive date code
Mode Open‑Loop
0 9999
Minimum Maximum
(Display: 0000) (Display: 9999)
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Lead Zero Pad Decimal Places 0
Coding RO, ND, NC, PT, BU

Drive Date Code (11.054) is a four-digit number in the form yyww where yy is the year and ww is the week.

Parameter 11.055 Onboard User Program: Clock Task Schedule Rate

Short description Displays the interval at which the clock task is scheduled in ms
Mode Open‑Loop
Minimum 0 Maximum 262128
Default Units ms
Type 32 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

Onboard User Program: Clock Task Schedule Rate (11.055) shows the rate at which the timed task is scheduled in ms.

Parameter 11.060 Maximum Rated Current

Short description Displays the maximum rated current or normal duty rating of the drive
Mode Open‑Loop
Minimum 0.000 Maximum 999.999
Default Units A
Type 32 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 3
Coding RO, ND, NC, PT

Maximum Rated Current (11.060) defines the variable maximum VM_RATED_CURRENT[MAX] which in turn limits the maximum Motor Rated Current
(05.007). Therefore Maximum Maximum Rated Current (11.060) is the maximum rated current for normal duty operation (if normal duty operation is
allowed); or the maximum continuous rating of the drive.

Parameter 11.061 Full Scale Current Kc

Short description Displays the full scale current Kc
Mode Open‑Loop
Minimum 0.000 Maximum 999.999
Default Units A
Type 32 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 3
Coding RO, ND, NC, PT

Full Scale Current Kc (11.061) shows the full scale current in r.m.s. Amps. If the drive current exceeds this level it will cause an over-current trip.

Parameter 11.063 Product Type

Short description Displays the core product type
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

Product Type (11.063) shows the core product type as given in the table below. The drive could be the basic product or a derivative of the basic product
as defined by Drive Derivative (11.028).

Product Type (11.063) Core product range

0 Unidrive M600 to M800

1 Unidrive M100 to M400 & ID300 to ID302

Unidrive M400 Parameter Reference Guide

204 Issue: 01.05.02.02
 Parameter 11.064 Product Identifier Characters
Short description Displays the product identifier characters
Mode Open‑Loop
Minimum 1295265840 Maximum 2147483647
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format String Decimal Places 0
Coding RO, ND, NC, PT

The drive model and rating can be identified as AAAA B nnnppppp CCCC DD EE FFF where each section of the model identifier is taken from a
parameter. AAAA, B, CCCC, DDDD, EE and FFF are alpha-numeric characters. nnn and ppppp are decimal digits.

Section of identifier Parameter

AAAA Product Identifier Characters (11.064)
nnn Frame size and voltage code (11.065)
ppppp Drive current rating (11.068)
CCCC Additional Identifier Characters 1 (11.091)
DDEE Additional Identifier Characters 2 (11.092)
FFFB Additional Identifier Characters 3 (11.093)

Product Identifier Characters (11.064) as defined in the table below.

Digits Meaning
3 to 0 Product identifier (e.g. Mxxx or Ixxx)

Frame size and voltage code (11.065)is split into two fields as defined in the table below.

Digits Meaning
2 to 1 Frame size.
0 Voltage code (1 = 110V, 2 = 230V, 4 = 400V, 5 = 575V, 6 = 690V)

Drive current rating (11.068) is as defined in the table below.

Digits Meaning
4 to 0 Drive current rating (i.e. 00133 = 13.3A)

Example
The model number M101-04200133 A101 00 AB100 would be displayed in parameters as follows

Parameter Value
Product Identifier Characters (11.064) M101
Frame size and voltage code (11.065) 042
Drive current rating (11.068) 00133
Additional Identifier Characters 1 (11.091) A101
Additional Identifier Characters 2 (11.092) 00AB
Additional Identifier Characters 3 (11.093) 100-

Parameter 11.065 Frame size and voltage code

Short description Displays the frame size and voltage code
Mode Open‑Loop
0 999
Minimum Maximum
(Display: 000) (Display: 999)
Default Units
Type 16 Bit Volatile Update Rate Power-up write
Display Format Lead Zero Pad Decimal Places 0
Coding RO, ND, NC, PT

See Product Identifier Characters (11.064).

Parameter 11.066 Power Stage Identifier

Short description Displays the power stage identifiers within the drive
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

Power Stage Identifier (11.066) is used to show power stages that require changes to the drive user parameters (i.e. visibility, range or defaults). It is
anticipated that all power stages will require the same parameter structure, and so Power Stage Identifier (11.066) will always be equal to zero. It should
be noted that this parameter does not identify the rating of the power stage.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 205
Power Stage Identifier (11.066) Power stage
0 Standard M600-M800
1 Standard M100-M400
2 Standard ID300,ID302

Parameter 11.067 Control Board Identifier

Short description Displays the control board identifiers within the drive
Mode Open‑Loop
Minimum 0 Maximum 255
Default Units
Type 8 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT, BU

Control Board Identifier (11.067) identifies the main control board hardware as given in the table below.

Control Board Identifier Control

(11.067) board
0 Reserved
1 Reserved
2 M100
3 Reserved
4 Reserved
5 M101
6 Reserved
7 Reserved
8 M200
9 Reserved
10 Reserved
11 M201
12 Reserved
13 Reserved
14 M300
15 Reserved
16 Reserved
17 M400
18 ID300/ID302

Parameter 11.068 Drive current rating

Short description Drive current rating in 0.1 of Amps
Mode Open‑Loop
0 32767
Minimum Maximum
(Display: 00000) (Display: 32767)
Default Units
Type 16 Bit Volatile Update Rate Power-up write
Display Format Lead Zero Pad Decimal Places 0
Coding RO, ND, NC, PT

See Product Identifier Characters (11.064).

Parameter 11.070 Core Parameter Database Version

Short description Displays the core parameter database version within the drive
Mode Open‑Loop
Minimum 0.00 Maximum 99.99
Default Units
Type 16 Bit Volatile Update Rate Power-up write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

Core Parameter Database Version (11.070) gives the version number of the parameter database used to define the core parameter menus in the drive
(Menu 1 to 14 and 21 to 23) in 2 digit BCD format. All other menus are customisable and if these menus are changed their default values are
automatically loaded. However, if the drive software is changed it may be necessary to load defaults for all menus, although this will only be required
rarely. Defaults for all menus are loaded when the most significant digit of Core Parameter Database Version (11.070) changes. Therefore if the drive
firmware is modified and the most significant digit of the core database version has changed an EEPROM Fail.001 trip is initiated and default
parameters are loaded.

Unidrive M400 Parameter Reference Guide

206 Issue: 01.05.02.02
 Parameter 11.072 NV Media Card Create Special File
Short description Defines if a parameter file is created as a macro file during transfer
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, NC

If NV Media Card Create Special File (11.072) = 1 when a parameter file is transferred to an NV media card the file is created as a macro file.
NV Media Card Create Special File (11.072) is reset to 0 after the file is created or the transfer fails.

Parameter 11.073 NV Card Type Fitted

Short description Displays the type of the currently fitted NV media card
Mode Open‑Loop
Minimum 0 Maximum 2
Default Units
Type 8 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Value Text
0 None
1 Reserved
2 SD Card

NV Card Type Fitted (11.073) shows the type of non-volatile media card inserted in the drive.

Parameter 11.075 NV Media Card Read-only Flag

Short description Displays the state of the read-only flag for the currently fitted card
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

NV Media Card Read-only Flag (11.075) shows the state of the read-only flag for the currently fitted card.

Parameter 11.076 NV Media Card Warning Suppression Flag

Short description Displays the state of the warning flag for the currently fitted card
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

NV Media Card Warning Suppression Flag (11.076) shows the state of the warning flag for the currently fitted card.

Parameter 11.077 NV Media Card File Required Version

Short description Displays the version number for a file when it is created on an NV media card
Mode Open‑Loop
Minimum 0 Maximum 9999
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RW, ND, NC, PT

The value of NV Media Card File Required Version (11.077) is used as the version number for a file when it is created on an NV media card.
NV Media Card File Required Version (11.077) is reset to 0 when the file is created or the transfer fails.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 207
Parameter 11.079 Drive Name Characters 1-4
Short description Defines characters 1-4 of a string which can be used to identify the drive
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 757935405 Units
Type 32 Bit User Save Update Rate N/A
Display Format String Decimal Places 0
Coding RW, PT

Drive Name Characters 1-4 (11.079) to Drive Name Characters 13-16 (11.082) can be used to store a 16 character string which can be used to identify
the drive. The string is arranged as shown below.

This uses the standard ASCII character set.

If Status Mode Parameter 1 (11.018) or Status Mode Parameter 2 (11.019) are set to 11.079 then the drive name is fully displayed in status view using
Drive Name Characters 1-4 (11.079) to Drive Name Characters 13-16 (11.082). Note that only 15 characters can be displayed on M400 and only 6
characters on M100-M300.

Parameter 11.080 Drive Name Characters 5-8

Short description Defines characters 5-8 of a string which can be used to identify the drive
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 757935405 Units
Type 32 Bit User Save Update Rate N/A
Display Format String Decimal Places 0
Coding RW, PT

See Drive Name Characters 1-4 (11.079).

Parameter 11.081 Drive Name Characters 9-12

Short description Defines characters 9-12 of a string which can be used to identify the drive
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 757935405 Units
Type 32 Bit User Save Update Rate N/A
Display Format String Decimal Places 0
Coding RW, PT

See Drive Name Characters 1-4 (11.079).

Parameter 11.082 Drive Name Characters 13-16

Short description Defines characters 13-16 of a string which can be used to identify the drive
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 757935405 Units
Type 32 Bit User Save Update Rate N/A
Display Format String Decimal Places 0
Coding RW, PT

See Drive Name Characters 1-4 (11.079).

Parameter 11.084 Drive Mode

Short description Defines and displays the current drive mode
Mode Open‑Loop
Minimum 1 Maximum 2
Default Units
Type 8 Bit User Save Update Rate Background read/write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Unidrive M400 Parameter Reference Guide

208 Issue: 01.05.02.02
 Value Text
1 Open-loop
2 RFC-A

Drive Mode (11.084) is used to hold the currently active drive mode.

Parameter 11.085 Security Status

Short description Displays the security status within the drive
Mode Open‑Loop
Minimum 0 Maximum 3
Default Units
Type 8 Bit Power Down Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Value Text
0 None
1 Read-only
2 Status-only
3 No Access

Security Status (11.085) shows the security that will apply when security is enabled by setting a non-zero value for User Security Code (11.030).

Parameter 11.086 Menu Access Status

Short description Displays the amount of access of the menus within the drive
Mode Open‑Loop
Minimum 0 Maximum 2
Default Units
Type 8 Bit Power Down Save Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT

Value Text
0 Menu 0 Level 1
1 Menu 0
2 All Menus

If Menu Access Status (11.086) = 0 then only parameters up to 10 can be accessed in Menu 0 with a keypad. If Menu Access Status (11.086) = 1
then only parameters in Menu 0 can be accessed with a keypad. If Menu Access Status (11.086) = 2 then all menus can be accessed with a keypad.

Parameter 11.090 Keypad Port Serial Address

Short description Defines the node address for the keypad port serial comms interface
Mode Open‑Loop
Minimum 1 Maximum 16
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

Keypad Port Serial Address (11.090) defines the node address for the keypad port serial comms interface. Normally the default value of 1 is used, but
this can be changed if required. The keypad attached to the port will sense the address automatically.

Parameter 11.091 Additional Identifier Characters 1

Short description Displays the additional identifier characters
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format String Decimal Places 0
Coding RO, ND, NC, PT

See Product Identifier Characters (11.064).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 209
Parameter 11.092 Additional Identifier Characters 2
Short description Displays the additional identifier characters
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format String Decimal Places 0
Coding RO, ND, NC, PT

See Product Identifier Characters (11.064).

Parameter 11.093 Additional Identifier Characters 3

Short description Displays the additional identifier characters
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Format String Decimal Places 0
Coding RO, ND, NC, PT

See Product Identifier Characters (11.064).

Parameter 11.097 AI ID Code

Short description Indicates the AI module type fitted in the AI slot
Mode Open‑Loop
Minimum 0 Maximum 5
Default Units
Type 8 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RO, TE, ND, NC, PT, BU

Value Text
0 None
1 SD Card
2 RS-485
3 Reserved
4 Reserved
5 RS-485 + Backup

AI ID Code (11.097) indicates the Adaptor Interface module type fitted in the AI slot.

Parameter 11.098 24V Loss Alarm Enable

Short description Enables the 24V loss alarm
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate background
Display Format Standard Decimal Places 0
Coding RW

24V Loss Alarm Enable (11.098) enables the 24V loss alarm. If 24V Supply Input State (08.043) = 0 and 24V Loss Alarm Enable (11.098) = 1 then the
alarm is active and Active Alarm (10.104) will indicate 24V Backup Lost.

Parameter 11.099 Modbus Parameter Conversion

Short description Converts parameter values over Modbus comms for backwards compatibility.
Mode Open‑Loop
0 15
Minimum Maximum
(Display: 0000) (Display: 1111)
0
Default Units
(Display: 0000)
Type 16 Bit User Save Update Rate
Display Format Binary Decimal Places 0
Coding RW

If Modbus Parameter Conversion (11.099) bits are turned on then the following parameters are converted when read or written over modbus serial
comms.

This is NOT a full comms compatibility to previous drive generations. Only the following parameters are converted.

Because of the limited number of segments on drives with an LED display, these drives will indicate the parameter value as a decimal value rather than

Unidrive M400 Parameter Reference Guide

210 Issue: 01.05.02.02
a binary value.

Modbus Parameter Conversion

Effect
(11.099) bits

Frequency parameters:
1.001,1.002,1.003,1.004,1.005,1.006,1.007,1.017,1.021,1.022,
0 1.023,1.024,1.025,1.026,1.027,1.028,1.029,1.030,1.031,1.032,
1.033,1.034,1.036,1.037,1.038,2.001,3.001,3.005,3.006,3.022,
3.043,3.045,5.001,5.006,12.044,12.045,21.001,21.002,21.006 scaled by 10.
Source/Destination parameters:
7.010,7.014,7.019,8.021,8.022,8.023,8.024,8.025,8.028,9.004,9.006,
1 9.010,9.014,9.016,9.020,9.025,9.033,12.003,12.007,12.008,12.009,
12.011,12.023,12.027,12.028,12.029,12.031,14.002,14.003,14.004,14.009,14.016.
Parameter number is converted from 3 to 2 digits (i.e. #1.01 is #1.001)
Percentage parameters:
2 7.001,7.002,7.030,7.031,9.003,12.004,12.005,12.012,12.024,12.025,
12.032,14.001,14.013,14.014,14.019,14.020,14.021,14.022 scaled by 10
3 Motor parameters: 5.008,5.017,5.024,21.008,21.012,21.014 scaled by 10

Examples:

bit 0:

If 01.021 = 1.23Hz, then value read is 12 equivalent of 1.20Hz

If value 123 is written to 01.021 then 01.021 = 12.30Hz

bit 1:

If Analog Input 1 Destination A (07.010) = 1.036, then value read is 136.

If value 136 is written to Analog Input 1 Destination A (07.010) then Analog Input 1 Destination A (07.010) = 1.036.

bit 2:

If Analog Input 1 (07.001) = 50.0%, then value read is 500.

bit 3:

If Motor Rated Speed (05.008) = 1500.0, then value read is 1500.

If value 1500 is written to Motor Rated Speed (05.008) then Motor Rated Speed (05.008) = 1500.0.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 211
Menu 12 Single Line Descriptions − User Functions 2 and Brake Control
Mode: Open‑Loop

Parameter Range Default Type

12.001 Threshold Detector 1 Output Off (0) or On (1) RO Bit ND NC PT
12.002 Threshold Detector 2 Output Off (0) or On (1) RO Bit ND NC PT
12.003 Threshold Detector 1 Source 0.000 to 30.999 0.000 RW Num PT US
12.004 Threshold Detector 1 Level 0.00 to 100.00 % 0.00 % RW Num US
12.005 Threshold Detector 1 Hysteresis 0.00 to 25.00 % 0.00 % RW Num US
12.006 Threshold Detector 1 Output Invert Off (0) or On (1) Off (0) RW Bit US
12.007 Threshold Detector 1 Destination 0.000 to 30.999 0.000 RW Num DE PT US
12.008 Variable Selector 1 Source 1 0.000 to 30.999 0.000 RW Num PT US
12.009 Variable Selector 1 Source 2 0.000 to 30.999 0.000 RW Num PT US
Input 1 (0), Input 2 (1), Add (2),
Subtract (3), Multiply (4),
12.010 Variable Selector 1 Mode Divide (5), Time Const (6), Input 1 (0) RW Txt US
Ramp (7), Modulus (8),
Powers (9)
12.011 Variable Selector 1 Destination 0.000 to 30.999 0.000 RW Num DE PT US
12.012 Variable Selector 1 Output ±100.00 % RO Num ND NC PT
12.013 Variable Selector 1 Source 1 Scaling ±4.000 1.000 RW Num US
12.014 Variable Selector 1 Source 2 Scaling ±4.000 1.000 RW Num US
12.015 Variable Selector 1 Control 0.00 to 100.00 0.00 RW Num US
12.016 Variable Selector 1 Enable Off (0) or On (1) On (1) RW Bit US
12.023 Threshold Detector 2 Source 0.000 to 30.999 0.000 RW Num PT US
12.024 Threshold Detector 2 Level 0.00 to 100.00 % 0.00 % RW Num US
12.025 Threshold Detector 2 Hysteresis 0.00 to 25.00 % 0.00 % RW Num US
12.026 Threshold Detector 2 Output Invert Off (0) or On (1) Off (0) RW Bit US
12.027 Threshold Detector 2 Destination 0.000 to 30.999 0.000 RW Num DE PT US
12.028 Variable Selector 2 Source 1 0.000 to 30.999 0.000 RW Num PT US
12.029 Variable Selector 2 Source 2 0.000 to 30.999 0.000 RW Num PT US
Input 1 (0), Input 2 (1), Add (2),
Subtract (3), Multiply (4),
12.030 Variable Selector 2 Mode Divide (5), Time Const (6), Input 1 (0) RW Txt US
Ramp (7), Modulus (8),
Powers (9)
12.031 Variable Selector 2 Destination 0.000 to 30.999 0.000 RW Num DE PT US
12.032 Variable Selector 2 Output ±100.00 % RO Num ND NC PT
12.033 Variable Selector 2 Source 1 Scaling ±4.000 1.000 RW Num US
12.034 Variable Selector 2 Source 2 Scaling ±4.000 1.000 RW Num US
12.035 Variable Selector 2 Control 0.00 to 100.00 0.00 RW Num US
12.036 Variable Selector 2 Enable Off (0) or On (1) On (1) RW Bit US
12.040 BC Brake Release Off (0) or On (1) RO Bit ND NC PT
Disable (0), Relay (1),
12.041 BC Enable Disable (0) RW Txt US
Digital IO (2), User (3)
12.042 BC Upper Current Threshold 0 to 200 % 50 % RW Num US
12.043 BC Lower Current Threshold 0 to 200 % 10 % RW Num US
12.044 BC Brake Release Frequency 0.00 to 20.00 Hz 1.00 Hz RW Num US
12.045 BC Brake Apply Frequency 0.00 to 20.00 Hz 2.00 Hz RW Num US
12.046 BC Brake Release Delay 0.0 to 25.0 s 1.0 s RW Num US
12.047 BC Post‑brake Release Delay 0.0 to 25.0 s 1.0 s RW Num US
Ref (0), Forward (1),
12.050 BC Initial Direction Ref (0) RW Txt US
Reverse (2)
12.051 BC Brake Apply Through Zero Threshold 0.00 to 20.00 Hz 1.00 Hz RW Num US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

212 Issue: 01.05.02.02
Menu 12 − User Functions 2 and Brake Control
Mode: Open‑Loop

Menu 12 provides parameters for the following features:

1. Threshold detectors
2. Variable selectors
3. Mechanical brake controller

Parameter 12.001 Threshold Detector 1 Output

Short description Displays the output of threshold detector 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

The threshold detector functions are always active even if the source and destination are not routed to valid parameters. If the source is not a valid parameter then the source value is taken as 0. The
update rate for each of the threshold detector functions is always 4ms.

