Acs380 руководство по программированию

Содержание

1. ABB кат ­­ ­а­­логи, инструкции, программы
2. Каталоги
3. Руководства
4. ABB ACS 800
5. ABB кат ­­ ­а­­логи, инструкции, программы
6. Каталоги
7. Руководства
8. ABB ACS 800
9. Преобразователь частоты ACS380-040S-038A-4

ABB MACHINERY DRIVES

ACS380 machinery control program Firmware manual

List of related manuals

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

The code below opens an online listing of the manuals applicable to the product:

Drive hardware manuals and guides Code (English) Drive/converter/inverter safety instructions 3AXD50000037978 ACS380 Hardware manual 3AXD50000029274 Drive firmware manuals and guides ACS380 Firmware manual 3AXD50000029275 ACS380 Quick installation and start-up guide 3AXD50000018553 ACS380 User interface guide 3AXD50000022224 Option manuals and guides ACS-AP-x Assistant control panels users manual 3AUA0000085685 ACS-BP-S Basic control panel users manual 3AXD50000032527 BMIO-01 module quick installation guide 3AXD50000779468 FCAN-01 CANopen adapter module users manual 3AFE68615500 FECA-01 EtherCAT adapter module users manual 3AUA0000068940 FENA-01/-11/-21 Ethernet adapter module users manual

3AUA0000093568

FPBA-01 PROFIBUS DP adapter module users manual 3AFE68573271 FEPL-02 Ethernet POWERLINK adapter module users manual

3AUA0000123527

Tool and maintenance manuals and guides Drive Composer PC tool users manual 3AUA0000094606 Adaptive Programming Application guide 3AXD50000028574 NETA-21 remote monitoring tool users manual 3AUA0000096939 NETA-21 remote monitoring tool installation and start- up guide

3AUA0000096881

Firmware manual

ACS380 machinery control program

3AXD50000029275 Rev F EN

EFFECTIVE: 2021-12-15

3. Start-up, ID run and use

Table of contents

Table of contents 1. Introduction to the manual Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Cybersecurity disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2. Control panel Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Home view and Message view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Options menu and Main menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Options menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Main menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3. Start-up, ID run and use Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Automatic option configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Start up the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Do the identification (ID) run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Background information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 ID run steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Check motor direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Start and stop the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Change the rotation direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Set the speed or frequency reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Set the drive parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Open Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Change the units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4. Control macros Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 ABB standard macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Default control connections for the ABB standard macro . . . . . . . . . . . . . . . . . . . . . . . . . 32 AC500 modbus RTU macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Alternate macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Default control connections for the Alternate macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Motor potentiometer macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Default control connections for the Motor potentiometer macro . . . . . . . . . . . . . . . . . . . . 38

Safety

PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Default control connections for PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Torque control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Default control connections for the Torque control macro . . . . . . . . . . . . . . . . . . . . . . . . 45

Parameter default values for different macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5. Program features Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Local and external control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Operating modes and motor control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Overview diagram of control hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Frequency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Special control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Settings and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Adaptive programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Motor types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Motor identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Power loss ride-through . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Constant speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Critical speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Speed controller autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Rush control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Encoder echo support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Speed control performance figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Torque control performance figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 U/f ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Energy optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Speed compensated stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Motor overload protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Control macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Process PID control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 PID trim function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Undervoltage control (power loss ride-through) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Settings and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Limit to limit control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Limit to limit control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Tips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Safety and protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Fixed/Standard protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Energy saving calculators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Backup and restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 User parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Parameter checksum calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 User lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 AI dead band . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 High speed counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

6. Parameters Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 03 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 04 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 05 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 06 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 07 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 09 Crane application signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

10 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 11 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 12 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 13 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 15 I/O extension module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 19 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 20 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 21 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 22 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 23 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 24 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 25 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 26 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 28 Frequency reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 30 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 31 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 32 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 33 Generic timer & counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 34 Timed functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 35 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 36 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325 37 User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329 40 Process PID set 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 41 Process PID set 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 43 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356 44 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 45 Energy efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368 46 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373 47 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377 49 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379 50 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382 51 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388 52 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390 53 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391 58 Embedded fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391 71 External PID1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 76 Application features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417 90 Feedback selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424 91 Encoder module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426 92 Encoder 1 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426 95 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427 96 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430 97 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441 98 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 99 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

Differences in the default values between 50 Hz and 60 Hz supply frequency settings . . . 458

7. Additional parameter data Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462 Parameter groups 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463 Parameter groups 1099 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

8. Fault tracing Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487 Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488 Pure events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

Warning/fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488 Event log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488 Viewing warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

QR Code generation for mobile service application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489 Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490 Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504

9. Fieldbus control through the embedded fieldbus interface (EFB) Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523

Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523 CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

10. Fieldbus control through a fieldbus adapter Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591 Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596 Contents of the fieldbus Control word (ABB Drives profile) . . . . . . . . . . . . . . . . . . . . . . 597 Contents of the fieldbus Status word (ABB Drives profile) . . . . . . . . . . . . . . . . . . . . . . . 598 The state diagram (valid for ABB drives profile only) . . . . . . . . . . . . . . . . . . . . . . . . . . . 599

Automatic drive configuration for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600 Automatically changed parameters (all adapters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602 Specific fieldbus adapter parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602 Parameters set by module detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

Setting up the drive for fieldbus control manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606

11. Control chain diagrams Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609 Frequency reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610 Frequency reference modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611 Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612 Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613 Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614 Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615 Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616

Reference selection for torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617 Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618 Process PID setpoint and feedback source selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619 Process PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620 External PID setpoint and feedback source selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621 External PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622 Direction lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623

12. Appendix A — ACS380 in crane applications Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625 Overview of the crane control program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626 Quick start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627

Control through the I/O interface using a joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628 Control through the I/O interface using the step reference logic/pendant control . . . . . 633 Control through the fieldbus interface using the fieldbus control word . . . . . . . . . . . . . . 638 Configuring speed feedback using a HTL/TTL pulse encoder . . . . . . . . . . . . . . . . . . . . 642 Configuring slowdown with two limits and stop limit logic . . . . . . . . . . . . . . . . . . . . . . . 643 Configuring Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647

Crane mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649 Crane brake control timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649 Brake system checks overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650 Brake system checks Torque proving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652 Brake system checks Brake slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653 Brake safe closure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654 Extended run time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655

Speed matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656 Crane warning masking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658 Dead-band function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658 Start/stop interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659

Joystick zero position interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659 Joystick reference interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660

Crane stop limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662 Crane slowdown function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664

Slowdown with two limit inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664 Fast stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666 Power on acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667 Speed reference handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670

Unipolar joysticks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670 Parabolic speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670 Step reference speed selection/Pendant control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

Crane motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673 Conical motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 679

Further information

16 Introduction to the manual

2 Control panel

Contents Control panel Home view and Message view Options menu Main menu Submenus

Control panel By default, ACS 380 has an integrated panel. If required, you can use external control panels such as assistant control panel or a basic panel. For more information, refer ACX-AP-x assistant control panels users manual (3AUA0000085685 [English]) or ACS-BP-S basic control panels users manual (3AXD50000032527 [English])

1. Display — shows the Home view as default. 2. Main menu. 3. OK button — open the Main menu, select and save settings. 4. Start button — start the drive. 5. Menu navigation buttons — move in the menus and set

values. 6. Stop button — stop the drive. 7. Back button — open the Options menu, and move back in

the menu. 8. Options menu. 9. Status light — green and red colors indicate the state and

potential problems.

Home view and Message view The Home view is the main view. Open the Main menu and Options menu from the Home view.

The Message view shows fault and warning messages. If there is an active fault or warning, the panel shows the Message view directly.

You can open the Message view from the Options menu or Diagnostics submenu.

Home view 1. Control selection — local or remote 2. Local start/stop control — enabled 3. Rotation direction — forward or reverse 4. Local reference setting — enabled 5. Speed — target 6. Speed — current 7. Main menu — menu list 8. Options menu — quick access menu

Message view: Fault Fault messages require your immediate attention.

Check the code in the Fault messages table on page 504 to troubleshoot the problem.

Message view: Warning Warning messages show possible problems.

Check the code in the Warning messages table on page 490 to troubleshoot the problem.

Options menu and Main menu

Options menu The Options menu is a quick access menu.

Main menu The Main menu is a scroll menu. The menu icons represent specific groups. The groups have submenus.

Note: You can define which Main menu items are visible (see parameter 49.30).

Options menu 1. To open: press the Back

button in the Home view.

Main menu 2. To open: press the OK

button in the Home view.

1. Control location — set to local or remote control 2. Rotation direction — set to forward or reverse 3. Active faults — view possible faults 4. Reference speed — set the reference speed 5. Active warnings — view possible warnings

1. Motor data — motor parameters

2. Motor control — motor settings

3. Control macros

4. Diagnostics — faults, warnings, fault log and connection status

5. Energy efficiency — energy savings

6. Parameters — parameters

Submenus

The Main menu items have submenus. Some submenus also have menus and/or option lists. The content of the submenus depend on the drive type.