The following description is for threshold detector 1, but threshold detector 2 operates in the same way. The level of the parameter defined by Threshold Detector 1 Source (12.003) is converted to a
percentage and compared to Threshold Detector 1 Level (12.004) with hysteresis to give Threshold Detector 1 Output (12.001) as follows:

Source Threshold Detector 1 Output (12.001)

Source < Lower threshold 0
Lower threshold ≤ Source < Upper threshold No change of state
Source ≥ Upper threshold 1

Lower threshold = Threshold Detector 1 Level (12.004) - (Threshold Detector 1 Hysteresis (12.005) / 2)

Upper threshold = Threshold Detector 1 Level (12.004) + (Threshold Detector 1 Hysteresis (12.005) / 2)

The output value can then be inverted with Threshold Detector 1 Output Invert (12.006) before being routed to the destination defined by Threshold Detector 1 Destination (12.007).

Parameter 12.002 Threshold Detector 2 Output

Short description Displays the output of threshold detector 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

See Threshold Detector 1 Output (12.001).

Parameter 12.003 Threshold Detector 1 Source

Short description Defines the source paramter for threshold detector 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Threshold Detector 1 Output (12.001).

Parameter 12.004 Threshold Detector 1 Level

Short description Defines the reference level for threshold detector 1
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See Threshold Detector 1 Output (12.001).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 213
Parameter 12.005 Threshold Detector 1 Hysteresis
Short description Defines the hysteresis for threshold detector
Mode Open‑Loop
Minimum 0.00 Maximum 25.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See Threshold Detector 1 Output (12.001).

Parameter 12.006 Threshold Detector 1 Output Invert

Short description Set to 1 to invert the output of threshold detector 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Threshold Detector 1 Output (12.001).

Parameter 12.007 Threshold Detector 1 Destination

Short description Defines the destination parameter for threshold detector 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

See Threshold Detector 1 Output (12.001).

Parameter 12.008 Variable Selector 1 Source 1

Short description Defines the 1st source parameter for variable selector 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

The variable selector functions are always active even if the source and destination are not routed to valid parameters. If a source is not a valid parameter then the source value is taken as 0. The
update rate for each of the variable selector functions is always 4ms.

The following description is for variable selector 1, but variable selector 2 operates in the same way. The source parameters selected with Variable Selector 1 Source 1 (12.008) and
Variable Selector 1 Source 2 (12.009) are converted to a percentage value, scaled with Variable Selector 1 Source 1 Scaling (12.013) and Variable Selector 1 Source 2 Scaling (12.014) respectively
and then combined with a function defined by Variable Selector 1 Mode (12.010) to give Variable Selector 1 Output (12.012) as a percentage value. If Variable Selector 1 Enable (12.016) = 1 then
the function operates normally. If Variable Selector 1 Enable (12.016) = 0 then Variable Selector 1 Output (12.012) = 0.00% and any states within the function are reset (i.e. the time constant function
accumulator is held at zero). If the value of Variable Selector 1 Mode (12.010) is changed then all internal function state are also reset.

The table below shows the functions that can be selected with Variable Selector 1 Mode (12.010).

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214 Issue: 01.05.02.02
 Variable Selector 1 Mode
Variable Selector 1 Output (12.012)
(12.010)
0: Input 1 Input 1
1: Input 2 Input 2
2: Add Input 1 + Input 2
3: Subtract Input 1 - Input 2
4: Multiply (Input 1 x Input 2) / 100.00%
5: Divide (Input 1 x 100.00%) / Input 2
6: Time Const Input 1 / (1 + τs) where τ is Variable Selector 1 Control (12.015) in seconds
Input 1 is an input to a linear ramp function where the time to ramp from 0.00% to 100.00% of the input parameter
7: Ramp range is defined by Variable Selector 1 Control (12.015) in seconds. e.g. if the input parameter is at 50% of its range,
the output value will reach 50% in 50% of the time set in Variable Selector 1 Control (12.015)
8: Modulus | Input 1 |
If Variable Selector 1 Control (12.015) = 0.02 then Output = Input2 / 100.00%
9: Powers Else if Variable Selector 1 Control (12.015) = 0.03 then Output = Input3 / (100.00%)2
Else Output = Input 1

Parameter 12.009 Variable Selector 1 Source 2

Short description Defines the 2nd source parameter for variable selector 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Variable Selector 1 Source 1 (12.008).

Parameter 12.010 Variable Selector 1 Mode

Short description Defines the mode for variable selector
Mode Open‑Loop
Minimum 0 Maximum 9
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Input 1
1 Input 2
2 Add
3 Subtract
4 Multiply
5 Divide
6 Time Const
7 Ramp
8 Modulus
9 Powers

See Variable Selector 1 Source 1 (12.008).

Parameter 12.011 Variable Selector 1 Destination

Short description Defines the destination parameter for variable selector 1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

See Variable Selector 1 Source 1 (12.008).

Parameter 12.012 Variable Selector 1 Output

Short description Displays the output of variable selector 1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

See Variable Selector 1 Source 1 (12.008).

Parameter 12.013 Variable Selector 1 Source 1 Scaling

Short description Defines the scaling for the 1st input for variable selector 1
Mode Open‑Loop
Minimum -4.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

See Variable Selector 1 Source 1 (12.008).

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Issue: 01.05.02.02 215
Parameter 12.014 Variable Selector 1 Source 2 Scaling
Short description Defines the scaling for the 2nd input for variable selector 1
Mode Open‑Loop
Minimum -4.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

See Variable Selector 1 Source 1 (12.008).

Parameter 12.015 Variable Selector 1 Control

Short description Defines the control for variable selector 1
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 0.00 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See Variable Selector 1 Source 1 (12.008).

Parameter 12.016 Variable Selector 1 Enable

Short description Enables variable selector 1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 1 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, BU

See Variable Selector 1 Source 1 (12.008) for more details. Variable Selector 1 Enable (12.016) and Variable Selector 2 Enable (12.036) have a default of 1 so that if these parameters are not used
the variable selectors will still function.

Parameter 12.023 Threshold Detector 2 Source

Short description Defines the source paramter for threshold detector 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Threshold Detector 1 Output (12.001).

Parameter 12.024 Threshold Detector 2 Level

Short description Defines the reference level for threshold detector 2
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See Threshold Detector 1 Output (12.001).

Parameter 12.025 Threshold Detector 2 Hysteresis

Short description Defines the hysteresis for threshold detector 2
Mode Open‑Loop
Minimum 0.00 Maximum 25.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See Threshold Detector 1 Output (12.001).

Parameter 12.026 Threshold Detector 2 Output Invert

Short description Set to 1 to invert the output of threshold detector 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See Threshold Detector 1 Output (12.001).

Parameter 12.027 Threshold Detector 2 Destination

Short description Defines the destination parameter for threshold detector 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

See Threshold Detector 1 Output (12.001).

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216 Issue: 01.05.02.02
 Parameter 12.028 Variable Selector 2 Source 1
Short description Defines the 1st source parameter for variable selector 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Variable Selector 1 Source 1 (12.008).

Parameter 12.029 Variable Selector 2 Source 2

Short description Defines the 2nd source parameter for variable selector 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See Variable Selector 1 Source 1 (12.008).

Parameter 12.030 Variable Selector 2 Mode

Short description Defines the mode for variable selector 2
Mode Open‑Loop
Minimum 0 Maximum 9
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Input 1
1 Input 2
2 Add
3 Subtract
4 Multiply
5 Divide
6 Time Const
7 Ramp
8 Modulus
9 Powers

See Variable Selector 1 Source 1 (12.008).

Parameter 12.031 Variable Selector 2 Destination

Short description Defines the destination parameter for variable selector 2
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

See Variable Selector 1 Source 1 (12.008).

Parameter 12.032 Variable Selector 2 Output

Short description Displays the output of variable selector 2
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

See Variable Selector 1 Source 1 (12.008).

Parameter 12.033 Variable Selector 2 Source 1 Scaling

Short description Defines the scaling for the 1st input for variable selector 2
Mode Open‑Loop
Minimum -4.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

See Variable Selector 1 Source 1 (12.008).

Parameter 12.034 Variable Selector 2 Source 2 Scaling

Short description Defines the scaling for the 2nd input for variable selector 2
Mode Open‑Loop
Minimum -4.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

See Variable Selector 1 Source 1 (12.008).

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Issue: 01.05.02.02 217
Parameter 12.035 Variable Selector 2 Control
Short description Defines the control for variable selector 2
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 0.00 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, BU

See Variable Selector 1 Source 1 (12.008).

Parameter 12.036 Variable Selector 2 Enable

Short description Enables variable selector 2
Mode Open‑Loop
Minimum 0 Maximum 1
Default 1 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, BU

See Variable Selector 1 Source 1 (12.008) and Variable Selector 1 Enable (12.016).

Parameter 12.040 BC Brake Release

Short description Inidicates that the brake controller has released the mechanical brake
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

The functions of BC Brake Release (12.040) and BC Enable (12.041) are the same in all drive modes and are described below. The functions of other brake controller parameters vary between drive
modes, and these are described in separate sections.

The mechanical brake control function can be used to control an electro-mechanical brake via digital I/O.

BC Brake Release (12.040) = 0 when the brake should be applied and 1 when the brake should be released. Normally this should be routed to a digital output to control the mechanical brake.

If BC Enable (12.041) = 0 then the brake controller is disabled. The following parameters which are used by the brake controller to operate the drive are reset to 0 on the transition of BC Enable
(12.041) from 1 to 0.

Parameter
Force Reference Direction (01.057)
Ramp Hold (02.003)

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218 Issue: 01.05.02.02
Current detection
The Current Magnitude (04.001) is compared to an upper and lower threshold by a comparator with hysteresis to give torque present and drive output open circuit detection functions respectively.
BC Lower Current Threshold (12.043) and BC Upper Current Threshold (12.042) are given as a percentage of Motor Rated Current (05.007). BC Upper Current Threshold (12.042) should be set to
the current level that indicates that there is magnetising current and sufficient torque producing current in the motor to deliver the required amount of torque when the brake is released. The output of
the comparator remains active after this level has been reached unless the current subsequently falls below BC Lower Current Threshold (12.043) which should be set to the required level to detect
the condition where the motor has been disconnected from the drive. If BC Lower Current Threshold (12.043) ≥ BC Upper Current Threshold (12.042) then the upper threshold applies with a
hysteresis band of 0. If BC Lower Current Threshold (12.043) = BC Upper Current Threshold (12.042) = 0 then the output of the comparator is always one.

Frequency detection
The frequency comparator is used on starting, to detect when the motor frequency has reached a level where the motor can produce the required amount of torque to ensure that the motor rotates in
the demanded direction when the brake is released. BC Brake Release Frequency (12.044) should be set to a level slightly above the motor slip frequency that is likely to occur under the highest
expected load that is applied to the motor when the brake is released.

The brake apply frequency threshold is used to ensure that the brake is applied before the motor frequency reaches zero and to prevent the motor rotating (in the reverse direction due to an
overhauling load for example) during the brake apply time. If the frequency falls below BC Brake Apply Frequency (12.045), but the motor is not required to stop (i.e. reversing direction without
stopping) then Reference On (01.011) will be one, and so the brake is not applied. This prevents the brake from activating and de-activating as the motor passes through zero speed. If the frequency
falls below BC Brake Apply Frequency (12.045) and Reference On (01.011) = 0 then the brake will be applied.

Brake Release

When both Current detection and Frequency detection conditions are met, the ramp is held and the brake released after the BC Brake Release Delay (12.046). When the brake is released, the ramp
is held for a further period ( BC Post-brake Release Delay (12.047) ) after which the ramp is released.

Brake controller sequence

The brake controller sequence is shown for forward movement in the diagram below.

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Issue: 01.05.02.02 219
Applying the brake as the frequency passes through zero
In Open-loop mode the torque produced may reduce as the frequency passes through zero. To prevent the load from falling during this period in a vertical application, it is possible to apply the brake
momentarily to hold the load. If BC Brake Apply Through Zero Threshold (12.051) = 0 then the brake is not applied when the frequency passes through zero unless Reference On (01.011) = 0.
If BC Brake Apply Through Zero Threshold (12.051) is non-zero then the brake is always applied when the modulus of frequency is less than BC Brake Apply Through Zero Threshold (12.051) even
if Reference On (01.011) = 1. This ensures that the brake is applied and then released as the frequency passes through zero. BC Brake Apply Through Zero Threshold (12.051) should be set to a
value that is lower than both BC Brake Release Frequency (12.044) and BC Brake Apply Frequency (12.045) so that it does not interfere with the control of the brake when starting and stopping.

Forced initial direction

If BC Initial Direction (12.050) = 0 then the brake controller operates as described above and the user reference is used to define the direction of operation. If BC Initial Direction (12.050) = 1 then
Force Reference Direction (01.057) is used force the frequency reference to the positive modulus of the selected user reference until the end of the post-brake release period whatever the direction
of the user reference. This can be used for example to ensure that in a vertical application the motor will definitely hold the load at the point when the brake is released. The diagram below shows the
brake controller sequence when BC Initial Direction (12.050) = 1, but the user reference direction is reverse. It should be noted that BC Initial Direction (12.050) has no effect if
BC Brake Apply Through Zero Threshold (12.051) is non-zero, and the user reference direction is always used as the initial direction, to prevent a condition where the brake would release then apply
repeatedly.

If BC Initial Direction (12.050) = 2 then Force Reference Direction (01.057) is used to force the frequency reference to minus the modulus of the user selected reference until the end of the post-brake
release period to ensure that the output frequency is negative during this period.

Parameter 12.041 BC Enable

Short description Enables the brake control function
Mode Open‑Loop
Minimum 0 Maximum 3
Default 0 Units
Type 8 Bit User Save Update Rate Action on exit from edit and reset
Display Format Standard Decimal Places 0
Coding RW, TE

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220 Issue: 01.05.02.02
 Value Text
0 Disable
1 Relay
2 Digital IO
3 User

If BC Enable (12.041) = 0, the brake controller is disabled.

If BC Enable (12.041) = 1, the brake controller is enabled with I/O set up to control the brake via the relay output. Drive healthy is re-routed to digital I/O.

If BC Enable (12.041) = 2, the brake controller is enabled with I/O set up to control the brake via digital I/O. Drive healthy is routed to the relay output.

If BC Enable (12.041) = 3, the brake controller is enabled, but no parameters are set up to select the brake output.

Previous value of New value of Digital I/O 1 Invert Relay 1 Invert Digital I/O 01 mode DO1 Control Relay 1 Control
BC Enable (12.041) BC Enable (12.041) (08.011) (08.018) (08.031) (08.091) (08.098)
Any 0 0 0 1 0 0
Any 1 0 0 1 15 18
Not 1 2 0 No change 1 18 No change
1 2 0 0 1 18 15
0 or 1 3 0 0 1 0 0
2 3 0 No change 1 0 0

Action will only occur if the drive is inactive, not in UU state and no User Actions are running. Otherwise, the parameter will return to its pre altered value on exit from edit mode.

All parameters are saved if this parameter changes.

See BC Brake Release (12.040) for full description of brake controller operation.

Parameter 12.042 BC Upper Current Threshold

Short description Defines the upper current threshold for the brake
Mode Open‑Loop
Minimum 0 Maximum 200
Default 50 Units %
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, BU

See BC Brake Release (12.040).

Parameter 12.043 BC Lower Current Threshold

Short description Defines the lower current limit for the brake
Mode Open‑Loop
Minimum 0 Maximum 200
Default 10 Units %
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, BU

See BC Brake Release (12.040).

Parameter 12.044 BC Brake Release Frequency

Short description Defines the brake release frequency
Mode Open‑Loop
Minimum 0.00 Maximum 20.00
Default 1.00 Units Hz
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, BU

See BC Brake Release (12.040).

Parameter 12.045 BC Brake Apply Frequency

Short description Defines the brake apply frequency
Mode Open‑Loop
Minimum 0.00 Maximum 20.00
Default 2.00 Units Hz
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, BU

See BC Brake Release (12.040).

Parameter 12.046 BC Brake Release Delay

Short description Defines the pre-brake release delay
Mode Open‑Loop
Minimum 0.0 Maximum 25.0
Default 1.0 Units s
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 1
Coding RW, BU

See BC Brake Release (12.040).

Parameter 12.047 BC Post-brake Release Delay

Short description Defines the post-brake release delay
Mode Open‑Loop
Minimum 0.0 Maximum 25.0
Default 1.0 Units s
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 1
Coding RW, BU

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Issue: 01.05.02.02 221
See BC Brake Release (12.040).

Parameter 12.050 BC Initial Direction

Short description Defines the initial direction of the brake
Mode Open‑Loop
Minimum 0 Maximum 2
Default 0 Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, TE

Value Text
0 Ref
1 Forward
2 Reverse

See BC Brake Release (12.040).

Parameter 12.051 BC Brake Apply Through Zero Threshold

Short description Defines if the brake is applied through zero threshold
Mode Open‑Loop
Minimum 0.00 Maximum 20.00
Default 1.00 Units Hz
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, BU

See BC Brake Release (12.040).

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222 Issue: 01.05.02.02
Menu 14 Single Line Descriptions − User PID Controller
Mode: Open‑Loop

Parameter Range Default Type

14.001 PID1 Output ±100.00 % RO Num ND NC PT
14.002 PID1 Feed‑forward Reference Source 0.000 to 30.999 0.000 RW Num PT US
14.003 PID1 Reference Source 0.000 to 30.999 0.000 RW Num PT US
14.004 PID1 Feedback Source 0.000 to 30.999 0.000 RW Num PT US
14.005 PID1 Reference Invert Off (0) or On (1) Off (0) RW Bit US
14.006 PID1 Feedback Invert Off (0) or On (1) Off (0) RW Bit US
14.007 PID1 Reference Slew Rate 0.0 to 3200.0 s 0.0 s RW Num US
14.008 PID1 Enable Off (0) or On (1) Off (0) RW Bit US
14.009 PID1 Enable Source 1 0.000 to 30.999 0.000 RW Num PT US
14.010 PID1 Proportional Gain 0.000 to 4.000 1.000 RW Num US
14.011 PID1 Integral Gain 0.000 to 4.000 0.500 RW Num US
14.012 PID1 Differential Gain 0.000 to 4.000 0.000 RW Num US
14.013 PID1 Output Upper Limit 0.00 to 100.00 % 100.00 % RW Num US
14.014 PID1 Output Lower Limit ±100.00 % -100.00 % RW Num US
14.015 PID1 Output Scaling 0.000 to 4.000 1.000 RW Num US
14.016 PID1 Destination 0.000 to 30.999 0.000 RW Num DE PT US
14.017 PID1 Integral Hold Off (0) or On (1) Off (0) RW Bit
14.018 PID1 Symmetrical Limit Enable Off (0) or On (1) Off (0) RW Bit US
14.019 PID1 Feed‑forward Reference ±100.00 % RO Num ND NC PT
14.020 PID1 Reference ±100.00 % RO Num ND NC PT
14.021 PID1 Feedback ±100.00 % RO Num ND NC PT
14.022 PID1 Error ±100.00 % RO Num ND NC PT
14.023 PID1 Reference Scaling 0.000 to 4.000 1.000 RW Num US
14.024 PID1 Feedback Scaling 0.000 to 4.000 1.000 RW Num US
14.025 PID1 Digital Reference ±100.00 % 0.00 % RW Num US
14.026 PID1 Digital Feedback ±100.00 % 0.00 % RW Num US
14.027 PID1 Enable Source 2 0.000 to 30.999 0.000 RW Num PT US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

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Issue: 01.05.02.02 223
Menu 14 − User PID Controller
Mode: Open‑Loop

PID controller

One general purpose PID controller is provided as shown in the diagram below. The sample rate for the PID controller is always 4ms.

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224 Issue: 01.05.02.02
Unidrive M400 Parameter Reference Guide
Issue: 01.05.02.02 225
Parameter 14.001 PID1 Output
Short description Displays the output for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

Controller

The controller section for the PID controller is shown in the introduction. If the enable is active the PID controller is active even if the destination is not routed to a valid parameter or set
to 0.000. It should be noted that if either of the enable sources is routed to 0.000 or to a non-valid parameter the source value is taken as 1, therefore with default settings,
PID1 Enable Source 1 (14.009) = 0.000 and PID1 Enable Source 2 (14.027) = 0.000, the PID controller can be enabled by simply setting PID1 Enable (14.008).

PID1 Error (14.022) is the difference between the reference and feedback produced by the reference and feedback systems described in PID1 Reference Source (14.003)
and PID1 Feedback Source (14.004). The PID controller output is defined as follows:

PID1 Output (14.001) = PID1 Error (14.022) x [Kp + Ki/s + sKd/(0.064s + 1)]

Kp = PID1 Proportional Gain (14.010)

Ki = PID1 Integral Gain (14.011)

Kd = PID1 Differential Gain (14.012)

Therefore:

1. If PID1 Error (14.022) = 100.00% the proportional term gives a value of 100.00% if PID1 Proportional Gain (14.010) = 1.000.

2. If PID1 Error (14.022) = 100.00% the integral term gives a value that increases linearly by 100.00% per second if PID1 Integral Gain (14.011) = 1.000.

3. If PID1 Error (14.022) increases linearly by 100.00% per second the differential term gives a value of 100.00% if PID1 Differential Gain (14.012) = 1.000. (A filter with a time
constant of 64ms is provided on the differential term to reduce the noise produced by this term).

The output may be limited to a range that is less than the maximum range of PID1 Output (14.001) using PID1 Output Upper Limit (14.013) and PID1 Output Lower Limit (14.014). If
PID1 Output Lower Limit (14.014) > PID1 Output Upper Limit (14.013) then the output is held at the value defined by PID1 Output Upper Limit (14.013). If
PID1 Symmetrical Limit Enable (14.018) = 1 then the lower limit = -(PID1 Output Upper Limit (14.013)). If the output reaches either of these limits the integral term accumulator is frozen
until the output moves away from the limit to prevent integral wind-up. The integral hold function can also be enabled by the user by setting PID1 Integral Hold (14.017) = 1.

PID1 Output Scaling (14.015) can be used to scale the output, which is limited to a range from -100.00% to 100.00% after this function. The output is then added to PID1 Feed-
forward Reference (14.019) and is again limited to the range from -100.00% to 100.00% before being routed to the destination defined by PID1 Destination (14.016).

Parameter 14.002 PID1 Feed-forward Reference Source

Short description Defines the input source for the feed-forwards reference source for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.003 PID1 Reference Source

Short description Defines the input source for the reference for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

The reference section for the PID controller is shown in the introduction. The reference section is always active even if the PID controller itself is disabled or the reference source is not
routed to a valid parameter. If a reference source is not a valid parameter or is 0.000 then the value is taken as zero.

The reference is multiplied by PID1 Reference Scaling (14.023) and then limited to +/-100.00%. The reference can then be inverted if required (PID1 Reference Invert (14.005) = 1) and
then a slew rate limit is applied with PID1 Reference Slew Rate (14.007). This limits the maximum rate of change so that a change from 0.00 to 100.00% takes the time given in
PID1 Reference Slew Rate (14.007).

Parameter 14.004 PID1 Feedback Source

Short description Defines the input source for the feedback for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

The feedback section for the PID controller is shown in the introduction. The feedback section is always active even if the PID controller itself is disabled or the feedback source is not
routed to a valid parameter. If a reference source is not a valid parameter or is 0.000 then the value is taken as zero.

The feedback is the sum of the feedback source and the PID1 Digital Feedback (14.026). The result is multiplied by PID1 Feedback Scaling (14.024) and then limited to +/-100.00%.
The feedback can be inverted if required (PID1 Feedback Invert (14.006) = 1).

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226 Issue: 01.05.02.02
 Parameter 14.005 PID1 Reference Invert
Short description Set to 1 to invert PID1 reference
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See PID1 Reference Source (14.003).

Parameter 14.006 PID1 Feedback Invert

Short description Set to 1 to invert the PID1 feedback
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See PID1 Feedback Source (14.004).

Parameter 14.007 PID1 Reference Slew Rate

Short description Defines the rate in change of output for PID1
Mode Open‑Loop
Minimum 0.0 Maximum 3200.0
Default 0.0 Units s
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

See PID1 Reference Source (14.003).

Parameter 14.008 PID1 Enable

Short description Enables the use of PID1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.009 PID1 Enable Source 1

Short description Defines the input source for enabling PID1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.010 PID1 Proportional Gain

Short description Defines the Kp gain used for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

See PID1 Output (14.001).

Parameter 14.011 PID1 Integral Gain

Short description Defines the Ki gain used for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 0.500 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

See PID1 Output (14.001).

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Issue: 01.05.02.02 227
Parameter 14.012 PID1 Differential Gain
Short description Defines the Kd gain used for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

See PID1 Output (14.001).

Parameter 14.013 PID1 Output Upper Limit

Short description Defines the maximum value of the output for PID1
Mode Open‑Loop
Minimum 0.00 Maximum 100.00
Default 100.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See PID1 Output (14.001).

Parameter 14.014 PID1 Output Lower Limit

Short description Defines the minimum value of the output for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default -100.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See PID1 Output (14.001).

Parameter 14.015 PID1 Output Scaling

Short description Defines the scaling factor of the output for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.016 PID1 Destination

Short description Defines the output parameter for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, DE, PT, BU

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.017 PID1 Integral Hold

Short description Enables the integral hold function for PID1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.018 PID1 Symmetrical Limit Enable

Short description Enables the symmetrical limit for PID1
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

See PID1 Output (14.001) and User PID Controller (14).

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228 Issue: 01.05.02.02
 Parameter 14.019 PID1 Feed-forward Reference
Short description Displays the value of the feed-forwards reference for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.020 PID1 Reference

Short description Displays the value of the reference for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

See PID1 Reference Source (14.003) and User PID Controller (14).

Parameter 14.021 PID1 Feedback

Short description Displays the value of the feedback for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

See PID1 Feedback Source (14.004) and User PID Controller (14).

Parameter 14.022 PID1 Error

Short description Displays the value of the error for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default Units %
Type 16 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT

See PID1 Output (14.001) and User PID Controller (14).

Parameter 14.023 PID1 Reference Scaling

Short description Defines the scaling factor for the reference for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

See PID1 Reference Source (14.003) and User PID Controller (14).

Parameter 14.024 PID1 Feedback Scaling

Short description Defines the scaling factor of the feedback for PID1
Mode Open‑Loop
Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 3
Coding RW

See PID1 Feedback Source (14.004) and User PID Controller (14).

Parameter 14.025 PID1 Digital Reference

Short description Defines the value of the digital reference for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See PID1 Reference Source (14.003).

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Issue: 01.05.02.02 229
Parameter 14.026 PID1 Digital Feedback
Short description Defines the value of the digital feedback for PID1
Mode Open‑Loop
Minimum -100.00 Maximum 100.00
Default 0.00 Units %
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW

See PID1 Feedback Source (14.004).

Parameter 14.027 PID1 Enable Source 2

Short description Defines the input source for enabling PID1
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

See PID1 Output (14.001) and User PID Controller (14).

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230 Issue: 01.05.02.02
Menu 18 Single Line Descriptions − Application Menu 1
Mode: Open‑Loop

Parameter Range Default Type

18.001 Application Menu 1 Power‑down Save Integer -32768 to 32767 0 RW Num PS
18.002 Application Menu 1 Read‑only Integer 2 -32768 to 32767 RO Num ND NC
18.003 Application Menu 1 Read‑only Integer 3 -32768 to 32767 RO Num ND NC
18.004 Application Menu 1 Read‑only Integer 4 -32768 to 32767 RO Num ND NC
18.005 Application Menu 1 Read‑only Integer 5 -32768 to 32767 RO Num ND NC
18.006 Application Menu 1 Read‑only Integer 6 -32768 to 32767 RO Num ND NC
18.007 Application Menu 1 Read‑only Integer 7 -32768 to 32767 RO Num ND NC
18.008 Application Menu 1 Read‑only Integer 8 -32768 to 32767 RO Num ND NC
18.009 Application Menu 1 Read‑only Integer 9 -32768 to 32767 RO Num ND NC
18.010 Application Menu 1 Read‑only Integer 10 -32768 to 32767 RO Num ND NC
18.011 Application Menu 1 Read‑write Integer 11 -32768 to 32767 0 RW Num US
18.012 Application Menu 1 Read‑write Integer 12 -32768 to 32767 0 RW Num US
18.013 Application Menu 1 Read‑write Integer 13 -32768 to 32767 0 RW Num US
18.014 Application Menu 1 Read‑write Integer 14 -32768 to 32767 0 RW Num US
18.015 Application Menu 1 Read‑write Integer 15 -32768 to 32767 0 RW Num US
18.016 Application Menu 1 Read‑write Integer 16 -32768 to 32767 0 RW Num US
18.017 Application Menu 1 Read‑write Integer 17 -32768 to 32767 0 RW Num US
18.018 Application Menu 1 Read‑write Integer 18 -32768 to 32767 0 RW Num US
18.019 Application Menu 1 Read‑write Integer 19 -32768 to 32767 0 RW Num US
18.020 Application Menu 1 Read‑write Integer 20 -32768 to 32767 0 RW Num US
18.021 Application Menu 1 Read‑write Integer 21 -32768 to 32767 0 RW Num US
18.022 Application Menu 1 Read‑write Integer 22 -32768 to 32767 0 RW Num US
18.023 Application Menu 1 Read‑write Integer 23 -32768 to 32767 0 RW Num US
18.024 Application Menu 1 Read‑write Integer 24 -32768 to 32767 0 RW Num US
18.025 Application Menu 1 Read‑write Integer 25 -32768 to 32767 0 RW Num US
18.026 Application Menu 1 Read‑write Integer 26 -32768 to 32767 0 RW Num US
18.027 Application Menu 1 Read‑write Integer 27 -32768 to 32767 0 RW Num US
18.028 Application Menu 1 Read‑write Integer 28 -32768 to 32767 0 RW Num US
18.029 Application Menu 1 Read‑write Integer 29 -32768 to 32767 0 RW Num US
18.030 Application Menu 1 Read‑write Integer 30 -32768 to 32767 0 RW Num US
18.031 Application Menu 1 Read‑write bit 31 Off (0) or On (1) Off (0) RW Bit US
18.032 Application Menu 1 Read‑write bit 32 Off (0) or On (1) Off (0) RW Bit US
18.033 Application Menu 1 Read‑write bit 33 Off (0) or On (1) Off (0) RW Bit US
18.034 Application Menu 1 Read‑write bit 34 Off (0) or On (1) Off (0) RW Bit US
18.035 Application Menu 1 Read‑write bit 35 Off (0) or On (1) Off (0) RW Bit US
18.036 Application Menu 1 Read‑write bit 36 Off (0) or On (1) Off (0) RW Bit US
18.037 Application Menu 1 Read‑write bit 37 Off (0) or On (1) Off (0) RW Bit US
18.038 Application Menu 1 Read‑write bit 38 Off (0) or On (1) Off (0) RW Bit US
18.039 Application Menu 1 Read‑write bit 39 Off (0) or On (1) Off (0) RW Bit US
18.040 Application Menu 1 Read‑write bit 40 Off (0) or On (1) Off (0) RW Bit US
18.041 Application Menu 1 Read‑write bit 41 Off (0) or On (1) Off (0) RW Bit US
18.042 Application Menu 1 Read‑write bit 42 Off (0) or On (1) Off (0) RW Bit US
18.043 Application Menu 1 Read‑write bit 43 Off (0) or On (1) Off (0) RW Bit US
18.044 Application Menu 1 Read‑write bit 44 Off (0) or On (1) Off (0) RW Bit US
18.045 Application Menu 1 Read‑write bit 45 Off (0) or On (1) Off (0) RW Bit US
18.046 Application Menu 1 Read‑write bit 46 Off (0) or On (1) Off (0) RW Bit US
18.047 Application Menu 1 Read‑write bit 47 Off (0) or On (1) Off (0) RW Bit US
18.048 Application Menu 1 Read‑write bit 48 Off (0) or On (1) Off (0) RW Bit US
18.049 Application Menu 1 Read‑write bit 49 Off (0) or On (1) Off (0) RW Bit US
18.050 Application Menu 1 Read‑write bit 50 Off (0) or On (1) Off (0) RW Bit US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

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Issue: 01.05.02.02 231
Menu 18 − Application Menu 1
Mode: Open‑Loop

General option module application menus

Menus 18 and 20 are general application menus that can be used by one of the option modules fitted to the drive. These menus are customisable and
the following RAM is provided to be shared between the 2 menus.

1 8 16 32
Volatile 0 0 8 9
User save 19 0 19 0
Power-down save 0 0 1 0

If no option modules provide customisation tables for these menus then the drive provides the customisation tables to give the following parameters.

Parameter 18.001 Application Menu 1 Power-down Save Integer

Short description General power-down save integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit Power Down Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.002 Application Menu 1 Read-only Integer 2

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.003 Application Menu 1 Read-only Integer 3

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.004 Application Menu 1 Read-only Integer 4

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.005 Application Menu 1 Read-only Integer 5

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

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232 Issue: 01.05.02.02
 Parameter 18.006 Application Menu 1 Read-only Integer 6
Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.007 Application Menu 1 Read-only Integer 7

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.008 Application Menu 1 Read-only Integer 8

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.009 Application Menu 1 Read-only Integer 9

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.010 Application Menu 1 Read-only Integer 10

Short description General read-only integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default Units
Type 16 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RO, PR, ND, NC

Parameter 18.011 Application Menu 1 Read-write Integer 11

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.012 Application Menu 1 Read-write Integer 12

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

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Issue: 01.05.02.02 233
Parameter 18.013 Application Menu 1 Read-write Integer 13
Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.014 Application Menu 1 Read-write Integer 14

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.015 Application Menu 1 Read-write Integer 15

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.016 Application Menu 1 Read-write Integer 16

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.017 Application Menu 1 Read-write Integer 17

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.018 Application Menu 1 Read-write Integer 18

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.019 Application Menu 1 Read-write Integer 19

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

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234 Issue: 01.05.02.02
 Parameter 18.020 Application Menu 1 Read-write Integer 20
Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.021 Application Menu 1 Read-write Integer 21

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.022 Application Menu 1 Read-write Integer 22

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.023 Application Menu 1 Read-write Integer 23

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.024 Application Menu 1 Read-write Integer 24

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.025 Application Menu 1 Read-write Integer 25

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.026 Application Menu 1 Read-write Integer 26

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

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Issue: 01.05.02.02 235
Parameter 18.027 Application Menu 1 Read-write Integer 27
Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.028 Application Menu 1 Read-write Integer 28

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.029 Application Menu 1 Read-write Integer 29

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.030 Application Menu 1 Read-write Integer 30

Short description General read-write integer application parameter
Mode Open‑Loop
Minimum -32768 Maximum 32767
Default 0 Units
Type 16 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.031 Application Menu 1 Read-write bit 31

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.032 Application Menu 1 Read-write bit 32

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.033 Application Menu 1 Read-write bit 33

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

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236 Issue: 01.05.02.02
 Parameter 18.034 Application Menu 1 Read-write bit 34
Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.035 Application Menu 1 Read-write bit 35

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.036 Application Menu 1 Read-write bit 36

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.037 Application Menu 1 Read-write bit 37

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.038 Application Menu 1 Read-write bit 38

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.039 Application Menu 1 Read-write bit 39

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.040 Application Menu 1 Read-write bit 40

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

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Issue: 01.05.02.02 237
Parameter 18.041 Application Menu 1 Read-write bit 41
Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.042 Application Menu 1 Read-write bit 42

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.043 Application Menu 1 Read-write bit 43

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.044 Application Menu 1 Read-write bit 44

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.045 Application Menu 1 Read-write bit 45

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.046 Application Menu 1 Read-write bit 46

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.047 Application Menu 1 Read-write bit 47

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

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238 Issue: 01.05.02.02
 Parameter 18.048 Application Menu 1 Read-write bit 48
Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.049 Application Menu 1 Read-write bit 49

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 18.050 Application Menu 1 Read-write bit 50

Short description General read-write bit application parameter
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

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Issue: 01.05.02.02 239
Menu 20 Single Line Descriptions − Application Menu 2
Mode: Open‑Loop

Parameter Range Default Type

20.021 Application Menu 3 Read‑write Long Integer 21 -2147483648 to 2147483647 0 RW Num
20.022 Application Menu 3 Read‑write Long Integer 22 -2147483648 to 2147483647 0 RW Num
20.023 Application Menu 3 Read‑write Long Integer 23 -2147483648 to 2147483647 0 RW Num
20.024 Application Menu 3 Read‑write Long Integer 24 -2147483648 to 2147483647 0 RW Num
20.025 Application Menu 3 Read‑write Long Integer 25 -2147483648 to 2147483647 0 RW Num
20.026 Application Menu 3 Read‑write Long Integer 26 -2147483648 to 2147483647 0 RW Num
20.027 Application Menu 3 Read‑write Long Integer 27 -2147483648 to 2147483647 0 RW Num
20.028 Application Menu 3 Read‑write Long Integer 28 -2147483648 to 2147483647 0 RW Num
20.029 Application Menu 3 Read‑write Long Integer 29 -2147483648 to 2147483647 0 RW Num
20.030 Application Menu 3 Read‑write Long Integer 30 -2147483648 to 2147483647 0 RW Num

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

240 Issue: 01.05.02.02
Menu 20 − Application Menu 2
Mode: Open‑Loop

See introduction to menu 18.