Motor Data

1. Motor type — AsynM, PMSM, SynRM 2. Control mode — Scalar, Vector 3. Nominal power 4. Nominal current 5. Nominal voltage 6. Nominal frequency 7. Nominal speed 8. Nominal torque 9. Phase order — U V W, U W V 10.Nominal Cosphi 11.Unit selection — SI or US units

Motor Data: Motor type 1. AsynM 2. PMSM 3. SynRM

Motor Data: Control mode 1. Scalar 2. Vector

Motor Data: Phase order 1. U V W 2. U W V

Motor Data: Unit selection 1. SI units 2. US units

Motor Control

1. Start mode — Const time, Automatic 2. Stop mode — Coast, Ramp, DC hold 3. Acceleration time 4. Deceleration time 5. Maximum allowed speed 6. Maximum allowed current 7. Minimum allowed speed

Motor Control: Start modes 1. Const time 2. Automatic

Motor Control: Stop modes 1. Coast 2. Ramp 3. DC hold

Control macros The available control macros depend on the installed option modules: ABB standard AC500 modbus RTU Alternate Motor potentiometer PID control Torque control

Diagnostics

1. Active Fault — shows the fault code 2. Fault History — list of latest fault codes (newest first) 3. Active Warnings — shows the warning code 4. Connection Status — Fieldbus and I/O signals

Energy Efficiency

1. Saved energy in kWh 2. Saved money 3. Saved energy in MW 4. Saved money x 1000 5. Cost per kWh h

Parameters

1. Complete parameter list — groups menu with complete parameters and parameter levels

2. Modified parameter list 3. Parameter restore — reset to factory default parameters

30 Start-up, ID run and use

4 Control macros

Contents ABB standard macro AC500 modbus RTU macro Alternate macro Motor potentiometer macro PID control macro Torque control macro Parameter default values for different macros

Control macros are sets of default parameter values that apply to a specific control configuration. They make it faster and easier to set up a drive for use.

By default, a macro for the I/O controlled drive is set as the ABB standard macro.

ABB standard macro ABB standard macro is suitable for an IO-controlled drive. Digital inputs control start/stop (2-wire), direction and constant speed selection (3 speeds) and acceleration and deceleration ramp selection.

You can activate the macro from the Control macros view, or by setting parameter 96.04 Macro select to value ABB standard.

This is the default macro for all ACS380 types.

Default control connections for the ABB standard macro This connection diagram is valid for the drive with the BMIO-01 option (for example ACS380-04xS or ACS380-04xC+L538).

Terminals Description Digital I/O connections

Aux. +24 V DC, max 200 mA Aux. voltage output common Digital input common Stop (0) / Start (1) Forward (0) / Reverse (1) Constant frequency / speed selection 1)

Constant frequency / speed selection 1)

Ramp set 1 input (0) / Ramp set 2 input (1)2)

Not ready output (0) / Ready run output (1) Digital output auxiliary voltage Digital input/output common

Analog I/O

Speed / freq.(010V) 4)

Analog input circuit common Not configured 4)

Analog input circuit common Output frequency (020 mA) Analog output circuit common Signal cable shield (screen) Ref. voltage +10 V DC

Safe Torque Off (STO)

+24V DGND DCOM DI1 DI2 DI3 DI4 DIO1 DIO2 DIO SRC DIO COM

AI1 AGND AI2 AGND AO AGND SCR +10V3)

Notes:

Terminal sizes: 0.14 mm 1.5 mm

Tightening torques: 0.5 Nm (0.4 lbfft).

Terminals DGND, AGND and SGND are internally connected to same reference potential.

Reference from the integrated panel. 1) In scalar control (default): See parameter group 28 Frequency reference chain. In vector control: See parameter group 22 Speed reference selection. Select the correct control mode from the Motor data view or with parameter 99.04 Motor control mode.

2)

Safe torque off. Connected at factory. Drive starts only if both circuits are closed.

Relay output 1 No fault [Fault (-1)]

Terminals Description Digital I/O connections

S+ SGND S1 S2

RC RA RB

+24V DGND

DI3 DI4 Operation/Parameter Scalar control (default) Vector control

0 0 Set frequency through AI1 Set speed through AI1 1 0 28.26 Constant frequency 1 22.26 Constant speed 1 0 1 28.27 Constant frequency 2 22.27 Constant speed 2 1 1 28.28 Constant frequency 3 22.28 Constant speed 3

DIO1 Ramp set Parameters 0 1 28.71 Freq ramp set selection,,

28.74 Freq acceleration time 21 2

3) Ground the outer shield of the cable 360 degrees under the grounding clamp on the grounding shelf for the control cables.

4) Select the unit for analog input AI1 in the parameter 12.15 and for AI2 in the parameter 12.25.

Input signals Start/Stop selection (DI1) Forward (0) / Reverse (1) (DI2) Speed selection (DI3) Speed selection (DI4) Ramp set 1 (0) / Ramp set 2 (1) selection (DIO1) Output frequency or motor speed reference (AI1)

Output signals Output frequency (AO) Ready to run (0) / Not ready (1) (DIO2) No Fault [Fault (-1)]

AC500 modbus RTU macro The AC500 Modbus RTU macro configures the drive communication and control parameters to work with AC500 PLC and Modbus RTU communication. The drive uses the embedded Modbus RTU on the BMIO-01 board.

The macro is available with firmware version 2.15 or later.

You can activate the macro from the Control macros view, or by setting the parameter 96.04 Macro select value as AC500 Modbus RTU.

Activation of the macro changes some values from their default values. For details, see section Parameter default values for different macros on page 46.

Settings

parameter 96.04 Macro select value

Alternate macro This macro provides an I/O configuration where one signal starts the motor in the forward direction and another signal starts the motor in the reverse direction.

You can activate the macro from the Control macros view, or by setting parameter 96.04 Macro select to value Alternate.

The macro is optimized for the standard drive variant (ACS380-04xS) and configured drive variant ACS380-04xC +L538. You can use it also with the base drive variant (ACS380-04xN) but then you cannot use all the I/O available in the macro.

Activation of the macro changes some values from their default values. For details, see section Parameter default values for different macros on page 46.

Default control connections for the Alternate macro This connection diagram is valid for the drive with the BMIO-01 option (for example ACS380-04xS or ACS380-04xC+L538) (with the Alternate macro selected).

Terminals Description Digital I/O connections

Aux. +24 V DC, max 200 mA Aux. voltage output common Digital input common Start forward; If DI1 = DI2: stop Start reverse Constant speed / frequency selection 1)

Constant speed / frequency selection 1)

Ramp set 1(0) / Ramp set 2 (1) 2)

Ready run (0) / not ready run Digital output auxiliary voltage Digital input/output common

Analog I/O

Output freq./Speed ref.(010V) 4)

Analog input circuit common Not configured 4)

Analog input circuit common Output frequency (020 mA) Analog output circuit common Signal cable shield (screen) Ref. voltage +10 V DC

Safe Torque Off (STO) Safe torque off. Connected at factory. Drive starts only if both circuits are closed.

Relay output 1

+24V DGND DCOM DI1 DI2 DI3 DI4 DIO1 DIO2 DIO SRC DIO COM

AI1 AGND AI2 AGND AO AGND SCR +10V3)

S+ SGND S1 S2

Notes:

Terminal sizes: 0.14 mm 1.5 mm

Tightening torque: 0.5 Nm (0.4 lbfft).

Terminals DGND, AGND and SGND are internally connected to same reference potential. 1) In scalar control (default): See parameter group 28 Frequency reference chain.

In vector control: See parameter group 22 Speed reference selection.

Select the correct control mode from the Motor data view or with parameter 99.04 Motor control mode.

2) In scalar control (default): See parameter group 28 Frequency reference chain. In vector control: See parameter group 23 Speed reference ramp.

No fault [Fault (-1)]

EIA-485 Modbus RTU Embedded Modbus RTU (EIA-485). See chapter Fieldbus control through the embedded fieldbus interface (EFB).

Terminals Description Digital I/O connections

RC RA RB

+24V DGND

B+ A- BGND Shield Termination

DI3 DI4 Operation/Parameter Scalar control (default) Vector control

0 0 Set frequency through AI1 Set speed through AI1 1 0 28.26 Constant frequency 1 22.26 Constant speed 1 0 1 28.27 Constant frequency 2 22.27 Constant speed 2 1 1 28.28 Constant frequency 3 22.28 Constant speed 3

Select the correct control mode from the Motor data view or with parameter 99.04 Motor control mode.

3) Ground the outer shield of the cable 360 degrees under the grounding clamp on the grounding shelf for the control cables.

4) Select the unit for analog input AI1 in the parameter 12.15 and for AI2 in the parameter 12.25.

Input signals Start motor forward (DI1) Start motor in reverse (DI2) Constant output frequency / motor speed selection (DI3) Constant output frequency / motor speed selection (DI4) Ramp set selection (DIO1)

Output signals Output frequency or motor speed reference (AI1) Output frequency (AO1) No Fault [Fault (-1)]

DIO2 Ramp set

Parameters Scalar control (default) Vector control

0 1 28.72 Freq acceleration time 1 23.12 Acceleration time 1 28.73 Freq deceleration time 1 23.13 Deceleration time 1

1 2 28.74 Freq acceleration time 2 23.14 Acceleration time 2 28.75 Freq deceleration time 2 23.15 Deceleration time 2

Motor potentiometer macro This macro provides a way to adjust the speed with the help of two push buttons, or a cost-effective interface for PLCs that vary the speed of the motor using only digital signals.

You can activate the macro from the Control macros view, or by setting parameter 96.04 Macro select to value Motor potentiometer.

For more information on the motor potentiometer counter, see section Motor potentiometer on page 119.

The macro is optimized for the standard drive variant (ACS380-04xS) and configured drive variant ACS380-04xC +L538.

Activation of the macro changes some values from their default values. For details, see section Parameter default values for different macros on page 46.

Default control connections for the Motor potentiometer macro This connection diagram is valid for drives with the standard drive variant ACS380-04xS and the configured drive variant ACS380-04xC +L538 (with the Motor potentiometer macro selected).