Parameter 20.021 Application Menu 3 Read-write Long Integer 21

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.022 Application Menu 3 Read-write Long Integer 22

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.023 Application Menu 3 Read-write Long Integer 23

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.024 Application Menu 3 Read-write Long Integer 24

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.025 Application Menu 3 Read-write Long Integer 25

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.026 Application Menu 3 Read-write Long Integer 26

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 241
Parameter 20.027 Application Menu 3 Read-write Long Integer 27
Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.028 Application Menu 3 Read-write Long Integer 28

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.029 Application Menu 3 Read-write Long Integer 29

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Parameter 20.030 Application Menu 3 Read-write Long Integer 30

Short description General read-write long integer application parameter
Mode Open‑Loop
Minimum -2147483648 Maximum 2147483647
Default 0 Units
Type 32 Bit Volatile Update Rate N/A
Display Format Standard Decimal Places 0
Coding RW

Unidrive M400 Parameter Reference Guide

242 Issue: 01.05.02.02
Menu 21 Single Line Descriptions − Motor 2 Parameters
Mode: Open‑Loop

Parameter Range Default Type

50Hz: 50.00 Hz
21.001 M2 Maximum Speed ±VM_POSITIVE_REF_CLAMP Hz RW Num US
60Hz: 60.00 Hz
21.002 M2 Minimum Speed ±VM_NEGATIVE_REF_CLAMP2 Hz 0.00 Hz RW Num US
A1 A2 (0), A1 Preset (1),
21.003 M2 Reference Selector A2 Preset (2), Preset (3), Keypad (4), A1 A2 (0) RW Txt US
Reserved (5), Keypad Ref (6)
21.004 M2 Acceleration Rate 1 ±VM_ACCEL_RATE 5.0 RW Num US
21.005 M2 Deceleration Rate 1 ±VM_ACCEL_RATE 10.0 RW Num US
50Hz: 50.00 Hz
21.006 M2 Motor Rated Frequency 0.00 to 550.00 Hz RW Num US
60Hz: 60.00 Hz
21.007 M2 Motor Rated Current ±VM_RATED_CURRENT A 0.00 A RW Num RA US
50Hz: 1500.0 rpm
21.008 M2 Motor Rated Speed 0.0 to 33000.0 rpm RW Num US
60Hz: 1800.0 rpm
110V drive: 230 V
200V drive: 230 V
400V drive 50Hz: 400 V
21.009 M2 Motor Rated Voltage ±VM_AC_VOLTAGE_SET V RW Num RA US
400V drive 60Hz: 460 V
575V drive: 575 V
690V drive: 690 V
21.010 M2 Motor Rated Power Factor 0.00 to 1.00 0.85 RW Num RA US
21.011 M2 Number of Motor Poles Automatic (0) to 32 (16) Poles Automatic (0) Poles RW Txt US
21.012 M2 Stator Resistance 0.0000 to 99.9999 Ω 0.0000 Ω RW Num RA US
21.014 M2 Transient Inductance 0.000 to 500.000 mH 0.000 mH RW Num RA US
21.015 Motor 2 Active Off (0) or On (1) RO Bit ND NC PT
21.016 M2 Motor Thermal Time Constant 1 1 to 3000 s 179 s RW Num US
21.022 M2 Current Controller Kp Gain 0.00 to 4000.00 20.00 RW Num US
21.023 M2 Current Controller Ki Gain 0.000 to 600.000 40.000 RW Num US
21.024 M2 Stator Inductance 0.00 to 5000.00 mH 0.00 mH RW Num RA US
21.027 M2 Motoring Current Limit ±VM_MOTOR2_CURRENT_LIMIT % 165.0 % RW Num RA US
21.028 M2 Regenerating Current Limit ±VM_MOTOR2_CURRENT_LIMIT % 165.0 % RW Num RA US
21.029 M2 Symmetrical Current Limit ±VM_MOTOR2_CURRENT_LIMIT % 165.0 % RW Num RA US
21.033 M2 Low Frequency Thermal Protection Mode 0 to 1 0 RW Num US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 243
Menu 21 − Motor 2 Parameters
Mode: Open‑Loop

If Select Motor 2 Parameters (11.045) = 1 then the motor set-up parameters given in the table below are used instead of the equivalent parameters in
other menus. The motor 2 parameters have the same attributes etc. as the equivalent parameters in other menus.

Parameter Motor map 2 parameter Equivalent parameter

21.001 M2 Maximum Speed (21.001) Maximum Speed (01.006)
21.002 M2 Minimum Speed (21.002) Minimum Speed (01.007)
21.003 M2 Reference Selector (21.003) Reference Selector (01.014)
21.004 M2 Acceleration Rate 1 (21.004) Acceleration Rate 1 (02.011)
21.005 M2 Deceleration Rate 1 (21.005) Deceleration Rate 1 (02.021)
21.006 M2 Motor Rated Frequency (21.006) Motor Rated Frequency (05.006)
21.007 M2 Motor Rated Current (21.007) Motor Rated Current (05.007)
21.008 M2 Motor Rated Speed (21.008) Motor Rated Speed (05.008)
21.009 M2 Motor Rated Voltage (21.009) Motor Rated Voltage (05.009)
21.010 M2 Motor Rated Power Factor (21.010) Motor Rated Power Factor (05.010)
21.011 M2 Number of Motor Poles (21.011) Number Of Motor Poles (05.011)
21.012 M2 Stator Resistance (21.012) Stator Resistance (05.017)
21.014 M2 Transient Inductance (21.014) Transient Inductance (05.024)
21.015 Motor 2 Active (21.015) N/A
21.016 M2 Motor Thermal Time Constant 1 (21.016) Motor Thermal Time Constant 1
21.022 M2 Current Controller Kp Gain (21.022) Current Controller Kp Gain (04.013)
21.023 M2 Current Controller Ki Gain (21.023) Current Controller Ki Gain (04.014)
21.024 M2 Stator Inductance (21.024) Stator Inductance (05.025)
21.027 M2 Motoring Current Limit (21.027) Motoring Current Limit (04.005)
21.028 M2 Regenerating Current Limit (21.028) Regenerating Current Limit (04.006)
21.029 M2 Symmetrical Current Limit (21.029) Symmetrical Current Limit (04.007)
M2 Low Frequency Thermal Protection Mode Low Frequency Thermal Protection Mode
21.033
(21.033) (04.025)

Parameter 21.001 M2 Maximum Speed

Short description Defines the maximum reference clamp for motor map 2
Mode Open‑Loop
Minimum −VM_POSITIVE_REF_CLAMP Maximum VM_POSITIVE_REF_CLAMP
Default See exceptions below Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM

Region Default Value

50Hz 50.00
60Hz 60.00

This is the motor map 2 equivalent parameter for Maximum Speed (01.006).

Parameter 21.002 M2 Minimum Speed

Short description Defines the minimum reference clamp for motor map 2
Mode Open‑Loop
Minimum −VM_NEGATIVE_REF_CLAMP2 Maximum VM_NEGATIVE_REF_CLAMP2
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM

This is the motor map 2 equivalent for Minimum Speed (01.007).

Parameter 21.003 M2 Reference Selector

Short description Defines which reference is used for motor map 2
Mode Open‑Loop
Minimum 0 Maximum 6
Default 0 Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, TE

Unidrive M400 Parameter Reference Guide

244 Issue: 01.05.02.02
 Value Text Description
0 A1 A2 Analogue reference 1 or 2 selected by terminal input
1 A1 Preset Analogue reference 1 or Presets selected by terminal input
2 A2 Preset Analogue reference 2 or Presets selected by terminal input
3 Preset Preset reference selected by terminal
4 Keypad Keypad reference selected
5 Reserved Reserved
6 Keypad Ref Keypad reference selected but no control mode

This is the motor map 2 equivalent for Reference Selector (01.014).

Parameter 21.004 M2 Acceleration Rate 1

Short description Defines the acceleration rate used for motor map 2
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 5.0 Units
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

This is the motor map 2 equivalent for Acceleration Rate 1 (02.011).

Parameter 21.005 M2 Deceleration Rate 1

Short description Defines the deceleration rate used for motor map 2
Mode Open‑Loop
Minimum −VM_ACCEL_RATE Maximum VM_ACCEL_RATE
Default 10.0 Units
Type 32 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM

This is the motor map 2 equivalent for Deceleration Rate 1 (02.021).

Parameter 21.006 M2 Motor Rated Frequency

Short description Defines the motor rated frequency used for motor map 2
Mode Open‑Loop
Minimum 0.00 Maximum 550.00
Default See exceptions below Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

Region Default Value

50Hz 50.00
60Hz 60.00

This is the motor map 2 equivalent for Motor Rated Frequency (05.006).

Parameter 21.007 M2 Motor Rated Current

Short description Defines the motor rated used for motor map 2
Mode Open‑Loop
Minimum −VM_RATED_CURRENT Maximum VM_RATED_CURRENT
Default 0.00 Units A
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM, RA

This is the motor map 2 equivalent for Motor Rated Current (05.007).

Parameter 21.008 M2 Motor Rated Speed

Short description Defines the motor rated speed used for motor map 2
Mode Open‑Loop
Minimum 0.0 Maximum 33000.0
Default See exceptions below Units rpm
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 1
Coding RW

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 245
Region Default Value
50Hz 1500.0
60Hz 1800.0

This is the motor map 2 equivalent for Motor Rated Speed (05.008).

Parameter 21.009 M2 Motor Rated Voltage

Short description Defines the motor rated voltage used for motor map 2
Mode Open‑Loop
Minimum −VM_AC_VOLTAGE_SET Maximum VM_AC_VOLTAGE_SET
Default See exceptions below Units V
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 0
Coding RW, VM, RA

Voltage Region Default Value

110V All 230
200V All 230
400V 50Hz 400
400V 60Hz 460
575V All 575
690V All 690

This is the motor map 2 equivalent for Motor Rated Voltage (05.009).

Parameter 21.010 M2 Motor Rated Power Factor

Short description Defines the motor rated power factor used for motor map 2
Mode Open‑Loop
Minimum 0.00 Maximum 1.00
Default 0.85 Units
Type 16 Bit User Save Update Rate Background read/write
Display Format Standard Decimal Places 2
Coding RW, RA

This is the motor map 2 equivalent for Motor Rated Power Factor (05.010).

Parameter 21.011 M2 Number of Motor Poles

Short description Defines the number of motor poles used for motor map 2
Mode Open‑Loop
Minimum 0 Maximum 16
Default 0 Units PolePairs
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, BU

This is the motor map 2 equivalent for Number Of Motor Poles (05.011).

Parameter 21.012 M2 Stator Resistance

Short description Defines the stator resistance used for motor map 2
Mode Open‑Loop
Minimum 0.0000 Maximum 99.9999
Default 0.0000 Units Ω
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 4
Coding RW, RA

This is the motor map 2 equivalent for Stator Resistance (05.017).

Parameter 21.014 M2 Transient Inductance

Short description Defines the transient inductance used for motor map 2
Mode Open‑Loop
Minimum 0.000 Maximum 500.000
Default 0.000 Units mH
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, RA

This is the motor map 2 equivalent for Transient Inductance (05.024).

Unidrive M400 Parameter Reference Guide

246 Issue: 01.05.02.02
 Parameter 21.015 Motor 2 Active
Short description Indicates if motor 2 parameters are being used by the drive
Mode Open‑Loop
Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT

If Motor 2 Active (21.015) = 0 then the standard motor set-up parameters are being used or if Motor 2 Active (21.015) = 1 then the motor 2 parameters
are being used. The motor set-up parameters do not necessarily change immediately when Select Motor 2 Parameters (11.045) is changed (i.e. the
drive may be enabled). Motor 2 Active (21.015) shows the actual motor parameters being used and only changes when the new parameters start being
used by the drive.

Parameter 21.016 M2 Motor Thermal Time Constant 1

Short description Defines the thermal time constant of the motor used for motor map 2
Mode Open‑Loop
Minimum 1 Maximum 3000
Default 179 Units s
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

This is the motor map 2 equivalent of Motor Thermal Time Constant 1 (04.015).

Parameter 21.022 M2 Current Controller Kp Gain

Short description Defines the Kp value of the current controller used for motor map 2
Mode Open‑Loop
Minimum 0.00 Maximum 4000.00
Default 20.00 Units
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW

This is the motor map 2 equivalent for Current Controller Kp Gain (04.013).

Parameter 21.023 M2 Current Controller Ki Gain

Short description Defines the Ki value of the current controller used for motor map 2
Mode Open‑Loop
Minimum 0.000 Maximum 600.000
Default 40.000 Units
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW

This is the motor map 2 equivalent for Current Controller Ki Gain (04.014).

Parameter 21.024 M2 Stator Inductance

Short description Defines the stator inductance of the motor used for motor map 2
Mode Open‑Loop
Minimum 0.00 Maximum 5000.00
Default 0.00 Units mH
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, RA

This is the motor map 2 equivalent for Stator Inductance (05.025).

Parameter 21.027 M2 Motoring Current Limit

Short description Defines the motoring current limit used for motor map 2
Mode Open‑Loop
Minimum −VM_MOTOR2_CURRENT_LIMIT Maximum VM_MOTOR2_CURRENT_LIMIT
Default 165.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM, RA

This is the motor map 2 equivalent for Motoring Current Limit (04.005).

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 247
Parameter 21.028 M2 Regenerating Current Limit
Short description
Mode Open‑Loop
Minimum −VM_MOTOR2_CURRENT_LIMIT Maximum VM_MOTOR2_CURRENT_LIMIT
Default 165.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM, RA

This is the motor map 2 equivalent for Regenerating Current Limit (04.006).

Parameter 21.029 M2 Symmetrical Current Limit

Short description Defines the symmetrical current limit used for motor map 2
Mode Open‑Loop
Minimum −VM_MOTOR2_CURRENT_LIMIT Maximum VM_MOTOR2_CURRENT_LIMIT
Default 165.0 Units %
Type 16 Bit User Save Update Rate 16ms
Display Format Standard Decimal Places 1
Coding RW, VM, RA

This is the motor map 2 equivalent for Symmetrical Current Limit (04.007).

Parameter 21.033 M2 Low Frequency Thermal Protection Mode

Short description Set to enable low frequency thermal protection mod
Mode Open‑Loop
Minimum 0 Maximum 1
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW

This is the motor map 2 equivalent for Low Frequency Thermal Protection Mode (04.025).

Unidrive M400 Parameter Reference Guide

248 Issue: 01.05.02.02
Menu 22 Single Line Descriptions − Menu 0 Setup
Mode: Open‑Loop

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 249
 Parameter Range Default Type
22.001 Parameter 00.001 Set‑up 0.000 to 30.999 1.007 RW Num PT US
22.002 Parameter 00.002 Set‑up 0.000 to 30.999 1.006 RW Num PT US
22.003 Parameter 00.003 Set‑up 0.000 to 30.999 2.011 RW Num PT US
22.004 Parameter 00.004 Set‑up 0.000 to 30.999 2.021 RW Num PT US
22.005 Parameter 00.005 Set‑up 0.000 to 30.999 11.034 RW Num PT US
22.006 Parameter 00.006 Set‑up 0.000 to 30.999 5.007 RW Num PT US
22.007 Parameter 00.007 Set‑up 0.000 to 30.999 5.008 RW Num PT US
22.008 Parameter 00.008 Set‑up 0.000 to 30.999 5.009 RW Num PT US
22.009 Parameter 00.009 Set‑up 0.000 to 30.999 5.010 RW Num PT US
22.010 Parameter 00.010 Set‑up 0.000 to 30.999 11.044 RW Num PT US
22.011 Parameter 00.011 Set‑up 0.000 to 30.999 6.004 RW Num PT US
22.012 Parameter 00.012 Set‑up 0.000 to 30.999 8.010 RW Num PT US
22.013 Parameter 00.013 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.014 Parameter 00.014 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.015 Parameter 00.015 Set‑up 0.000 to 30.999 1.005 RW Num PT US
22.016 Parameter 00.016 Set‑up 0.000 to 30.999 7.007 RW Num PT US
22.017 Parameter 00.017 Set‑up 0.000 to 30.999 1.010 RW Num PT US
22.018 Parameter 00.018 Set‑up 0.000 to 30.999 1.021 RW Num PT US
22.019 Parameter 00.019 Set‑up 0.000 to 30.999 1.022 RW Num PT US
22.020 Parameter 00.020 Set‑up 0.000 to 30.999 1.023 RW Num PT US
22.021 Parameter 00.021 Set‑up 0.000 to 30.999 1.024 RW Num PT US
22.022 Parameter 00.022 Set‑up 0.000 to 30.999 11.019 RW Num PT US
22.023 Parameter 00.023 Set‑up 0.000 to 30.999 11.018 RW Num PT US
22.024 Parameter 00.024 Set‑up 0.000 to 30.999 11.021 RW Num PT US
22.025 Parameter 00.025 Set‑up 0.000 to 30.999 11.030 RW Num PT US
22.026 Parameter 00.026 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.027 Parameter 00.027 Set‑up 0.000 to 30.999 1.051 RW Num PT US
22.028 Parameter 00.028 Set‑up 0.000 to 30.999 2.004 RW Num PT US
22.029 Parameter 00.029 Set‑up 0.000 to 30.999 2.002 RW Num PT US
22.030 Parameter 00.030 Set‑up 0.000 to 30.999 11.042 RW Num PT US
22.031 Parameter 00.031 Set‑up 0.000 to 30.999 6.001 RW Num PT US
22.032 Parameter 00.032 Set‑up 0.000 to 30.999 5.013 RW Num PT US
22.033 Parameter 00.033 Set‑up 0.000 to 30.999 6.009 RW Num PT US
22.034 Parameter 00.034 Set‑up 0.000 to 30.999 8.035 RW Num PT US
22.035 Parameter 00.035 Set‑up 0.000 to 30.999 8.091 RW Num PT US
22.036 Parameter 00.036 Set‑up 0.000 to 30.999 7.055 RW Num PT US
22.037 Parameter 00.037 Set‑up 0.000 to 30.999 5.018 RW Num PT US
22.038 Parameter 00.038 Set‑up 0.000 to 30.999 5.012 RW Num PT US
22.039 Parameter 00.039 Set‑up 0.000 to 30.999 5.006 RW Num PT US
22.040 Parameter 00.040 Set‑up 0.000 to 30.999 5.011 RW Num PT US
22.041 Parameter 00.041 Set‑up 0.000 to 30.999 5.014 RW Num PT US
22.042 Parameter 00.042 Set‑up 0.000 to 30.999 5.015 RW Num PT US
22.043 Parameter 00.043 Set‑up 0.000 to 30.999 11.025 RW Num PT US
22.044 Parameter 00.044 Set‑up 0.000 to 30.999 11.023 RW Num PT US
22.045 Parameter 00.045 Set‑up 0.000 to 30.999 11.020 RW Num PT US
22.046 Parameter 00.046 Set‑up 0.000 to 30.999 12.042 RW Num PT US
22.047 Parameter 00.047 Set‑up 0.000 to 30.999 12.043 RW Num PT US
22.048 Parameter 00.048 Set‑up 0.000 to 30.999 12.044 RW Num PT US
22.049 Parameter 00.049 Set‑up 0.000 to 30.999 12.045 RW Num PT US
22.050 Parameter 00.050 Set‑up 0.000 to 30.999 12.046 RW Num PT US
22.051 Parameter 00.051 Set‑up 0.000 to 30.999 12.047 RW Num PT US
22.052 Parameter 00.052 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.053 Parameter 00.053 Set‑up 0.000 to 30.999 12.050 RW Num PT US
22.054 Parameter 00.054 Set‑up 0.000 to 30.999 12.051 RW Num PT US
22.055 Parameter 00.055 Set‑up 0.000 to 30.999 12.041 RW Num PT US
22.056 Parameter 00.056 Set‑up 0.000 to 30.999 10.020 RW Num PT US
22.057 Parameter 00.057 Set‑up 0.000 to 30.999 10.021 RW Num PT US
22.058 Parameter 00.058 Set‑up 0.000 to 30.999 10.022 RW Num PT US
22.059 Parameter 00.059 Set‑up 0.000 to 30.999 11.047 RW Num PT US
22.060 Parameter 00.060 Set‑up 0.000 to 30.999 11.048 RW Num PT US
22.061 Parameter 00.061 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.062 Parameter 00.062 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.063 Parameter 00.063 Set‑up 0.000 to 30.999 0.000 RW Num PT US

Unidrive M400 Parameter Reference Guide

250 Issue: 01.05.02.02
 22.064 Parameter 00.064 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.065 Parameter 00.065 Set‑up 0.000 to 30.999 3.010 RW Num PT US
22.066 Parameter 00.066 Set‑up 0.000 to 30.999 3.011 RW Num PT US
22.067 Parameter 00.067 Set‑up 0.000 to 30.999 3.079 RW Num PT US
22.068 Parameter 00.068 Set‑up 0.000 to 30.999 0.000 RW Num PT US
22.069 Parameter 00.069 Set‑up 0.000 to 30.999 5.040 RW Num PT US
22.070 Parameter 00.070 Set‑up 0.000 to 30.999 14.001 RW Num PT US
22.071 Parameter 00.071 Set‑up 0.000 to 30.999 14.010 RW Num PT US
22.072 Parameter 00.072 Set‑up 0.000 to 30.999 14.011 RW Num PT US
22.073 Parameter 00.073 Set‑up 0.000 to 30.999 14.006 RW Num PT US
22.074 Parameter 00.074 Set‑up 0.000 to 30.999 14.013 RW Num PT US
22.075 Parameter 00.075 Set‑up 0.000 to 30.999 14.014 RW Num PT US
22.076 Parameter 00.076 Set‑up 0.000 to 30.999 10.037 RW Num PT US
22.077 Parameter 00.077 Set‑up 0.000 to 30.999 11.032 RW Num PT US
22.078 Parameter 00.078 Set‑up 0.000 to 30.999 11.029 RW Num PT US
22.079 Parameter 00.079 Set‑up 0.000 to 30.999 11.031 RW Num PT US
22.080 Parameter 00.080 Set‑up 0.000 to 30.999 0.000 RW Num PT US

RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
No
Num Number parameter DE Destination ND RA Rating dependent NC Non-copyable PT Protected
default value
Power-
FI Filtered US User save PS
down save

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 251
Menu 22 − Menu 0 Setup
Mode: Open‑Loop

Parameter 22.001 Parameter 00.001 Set-up

Short description Defines the parameter to be shown in 00.001
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.007 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.002 Parameter 00.002 Set-up

Short description Defines the parameter to be shown in 00.002
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.006 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.003 Parameter 00.003 Set-up

Short description Defines the parameter to be shown in 00.003
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 2.011 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.004 Parameter 00.004 Set-up

Short description Defines the parameter to be shown in 00.004
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 2.021 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.005 Parameter 00.005 Set-up

Short description Defines the parameter to be shown in 00.005
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.034 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.006 Parameter 00.006 Set-up

Short description Defines the parameter to be shown in 00.006
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.007 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Unidrive M400 Parameter Reference Guide

252 Issue: 01.05.02.02
 Parameter 22.007 Parameter 00.007 Set-up
Short description Defines the parameter to be shown in 00.007
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.008 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.008 Parameter 00.008 Set-up

Short description Defines the parameter to be shown in 00.008
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.009 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.009 Parameter 00.009 Set-up

Short description Defines the parameter to be shown in 00.009
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.010 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.010 Parameter 00.010 Set-up

Short description Defines the parameter to be shown in 00.010
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.044 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.011 Parameter 00.011 Set-up

Short description Defines the parameter to be shown in 00.011
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 6.004 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.012 Parameter 00.012 Set-up

Short description Defines the parameter to be shown in 00.012
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 8.010 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.013 Parameter 00.013 Set-up

Short description Defines the parameter to be shown in 00.013
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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Parameter 22.014 Parameter 00.014 Set-up
Short description Defines the parameter to be shown in 00.014
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.015 Parameter 00.015 Set-up

Short description Defines the parameter to be shown in 00.015
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.005 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.016 Parameter 00.016 Set-up

Short description Defines the parameter to be shown in 00.016
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 7.007 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.017 Parameter 00.017 Set-up

Short description Defines the parameter to be shown in 00.017
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.010 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.018 Parameter 00.018 Set-up

Short description Defines the parameter to be shown in 00.018
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.021 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.019 Parameter 00.019 Set-up

Short description Defines the parameter to be shown in 00.019
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.022 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.020 Parameter 00.020 Set-up

Short description Defines the parameter to be shown in 00.020
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.023 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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254 Issue: 01.05.02.02
 Parameter 22.021 Parameter 00.021 Set-up
Short description Defines the parameter to be shown in 00.021
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.024 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.022 Parameter 00.022 Set-up

Short description Defines the parameter to be shown in 00.022
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.019 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.023 Parameter 00.023 Set-up

Short description Defines the parameter to be shown in 00.023
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.018 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.024 Parameter 00.024 Set-up

Short description Defines the parameter to be shown in 00.024
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.021 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.025 Parameter 00.025 Set-up

Short description Defines the parameter to be shown in 00.025
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.030 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.026 Parameter 00.026 Set-up

Short description Defines the parameter to be shown in 00.026
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.027 Parameter 00.027 Set-up

Short description Defines the parameter to be shown in 00.027
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 1.051 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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Parameter 22.028 Parameter 00.028 Set-up
Short description Defines the parameter to be shown in 00.028
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 2.004 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.029 Parameter 00.029 Set-up

Short description Defines the parameter to be shown in 00.029
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 2.002 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.030 Parameter 00.030 Set-up

Short description Defines the parameter to be shown in 00.030
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.042 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.031 Parameter 00.031 Set-up

Short description Defines the parameter to be shown in 00.031
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 6.001 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.032 Parameter 00.032 Set-up

Short description Defines the parameter to be shown in 00.032
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.013 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.033 Parameter 00.033 Set-up

Short description Defines the parameter to be shown in 00.033
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 6.009 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.034 Parameter 00.034 Set-up

Short description Defines the parameter to be shown in 00.034
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 8.035 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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256 Issue: 01.05.02.02
 Parameter 22.035 Parameter 00.035 Set-up
Short description Defines the parameter to be shown in 00.035
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 8.091 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.036 Parameter 00.036 Set-up

Short description Defines the parameter to be shown in 00.036
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 7.055 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.037 Parameter 00.037 Set-up

Short description Defines the parameter to be shown in 00.037
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.018 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.038 Parameter 00.038 Set-up

Short description Defines the parameter to be shown in 00.038
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.012 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.039 Parameter 00.039 Set-up

Short description Defines the parameter to be shown in 00.039
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.006 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.040 Parameter 00.040 Set-up

Short description Defines the parameter to be shown in 00.040
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.011 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.041 Parameter 00.041 Set-up

Short description Defines the parameter to be shown in 00.041
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.014 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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Issue: 01.05.02.02 257
Parameter 22.042 Parameter 00.042 Set-up
Short description Defines the parameter to be shown in 00.042
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.015 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.043 Parameter 00.043 Set-up

Short description Defines the parameter to be shown in 00.043
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.025 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.044 Parameter 00.044 Set-up

Short description Defines the parameter to be shown in 00.044
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.023 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.045 Parameter 00.045 Set-up

Short description Defines the parameter to be shown in 00.045
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.020 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.046 Parameter 00.046 Set-up

Short description Defines the parameter to be shown in 00.046
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.042 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.047 Parameter 00.047 Set-up

Short description Defines the parameter to be shown in 00.047
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.043 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.048 Parameter 00.048 Set-up

Short description Defines the parameter to be shown in 00.048
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.044 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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258 Issue: 01.05.02.02
 Parameter 22.049 Parameter 00.049 Set-up
Short description Defines the parameter to be shown in 00.049
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.045 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.050 Parameter 00.050 Set-up

Short description Defines the parameter to be shown in 00.050
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.046 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.051 Parameter 00.051 Set-up

Short description Defines the parameter to be shown in 00.051
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.047 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.052 Parameter 00.052 Set-up

Short description Defines the parameter to be shown in 00.052
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.053 Parameter 00.053 Set-up

Short description Defines the parameter to be shown in 00.053
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.050 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.054 Parameter 00.054 Set-up

Short description Defines the parameter to be shown in 00.054
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.051 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.055 Parameter 00.055 Set-up

Short description Defines the parameter to be shown in 00.055
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 12.041 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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Issue: 01.05.02.02 259
Parameter 22.056 Parameter 00.056 Set-up
Short description Defines the parameter to be shown in 00.056
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 10.020 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.057 Parameter 00.057 Set-up

Short description Defines the parameter to be shown in 00.057
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 10.021 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.058 Parameter 00.058 Set-up

Short description Defines the parameter to be shown in 00.058
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 10.022 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.059 Parameter 00.059 Set-up

Short description Defines the parameter to be shown in 00.059
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.047 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.060 Parameter 00.060 Set-up

Short description Defines the parameter to be shown in 00.060
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.048 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.061 Parameter 00.061 Set-up

Short description Defines the parameter to be shown in 00.061
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.062 Parameter 00.062 Set-up

Short description Defines the parameter to be shown in 00.062
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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260 Issue: 01.05.02.02
 Parameter 22.063 Parameter 00.063 Set-up
Short description Defines the parameter to be shown in 00.063
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.064 Parameter 00.064 Set-up

Short description Defines the parameter to be shown in 00.064
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.065 Parameter 00.065 Set-up

Short description Defines the parameter to be shown in 00.065
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 3.010 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.066 Parameter 00.066 Set-up

Short description Defines the parameter to be shown in 00.066
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 3.011 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.067 Parameter 00.067 Set-up

Short description Defines the parameter to be shown in 00.067
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 3.079 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.068 Parameter 00.068 Set-up

Short description Defines the parameter to be shown in 00.068
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.069 Parameter 00.069 Set-up

Short description Defines the parameter to be shown in 00.069
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 5.040 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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Issue: 01.05.02.02 261
Parameter 22.070 Parameter 00.070 Set-up
Short description Defines the parameter to be shown in 00.070
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 14.001 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.071 Parameter 00.071 Set-up

Short description Defines the parameter to be shown in 00.071
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 14.010 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.072 Parameter 00.072 Set-up

Short description Defines the parameter to be shown in 00.072
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 14.011 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.073 Parameter 00.073 Set-up

Short description Defines the parameter to be shown in 00.073
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 14.006 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.074 Parameter 00.074 Set-up

Short description Defines the parameter to be shown in 00.074
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 14.013 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.075 Parameter 00.075 Set-up

Short description Defines the parameter to be shown in 00.075
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 14.014 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.076 Parameter 00.076 Set-up

Short description Defines the parameter to be shown in 00.076
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 10.037 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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262 Issue: 01.05.02.02
 Parameter 22.077 Parameter 00.077 Set-up
Short description Defines the parameter to be shown in 00.077
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.032 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.078 Parameter 00.078 Set-up

Short description Defines the parameter to be shown in 00.078
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.029 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.079 Parameter 00.079 Set-up

Short description Defines the parameter to be shown in 00.079
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 11.031 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

Parameter 22.080 Parameter 00.080 Set-up

Short description Defines the parameter to be shown in 00.080
Mode Open‑Loop
Minimum 0.000 Maximum 30.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 3
Coding RW, PT, BU

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Issue: 01.05.02.02 263
Trips
Mode: Open‑Loop

Trip 0 (10.020) to Trip 9 (10.029) store the most recent 10 trips that have occurred where Trip Trip 0 (10.020) is the most recent and Trip 9 (10.029) is the oldest. When a new trip
occurs it is written to Trip 0 (10.020) and all the other trips move down the log, with the oldest being lost.

The date and time when each trip occurs are also stored in the date and time log, i.e. Trip 0 Date (10.041) to Trip 9 Time (10.060). The date and time are taken from Date (06.016)
and Time (06.017) (See Date/Time Selector (06.019)). Some trips have sub-trip numbers which give more detail about the reason for the trip. If a trip has a sub-trip number its value
is stored in the sub-trip log, i.e. Trip 0 Sub-trip Number (10.070) to Trip 9 Sub-trip Number (10.079). If the trip does not have a sub-trip number then zero is stored in the sub-trip log.

Trip categories and priorities

Trips are grouped into the categories given in the table below. A trip can only occur when the drive is not tripped, or if it is already tripped and the new trip has a higher priority than
the active trip (i.e. lower priority number). Unless otherwise stated a trip cannot be reset until 1.0s after it has been initiated.

Priority Category Trips Comments

These are fatal problems that cannot be reset. All drive features are inactive after any of these trips occur. If a basic keypad is
1 Internal faults HF01 - HF19
fitted it will show the trip, but the keypad will not function. These trips are not stored in the trip log.
1 Stored HF trip Stored HF This trip cannot be cleared unless 1299 is entered into Parameter mm.000 (mm.000) and a reset is initiated.
Trip numbers 218
2 Non-resettable trips - 247 and These trips cannot be reset.
Slot1 HF
This can only be reset if Parameter mm.000 (mm.000) is set to 1233 or 1244, or if Load Defaults (11.043) is set to a non-zero
3 Volatile memory failure EEPROM Fail
value
Trip numbers 174,
4 Non-volatile media trips These trips are priority 5 during power-up
175 and 177 - 188

Trips with extended OI ac and

5 These trips cannot be reset until 10s after the trip was initiated.
reset times OI Brake

Phase loss and d.c. link Phase Loss and The drive will attempt to stop the motor before tripping if a Phase Loss.000 trip occurs unless this feature has been disabled
5
power circuit protection OHt dc bus (see Action On Trip Detection (10.037)). The drive will always attempt to stop the motor before tripping if an OHt dc bus occurs.

5 Standard trips All other trips

Trips {HF01} to {HF19} are internal faults that do not have trip numbers. If one of these trips occurs, the main drive processor has detected an irrecoverable error. All drive functions
are stopped and the trip message will be displayed on the drive keypad. The error can only be reset by powering the drive down and up again. The table below gives the reasons for
internal faults and their corresponding trip

Unidrive M400 Parameter Reference Guide

264 Issue: 01.05.02.02
 Trip Reason
{HF01} CPU hardware fault during exception processing
{HF02} CPU memory management fault is an exception that occurs because of a memory protection related fault
CPU has detected a Bus Fault. A Bus Fault is an exception that occurs because of a memory related fault for an instruction or
{HF03}
data memory transaction. This might be from an error detected on a bus in the memory system.

CPU has detected a usage fault:

A Usage Fault is an exception that occurs because of a fault related to instruction execution. This includes:

an undefined instruction
an illegal unaligned access
{HF04} invalid state on instruction execution
an error on exception return.

The following can cause a Usage Fault when the core is configured to report them:

an unaligned address on word and half word memory access

division by zero.

{HF05} Reserved
{HF06} Reserved
{HF07} Watchdog failure
{HF08} CPU Interrupt crash. Interrupt crash level indicated by subtrip number.
{HF09} Free store overflow
{HF10} Reserved

The HF11 trip indicates that a non-volatile memory comms error has occurred.

Sub-
Reason Recommended action
trip
{HF11}
1 Non-volatile memory comms error. Hardware fault – contact the supplier of the drive.

EEPROM size is incompatible with After 1min the drive will go to its bootloader. Re-program drive with compatible
2
the user firmware. user firmware using UniMConnect

Stack overflow

Sub-trip Reason

1 User program or derivative background stack overflow

{HF12}
2 User program or derivative timed stack overflow

3 Main system interrupt stack overflow

4 Main system background stack overflow

{HF13} Reserved

{HF14} Reserved

{HF15} Reserved

{HF16} RTOS error (the background task has returned)

{HF17} Reserved

The HF18 trip indicates that the internal flash memory has failed when writing option module parameter data. The reason for
the trip can be identified by the sub-trip number.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 265
 Sub-trip Reason

1 Option module initialization timed out

2 Programming error while writing menu in flash

{HF18}

3 Erase flash block containing setup menus failed

4 Erase flash block containing application menus failed

5 Incorrect setup menu CRC contained in flash

6 Incorrect application menu CRC contained in flash

The HF19 trip indicates that the drive firmware is partially or completely deleted. The drive is now in its bootloader and is
{HF19}
waiting for a new image to be downloaded using UniMConnect. Once a new image is downloaded, the drive can run normally.

When the drive is subsequently powered up a Stored HF trip is initiated where the sub-trip number is the number of the HF trip that last occurred. This trip will occur at every power-
up until it is reset. The trip can only be reset by first entering 1299 into Parameter mm.000 (mm.000). If the drive is powered up and a Stored HF trip occurs,
Onboard User Program: Enable (11.047) is reset to zero to prevent the on-board user program from running. This ensures that the user program can be changed or erased in case it
causes an HF trip at every power-up.

Trip descriptions
Trips shown in the table below can be generated either from the drive control system or from the power system. The sub-trip number which is in the form xxyzz is used to identify the
source of the trip. The digits xx are 00 for a trip generated by the control system or the number of a power module if generated by the power system. If the drive is not a multi-power
module drive then xx will always have a value of 1 if the trip is related to the power system. The y digit is used to identify the location of a trip which is generated by a rectifier module
connected to a power module. Where the y digit is relevant it will have a value of 1 or more, otherwise it will be 0. The zz digits give the reason for the trip and are defined in each trip
description.