Terminals Description Digital I/O connections

Aux. +24 V DC, max 200 mA Aux. voltage output common Digital input common Stop (0) / Start (1) Forward (0) / Reverse (1) Frequency / speed up 1)

Frequency / speed down 1)

Constant speed sel 1 2)

Ready run (0) / Not ready run (1) Digital output auxiliary voltage Digital input/output common

Analog I/O

+24V DGND DCOM DI1 DI2 DI3 DI4 DIO1 DIO2 DIO SRC DIO COM

Notes:

Terminal sizes: 0.14 mm 1.5 mm

Tightening torque: 0.5 Nm (0.4 lbfft).

Terminals DGND, AGND and SGND are internally connected to same reference potential. 1) When the input signal is on, the speed/frequency increase or decrease along a

parameter-defined change rate. See parameters 22.75, 22.76, and 22.77. If DI3 and DI4 are both active or inactive, the frequency/speed reference is unchanged. The existing frequency/speed reference is stored during stop and power down.

2) In scalar control (default): See parameter group 28 Frequency reference chain. In vector control: See parameter group 23 Speed reference ramp.

Not configured 4)

Analog input circuit common Not configured 4)

Analog input circuit common Not configured Analog output circuit common Signal cable shield (screen) Ref. voltage +10 V DC

Safe Torque Off (STO) Safe torque off. Connected at factory. Drive starts only if both circuits are closed.

Relay output 1 No fault [Fault (-1)]

Terminals Description Digital I/O connections

AI1 AGND AI2 AGND AO AGND SCR +10V

S+ SGND S1 S2

RC RA RB

+24V DGND

Select the correct control mode from the Motor data view or with parameter 99.04 Motor control mode.

3) Ground the outer shield of the cable 360 degrees under the grounding clamp on the grounding shelf for the control cables.

4) Select the unit for analog input AI1 in the parameter 12.15 and for AI2 in the parameter 12.25.

Input signals Stop (0) / Start (1) (DI1) Forward (0) / Reverse (1) (DI2) Frequency / speed up (DI3) Frequency / speed down (DI4) Constant speed selection 1 (DIO1)

Output signals No Fault [Fault (-1)]

PID control macro This macro is suitable for applications where the drive is always controlled by PID and the reference comes from analog input AI1.

You can activate the macro from the Control macros view, or by setting parameter 96.04 Macro select to value PID.

The macro is optimized for the standard drive variant ACS380-04xS and the configured drive variant ACS380-04xC +L538.

Activation of the macro changes some values from their default values. For details, see section Parameter default values for different macros on page 46.

DIO1 Ramp set

Parameters Scalar control (default) Vector control

0 1 28.72 Freq acceleration time 1 23.12 Acceleration time 1 28.73 Freq deceleration time 1 23.13 Deceleration time 1

1 2 28.74 Freq acceleration time 2 23.14 Acceleration time 2 28.75 Freq deceleration time 2 23.15 Deceleration time 2

Default control connections for PID control macro This connection diagram is valid for the standard drive variant ACS380-04xS and the configured drive variant ACS380-04xC +L538 (with the PID control macro selected).

Terminals Description Digital I/O connections

Aux. +24 V DC, max 200 mA Aux. voltage output common Digital input common Stop (0) / Start (1) Internal setpoint sel1 1)

Internal setpoint sel2 1)

Constant speed / frequency selection 2)

Run enable 1 source Ready run Digital output auxiliary voltage Digital input/output common

Analog I/O

External PID ref 3) 6)

Analog input circuit common Actual PID feedback 4) 6)

Analog input circuit common Output frequency (020 mA) Analog output circuit common Signal cable shield (screen) Ref. voltage +10 V DC

Safe Torque Off (STO) Safe torque off. Connected at factory. Drive starts only if both circuits are closed.

Relay output 1

+24V DGND DCOM DI1 DI2 DI3 DI4 DIO1 DIO2 DIO SRC DIO COM

AI1 AGND AI2 AGND AO AGND SCR +10V

5)

S+ SGND S1 S2

Notes:

Terminal sizes: 0.14 mm 1.5 mm

Tightening torque: 0.5 Nm (0.4 lbfft).

Terminals DGND, AGND and SGND are internally connected to same reference potential. 1) See parameters 40.19 Set 1 internal setpoint sel1 and 40.20 Set 1 internal setpoint

sel2 source table.

2) Select the correct control mode from the Motor data view or with parameter 99.04 Motor control mode.

3) PID: 010 V -> 0100% PID setpoint. 4) The signal source is powered externally. See the manufacturers instructions. To

use sensors supplied by the drive aux. voltage output, see connection examples of two-wire and three-wire sensors in the hardware manual of the drive.

5) Ground the outer shield of the cable 360 degrees under the grounding clamp on the grounding shelf for the control cables.

No fault [Fault (-1)]

Terminals Description Digital I/O connections

RC RA RB

+24V DGND

Source defined by par. 40.19

DI2

Source defined by par. 40.20

DI3 Internal setpoint active

0 0 Setpoint source: AI1 (par. 40.16) 1 0 1 (par. 40.21) 0 1 2 (par. 40.22) 1 1 3 (par.40.23)

DI4 Operation/Parameter Scalar control (default) Vector control

0 Set frequency through AI1 Set speed through AI1 1 28.26 Constant frequency 1 22.26 Constant speed 1

6) Select the unit for analog input AI1 in the parameter 12.15 and for AI2 in the parameter 12.25.

Input signals External PID ref (AI1) Actual feedback from PID (AI2) Start/Stop selection (DI1) Constant setpoint 1 (DI2) Constant setpoint 2 (DI3) Speed/freq selection (DI4) Ramp pair selection (DIO1)

Output signals Output frequency (AO) No Fault [Fault (-1)]

Torque control macro Note: The torque control macro requires that the BMIO-01 module (option +L538) is connected to the drive.

You can use this macro for applications in which torque control of the motor is required. These are typically tension applications, where a particular tension needs to be maintained in the mechanical system.

The control program reads the torque reference from analog input AI2, typically as a current signal in the range of 020 mA (corresponding to 0100% of rated motor torque).

Connect the start/stop signal to digital input DI1. Digital input DI2 determines the direction. Digital input DI3 allows you to select speed control (EXT1) instead of torque control (EXT2). As with the PID control macro, you can use speed control to commission the system and to check the motor direction.

You can change to local control (control panel or PC tool) if you press the Loc/Rem key. By default, the local reference is speed; if you need a torque reference, change the value of parameter 19.16 to Torque.

You can activate a constant speed (by default, 300 rpm) through DI4. DI5 switches between acceleration/deceleration time sets 1 and 2. Parameters 23.1223.15 define the acceleration and deceleration times, as well as ramp shapes.

Activation of the macro changes some values from their default values. For details, see section Parameter default values for different macros on page 46.

Default control connections for the Torque control macro

Fault

XPOW External power input 1 +24VI 24 V DC, 2 A2 GND

XAI Reference voltage and analog inputs 1 +VREF 10 V DC, RL 110 kohm 2 -VREF -10 V DC, RL 110 kohm 3 AGND Ground 4 AI1+ Ext1 speed reference

0(2)10 V, Rin > 200 kohm5 AI1- 6 AI2+ Torque reference

0(4)20 mA, Rin = 100 ohm7 AI2- XAO Analog outputs

1 AO1 Motor speed rpm 020 mA, RL < 500 ohm2 AGND

3 AO2 Motor current 020 mA, RL < 500 ohm4 AGND

XD2D Drive-to-drive link 1 B Master/follower, drive-to-drive or embedded fieldbus

interface connection2 A 3 BGND

XRO1, XRO2, XRO3 Relay outputs 1 NC Ready run

250 V AC / 30 V DC 2 A

2 COM 3 NO 1 NC Running

250 V AC / 30 V DC 2 A

2 COM 3 NO 1 NC Fault (-1)

250 V AC / 30 V DC 2 A

2 COM 3 NO

XD24 Digital interlock 1 DIIL Digital interlock. By default, not in use. 2 +24VD +24 V DC 200 mA 3 DICOM Digital input ground 4 +24VD +24 V DC 200 mA 5 DIOGND Digital input/output ground

XDIO Digital input/outputs 1 DIO1 Ramp 1 (0) / Ramp 2 (1) 2 DIO2 Run enable source

XDI Digital inputs 1 DI1 Stop (0) / Start (1) 2 DI2 Speed control: Forward (0) / Reverse (1) 3 DI3 Speed control (0) / Torque control (1) 4 DI4 Speed control: Constant speed 1 (1 = On) 5 DI5 Acc/Dec time set 1 (0) / set 2 (1) 6 DI6 Run enable (1 = On)

XSTO Safe torque off circuits must be closed for the drive to start. See Hardware manual of drive.