Over Volts OHt dc bus

OI ac Phase Loss
OI Brake LF Power Comms
PSU OI Snubber
OHt Inverter Temp Feedback
OHt Power Power Data

Trips Summary (numerical order)

Unidrive M400 Parameter Reference Guide

266 Issue: 01.05.02.02
 Value Trip
0 None
1 Reserved
2 Over Volts
3 OI ac
4 OI Brake
5 PSU
6 External Trip
7 Over Speed
8 User OI ac
9 Reserved
10 Reserved
11 Autotune 1
12 Reserved
13 Autotune 3
14 Reserved
15 Reserved
16 Reserved
17 Reserved
18 Autotune Stopped
19 Brake R Too Hot
20 Motor Too Hot
21 OHt Inverter
22 OHt Power
23 Reserved
24 Thermistor
25 Th Short Circuit
26 I/O Overload
27 OHt dc bus
28 An Input 1 Loss
29 An Input 2 Loss
30 Watchdog
31 EEPROM Fail
32 Phase Loss
33 Resistance
34 Keypad Mode
35 Control Word
36 User Save
37 Power Down Save
38 Reserved
39 An Input 3 Loss
40 User Trip 40
41 User Trip 41
42 User Trip 42
43 User Trip 43
44 User Trip 44
45 User Trip 45
46 User Trip 46
47 User Trip 47
48 User Trip 48
49 User Trip 49
50 User Trip 50
51 User Trip 51
52 User Trip 52
53 User Trip 53
54 User Trip 54
55 User Trip 55
56 User Trip 56
57 User Trip 57
58 User Trip 58
59 User Trip 59
60 User Trip 60
61 User Trip 61
62 User Trip 62
63 User Trip 63
64 User Trip 64
65 User Trip 65
66 User Trip 66
67 User Trip 67
68 User Trip 68
69 User Trip 69
70 User Trip 70
71 User Trip 71
72 User Trip 72
73 User Trip 73
74 User Trip 74
75 User Trip 75

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Issue: 01.05.02.02 267
76 User Trip 76
77 User Trip 77
78 User Trip 78
79 User Trip 79
80 User Trip 80
81 User Trip 81
82 User Trip 82
83 User Trip 83
84 User Trip 84
85 User Trip 85
86 User Trip 86
87 User Trip 87
88 User Trip 88
89 User Trip 89
90 LF Power Comms
91 Reserved
92 OI Snubber
93 Power Comms
94 Reserved
95 Reserved
96 User Prog Trip
97 Data Changing
98 Out Phase Loss
99 Reserved
100 Reset
101 Reserved
102 Reserved
103 Reserved
104 Reserved
105 Reserved
106 Reserved
107 Reserved
108 Reserved
109 Reserved
110 DCCT Ref
111 Reserved
112 User Trip 112
113 User Trip 113
114 User Trip 114
115 User Trip 115
116 User Trip 116
117 User Trip 117
118 User Trip 118
119 User Trip 119
120 User Trip 120
121 User Trip 121
122 User Trip 122
123 User Trip 123
124 User Trip 124
125 User Trip 125
126 User Trip 126
127 User Trip 127
128 User Trip 128
129 User Trip 129
130 User Trip 130
131 User Trip 131
132 User Trip 132
133 User Trip 133
134 User Trip 134
135 User Trip 135
136 User Trip 136
137 User Trip 137
138 User Trip 138
139 User Trip 139
140 User Trip 140
141 User Trip 141
142 User Trip 142
143 User Trip 143
144 User Trip 144
145 User Trip 145
146 User Trip 146
147 User Trip 147
148 User Trip 148
149 User Trip 149
150 User Trip 150
151 User Trip 151
152 User Trip 152

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 153 User Trip 153
154 User Trip 154
155 User Trip 155
156 User Trip 156
157 User Trip 157
158 User Trip 158
159 User Trip 159
160 User Trip 160
161 User Trip 161
162 User Trip 162
163 User Trip 163
164 User Trip 164
165 User Trip 165
166 User Trip 166
167 User Trip 167
168 Reserved
169 Reserved
170 Reserved
171 Reserved
172 Reserved
173 Fan fail
174 Reserved
175 Card Product
176 Reserved
177 Reserved
178 Card Busy
179 Card Data Exists
180 Card Option
181 Card Read Only
182 Card Error
183 Card No Data
184 Card Full
185 Card Access
186 Card Rating
187 Card Drive Mode
188 Card Compare
189 An Input 1 OI
190 An Input 2 OI
191 An Input 3 OI
192 Reserved
193 Reserved
194 Reserved
195 Reserved
196 Reserved
197 Reserved
198 Reserved
199 Destination
200 Slot1 HF
201 Slot1 Watchdog
202 Slot1 Error
203 Slot1 Not Fitted
204 Slot1 Different
205 Reserved
206 Reserved
207 Reserved
208 Reserved
209 Reserved
210 Reserved
211 Reserved
212 Reserved
213 Reserved
214 Reserved
215 Reserved
216 Reserved
217 Reserved
218 Temp Feedback
219 OHt Control
220 Power Data
221 Stored HF
222 Reserved
223 Reserved
224 Reserved
225 Reserved
226 Soft Start
227 Sub-array RAM
228 Output phase U
229 Output phase V

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230 Output phase W
231 I cal. range
232 Drive config
233 Reserved
234 STO error
235 Power Board HF
236 No power board
237 FW incompatible
238 Reserved
239 Reserved
240 Reserved
241 Reserved
242 Reserved
243 Reserved
244 Reserved
245 Power Boot Mode
246 Derivative ID
247 File changed
248 Derivative Image
249 User Program
250 Hot Rect/Brake
251 Reserved
252 Reserved
253 Reserved
254 Reserved
255 Reset Logs

Trips (alphabetical order)

Trip An Input 1 Loss

Value 28
Short description Current loop loss on analog input 1

Indicates that a current loss was detected in current mode on Analog Input 1. In 4-20mA and 20-4mA modes, loss of input is detected if the current falls below 3mA. See
Analog Input 1 Mode (07.007) for further details.

Recommended actions:

Check control wiring is correct.

Check control wiring is undamaged.
Check Analog Input 1 Mode (07.007).
Check that the current signal is present and greater than 3mA

Trip An Input 1 OI
Value 189
Short description Current loop overload on analog input 1

If the input current is detected as being > 23mA the input impedance is increased by the hardware to protect the shunt resistor used to measure the current. This action is detected by
the firmware, at which point the shunt is disconnected and a An Input 1 OI trip generated.

Recommended actions:

Check control wiring is correct.

Check control wiring is undamaged.
Check Analog Input 1 Mode (07.007).

Trip An Input 2 Loss

Value 29
Short description Current loop loss on analog input 2

Indicates that a current loss was detected in current mode on Analog Input 2. In 4-20mA and 20-4mA modes, loss of input is detected if the current falls below 3mA. See
Analog Input 2 Mode (07.011) for further details.

Recommended actions:

Check control wiring is correct.

Check control wiring is undamaged.
Check Analog Input 2 Mode (07.011).
Check that the current signal is present and greater than 3mA

Trip An Input 2 OI
Value 190
Short description Current loop overload on analog input 2

If the input current is detected as being > 23mA the input impedance is increased by the hardware to protect the shunt resistor used to measure the current. This action is detected by
the firmware, at which point the shunt is disconnected and a An Input 2 OI trip generated.

Recommended actions:

Check control wiring is correct.

Check control wiring is undamaged.
Check Analog Input 2 Mode (07.011).

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270 Issue: 01.05.02.02
 Trip An Input 3 Loss
Value 39
Short description Current loop loss on Analog input 3 (Commander ID30x only)

Available on Commander ID30x drives only.

Trip An Input 3 OI
Value 191
Short description Current loop overload on analog input 3 (Commander ID30x only)

Not supported

Trip Autotune 1
Value 11
Short description Autotune trip 1

The drive has tripped during an Autotune. The cause of the trip can be identified by the sub-trip number.

Sub-trip Reason

1 Reserved

2 The motor did not reach the required speed during a rotating auto-tune or mechanical load measurement.

Recommended actions:

Ensure the motor is free to run e.g. mechanical brake is released.

Trip Autotune 3
Value 13
Short description Autotune trip 3

The drive has tripped during a rotating auto-tune or mechanical load measurement. The cause of the trip can be identified from the associated sub-trip number.

Sub-trip Reason
1 Measured inertia has exceeded the parameter range during a mechanical load measurement.
2 Reserved
3 The mechanical load test has been unable to identify the motor inertia.

Recommended actions:

Check motor cable wiring is correct.

Recommended actions for sub-trip 3:

Increase the test level.

If the test was carried out at standstill repeat the test with the motor rotating within the recommended speed range.

Trip Autotune Stopped

Value 18
Short description The Autotune was interrupted

The drive was prevented from completing an auto-tune, because either the Final drive enable or the Final drive run were removed.

Recommended actions:

Check the drive STO signals (terminals 31 & 34 on sizes 1 to 4 and terminals 31 & 35 on frames sizes 5 and above) are active during the auto-tune.
Check that there is either a Run Forward command (Digital Input 3 State (08.003) and Run Forward (06.030) are both at 1), or a Run Reverse command
( Digital Input 4 State (08.004) and Run Reverse (06.032) are both at 1) during the auto-tune. If Enable Sequencer Latching (06.040) = 1, check also that Digital I/O 2 State
(08.002) and Not Stop (06.039) are both at 1.

Trip Brake R Too Hot

Value 19
Short description Brake resistor over temperature

This trip indicates that braking resistor overload has timed out. The value in Braking Resistor Thermal Accumulator (10.039) is calculated using Braking Resistor Rated Power
(10.030), Braking Resistor Thermal Time Constant (10.031) and Braking Resistor Resistance (10.061). This trip is initiated when Braking Resistor Thermal Accumulator
(10.039) reaches 100%.

Recommended actions:

Ensure the values entered in Braking Resistor Rated Power (10.030), Braking Resistor Thermal Time Constant (10.031) and Braking Resistor Resistance (10.061) are
correct.
If an external thermal protection device is being used and the braking resistor software overload protection is not required, set Braking Resistor Rated Power (10.030),
Braking Resistor Thermal Time Constant (10.031) and Braking Resistor Resistance (10.061) to 0 to disable the trip.

Trip Card Access

Value 185
Short description Communication failure with NV media card detected

A communication failure has occurred with a NV media card. If this occurs during a data transfer to the card then the file being written may be corrupted. If this occurs when data is
being transferred from the card then the data transfer may be incomplete. If a parameter file is transferred to the drive and this trip occurs during the transfer the parameters are not
saved to non-volatile memory, and so the original parameters can be restored by powering the drive down and up again.

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Recommended actions:

Check the NV media card is installed / located correctly.

Replace the NV media card.

Trip Card Busy

Value 178
Short description NV media card in use

An attempt has been made to access a file on a NV media card, but the file is already being accessed be an Option Module. No data is transferred.

Recommended actions:

Wait for the Option Module to finish accessing the NV media card and re-attempt the required function.

Trip Card Compare

Value 188
Short description NV media card data and drive data is not the same

A compare has been carried out between a file on a NV media card and the drive and these are different and no other NV media card related trips have occurred.

Recommended actions:

Set Pr mm.000 to 0 to reset the trip.

Check to ensure the correct data block on the NV media card has been used for the compare.

Trip Card Data Exists

Value 179
Short description NV media card data already exists

An attempt has been made to store data on a NV media card, but the file already exists. No data is transferred. The file should be erased first to prevent this trip.

Recommended actions:

Erase the data in data location.

Write data to an alternative data location.

Trip Card Drive Mode

Value 187
Short description Transfer of data between drives operating in different modes detected

This trip is produced during a compare if the drive mode in the file on the NV media card is different from the current drive mode and the file is a parameter file. This trip is
also produced if an attempt is made to transfer a parameter file where the source and target drive modes are different and the drive mode is outside the range allowed for the target
drive.

Recommended actions:

Ensure the destination drive supports the drive operating mode in the parameter file.
Clear the value in Pr mm.000 and reset the drive.
Ensure destination drive operating mode is the same as the source parameter file.

Trip Card Error

Value 182
Short description NV media card data structure error detected

An attempt has been made to access a NV media card, but an error has been detected in the data structure on the card. Resetting this trip will cause the drive to erase the <MCDF>
folder from the NV media card (if it exists) and create the correct folder structure. On an SD card, whilst this trip is still present, missing directories will be created, and if the header
file is missing it will be created. The following sub-trip numbers are used with this trip.

Sub-
Reason
trip
1 The required folder and file structure is not present.
2 The <000> file is corrupted.
Two or more files in the <MCDF\> folder have the same file identification
3
number.

Recommended actions:

Erase all the data block and re-attempt the process.

Ensure the card is located correctly.
Replace the NV media card.

Trip Card Full

Value 184
Short description NV media card is full

An attempt has been made to write to a NV media card, but there is insufficient space available. No data is transferred.

Recommended actions:

Delete a data block or the entire NV media card to create space.

Replace the NV media card.

Trip Card No Data

Value 183
Short description Attempt to read non-existant data detected

An attempt has been made to access a non-existent file on a NV media card. No data is transferred.

Recommended actions:

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272 Issue: 01.05.02.02
 Ensure data block number is correct.

Trip Card Option

Value 180
Short description Option difference detected

A parameter file has been transferred from a NV media card to the drive, but the option module fitted is different between source and target drives. This trip does not stop the data
transfer, but is a warning that the data for the option module will be set to the default values and not the values from the card. This trip also applies if a compare is performed between
a parameter file on a card and the drive and the option module fitted is different between the source and target.

Recommended actions:

Ensure the correct option modules are installed.

Press the red reset button to acknowledge that the parameters for the option module installed will be at their default values.
This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive.

Trip Card Product

Value 175
Short description Product difference detected

Product or derivative are incompatible between the source and target drives.

Sub-trip Reason

If Drive Derivative (11.028) is different between the source and target drives. This trip is initiated
1 either at power-up or when the SDcard is accessed. This trip can be reset and data can be
transferred in either direction between the drive and the card.

If Product Type (11.063) is different between the source and target drives or the file is corrupted or
2 incompatible. This trip is initiated either at power-up or when the SDcard is accessed. This trip can
be reset but no data are transferred in either direction between the drive and the card.

3 Reserved

Recommended actions:

Sub-trip Actions

Use a different NV media card or choose a file compatible between the source and target drives.
1
This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive.

2 Use a different NV media card or choose a file compatible between the source and target drives.

Trip Card Rating

Value 186
Short description Transfer of data between drives of different ratings detected

A parameter file has been transferred from a NV media card to the drive, but the current and/or voltage rating are different between source and target drive. This trip does not stop
the data transfer, but is a warning that the data for rating dependent parameters may not be the same on the target as the source drive. This trip also applies if a compare (using Pr
mm.000 set to 8yyy) is performed between a parameter file on the card on the drive.

Recommended actions:

Reset the drive to clear the trip.

This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive.

Trip Card Read Only

Value 181
Short description Attempt to overwrite protected data detected

An attempt has been made to modify data on a read-only NV media card or to modify a read-only file (i.e. erase the card, erase a file or create a file). No data is transferred.

Recommended actions:

Clear the read only flag by setting Pr mm.000 to 9777 and reset the drive. This will clear the read only flag for all data blocks in the NV media card.

Trip Control Word

Value 35
Short description Control word trip (bit 12)

This trip is initiated by setting bit 12 on the control word in Control Word (06.042) when the control word is enabled (Control Word Enable (06.043) = On).

Recommended actions:

Check the value of Control Word (06.042).

Disable the control word in Control Word Enable (06.043).

Trip Data Changing

Value 97
Short description Drive has become active while data is being updated

A user action or a file system write is active that is changing the drive parameters and the drive has become active, i.e. Drive Active (10.002) = 1. The user actions that change drive
parameters are loading defaults, changing drive mode, or transferring data from an NV memory card to the drive. The file system actions that will cause this trip to be initiated if the
drive is enabled during the transfer are writing a parameter or macro file to the drive, or transferring a user program to the drive. It should be noted that none of these actions can be
started if the drive is active, and so the trip only occurs if the action is started and then the drive is enabled.

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Recommended actions:

Ensure the drive is not enabled when one of the following is being carried out:
Loading defaults
Transferring user programs

Trip DCCT Ref

Value 110
Short description DC Current transformer failure (size 5 and above)

DCCT reference out of range (size 5 and above only).

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip Derivative ID
Value 246
Short description Derivative Image error

An error has been detected in the derivative product image. The sub-trip indicated the reason for the trip.

Sub-trip Reason Comments

Occurs when the drive powers-up. Load valid derivative image

1 The derivative image is missing or is invalid
matching the control board hardware.

The derivative image does not match the control board Occurs when the drive powers-up. Load valid derivative image
2
hardware matching the control board hardware.

The derivative image has been changed for an image Occurs when the drive powers-up or the image is programmed.
3
with a different derivative number. The image tasks will not run.

Trip Derivative Image

Value 248
Short description Derivative program error

An error has been detected in the derivative product image. The sub-trip indicates the reason for the trip.

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 Sub-trip Reason Comments

1 Divide by zero

2 Undefined trip

Attempted fast parameter access set-up with non-

3
existent parameter

4 Attempted access to non-existent parameter

5 Attempted write to read-only parameter

6 Attempted and over-range write

7 Attempted read from write-only parameter

The image has failed because either its CRC is

Occurs when the drive powers-up or the image is programmed. The
30 incorrect, or there are less than 6 bytes in the
image tasks will not run.
image or the image header version is less than 5.

The image requires more RAM for heap and stack

31 As 30.
than can be provided by the drive.

The image requires an OS function call that is

32 As 30.
higher than the maximum allowed.

33 The ID code within the image is not valid As 30.

The derivative image has been changed for an

34 As 30.
image with a different derivative number.

The timed task has not completed in time and has

40
been suspended.

Undefined function called, i.e. a function in the

41 host system vector table that has not been
assigned.

51 Core menu customisation table CRC check failed As 30.

52 Customisable menu table CRC check failed As 30.

Occurs when the drive powers-up or the image is programmed and

53 Customisable menu table changed the table has changed. Defaults are loaded for the derivative menu
and the trip will keep occurring until drive parameters are saved.

The option module fitted in slot 1 is not allowed

61 As 30.
with the derivative image.

An option module that is required by the derivative

70 As 30.
image is not fitted in any slot.

An option module specifically required to be fitted

71 As 30.
in slot 1 not present.

80 *Image is not compatible with the control board Initiated from within the image code.

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 *Image is not compatible with the control board
81 As 80.
serial number

Recommended actions:

Contact the supplier of the drive.

Trip Destination
Value 199
Short description A parameter is being changed by more than 1 routing destination

This trip indicates that destination output parameters of two or more logic functions within the drive are writing to the same parameter.

Recommended actions:

Set Pr mm.000 to "Destinations" or 12001 and check all visible parameters in all menus for parameter write conflicts

Trip Drive config

Value 232
Short description Incorrect configuration data

The power stage hardware does not match the drive configuration data.

Sub-
Reason
trip

The power stage hardware does not match the drive configuration data (size 5
1
and above).