X12 Safety options connection X13 Control panel connection X205 Memory unit connection

Parameter default values for different macros Chapter Parameters shows the default values of all parameters for the ABB standard macro (factory macro). Some parameters have different default values for other macros. The tables below lists the default values for those parameters for each macro. 96.04 Macro select 1 =

ABB stan- dard

5 = AC500 Modbus RTU

12 = Alternate

13 = Motor po- tentiometer

14 = PID

28 = Torque control

10.24 RO1 source 15 = Fault (- 1)

15 = Fault (- 1)

15 = Fault (- 1)

15 = Fault (- 1)

15 = Fault (- 1)

2 = Ready run

12.20 AI1 scaled at AI1 max

50.000 50.000 50.000 50.000 50.000 1500.000

13.12 AO1 source 3 = Output frequency

3 = Output frequency

3 = Output frequency

3 = Output frequency

3 = Output frequency

1 = Motor speed used

13.18 AO1 source max

50.0 50.0 50.0 50.0 50.0 1500.000

19.11 Ext1/Ext2 selection

0 = EXT1 0 = EXT1 0 = EXT1 0 = EXT1 0 = EXT1 5 = DI3

20.01 Ext1 commands

2 = In1 Start; In2 Dir

14 = Embedded

3 = In1 Start fwd; In2

2 = In1 Start; In2 Dir

1 =In1 Start 2 = In1 Start; In2 Dir

20.03 Ext1 in1 source

2 = DI1 0 = Always off

2 = DI1 2 = DI1 2 = DI1 2 = DI1

20.04 Ext1 in2 source

3 = DI2 0 = Always off

3 = DI2 3 = DI2 0 = Always off

3 = DI2

20.05 Ext1 in3 source

0 = Always off

0 = Always off

0 = Always off

0 = Always off

0 = Always off

0 = Always off

20.06 Ext2 commands

0 = Not selected

0 = Not selected

0 = Not selected

0 = Not selected

0 = Not selected

1 = In1 Start

20.08 Ext2 in1 source

0 = Always off

0 = Always off

0 = Always off

0 = Always off

0 = Always off

2 = DI1

20.09 Ext2 in2 source

0 = Always off

0 = Always off

0 = Always off

0 = Always off

0 = Always off

3 = DI2

20.12 Run enable 1 source

1 = Selected

1 = Selected 1 = Selected

1 = Selected

10 = DIO1 11 = DIO2

21.05 Emergency stop source

1= Inactive (true)

1= Inactive (true)

1= Inactive (true)

1= Inactive (true)

1= Inactive (true)

1= Inactive (true)

22.11 Ext1 speed ref1

1 = AI1 scaled

8 = EFB ref1 1 = AI1 scaled

15 = Motor potentiomet

16 = PID 1 = AI1 scaled

22.18 Ext2 speed ref1

0 = Zero 0 = Zero 0 = Zero 0 = Zero 0 = Zero 0 = Zero

22.22 Constant speed sel1

4 = DI3 0 = Always off

4 = DI3 10 = DIO1 5 = Always offAlways

5 = DI4

22.23 Constant speed sel2

5 = Always offAlways

0 = Always off

5 = Always offAlways

0 = Always off

0 = Always off

5 = DI4

96.04 Macro select 1 = ABB stan- dard

5 = AC500 Modbus RTU

12 = Alternate

13 = Motor po- tentiometer

14 = PID

28 = Torque control

22.71 Motor potentiometer function

0 = Disabled 0 = Disabled 0 = Disabled 1 = Enabled (init at power-up)

0 = Disabled 0 = Disabled

22.73 Motor potentiometer up source

0 = Not selected

0 = Not selected

0 = Not selected

4 = DI3 0 = Not selected

Not used

22.74 Motor potentiometer down source

0 = Not selected

0 = Not selected

0 = Not selected

5 = DI4 0 = Not selected

Not used

23.11 Ramp set selection

10 = DIO1 0 = Acc/Dec time 1

10 = DIO1 0 = Acc/Dec time 1

0 = Acc/Dec time 1

10 = DIO1

28.11 Ext1 frequency ref1

1 = AI1 scaled

8 = EFB ref1 1 = AI1 scaled

15 = Motor potentiomet

16 = PID 1 = AI1 scaled

28.15 Ext1 frequency ref2

0 = Zero 0 = Zero 0 = Zero 0 = Zero 0 = Zero 0 = Zero

28.22 Constant frequency sel1

4 = DI3 0 = Always off

4 = DI3 10 = DIO1 5 = DI4 4 = DI3

28.23 Constant frequency sel2

5 = DI4 0 = Always off

5 = DI4 0 = Always off

0 = Always off

5 = DI4

28.71 Freq ramp set selection

10 = DIO1 0 = Acc/Dec time 1

10 =DIO1 0 = Acc/Dec time 1

0 = Acc/Dec time 1

0 = Acc/Dec time 1

40.07 Process PID operation

0 = Off 0 = Off 0 = Off 0 = Off 2 = On when drive running

0 = Off

40.16 Set 1 setpoint 1 source

11 = AI1 percent

11 = AI1 percent

11 = AI1 percent

11 = AI1 percent

11 = AI1 percent

0 = Not selected

40.17 Set 1 setpoint 2 source

0 = Not selected

0 = Not selected

0 = Not selected

0 = Not selected

2 = Internal setpoint

0 = Not selected

40.19 Set 1 internal setpoint sel1

0 = Not selected

0 = Not selected

0 = Not selected

0 = Not selected

3 = DI2 0 = Not selected

40.20 Set 1 internal setpoint sel2

0 = Not selected

0 = Not selected

0 = Not selected

0 = Not selected

4 = DI3 0 = Not selected

40.32 Set 1 gain 1.00 1.00 1.00 1.00 1.00 1.00

40.33 Set 1 integration time

60.0 60.0 60.0 60.0 60.0 60.0

5 Program features

Contents Local and external control locations Operating modes and motor control modes Drive configuration and programming Control interfaces Motor control Application control DC voltage control Limit to limit control Safety and protections Diagnostics Miscellaneous

Local and external control locations There are two main control locations: local and external. Select the control by pressing the Loc/Rem key on the panels, or from the Drive Composer PC tool.

Local control The control commands are given from control panels or from a PC equipped with Drive Composer when the drive is in local control. Local control is mainly used during commissioning and maintenance. The control panel overrides the external control signal sources when used in local control.

Changing the control location to local can be prevented by parameter 19.17 Local control disable.

Note: You can use both the control panel or the Drive Composer tool at the same time, but only one can be in local control at a time.

Settings and diagnostics

Parameters: 19.17 Local control disable (page 182) and 49.05 Communication loss action (page 379).

Integrated panel, Assistant control panel (optional) or Drive

composer PC tool (optional)

Fieldbus adapter (Fxxx)

MOTOR

PLC (= Programmable logic controller)

I/O

Embedded fieldbus interface

External control

Local control

Drive

M 3~

External control When the drive is in external control, control commands are given through: the I/O terminals (digital and analog inputs) the fieldbus interface (via the embedded fieldbus interface or an optional fieldbus

adapter module) an external panel.

Two external control locations, EXT1 and EXT2, are available. You can select the sources of the start and stop commands separately for each location by setting parameters 20.0120.10. The operating mode can be selected separately for each location, which enables quick switching between different operating modes, for example speed and torque control. Selection between EXT1 and EXT2 is done via parameter 19.11 Ext1/Ext2 selection. You can also select the source of reference for each operating mode separately, and the operation mode.Block diagram: Run enable source for EXT1

The figure below shows the parameters that select the interface for run enable for external control location EXT1.

Settings and diagnostics

Parameters: 19.11 Ext1/Ext2 selection (page 180), 20.0120.10, and 20.30.

Timed function 13

Supervision 16

Other [bit]

DI1

DI0 2

EXT1 Run enable

EFB MCW bit 3

Select

20.12

DI1

DIO2

FBA A MCW bit 3

0

1

Off

Selected

Embedded fieldbus

Timed function

A bit in a parameter

Supervision

Fieldbus adapter

Operating modes and motor control modes The drive can operate in several operating modes with different types of reference. The operating mode is selectable for each control location (Local, EXT1 and EXT2) when the motor control mode is Vector (99.04). If the motor control mode is Scalar, the drive operation mode is fixed to frequency control mode.

An overview of the control hierarchy and different reference types and control chains is shown below.

Settings and diagnostics

Parameters: group 19 Operation mode (page 180).

Overview diagram of control hierarchy The following is a more detailed representation of the drive control hierarchy reference types and control chains.

Frequency reference Parameter group 26

Torque reference chain

Speed reference Parameter group 26

Torque reference

Torque reference Parameter group 26

Torque reference

Process PID

Vector motor control mode Scalar motor control mode

Frequency controllerTorque controller

Process PID setpoint and feedback source selection

Torque reference source selection and

modification

Speed reference source selection I

Frequency reference source selection and

modification

Speed reference source selection II

Speed reference ramping and shaping

Speed error calculation

Vector motor control mode Scalar motor control mode

Speed controller

Process PID controller

Torque limitation

Reference selection for torque controller

Frequency controllerTorque controller

Speed control mode In speed control mode, the motor follows a speed reference given to the drive. This mode can be used with either estimated or measured speed used as feedback.

Speed control mode is available in both local and external control locations. It is supported in vector motor control only.

Speed control uses speed reference chain. Select speed reference with parameters in group 22 Speed reference selection on page 212.

Torque control mode In torque control mode, the motor torque follows a torque reference given to the drive. Torque control mode is available in both local and external control locations. It is supported in vector motor control only.

Torque control uses torque reference chain. Select torque reference with parameters in group 26 Torque reference chain on page 240.

Frequency control mode In frequency control mode, the motor follows the drive output frequency reference. Frequency control is available in both local and external control location. It is supported in scalar motor control only.

Frequency control uses frequency reference chain. Select frequency reference with parameters in group 28 Frequency reference chain on page 247.

Special control modes In addition to the above-mentioned operating modes, the following special operating modes are available: Process PID control. For more information, see section Process PID control on

page 88. Emergency stop modes OFF1 and OFF3: Drive stops along the defined

deceleration ramp and drive modulation stops. Jogging mode: Drive starts and accelerates to the defined speed when the

jogging signal is activated. For more information, see section Jogging on page 71. Pre-magnetization: DC magnetization of the motor before start. For more

information, see section Pre-magnetization on page 78. DC hold: Locking the rotor at (near) zero speed in the middle of normal operation.

For more information, see section DC hold on page 78. Pre-heating (motor heating): Keeping the motor warm when the drive is stopped.

For more information, see section Pre-heating (Motor heating) on page 79.

Settings and diagnostics

Parameters: group 19 Operation mode (page180) and 99.04 Motor control mode (page 450).

Autophasing Autophasing is an automatic measurement routine to determine the angular position of the magnetic flux of a permanent magnet synchronous motor or the magnetic axis of a synchronous reluctance motor. The motor control requires the absolute position of the rotor flux in order to control motor torque accurately.

Sensors like absolute encoders and resolvers indicate the rotor position at all times after the offset between the zero angle of rotor and that of the sensor has been established. On the other hand, a standard pulse encoder determines the rotor position when it rotates but the initial position is not known. However, a pulse encoder can be used as an absolute encoder if it is equipped with Hall sensors, albeit with coarse initial position accuracy. Hall sensors generate so-called commutation pulses that change their state six times during one revolution, so it is only known within which 60 sector of a complete revolution the initial position is.

Many encoders give a zero pulse (also called Z-pulse) once during each rotation. The position of the zero pulse is fixed. If this position is known with respect to zero position used by motor control, the rotor position at the instant of the zero pulse is also known.

Using the zero pulse improves the robustness of the rotor position measurement. The rotor position must be determined during starting because the initial value given by the encoder is zero. The autophasing routine determines the position, but there is a risk of some position error. If the zero pulse position is known in advance, the position found by autophasing can be corrected as soon as the zero pulse is detected for the first time after starting.

Absolute encoder/resolver

Rotor

N

S

The autophasing routine is performed with permanent magnet synchronous motors and synchronous reluctance motors in the following cases:

1. One-time measurement of the rotor and encoder position difference when an absolute encoder, a resolver, or an encoder with commutation signals is used

2. At every power-up when an incremental encoder is used

3. With open-loop motor control, repetitive measurement of the rotor position at every start

4. When the position of the zero pulse must be measured before the first start after power-up.

Note: In closed-loop control, autophasing is performed automatically after the motor identification run (ID run). Autophasing is also performed automatically before starting when necessary.

In open-loop control, the zero angle of the rotor is determined before starting. In closed-loop control, the actual angle of the rotor is determined with autophasing when the sensor indicates zero angle. The offset of the angle must be determined because the actual zero angles of the sensor and the rotor do not usually match. The autophasing mode determines how this operation is done both in open-loop and closed-loop control.

The rotor position offset used in motor control can also be given by the user see parameter 98.15 Position offset user. Note that the autophasing routine also writes its result into this parameter. The results are updated even if user settings are not enabled by 98.01 User motor model mode.

Note: In open-loop control, the motor always turns when it is started as the shaft is turned towards the remanence flux.

Bit 4 of 06.21 Drive status word 3 indicates if the rotor position has already been determined.

Autophasing modes

The ACS380 uses turning mode (see parameter 21.13 Autophasing mode).

The turning mode (Turning) is the most robust and accurate method. In turning mode, the motor shaft is turned back and forward (360/polepairs) in order to determine the rotor position. In case 3 (open-loop control), the shaft is turned only in one direction and the angle is smaller.

The drive is capable of determining the rotor position when started into a running motor in open-loop or closed-loop control. In this situation, the setting of 21.13 Autophasing mode has no effect.

The autophasing routine can fail and therefore it is recommended to perform the routine several times and check the value of parameter 98.15 Position offset user.

An autophasing fault (3385 Autophasing) can occur with a running motor if the estimated angle of the motor differs too much from the measured angle. This could be caused by, for example, the following: The encoder is slipping on the motor shaft An incorrect value has been entered into 98.15 Position offset user The motor is already turning before the autophasing routine is started Turning mode is selected in 21.13 Autophasing mode but the motor shaft is

locked The wrong motor type is selected in 99.03 Motor type Motor ID run has failed.

Settings and diagnostics

Parameters: 06.21 Drive status word 3 (page 145), 21.13 Autophasing mode (page 90), 98.15 Position offset user (page 449), 99.03 Motor type (page 449), and 99.13 ID run requested (page 454).

Drive configuration and programming The drive control program is divided into two parts: firmware program application program

Drive configuring program

The firmware program performs the main control functions, including speed, torque and frequency control, drive logic (start/stop), I/O, feedback, communication and protection functions. Firmware functions are configured and programmed with parameters, and can be extended by application programming

Application program Firmware

Speed control Torque control Frequency control Drive logic I/O interface Fieldbus interface Protections

Parameter interface

Function block program

Standard block library

M

Programming via parameters Parameters configure all of the standard drive operations and can be set via the integrated panel, as described in chapter Control panel an external panel the Drive Composer PC tool, as described in Drive Composer PC tool users

manual (3AUA0000094606 [English]), or the fieldbus interface, as described in chapters Fieldbus control through the

embedded fieldbus interface (EFB) and Fieldbus control through a fieldbus adapter.

All parameter settings are stored automatically to the permanent memory of the drive. However, if an external +24 V DC power supply is used for the drive control unit, it is highly recommended to force a save by using parameter 96.07 Parameter save manually before powering down the control unit after any parameter changes have been made.

If necessary, the default parameter values can be restored by parameter 96.06 Parameter restore.

Adaptive programming Conventionally, you can control the operation of the drive by parameters. However, the standard parameters have a fixed set of choices or a setting range. To further customize the operation of the drive, an adaptive program can be constructed out of a set of function blocks.

The Drive Composer PC tool (version 1.11 or later, available separately) has an Adaptive programming feature with a graphical user interface for building the custom program. The function blocks include the usual arithmetic and logical functions, as well as e.g., selection, comparison and timer blocks. The adaptive program is executed on a 10 ms time level.

The physical inputs, drive status information, actual values, constants and parameters can be used as the input for the program. The output of the program can be used e.g., as a start signal, external event or reference, or connected to the drive outputs. See the table below for a listing of the available inputs and outputs.

If you connect the output of the adaptive program to a selection parameter that is a pointer parameter, the selection parameter will be write-protected.

Example: If parameter 31.01 External event 1 source is connected to an adaptive programming block output, the parameter value is shown as Adaptive program on a control panel or PC-tool. The parameter is write-protected (= the selection cannot be changed).

The status of the adaptive program is shown by parameter 07.30 Adaptive program status.The adaptive program needs to be enabled for programming and program usage (see parameter 96.70 Disable adaptive program).

For more information, see the Adaptive programming application guide (3AXD50000028574 [English]).

1) Available only if I/O and Modbus module is connected and in use.

Inputs available to the adaptive program Input Source I/O DI1 10.02 DI delayed status, bit 0 DI2 10.02 DI delayed status, bit 1 DI3 10.02 DI delayed status, bit 2 1) DI4 10.02 DI delayed status, bit 3 1) AI1 12.11 AI1 actual value 1) AI2 12.21 AI2 actual value 1) DIO1 11.02 DIO delayed status, bit 0 1) DIO2 11.02 DIO delayed status, bit 1 1) Actual signals Motor speed 01.01 Motor speed used Output frequency 01.06 Output frequency Motor current 01.07 Motor current Motor torque 01.10 Motor torque Motor shaft power 01.17 Motor shaft power Status Enabled 06.16 Drive status word 1, bit 0 Inhibited 06.16 Drive status word 1, bit 1 Ready to start 06.16 Drive status word 1, bit 3 Tripped 06.11 Main status word, bit 3 At setpoint 06.11 Main status word, bit 8 Limiting 06.16 Drive status word 1, bit 7 Ext1 active 06.16 Drive status word 1, bit 10 Ext2 active 06.16 Drive status word 1, bit 11 Data storage Data storage 1 real32 47.01 Data storage 1 real32 Data storage 2 real32 47.02 Data storage 2 real32 Data storage 3 real32 47.03 Data storage 3 real32 Data storage 4 real32 47.04 Data storage 4 real32

Outputs available to the adaptive program Output Target I/O RO1 10.24 RO1 source AO1 13.12 AO1 source 2) DIO1 11.06 DIO1 output source 2) DIO2 11.10 DIO2 output source 2) Start control Ext1/Ext2 selection 19.11 Ext1/Ext2 selection Run enable 1 20.12 Run enable 1 source Ext1 in1 cmd 20.03 Ext1 in1 source

2) Available only if I/O and Modbus module is connected and in use.

Adaptive program fault and aux code formats

The format of the aux code:

Ext1 in2 cmd 20.04 Ext2 in2 source Ext1 in3 cmd 20.05 Ext1 in3 source Ext2 in1 cmd 20.08 Ext2 in1 source Ext2 in2 cmd 20.09 Ext2 in2 source Ext2 in3 cmd 20.10 Ext2 in3 source Fault reset 31.11 Fault reset selection Speed control Ext1 speed reference 22.11 Ext1 speed ref1 Speed proportional gain 25.02 Speed proportional gain Speed integration time 25.03 Speed integration time Acceleration time 1 23.12 Acceleration time 1 Deceleration time 1 23.13 Deceleration time 1 Frequency control Ext1 frequency reference 28.11 Ext1 frequency ref1 Torque control Ext1 torque reference 26.11 Torque ref1 source Ext2 torque reference 26.12 Torque ref2 source Limit function Minimum torque 2 30.21 Min torque 2 source Maximum torque 2 30.22 Max torque 2 source Events External event 1 31.01 External event 1 source External event 2 31.03 External event 2 source External event 3 31.05 External event 3 source External event 4 31.07 External event 4 source External event 5 31.09 External event 5 source Data Storage Data storage 1 real32 47.01 Data storage 1 real32 Data storage 2 real32 47.02 Data storage 2 real32 Data storage 3 real32 47.03 Data storage 3 real32 Data storage 4 real32 47.04 Data storage 4 real32 Process PID Set 1 setpoint 1 40.16 Set 1 setpoint 1 source Set 1 setpoint 2 40.17 Set 1 setpoint 2 source Set 1 feedback 1 40.08 Set 1 feedback 1 source Set 1 feedback 2 40.09 Set 1 feedback 2 source Set 1 gain 40.32 Set 1 gain Set 1 integration time 40.33 Set 1 integration time Set 1 tracking mode 40.49 Set 1 tracking mode Set 1 track reference 40.50 Set 1 tracking ref selection

Bits 24-31: State number Bits 16-23: block number Bits 0-15: error code

Outputs available to the adaptive program Output Target

If the state number is zero but the block number has a value, the fault is related to a function block in the base program. If both state number and block number are zero, the fault is a generic fault that is not related to a specific block.