2 The power stage hardware detected is invalid.

The power stage hardware does not match the drive configuration data (Sizes 1 -
3
4)

Recommended actions:

Return the drive to the supplier.

Trip EEPROM Fail

Value 31
Short description Non-volatile memory failure

This trip indicates that default parameters have been loaded because of one of the reasons given below.

Sub-
Reason
trip

1 The most significant digit of the internal parameter database version number has changed.

The CRC’s applied to the parameter data stored in internal non-volatile memory indicate that a valid set of parameters cannot be
2
loaded.

The drive mode restored from internal non-volatile memory is outside the allowed range for the product or the derivative image does
3
not allow the previous drive mode.

4 The drive derivative image has been changed and it has changed the customisation of the drive core menus.

5 The power stage hardware has been changed and changed the customisation of the drive core menus.

6 Reserved

7 Reserved

8 The control board hardware has been change and changed the customisation of the drive core menus.

9 The checksum on the non-parameter area of the EEPROM has failed.

The drive holds two banks of user save parameters and two banks of power down save parameters in non-volatile memory. If the last bank of either set of parameters that was saved
is corrupted a User Save or Power Down Save trip is produced. If one of these trips occurs the parameters values that were last saved successfully are used. It can take some time
to save parameters when requested by the user and if the power is removed from the drive during this process it is possible to corrupt the data in the non-volatile memory.

If both banks of user save parameters or both banks of power down save parameters are corrupted or one of the other conditions given in the table above occurs EEPROM Fail.xxx
trip is produced. If this trip occurs it is not possible to use the data that has been saved previously, and so the drive will be loaded with default parameters. The trip can only be reset if
Parameter mm.000 (mm.000) is set to 10, 11, 1233 or 1244 or if Load Defaults (11.043) is set to a non-zero value.

Trip External Trip

Value 6
Short description External trip generated by the application

External trip is initiated as shown in the table below.

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276 Issue: 01.05.02.02
 Sub-trip Reason

3 External Trip (10.032) = 1

Recommended actions:

Check the value of External Trip (10.032).

Select "Destinations" (or enter 12001) in Pr mm.000 and check for a parameter controlling External Trip (10.032).
Ensure External Trip (10.032) or User Trip (10.038) (=6) is not being used by serial comms.

Trip Fan fail

Value 173
Short description Cooling fan failure

Fan failure

Recommended actions:

Check that the fan is fitted and connected correctly.

Contact the supplier of the drive to replace the fan.

Trip File changed

Value 247
Short description Configuration data within the drive has changed

Drive configuration file has changed in the power stage processor and so a power cycle is required.

Recommended actions:

Power cycle the drive

Trip FW incompatible
Value 237
Short description The power stage and control board firmware versions are not compatible

This trip is generated if the ww.xx parts of the User firmware version Software Version (11.029) do not match the ww.xx part of the power stage firmware Power Software Version
(11.035).

Trip Hot Rect/Brake

Value 250
Short description

The input rectifier or braking IGBT is too hot.

Trip I cal. range

Value 231
Short description Current feedback calibration range error

Current calibration range error.

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip I/O Overload

Value 26
Short description Overload on 24V or digital outputs

This trip indicates that the total current drawn from the AI adaptor 24V or from the digital output has exceeded the limit.

Sub-trip Reason
1 Digital output or 24V supply load on control terminals is too high.
2 AI adptor 24V load is too high

Recommended actions:

Check total loads on digital outputs and 24V.

Check control wiring is correct.
Check output wiring is undamaged

Trip Keypad Mode

Value 34
Short description Keypad communication failure

If keypad reference mode is enabled (Reference Selected Indicator (01.049) = 4 or 6) (i.e. Reference Selector (01.014) is set to 4 or 6 if motor map 1 is selected, or
M2 Reference Selector (21.003) is set to 4 or 6 if motor map 2 is selected) and the keypad removed, then this trip is initiated.

Recommended actions:

Re-install keypad and reset.

Change Reference Selector (01.014) to select the reference from another source.

Trip LF Power Comms

Value 90
Short description Communication link failure in the power stage (size 5 and above)

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This trip is initiated if there is communications loss between processors in the power stage on sizes 5 and above. The reason for the trip can be identified by the sub-trip number.

Sub-trip Reason

1 Comms loss with the auxilairy power processor

1010 Comms loss with rectifier module

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip Motor Too Hot

Value 20
Short description Motor over temperature

This trip indicates a motor thermal overload based on the Motor Rated Current (05.007) and Motor Thermal Time Constant 1 (04.015). Motor Protection Accumulator
(04.019) displays the motor temperature as a percentage of the maximum value. The drive will trip on Motor Too Hot when Motor Protection Accumulator (04.019) gets to 100%.

Recommended actions:

Ensure the load is not jammed / sticking.

Check the load on the motor has not changed.
Tune the Motor Rated Speed (05.008) (RFC-A mode only).
Ensure the motor rated current is correct.

Trip No power board

Value 236
Short description No power stage detected by the Control board

This trip is generated if the control board cannot establish a communication link with the power stage within 5 seconds of powering up.

Trip None
Value 0
Short description No trip recorded

No trip. Trip log has a value of zero because there has been no trip since the drive left the factory or the trip log has been cleared by setting parameter 10.038 to 255.

Trip OHt Control

Value 219
Short description Control board over temperature

This trip indicates that a control stage over-temperature has been detected if Cooling Fan control (06.045) = 0.

This trip causes the option module to go to standby and Potential Drive Damage Conditions (10.106) bit 1 to be set.

Recommended actions:

Increase ventilation by setting Cooling Fan control (06.045) > 0.

Trip OHt dc bus

Value 27
Short description Overload on DC bus components

This trip indicates a DC bus component over temperature based on a firmware thermal model. The drive includes a thermal protection system to protect the DC bus components
within the drive. This includes the effects of the output current and DC bus ripple. The estimated temperature is displayed as a percentage of the trip level in
Percentage Of d.c. Link Thermal Trip Level (07.035). If this parameter reaches 100% then an OHt dc bus trip is initiated. The drive will attempt to stop the motor before tripping. If the
motor does not stop in 10s then the drive will trip.

Source xx y zz

Control system 00 2 00: DC link thermal model gives OHt dc bus with sub-trip 0.

Recommended actions:

Check the AC supply voltage balance and levels

Check DC bus ripple level
Reduce duty cycle
Reduce motor load
Check the output current stability. If unstable:
Check the motor map settings with motor nameplate ( Motor Rated Frequency (05.006) , Motor Rated Current (05.007) , Motor Rated Speed (05.008)
, Motor Rated Voltage (05.009) , Motor Rated Power Factor (05.010) , and Number Of Motor Poles (05.011) ).
Disconnect the load and complete a rotating auto-tune ( Auto-tune (05.012) = 2 ).
Disable slip compensation ( Slip Compensation Level (05.027) = 0.0%).
Disable dynamic V to F operation ( Flux Optimisation Select, Dynamic V To F Select (05.013) = 0).
Select fixed boost ( Open-loop Voltage Mode (05.014) = Fixed (2)).
Select high stability space vector modulation ( High Stability Space Vector Modulation (05.019) = 1).

Trip OHt Inverter

Value 21
Short description Inverter IGBT junction over temperature

This trip indicates that an IGBT junction over-temperature has been detected based on a firmware thermal model.

Recommended actions:

Unidrive M400 Parameter Reference Guide

278 Issue: 01.05.02.02
 Check enclosure / drive fans are still functioning correctly.
Force the heatsink fans to run at maximum speed.
Check enclosure ventilation paths.
Check enclosure door filters.
Increase ventilation.
Reduce the selected drive switching frequency.
Ensure Auto-switching Frequency Change Disable (05.035) is set to Off.
Reduce duty cycle.
Increase acceleration / deceleration rate parameter values.
Reduce motor load.
Check DC bus ripple.
Ensure all three input phases are present and balanced.
Check the derating tables and confirm the drive is correctly sized for the application.
Use a drive with larger current / power rating.

Trip OHt Power

Value 22
Short description Power stage over temperature

This trip indicates that a power stage over-temperature has been detected. From the sub-trip "xxyzz", the thermistor location is identified by "zz".

Source xx y zz

Power system 01 0 zz: Thermistor location defined by zz in the power system gives OHt Power trip with
sub-trip xx0zz.

Recommended actions:

Check enclosure / drive fans are still functioning correctly.

Force the heatsink fans to run at maximum speed.
Check enclosure ventilation paths.
Check enclosure door filters.
Increase ventilation.
Reduce the selected drive switching frequency.
Ensure Auto-switching Frequency Change Disable (05.035) is set to Off.
Reduce duty cycle.
Increase acceleration / deceleration rate parameter values.
Reduce motor load.
Check DC bus ripple.
Ensure all three input phases are present and balanced.
Check the derating tables and confirm the drive is correctly sized for the application.
Use a drive with larger current / power rating.

Trip OI ac
Value 3
Short description Over current at the motor terminals

This trip indicates that the instantaneous drive output current has exceeded the over current threshold.

The over current threshold is the maximum current the drive can measure and is defined by Full Scale Current Kc (11.061)

This trip cannot be reset until 10 s after the trip was initiated.

Recommended actions:

Increase acceleration/deceleration rate parameter values

If seen during auto-tune reduce the voltage boost
Check for short circuit on the output cabling
Check integrity of the motor insulation using an insulation tester
Check the motor cable length is within limits for the frame size.
Reduce the values in the current loop gain parameters - ( Torque and Current control (04) )

Trip OI Brake
Value 4
Short description Over current in the brake IGBT

This trip indicates that an over-current has been detected in the braking IGBT.

This trip cannot be reset until 10 s after the trip was initiated.

Recommended actions:

Check brake resistor wiring.

Check braking resistor value is greater than or equal to the minimum resistance value.
Check braking resistor insulation.

Trip OI Snubber
Value 92
Short description Over current in snubber components (size 5 and above)

This trip indicates that an over-current condition has been detected in the rectifier snubbing circuit on sizes 5 and above. The exact cause of the trip can be identified by the sub-trip
number.

Sub-trip Reason

1010 Rectifier snubber over-current trip detected.

Recommended actions:

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 279
 Ensure the internal EMC filter is installed.
Ensure the motor cable length does not exceed the maximum for selected switching frequency.
Check for supply voltage imbalance.
Check for supply disturbance such as notching from a DC drive.
Check the motor and motor cable insulation with an insulation tester.
Fit an output line reactor or sinusoidal filter

Trip Out Phase Loss

Value 98
Short description One of the motor windings is not drawing current

Output phase loss detected. A test can be made for output phase loss when the drive is enabled or the output phase loss condition can be detected while the drive is running as
defined by Output Phase Loss Detection Enable (06.059).

Sub-trip Reason

1 Phase U is not connected when drive is enabled

2 Phase V is not connected when drive is enabled

3 Phase W is not connected when drive is enabled

4 The drive output frequency is above 4Hz and a phase is disconnected for the time specified by Output Phase Loss Detection Time (06.058)

Recommended actions:

Check motor and drive connections.

To disable the trip set Output Phase Loss Detection Enable (06.059) to Off.

Trip Output phase U

Value 228
Short description Over current on U phase

On enabling of the drive it switches the negative DC bus to each motor terminal in turn to detect an earth fault. If current is detected in any of the motor windings the drive will
trip OI.E1, OI.E2 or OI.E3 depending on which terminal the fault is detected (U, V, or W respectively).

Recommended actions:

Check motor and connection to motor

Trip Output phase V

Value 229
Short description Over current on V phase

See Output phase U.

Trip Output phase W

Value 230
Short description Over current on W phase

See Output phase U.

Trip Over Speed

Value 7
Short description Motor over speed

In open loop mode, if Post Ramp Reference (02.001) exceeds the threshold set in Over Frequency Threshold (03.008) in either direction an Over Speed trip is produced. In RFC-A
mode, if Estimated Frequency (03.002) exceeds the threshols set in Over Frequency Threshold (03.008) either direction an Over Speed trip is produced.

If Over Frequency Threshold (03.008) is set to 0.00 the threshold is then equal to 1.2 x VM_SPEED_FREQ_REF[MAX].

Recommended actions:

• Check that the motor is not being driven by another part of the system.

• Reduce the Frequency Controller Proportional Gain Frequency Controller Proportional Gain Kp1 (03.010) to reduce the frequency overshoot (RFC-A mode only).

Trip Over Volts

Value 2
Short description DC Bus voltage is high

This trip indicates the the DC bus voltage has exceeded a maximum value instantaneously or VM_DC_VOLTAGE_SET[MAX] for 15s. The trip threshold varies depending on voltage
rating of the drive as shown below.

Voltage rating Threshold

200 415
400 830
575 (size 5 and above) 990
690V (size 7 and above) 1192

The exact cause of the trip can be identified by the sub-trip number.

Unidrive M400 Parameter Reference Guide

280 Issue: 01.05.02.02
 Sub-trip Reason

0 Instantaneous trip when the d.c. link voltage exceeds the theshold in the table above

1 Reserved

2 Time delayed trip indicating that the d.c. link voltage is above VM_DC_VOLTAGE_SET[MAX].

Recommended actions:

Increase deceleration ramp rate parameter values.

Decrease the braking resistor value (staying above the minimum value).
Check nominal AC supply level.
Check for supply disturbances which could cause the DC bus level to rise.
Check motor insulation using an insulation tester.

Trip Phase Loss

Value 32
Short description Input Phase Loss

This trip indicates that the drive has detected an input phase loss or large supply imbalance. The drive will attempt to stop the motor before the trip is initiated. If the motor cannot be
stopped in 10 seconds the trip occurs. This trip works by monitoring the ripple voltage on the DC bus of the drive, if the DC buss ripple exceeds the threshold, the drive will trip on
Phase Loss. Potential causes of the DC bus ripple are input phase loss, large supply impedance and severe output current instability.

Source xx y zz

Control 00 0 00: Phase loss detected based on control system feedback. The drive
system attempts to stop the drive before tripping unless bit 2 of
Action On Trip Detection (10.037) is set to one.

Power system 01 0 10: Phase loss has been detected by the rectifier module.

Input phase loss detection can be disabled when the drive is required to operate from the DC supply or from a single phase supply in Input Phase Loss Detection Mode (06.047).

Recommended actions:

Check the AC supply voltage balance and level at full load.

Check the DC bus ripple level with an isolated oscilloscope.
Check the output current stability.
Reduce the duty cycle.
Reduce the motor load.
Disable the phase loss detection by setting Input Phase Loss Detection Mode (06.047) to Disabled.

Trip Power Board HF

Value 235
Short description Harware Fault in the power stage processor detected

This trip indicates that a Hardware fault has occurred in the power stage processor. The exact reason for the trip is identified by the sub-trip number.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 281
Sub-
Reason
Trip

1 CPU hardware fault during exception processing

2 CPU memory management fault is an exception that occurs because of a memory protection related fault

CPU has detected a Bus Fault. A Bus Fault is an exception that occurs because of a memory related fault for an instruction or data
3
memory transaction. This might be from an error detected on a bus in the memory system.

CPU has detected a usage fault:

A Usage Fault is an exception that occurs because of a fault related to instruction execution. This includes:

an undefined instruction
an illegal unaligned access
invalid state on instruction execution
4
an error on exception return.

The following can cause a Usage Fault when the core is configured to report them:

an unaligned address on word and half word memory access

division by zero.

7 Watchdog failure

8 CPU Interrupt crash.

19 Level 1 timeout

20 Level 2 timeout

21 Level 3 timeout

22 Level 4 timeout

Trip Power Boot Mode

Value 245
Short description Power stage processor is in its boot loader

The power stage processor is in its bootloader

Recommended actions:

Send power stage firmware file to reprogram the power board and power cycle drive.

Trip Power Comms

Value 93
Short description Communication link failure between Control board and power stage

Communication between the control board processor and the power stage processor has been lost. The exact cause of the trip can be identified by the sub-trip number.

Sub-trip number Reason

1 PLL operating region out of lock

2 Power stage not receiving data

3 Control board not receiving data

4 Communication CRC error

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip Power Data

Value 220
Short description Configuration data failure

Data relevant to the rating of the drive is stored in the power stage processor flash memory. A copy of this data is also stored in the control board board processor and this is
transferred across at power up if the data in the control board and power stage does not match.. There ar a few sub-trips associated with power data transfer:

Unidrive M400 Parameter Reference Guide

282 Issue: 01.05.02.02
 Sub-trip Reason

0 An error occured when writing to the data in the Power stage Flash (during factory upload of data)

A file error has been detected in the Power stage when data is being written to it (in the factory),or being uploaded from it by
1
the control board processor.

There is no table present in the power stage, or there is an error in the data table, or the control board is being powered from
2 the 24V backup supply and it does not have a valid table present (during 24V backup operation the control card cannot
communicate with the power stage to update the data dable).

3 The power system data table is bigger than the space available in the control pod to store it.

4 Reserved

5 Table CRC error.

The version number of the generator software that produced the table is too low, i.e. a table from a newer generator is required
6
that includes features that have been added to the table that may not be present.

7 The control board failed to upload the data from the power stage or write it to it's flash memory.

On size 5 and above the above sub-trips have 1000 added to them. i.e. sub-trip 1 will be displayed as 1001.

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip Power Down Save

Value 37
Short description Power down saved parameters have been corrupted

This trip indicates that an error has been detected in the power down save parameters stored in non-volatile memory.

Recommended actions:

Perform a 1001 save in Pr mm.000 to ensure that the trip doesn't occur the next time the drive is powered up.

Trip PSU
Value 5
Short description Internal Power Supply fault

This trip indicates that one or more internal power supply rails are outside limits or overloaded.

Source xx y zz
Power system 01 0 10: Internal power supply overload

Recommended actions:

Hardware fault within the drive - return the drive to the supplier.

Trip Reserved
Value 1
Short description

Reserved trip number.

Trip Reserved
Value 9
Short description

Reserved trip number.

Trip Reserved
Value 10
Short description

Reserved trip number.

Trip Reserved
Value 12
Short description

Reserved trip number.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 283
Trip Reserved
Value 14
Short description

Reserved trip number.

Trip Reserved
Value 15
Short description

Reserved trip number.

Trip Reserved
Value 16
Short description

Reserved trip number.

Trip Reserved
Value 17
Short description

Reserved trip number.

Trip Reserved
Value 23
Short description

Reserved trip number.

Trip Reserved
Value 38
Short description

Reserved trip number.

Trip Reserved
Value 91
Short description

Reserved trip number.

Trip Reserved
Value 94
Short description

Reserved trip number.

Trip Reserved
Value 95
Short description

Reserved trip number.

Trip Reserved
Value 99
Short description

Reserved trip number.

Trip Reserved
Value 101
Short description

Reserved trip number.

Trip Reserved
Value 102
Short description

Reserved trip number.

Trip Reserved
Value 103
Short description

Reserved trip number.

Trip Reserved
Value 104
Short description

Reserved trip number.

Trip Reserved
Value 105
Short description

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284 Issue: 01.05.02.02
Reserved trip number.

Trip Reserved
Value 106
Short description

Reserved trip number.

Trip Reserved
Value 107
Short description

Reserved trip number.