Sequence program

An adaptive program can contain base program and sequence program parts. Base program is run continuously when adaptive program is in running mode. The functionality of the base program is programmed using function blocks and system inputs and outputs.

Sequence program is a state machine. This means that only one state of the sequence program is run at a time. You can create a sequence program by adding states and programming the state programs using the same program elements as in the base program. You can program state transitions by adding state transition outputs to the state programs. The state transition rules are programmed using function blocks.

The number of the active state of the sequence program is shown by parameter 07.31 AP sequence state.

Control interfaces The number of inputs and outputs depend on the product variant and if the drive is equipped with any optional I/O extension modules.

S variant: 4 x Digital Inputs 2 x Digital Inputs/Outputs 2 x Analog Inputs 1 x Analog Output 1 x Relay Output

C variant: 2 x Digital Inputs 1 x Relay Output

Programmable analog inputs There are max two programmable analog inputs. Each of the inputs can be independently set as a voltage (0/210 V) or current (0/420 mA) input by a switch on the control unit. Each input can be filtered, inverted and scaled.

Settings and diagnostics

Parameters: group 12 Standard AI (page 163).

Programmable analog outputs There is max one current (020mA) analog output. The output can be filtered, inverted and scaled.

Settings and diagnostics

Parameters: group 13 Standard AO (page170).

Programmable digital inputs and outputs There are max four digital inputs, and two digital inputs/outputs (I/O that can be set as either an input or an output).

Digital inputs DI3 and DI4 can be used as frequency input and digital outputs DIO1 and DIO2 can be used as frequency output.

Settings and diagnostics

Parameters: groups 10 Standard DI, RO (page 150) and 11 Standard DIO, FI, FO (page 156).

Programmable relay outputs There is one relay output as standard. The signal indicated by the output can be selected by parameters.

Settings and diagnostics

Parameters: groups 10 Standard DI, RO (page 150).

Programmable I/O extensions Inputs and outputs can be added by using I/O extension modules.

The table below shows the number of I/O on the control unit as well as optional I/O extension modules.

Note: The configuration parameter group 15 I/O extension module (page 175) contains parameters that display the values of the inputs on the extension module.

Location Digital inputs

(DI)

Digital outputs

(DO)

Digital I/Os (DIO)

Analog inputs

(AI)

Analog outputs

(AO)

Relay outputs

(RO) Base unit 2 — — — — 1 BREL — — — — — 4 BIO-01 (original model)

3 1 — 1 — —

BIO-01 (2020 revision)

Max 3 Max. 1 — 1 Max. 1 —

These parameters are the only way of utilizing the inputs on an I/O extension module as signal sources.

BIO-01 extension module

ABB introduced an updated revision of the BIO-01 extension module in 2020. The firmware supports both the 2020 revision and original BIO-01 extension modules.

The new BIO-01 has two DIP switches to specify the port usage. One switch changes S1 port from digital output (DO1) to analog output (AO1) and the second switch S2 port from digital input (DI3) to digital output (DO1).

Note that the new BIO-01 has maximum one digital output (DO1) (the combination of setting the DIP switches so that both ports would be digital outputs is not supported).Settings and diagnostics

Parameters: group 15 I/O extension module (page 175) and 05.99 BIO-01 DIP switch status.

Fieldbus control The drive can be connected to several different automation systems through its fieldbus interfaces. See chapters Fieldbus control through the embedded fieldbus interface (EFB) and Fieldbus control through a fieldbus adapter.

Settings and diagnostics

Parameters: groups 50 Fieldbus adapter (FBA) (page 382), 51 FBA A settings (page 388), 52 FBA A data in (page 390), 53 FBA A data out (page 391) and 58 Embedded fieldbus (page 391).

Motor control

Motor types The drive supports the following motor types: Asynchronous AC induction motors Permanent magnet (PM) motors Synchronous reluctance motors (SynRM).

Settings and diagnostics Parameters: 99.03 Motor type (page 449).

Motor identification The performance of vector control is based on an accurate motor model determined during the motor start-up.

A motor Identification magnetization is automatically performed the first time the start command is given. During this first start-up, the motor is magnetized at zero speed for several seconds to allow the motor model to be created. This identification method is suitable for most applications.

In demanding applications a separate Identification run (ID run) can be performed.

Settings and diagnostics

Parameters: 99.13 ID run requested (page 454).

Power loss ride-through See section Undervoltage control (power loss ride-through) on page 103.

Vector control Vector control is the motor control mode which is intended for applications where high control accuracy is needed. It requires an identification run at startup. Vector control cannot be used in all applications.

The switching of the output semiconductors is controlled to achieve the required stator flux and motor torque. The switching frequency is changed only if the actual torque and stator flux values differ from their reference values by more than the allowed hysteresis. The reference value for the torque controller comes from the speed controller or directly from an external torque reference source.

Motor control requires measurement of the DC voltage and two motor phase currents. Stator flux is calculated by integrating the motor voltage in vector space. Motor torque is calculated as a cross product of the stator flux and the rotor current. By utilizing the identified motor model, the stator flux estimate is improved. Actual motor shaft speed is not needed for the motor control.

The main difference between traditional control and vector control is that torque control operates at the same time level as the power switch control. There is no separate voltage and frequency controlled PWM modulator; the output stage switching is wholly based on the electromagnetic state of the motor.

The best motor control accuracy is achieved by activating a separate motor identification run (ID run).

See also section Speed control performance figures on page 74.

Settings and diagnostics

Parameters: 99.04 Motor control mode (page 450) and 99.13 ID run requested (page 454).

Reference ramping Acceleration and deceleration ramping times can be set individually for speed, torque and frequency reference.

With a speed or frequency reference, the ramps are defined as the time it takes for the drive to accelerate or decelerate between zero speed or frequency and the value defined by parameter 46.01 Speed scaling or 46.02 Frequency scaling. The user can switch between two preset ramp sets using a binary source such as a digital input. For speed reference, also the shape of the ramp can be controlled.

With a torque reference, the ramps are defined as the time it takes for the reference to change between zero and nominal motor torque (01.30 Nominal torque scale).

Variable slope

Variable slope controls the slope of the speed ramp during a reference change. With this feature a constantly variable ramp can be used.

Variable slope is only supported in remote control.

Settings and diagnostics

Parameters: 23.28 Variable slope enable (page 231) and 23.29 Variable slope rate (page 231).

Special acceleration/deceleration ramps

The acceleration/deceleration times for the jogging function can be defined separately; see section Jogging on page 71.

The change rate of the motor potentiometer function (page 119) is adjustable. The same rate applies in both directions.

A deceleration ramp can be defined for emergency stop (Off3 mode).

Settings and diagnostics

Speed reference ramping — Parameters: 23.1123.15, 23.32 Shape time 1 (page 232), 23.33 Shape time 2 (page 232) and 46.01 Speed scaling (page 373).

Torque reference ramping — Parameters: 01.30 Nominal torque scale (page 130), 26.18 Torque ramp up time (page 244) and 26.19 Torque ramp down time (page 244).

Frequency reference ramping — Parameters: 28.7128.75 and 46.02 Frequency scaling (page 374).

Jogging — Parameters: 23.20 Acc time jogging (page 230) and 23.21 Dec time jogging (page 230).

Motor potentiometer — Parameters: 22.75 Motor potentiometer ramp time (page 224).

Emergency stop (Off3 mode) — Parameters: 23.23 Emergency stop time (page 230).

Constant speeds/frequencies Constant speeds and frequencies are predefined references that can be quickly activated, for example, through digital inputs. It is possible to define up to 7 speeds for speed control and 7 constant frequencies for frequency control.

WARNING: Speeds and frequencies override the normal reference irrespective of where the reference is coming from.

Settings and diagnostics

Parameters: groups 22 Speed reference selection (page 212) and 28 Frequency reference chain (page 247).

Critical speeds/frequencies Critical speeds (sometimes called skip speeds) can be predefined for applications where it is necessary to avoid certain motor speeds or speed ranges because of, for example, mechanical resonance problems.

The critical speeds function prevents the reference from dwelling within a critical band for extended times. When a changing reference enters a critical range, the output of the function freezes until the reference exits the range. Any instant change in the output is smoothed out by the ramping function further in the reference chain.

When the drive is limiting the allowed output speeds/frequencies, it limits to the absolutely lowest critical speed (critical speed low or critical frequency low) when accelerating from standstill, unless the speed reference is over the upper critical speed/ frequency limit.

Example

A fan has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm. To make the drive avoid these speed ranges, enable the critical speeds function by turning on bit 0 of parameter 22.51, and set the critical speed ranges as in the figure below.

Settings and diagnostics

Critical speeds — Parameters: 22.5122.57. Critical frequencies — Parameters: 28.5128.57. Function input (speed) — Parameters: 22.01 Speed ref unlimited (page 212). Function output (speed) — Parameters: 22.87 Speed reference act 7 (page 225). Function input (frequency) — Parameters: 28.96 Frequency ref act 7 (page 261). Function output (frequency) — Parameters: 28.97 Frequency ref unlimited (page

261).

Speed controller autotune You can adjust the speed controller of the drive automatically with the autotune function. Autotuning is based on an estimation of the mechanical time constant (inertia) of the motor and machine.

The autotune routine will run the motor through a series of acceleration/deceleration cycles. The number of cycles can be adjusted by parameter 25.40. Higher values will produce more accurate results, especially if the difference between initial and maximum speeds is small.

The maximum torque reference used during autotuning will be the initial torque (i.e. torque when the routine is activated) plus the value of 25.38, unless limited by the maximum torque limit (group 30 Limits) or the nominal motor torque (99 Motor data). The calculated maximum speed during the routine is the initial speed (ie. speed when

540

690

1380

1560

1 Par. 22.52 = 540 rpm

2 Par. 22.53 = 690 rpm

3 Par. 22.54 = 1380 rpm

4 Par. 22.55 = 1560 rpm

1 2 3 4

22.01 Speed ref unlimited (rpm) (output of function)

22.87 Speed reference act 7 (rpm) (input of function)

the routine is activated) + the value of 25.39, unless limited by parameter 30.12 or 99.09.

The diagram below shows the behavior of speed and torque during the autotune routine. In this example, parameter 25.40 (Autotune repeat times) is set to 2.

Notes

If the drive cannot produce the requested braking power during the routine, the results will be based on the acceleration stages only, and will not be as accurate as with full braking power.

The motor will exceed the calculated maximum speed slightly at the end of each acceleration stage.

Initial torque + [25.38]

t

Initial torque

Initial speed + [25.39]

Initial speed

Before activating the autotune routine

The prerequisites for performing the autotune routine are the following: User has started and the drive has successfully completed the motor identification

run (ID run) — see parameter 99.13 User has defined the speed and torque limits (group 30 Limits) User has monitored the speed feedback for noise, vibrations and other

disturbances caused by the mechanics of the system (Drive Composer PC tool), and user has set the following parameters in order to eliminate the disturbances: speed feedback filtering (group 90 Feedback selection) speed error filtering (group 24 Speed reference conditioning), and zero speed (21.06 and 21.07).

User has started the drive and it is running in speed control mode (99.04).

After these conditions have been fulfilled, user can activate autotuning by parameter 25.33 (or the signal source selected by it).

Autotune modes

Autotuning can be performed in three different ways depending on the setting of parameter 25.34. The selections Smooth, Normal and Tight define how the drive torque reference should react to a speed reference step after tuning. The selection Smooth will produce a slow but robust response; Tight will produce a fast response but possibly too high gain values for some applications. The figure below shows speed responses at a speed reference step (typically 120%).

%

t

n

CB D

nN

A

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

Autotune results

At the end of a successful autotune routine, its results are automatically transferred into the following parameters: 25.02 Speed proportional gain (proportional gain of the speed controller) 25.03 Speed integration time (integration time of the speed controller) 25.06 Acceleration Compensation Derivation Time (derivation time for

acceleration compensation) 25.37 Mechanical time constant (mechanical time constant of the motor and

machine).

Nevertheless, it is still possible to manually adjust the controller gain, integration time and derivation time.

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

Settings and diagnostics

Parameters: 25.3325.40. Events: A warning message, AF90 Speed controller autotuning (page 502), will

be generated if the autotune routine does not complete successfully.

Derivative

Proportional, integral

Derivative acceleration compensation

Torque reference

Speed reference

Actual speed

Error value-

+ ++ +

Rush control Rush control is automatically on when the operation mode is torque. In torque control, the motor could potentially rush if the load were suddenly lost. The control program has a rush control function that decreases the torque reference whenever the motor speed exceeds the set minimum speed or maximum speed.

The program sets the proportional gain to 10.0 and integration time to 2.0 s.

Settings and diagnostics

Parameters: 30.11 Minimum speed (page 264), 30.12 Maximum speed (page 265) and 31.30 Overspeed trip margin (page 281).

Encoder echo support The connection of one encoder to several drives with the BTAC-02 encoder interface module can be done by using a daisy chain wiring scheme. This means wiring channels A, B, Z and GND of multiple encoder modules together with the encoder.

Settings and diagnostics

Parameters: groups 90 Feedback selection (page 424), 91 Encoder module settings (page 426) and 92 Encoder 1 configuration (page 426).

Jogging The jogging function enables the use of a momentary switch to briefly rotate the motor. The jogging function is typically used during servicing or commissioning to control the machinery locally.

Two jogging functions (1 and 2) are available, each with their own activation sources and references. The signal sources are selected by parameters 20.26 and 20.27. When jogging is activated, the drive starts and accelerates to the defined jogging

Motor speed

Time

Overspeed trip level

Overspeed trip level

31.30 Overspeed trip margin

0

31.30 Overspeed trip margin

30.12

30.11

Rush control active

speed along the defined jogging acceleration ramp. After the activation signal switches off, the drive decelerates to a stop along the defined jogging deceleration ramp.

The figure and table below provide an example of how the drive operates during jogging. In the example, the ramp stop mode is used (21.03 Stop mode).

Jog cmd = State of source set by 20.26 or 20.27 Jog enable = State of source set by 20.25 Start cmd = State of drive start command.

Phase Jog cmd

Jog enable

Start cmd Description

1-2 1 1 0 Drive accelerates to the jogging speed along the acceleration ramp of the jogging function.

2-3 1 1 0 Drive follows the jog reference.

3-4 0 1 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function.

4-5 0 1 0 Drive is stopped.

5-6 1 1 0 Drive accelerates to the jogging speed along the acceleration ramp of the jogging function.

6-7 1 1 0 Drive follows the jog reference.

7-8 0 1 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function.

8-9 0 1->0 0 Drive is stopped. As long as the jog enable signal is on, start commands are ignored. After jog enable switches off, a fresh start command is required.

9-10 x 0 1 Drive accelerates to the speed reference along the selected acceleration ramp (23.1123.15).

10-11 x 0 1 Drive follows the speed reference.

2 31 4 5 6 8 11 13 1415 16 t7 189 1210 17

Jog cmd

Jog enable

Start cmd

Speed

Notes: Jogging is not available when the drive is in local control. Jogging cannot be enabled when the drive start command is on, or the drive

started when jogging is enabled. Starting the drive after the jog enable switches off requires a fresh start command.

WARNING! If jogging is enabled and activated while the start command is on, jogging will activate as soon as the start command switches off.

If both jogging functions are activated, the one that was activated first has priority. Jogging can be used in vector and scalar control modes. The inching functions activated through fieldbus (06.01 bits 89) use the

references and ramp times defined for jogging, but do not require the jog enable signal.

Settings and diagnostics

Parameters: 20.25 Jog enable (page 194), 20.26 Jog 1 start (page 195), 20.27 Jog 2 start (page 196), 22.42 Jogging 1 ref (page 221), 22.43 Jogging 2 ref (page 221), 23.20 Acc time jogging (page 230), 23.21 Dec time jogging (page 230), 28.42 Jogging 1 frequency ref (page 256), and 28.43 Jogging 2 frequency ref (page 256).

11-12 x 0 0 Drive decelerates to zero speed along the selected deceleration ramp (23.1123.15).

12-13 x 0 0 Drive is stopped.

13-14 x 0 1 Drive accelerates to the speed reference along the selected acceleration ramp (23.1123.15).

14-15 x 0->1 1 Drive follows the speed reference. As long as the start command is on, the jog enable signal is ignored. If the jog enable signal is on when the start command switches off, jogging is enabled immediately.

15-16 0->1 1 0 Start command switches off. The drive starts to decelerate along the selected deceleration ramp (23.1123.15). When the jog command switches on, the decelerating drive adopts the deceleration ramp of the jogging function.

16-17 1 1 0 Drive follows the jog reference.

17-18 0 1->0 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function.

Phase Jog cmd

Jog enable

Start cmd Description

Speed control performance figures The table below shows typical performance figures for speed control with induction motor (asynchronous motor).

Note: By activating the energy optimizer parameter 45.11 it is possible to improve static accuracy at low speeds with low torque. This will slightly reduce the torque dynamics if rapid torque response is required.

Torque control performance figures The drive can perform precise torque control without any speed feedback from the motor shaft. The table below shows typical performance figures for torque control.

100

t (s)

T TN

(%)

Tload

nact-nref nN

Area < 10% s

TN = rated motor torque nN = rated motor speed nact = actual speed nref = speed reference

Speed control Performance Static accuracy 20% of motor

nominal slip Dynamic accuracy < 1% s with 100%

torque step

t (s)

TN = rated motor torque Tref = torque reference Tact = actual torque

Torque control Performance Non-linearity 5% with nominal

torque ( 20% at the most demanding operating point)

Torque step rise time < 10 ms with nominal torque

100

< 5 ms

90

10

Tref

Tact

T TN

(%)

Scalar motor control Scalar motor control is the default motor control method. It is suitable for applications which do not require the control accuracy available in vector control. In scalar control, you control the drive output frequency reference, and you do not need to do any motor identification run at the first start.

It is recommended to activate scalar motor control mode in the following special situations: In multimotor drives: 1) if the load is not equally shared between the motors, 2) if

the motors are of different sizes, or 3) if the motors are going to be changed after motor identification (ID run)

If the nominal current of the motor is less than 1/6 of the nominal output current of the drive Note: During this time, do not activate the motor phase loss fault (31.19 Motor phase loss) as the drive cannot measure the motor current accurately.

If the drive is used without a motor connected (for example, for test purposes) If the drive runs a medium-voltage motor through a step-up transformer.

In scalar control, some features are not available.

See also section Operating modes and motor control modes on page 52.

IR compensation for scalar motor control

IR compensation (also known as voltage boost) is available only when the motor control mode is scalar. When IR compensation is activated, the drive gives an extra voltage boost to the motor at low speeds. IR compensation is useful in applications that require a high break-away torque.

In vector control, no IR compensation is possible or needed as it is applied automatically.

Settings and diagnostics

Parameters: group 28 Frequency reference chain (page 247), 97.13 IR compensation (page 444) and 99.04 Motor control mode (page 450).

User load curve The User load curve provides a supervisory function that monitors an input signal as a function of frequency or speed, and load. It shows the status of the monitored signal and can give a warning or fault based on the violation of a user defined profile.