Trip Reserved
Value 108
Short description

Reserved trip number.

Trip Reserved
Value 109
Short description

Reserved trip number.

Trip Reserved
Value 111
Short description

Reserved trip number.

Trip Reserved
Value 168
Short description

Reserved trip number.

Trip Reserved
Value 169
Short description

Reserved trip number.

Trip Reserved
Value 170
Short description

Reserved trip number.

Trip Reserved
Value 171
Short description

Reserved trip number.

Trip Reserved
Value 172
Short description

Reserved trip number.

Trip Reserved
Value 174
Short description

Reserved trip number.

Trip Reserved
Value 176
Short description

Reserved trip number.

Trip Reserved
Value 177
Short description

Reserved trip number.

Trip Reserved
Value 192
Short description

Reserved trip number.

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Issue: 01.05.02.02 285
Trip Reserved
Value 193
Short description

Reserved trip number.

Trip Reserved
Value 194
Short description

Reserved trip number.

Trip Reserved
Value 195
Short description

Reserved trip number.

Trip Reserved
Value 196
Short description

Reserved trip number.

Trip Reserved
Value 197
Short description

Reserved trip number.

Trip Reserved
Value 198
Short description

Reserved trip number.

Trip Reserved
Value 205
Short description

Reserved trip number.

Trip Reserved
Value 206
Short description

Reserved trip number.

Trip Reserved
Value 207
Short description

Reserved trip number.

Trip Reserved
Value 208
Short description

Reserved trip number.

Trip Reserved
Value 209
Short description

Reserved trip number.

Trip Reserved
Value 210
Short description

Reserved trip number.

Trip Reserved
Value 211
Short description

Reserved trip number.

Trip Reserved
Value 212
Short description

Reserved trip number.

Trip Reserved
Value 213
Short description

Unidrive M400 Parameter Reference Guide

286 Issue: 01.05.02.02
Reserved trip number.

Trip Reserved
Value 214
Short description

Reserved trip number.

Trip Reserved
Value 215
Short description

Reserved trip number.

Trip Reserved
Value 216
Short description

Reserved trip number.

Trip Reserved
Value 217
Short description

Reserved trip number.

Trip Reserved
Value 222
Short description

Reserved trip number.

Trip Reserved
Value 223
Short description

Reserved trip number.

Trip Reserved
Value 224
Short description

Reserved trip number.

Trip Reserved
Value 225
Short description

Reserved trip number.

Trip Reserved
Value 233
Short description

Reserved trip number.

Trip Reserved
Value 238
Short description

Reserved trip number.

Trip Reserved
Value 239
Short description

Reserved trip number.

Trip Reserved
Value 240
Short description

Reserved trip number.

Trip Reserved
Value 241
Short description

Reserved trip number.

Trip Reserved
Value 242
Short description

Reserved trip number.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 287
Trip Reserved
Value 243
Short description

Reserved trip number.

Trip Reserved
Value 244
Short description

Reserved trip number.

Trip Reserved
Value 251
Short description

Reserved trip number.

Trip Reserved
Value 252
Short description

Reserved trip number.

Trip Reserved
Value 253
Short description

Reserved trip number.

Trip Reserved
Value 254
Short description

Reserved trip number.

Trip Reset
Value 100
Short description Not valid

This is not a valid trip number as this value is used in User Trip (10.038) to reset the drive.

Trip Reset Logs

Value 255
Short description Not valid - value used to reset the trip log

This is not a valid trip number as this value is used in User Trip (10.038) to reset the trip logs.

Trip Resistance
Value 33
Short description Resistance measurement failure

During auto-tune an attempt is made to measure the resistance of the motor connected to the drive. The drive will trip with one of the following sub-trip codes if a problem is
encountered during the measurement.

Sub-
Reason
trip

0 Stator resistance is > (VFS / v2) / Full Scale Current Kc (11.061), where VFS is the full scale d.c. link voltage; or the result is = 100ohms.

1 Reserved

2 The measured Transient Inductance is > 500mH or the measured Stator inductance is > 5000mH.

A resistance value entered by the user is > (VFS / v2) / Full Scale Current Kc (11.061), where VFS is the full scale d.c. link voltage. Clear this trip by
3
setting Stator Resistance (05.017) to a value that is in range and reseting the drive.

4 The measured stator resistance is not > than the sub-trip 0 checks but is outside the firmware usable range for this drive size.

Recommended actions:

Ensure the stator resistance of the motor falls within the range of the drive model. The most likely cause of this trip is trying to measure a motor much smaller than the drive
rating. Ratio's of drive size to motor size of > 15:1 are likely to lead to problems.
Check that a value has not been entered in the Stator Resistance for the presently selected motor map that exceeds the allowed range.
Check the motor cable / connections.
Check the integrity of the motor stator winding using an insulation tester.
Check the motor phase to phase resistance at the drive terminals.
Check the motor phase to phase resistance at the motor terminals.
Select fixed boost mode (Open-loop Voltage Mode (05.014) = Fixed) and verify the output current waveforms with an oscilloscope.
Replace the motor.

Trip Slot1 Different

Value 204
Short description Option module has changed

Unidrive M400 Parameter Reference Guide

288 Issue: 01.05.02.02
If the option module fitted in option slot 1 is different to the option module present at the last power-down then this trip is produced. The sub-trip number gives the identification code
of the module that was originally fitted. Drive user parameters must be saved to prevent this trip on the next power-up if the module has changed. If the menus have been changed,
but not the module, the trip will not occur on the next power-up. The sub-trip number gives the following indications of the reason for the trip.

Sub-trip Reason

1 No module was fitted previously

A module with the same identifier is fitted, but the set-up menu has been changed, and so default
2
parameters have been loaded for this menu.

A module with the same identifier is fitted, but the applications menu for this option has been
3
changed, and so default parameters have been loaded for this menu.

A module with the same identifier is fitted, but the set-up and applications menu have been
4
changed, and so default parameters have been loaded for these menus.

>99 Shows the identifier of the module previously fitted.

Recommended actions:

Turn off the power, ensure the correct option module is installed and re-apply the power.
Confirm that the currently installed option module is correct, ensure option module parameters are set correctly and perform a user save in Pr mm.000.

Trip Slot1 Error

Value 202
Short description Error generated by the option module

The option module in option slot 1 has indicated an error. The option module can give the reason for the error and this is shown in the sub-trip number. As default the sub-trip number
is shown as a number on the display, however, it is possible for the option module to supply sub-trip number strings which will be displayed instead of the number if available.

Recommended actions:

See relevant Option Module User Guide for details of the trip.

Trip Slot1 HF
Value 200
Short description Error in communication with an option module

This trip indicates that there is a fault with the option module in option slot 1 that means that this module cannot operate. The possible causes of the trip are given by the sub-trip
value.

Sub-trip Reason

1 The module category cannot be identified

All the required customisable menu table information has not been supplied or the tables supplied
2
are corrupt

3 There is insufficient memory available to allocate the comms buffers for this module.

4 The module has not indicated that it is running correctly during drive power-up

The module has been removed after power-up or it has ceased to indicate to the drive processor
5
that it is still active.

The module has not indicated that it has stopped accessing drive parameters during a drive mode
6
change

7 The module has failed to acknowledge that a request has been made to reset the drive processor.

8 The drive failed to read the menu table from the module correctly during drive power-up.
9 The drive failed to upload menu tables from the module and timed-out (5s).
10 Menu table CRC invalid.

Recommended actions:

Ensure the option module is installed correctly.

Replace the option module.
Replace the drive.

Trip Slot1 Not Fitted

Value 203
Short description Option module no longer fitted

Any option module fitted in the drive is identified at power-up and the option fitted is stored by the drive in its non-volatile memory. If an option module was fitted in slot 1 at power-
down, but that option module has subsequently been removed before power up then this trip is produced. The sub-trip number gives the identification code of the option module that
has been removed. Drive user parameters must be saved to prevent this trip on the next power-up.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 289
Recommended actions:

Ensure the option module is installed correctly.

Re-install the option module.
To confirm that the removed option module is no longer required perform a save function in Pr mm.000.

Trip Slot1 Watchdog

Value 201
Short description Option module has not updated the option watchdog

This trip indicates that the option module in option slot 1 has started the option watchdog function and then failed to service this watchdog correctly.

Recommended actions:

Replace the option module.

Trip Soft Start

Value 226
Short description Soft start hardware failure

This trip indicates that the soft soft start system has remained active when it should be inactive. For a resistor based soft start this means that the soft start shorting relay has not
closed. On 110V drives it also indicates that one of the DC link capacitors has failed.

Sub-trip Reason
1 The soft start system has failed.
2 A DC bus capacitor has failed (110V drives only)

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip STO error

Value 234
Short description No STO harware detected

STO board not fitted.

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip Stored HF
Value 221
Short description Indicates that the drive had a Hardware fault on the last power down

If an HF01 to HF18 trip occurs then a Stored HF trip occurs each time the drive is powered up until this trip is reset. The sub-trip code is the number of the original HF trip. The
Stored HF trip can only be reset by first writing 1299 to Pr mm.000 and resetting the drive.

Recommended actions:

Enter 1299 into Pr mm.000 and press reset to clear the trip.

Trip Sub-array RAM

Value 227
Short description RAM allocation failure

An option module, derivative image or user program image has requested more parameter RAM than is allowed. The RAM allocation is checked in order of resulting sub-trip
numbers, and so the failure with the highest sub-trip number is given. The sub-trip is calculated as (parameter size x 1000) + (parameter type x 100) + sub-array number. Note that if
this trip occurs, all menu customisation provided by option modules, the derivative image or the user program image is not used. The tables below show the values corresponding to
the parts of the sub-trip number.

Parameter size Value

1 bit 1

8 bit 2

16 bit 3

32 bit 4

64 bit 5

Unidrive M400 Parameter Reference Guide

290 Issue: 01.05.02.02
 Parameter type Value

Volatile 0

User save 1

Power-down save 2

Derivatives can customise menus 18 and 20.

Sub-array Menus Value

Applications menus 18-20 1

Derivative image 29 2

User program image 30 3

Option slot 1 set-up 15 4

Option slot 1 applications 25 5

e.g. for a 16 bit parameter in an application menu in the User save area the sub-trip would be 16101.

Trip Temp Feedback

Value 218
Short description Internal temperature monitoring fault

This trip indicates a fault with a thermistor in the Power stage (i.e. open circuit or short circuit).

Sub-trip Reason

0 Thermistor failure in the main power stage

1010 Thermistor failure in the rectifier module

Recommended actions:

Hardware fault - contact the supplier of the drive.

Trip Th Short Circuit

Value 25
Short description Motor thermistor short circuit

This trip indicates that the motor thermistor is short circuited or has a low impedance.

Digital input 5 mode (08.035) is set to 1 and the resistance of the thermistor connected to DI 5 is less than 50ohms.

Recommended actions:

Check thermistor continuity.

Replace motor / motor thermistor

Trip Thermistor
Value 24
Short description Motor thermistor over temperature

This trip indicates that the motor thermistor has indicated a motor over-temperature.

If Digital input 5 mode (08.035) is 1 or 2 then a Thermistor trip is initiated if the feedback value is higher than Thermistor Trip Threshold (07.048).

Recommended actions:

Check motor temperature.

Check thermistor continuity.

Trip User OI ac
Value 8
Short description User defined motor Over current trip

Motor current has exceeded the User defined limit set in User Over Current Trip Level (04.041).

Trip User Prog Trip

Value 96
Short description On board user program trip

This trip can be initiated from within an onboard user program using a function call which defines the sub-trip number.

Recommended actions:

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 291
 Check the user program

Trip User Program

Value 249
Short description User program error

An error has been detected in the onboard user program image. The sub-trip indicated the reason for the trip.

Unidrive M400 Parameter Reference Guide

292 Issue: 01.05.02.02
 Sub-trip Reason Comments

1 Divide by zero

2 Undefined trip

Attempted fast parameter access set-up with non-existent

3
parameter

4 Attempted access to non-existent parameter

5 Attempted write to read-only parameter

6 Attempted an over-range write

7 Attempted read from write-only parameter

The image has failed because either its CRC is incorrect, or

Occurs when the drive powers-up or the image is
30 there are less than 6 bytes in the image or the image header
programmed. The image tasks will not run.
version is less than 5.

The image requires more RAM for heap and stack than can be
31 As 30.
provided by the drive.

The image requires an OS function call that is higher than the

32 As 30.
maximum allowed.

33 The ID code within the image is not valid As 30.

The user program image has been changed for an image with a
34 As 30.
different user program number.

Onboard User Program: Enable (11.047) is reset to zero

when the trip is initiated. Reduce code in timed task or
The timed task has not completed in time and has been
40 slow down the task repeat rate (
suspended.
Onboard User Program: Clock Task Schedule Rate
(11.055) ).

Undefined function called, i.e. a function in the host system

41 As 40.
vector table that has not been assigned.

52 Customisable menu table CRC check failed As 30.

Occurs when the drive powers-up or the image is

programmed and the table has changed. Defaults are
53 Customisable menu table changed
loaded for the user program menu and the trip will keep
occurring until drive parameters are saved.

80 *Image is not compatible with the control board Initiated from within the image code.

81 *Image is not compatible with the control board serial number As 80.

Image has detected and prevented attempted pointer access

100
outside of the IEC task’s heap area.

101 Image has detected and prevented misaligned pointer usage.

Image has detected an array bounds violation and prevented its

102
access.

Image has attempted to convert a data type to or from an

103
unknown data type, has failed and has shut itself down.

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Issue: 01.05.02.02 293
104 Image has attempted to use an unknown user service function.

User program has invoked a “divide” service with a

denominator of zero. (Note that this is raised by the
200 downloaded image and has therefore been given a distinct
error code despite being the same fundamental problem as
sub-trip 1.)

Parameter access is not supported. An attempt to read

201
database other than the host drive.
Parameter does not exist. Database was host drive but the
202
specified parameter does not exist.

203 Parameter is read-only.

204 Parameter is write-only.

205 Unknown parameter error.
Invalid bit present in parameter. The parameter does not
206
contain the specified bit.
Parameter format lookup failed. Failed to get parameter
207
information data.
208 An over-range write has been attempted.

The following table gives the differences when compared to the derivative product image.

Sub-trip Difference

40, 41 Onboard User Program: Enable (11.047) is reset to zero when the trip is initiated.

51 Not applicable as core menu customisation not allowed

6x Not applicable as option module restrictions not allowed

7x Not applicable as option module restrictions not allowed

100 Image has detected and prevented attempted pointer access outside of the IEC task’s heap area.

101 Image has detected and prevented misaligned pointer usage.

102 Image has detected an array bounds violation and prevented its access.

103 Image has attempted to convert a data type to or from an unknown data type, has failed and has shut itself down.

104 Image has attempted to use an unknown user service function.

User program has invoked a “divide” service with a denominator of zero. (Note that this is raised by the downloaded
200
image and has therefore been given a distinct error code despite being the same fundamental problem as sub-trip 1.)

Trip User Save

Value 36
Short description User saved parameter set has been corrupted

This trip indicates that an error has been detected in the user save parameters saved in non-volatile memory. For example, following a user save command, if the power to the drive
was removed when the user parameters were being saved.

Recommended actions:

Perform a user save in Pr mm.000 to ensure that the trip doesn't occur the next time the drive is powered up.
Ensure that the drive has enough time to complete the save before removing the power to the drive.

Trip User Trip 40

Value 40
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 41

Value 41
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 42

Value 42
Short description

Unidrive M400 Parameter Reference Guide

294 Issue: 01.05.02.02
This trip is not used by the drive and can be used for a user trip.

Trip User Trip 43

Value 43
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 44

Value 44
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 45

Value 45
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 46

Value 46
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 47

Value 47
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 48

Value 48
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 49

Value 49
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 50

Value 50
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 51

Value 51
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 52

Value 52
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 53

Value 53
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 54

Value 54
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 55

Value 55
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 56

Value 56
Short description

This trip is not used by the drive and can be used for a user trip.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 295
Trip User Trip 57
Value 57
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 58

Value 58
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 59

Value 59
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 60

Value 60
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 61

Value 61
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 62

Value 62
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 63

Value 63
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 64

Value 64
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 65

Value 65
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 66

Value 66
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 67

Value 67
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 68

Value 68
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 69

Value 69
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 70

Value 70
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 71

Value 71
Short description

Unidrive M400 Parameter Reference Guide

296 Issue: 01.05.02.02
This trip is not used by the drive and can be used for a user trip.

Trip User Trip 72

Value 72
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 73

Value 73
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 74

Value 74
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 75

Value 75
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 76

Value 76
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 77

Value 77
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 78

Value 78
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 79

Value 79
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 80

Value 80
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 81

Value 81
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 82

Value 82
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 83

Value 83
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 84

Value 84
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 85

Value 85
Short description

This trip is not used by the drive and can be used for a user trip.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 297
Trip User Trip 86
Value 86
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 87

Value 87
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 88

Value 88
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 89

Value 89
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 112

Value 112
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 113

Value 113
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 114

Value 114
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 115

Value 115
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 116

Value 116
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 117

Value 117
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 118

Value 118
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 119

Value 119
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 120

Value 120
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 121

Value 121
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 122

Value 122
Short description

Unidrive M400 Parameter Reference Guide

298 Issue: 01.05.02.02
This trip is not used by the drive and can be used for a user trip.

Trip User Trip 123

Value 123
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 124

Value 124
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 125

Value 125
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 126

Value 126
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 127

Value 127
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 128

Value 128
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 129

Value 129
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 130

Value 130
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 131

Value 131
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 132

Value 132
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 133

Value 133
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 134

Value 134
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 135

Value 135
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 136

Value 136
Short description

This trip is not used by the drive and can be used for a user trip.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 299
Trip User Trip 137
Value 137
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 138

Value 138
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 139

Value 139
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 140

Value 140
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 141

Value 141
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 142

Value 142
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 143

Value 143
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 144

Value 144
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 145

Value 145
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 146

Value 146
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 147

Value 147
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 148

Value 148
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 149

Value 149
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 150

Value 150
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 151

Value 151
Short description

Unidrive M400 Parameter Reference Guide

300 Issue: 01.05.02.02
This trip is not used by the drive and can be used for a user trip.

Trip User Trip 152

Value 152
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 153

Value 153
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 154

Value 154
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 155

Value 155
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 156

Value 156
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 157

Value 157
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 158

Value 158
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 159

Value 159
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 160

Value 160
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 161

Value 161
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 162

Value 162
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 163

Value 163
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 164

Value 164
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 165

Value 165
Short description

This trip is not used by the drive and can be used for a user trip.

Unidrive M400 Parameter Reference Guide

Issue: 01.05.02.02 301
Trip User Trip 166
Value 166
Short description

This trip is not used by the drive and can be used for a user trip.

Trip User Trip 167

Value 167
Short description

This trip is not used by the drive and can be used for a user trip.

Trip Watchdog
Value 30
Short description Control word watchdog timeout

This trip indicates that the control word watchdog has been enabled and has timed out.

Unidrive M400 Parameter Reference Guide

302 Issue: 01.05.02.02