Motor voltage

f (Hz)

IR compensation

No compensation

The user load curve consists of an overload and an underload curve, or just one of them. Each curve is formed by five points that represent the monitored signal as a function of frequency or speed.

In the example below, the user load curve is constructed from the motor nominal torque to which a 10% margin is added and subtracted. The margin curves define a working envelope for the motor so that excursions outside the envelope can be supervised, timed and detected.

An overload warning and/or fault can be set to occur if the monitored signal stays continuously over the overload curve for a defined time. An underload warning and/or fault can be set to occur if the monitored signal stays continuously under the underload for a defined time.

Overload can be for example used to monitor for a saw blade hitting a knot or fan load profiles becoming too high.

Underload can be for example used to monitor for load dropping and breaking of conveyer belts or fan belts.

Settings and diagnostics

Parameters: group 37 User load curve (page 329).

Motor torque / Nominal torque

1 2

3

Output frequency (Hz) 1 = Overload curve (five points) 2 = Nominal process load curve 3 = Underload curve (five points)

1.2

1.0

0.8

0.6

0.2

0.4

0.0

-0.2 0 10 20 30 40 50

U/f ratio The U/f function is only available in scalar motor control mode, which uses frequency control.

The function has two modes: linear and squared.

In linear mode, the ratio of voltage to frequency is constant below the field weakening point. This is used in constant torque applications where it may be necessary to produce torque at or near the rated torque of the motor throughout the frequency range

In squared mode, the ratio of the voltage to frequency increases as the square of the frequency below the field weakening point. This is typically used in centrifugal pump or fan applications. For these applications, the torque required follows the square relationship with frequency. Therefore, if the voltage is varied using the square relationship, the motor operates at improved efficiency and lower noise levels in these applications.

The U/f function cannot be used with energy optimization; if parameter 45.11 Energy optimizer is set to Enable, parameter 97.20 U/F ratio is ignored.

Settings and diagnostics

Parameters: 97.20 U/F ratio (page 445).

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

The drive monitors the motor status continuously, also during flux braking. Therefore, flux braking can be used both for stopping the motor and for changing the speed. The other benefits of flux braking are: The braking starts immediately after a stop command is given. The function does

not need to wait for the flux reduction before it can start the braking.

TBr

20

40

60

(%) Motor speed

No flux braking

Flux braking

TBr = Braking torque = 100 Nm

Flux braking

No flux braking t (s) f (Hz)

The cooling of the induction motor is efficient. The stator current of the motor increases during flux braking, not the rotor current. The stator cools much more efficiently than the rotor.

Flux braking can be used with induction motors and permanent magnet motors.

Two braking power levels are available: Moderate braking provides faster deceleration compared to a situation where flux

braking is disabled. The flux level of the motor is limited to prevent excessive heating of the motor.

Full braking exploits almost all available current to convert the mechanical braking energy to motor thermal energy. Braking time is shorter compared to moderate braking. In cyclic use, motor heating may be significant.

WARNING: The motor needs to be rated to absorb the thermal energy generated by flux braking.

Settings and diagnostics

Parameters: 97.05 Flux braking (page 442).

DC magnetization The drive has different magnetization functions for different phases of motor start/rotation/stop: pre-magnetization, DC hold, post-magnetization and pre-heating (motor heating).

Pre-magnetization

Pre-magnetization refers to DC magnetization of the motor before start. Depending on the selected start mode (vector or scalar) pre-magnetization can be applied to guarantee the highest possible breakaway torque, up to 200% of the nominal torque of the motor. By adjusting the pre-magnetization time, it is possible to synchronize the motor start and, for example, the release of a mechanical brake.

Settings and diagnostics

Parameters: 21.01 Vector start mode (page 200), 21.19 Scalar start mode (page 207) and 21.02 Magnetization time (page 201).

DC hold

The function makes it possible to lock the rotor at (near) zero speed in the middle of normal operation. DC hold is activated by parameter 21.08. When both the reference and motor speed drop below a certain level, the drive will stop generating sinusoidal

current and start to inject DC into the motor. The current is set by parameter 21.10. When the reference exceeds parameter 21.09, normal drive operation continues.

Settings and diagnostics

Parameters: 21.08 DC current control (page 205), 21.09 DC hold speed (page 205) and 21.10 DC current reference (page 205).

Post-magnetization

The function keeps the motor magnetized for a certain period after stopping. This is to prevent the machinery from moving under load, for example before a mechanical brake can be applied. Post-magnetization is activated by parameter 21.08. The magnetization current is set by parameter 21.10.

Note: Post-magnetization is only available when ramping is the selected stop mode.

Settings and diagnostics

Parameters: 21.01 Vector start mode (page 200), 21.02 Magnetization time (page 201), 21.03 Stop mode (page 201), 21.08 DC current control (page 205), 21.09 DC hold speed (page 205) and 21.11 Post magnetization time (page 205).

Pre-heating (Motor heating)

The pre-heating function keeps the motor warm and prevents condensation inside the motor by feeding it with DC current when the drive has been stopped. The heating can only be activated when the drive is in the stopped state, and starting the drive stops the heating.

When pre-heating is activated and the stop command is given, pre-heating starts immediately if the drive is running below the zero speed limit (see bit 0 in parameter 06.19 Speed control status word). If the drive is running above the zero speed limit,

Reference

Motor speed DC hold

21.09 DC hold speed

t

t

pre-heating is delayed by the time defined by parameter 21.15 Pre-heating time delay to prevent excessive current.

The function can be defined to be always active when the drive is stopped or it can be activated by a digital input, fieldbus, timed function or supervision function. For example, with the help of signal supervision function, the heating can be activated by a thermal measurement signal from the motor.

The pre-heating current fed to the motor can be defined as 030% of the nominal motor current.

Notes: In applications where the motor keeps rotating for a long time after the modulation

is stopped, it is recommended to use ramp stop with pre-heating to prevent a sudden pull at the rotor when the pre-heating is activated.

The heating function requires that STO is not triggered. The heating function requires that the drive is not faulted. Pre-heating uses DC hold to produce current.

Settings and diagnostics

Parameters: 21.14 Pre-heating input source (page 206), 21.15 Pre-heating time delay and 21.16 Pre-heating current (page 206).

Energy optimization The Energy optimization function optimizes the motor flux so that total energy consumption and motor noise level are reduced when the drive operates below the nominal load. The total efficiency (motor and drive) can be improved by 120% depending on load torque and speed.

Note: With a permanent magnet motor and synchronous reluctance motor, energy optimization is always enabled.

Settings and diagnostics

Parameters: 45.11 Energy optimizer (page 370).

Switching frequency The drive has two switching frequencies: reference switching frequency and minimum switching frequency. The drive tries to keep the highest allowed switching frequency (= reference switching frequency) if thermally possible, and then adjusts dynamically between the reference and minimum switching frequencies depending on the drive temperature. When the drive reaches the minimum switching frequency (= lowest allowed switching frequency), it starts to limit output current as the heating up continues.

For derating, see the hardware manual of the drive.

Example 1: If you need to fix the switching frequency to a certain value as with some external filters, e.g. with EMC C1 filters (see the hardware manual), set both the reference and the minimum switching frequency to this value and the drive will retain this switching frequency.

Example 2: If the reference switching frequency is set to 12 kHz and the minimum switching frequency is set to 1.5 kHz (or 1 kHz), the drive maintains the highest possible switching frequency to reduce motor noise and only when the drive heats it will decrease the switching frequency. This is useful, for example, in applications where low noise is necessary but higher noise can be tolerated when the full output current is needed.

Settings and diagnostics

Parameters: 97.01 Switching frequency reference (page 441) and 97.02 Minimum switching frequency (page 441).

Speed compensated stop Speed compensation stop is available for example for applications where a conveyer needs to travel a certain distance after receiving the stop command. At maximum speed, the motor is stopped normally along the defined deceleration ramp, after the application of a user defined delay to adjust the distance traveled. Below maximum speed, stop is delayed still more by running the drive at current speed before the motor is ramped to a stop. As shown in the figure, the distance traveled after the stop command is the same in both cases, that is, area A + area B equals area C.

Speed compensation does not take into account shape times (23.32 Shape time 1 and 23.33 Shape time 2). Positive shape times lengthen the distance traveled.

Used speed

A

Motor speed

Max. speed

B

C

t (s)

Area A + Area B = Area C

Stop command

D1

D1 = Delay defined by parameter 21.31

D2 = Additional delay calculated by speed compensated stop

D2

Speed compensation can be restricted to forward or reverse rotating direction. Speed compensation is supported in both vector and scalar motor control.

Settings and diagnostics

Parameters: 21.30 Speed compensated stop mode (page 211), 21.31 Speed compensated stop delay (page 211) and 21.32 Speed comp stop threshold (page 211).

Motor thermal protection The control program features two separate motor temperature monitoring functions. The temperature data sources and warning/trip limits can be set up independently for each function.

The motor temperature can be monitored using the motor thermal protection model (estimated temperature derived internally

inside the drive), or sensors installed in the windings. This will result in a more accurate motor

model.Motor thermal protection model

The drive calculates the temperature of the motor on the basis of the following assumptions:

1. When power is applied to the drive for the first time, the motor is assumed to be at ambient temperature (defined by parameter 35.50 Motor ambient temperature). After this, when power is applied to the drive, the motor is assumed to be at the estimated temperature.

2. Motor temperature is calculated using the user-adjustable motor thermal time and motor load curve. The load curve should be adjusted in case the ambient temperature exceeds 30 C.

The motor thermal protection model fulfills standard IEC/EN 61800-5-1 ed. 2.1 requirements for thermal memory retention and speed sensitivity. The estimated temperature is retained over power down. Speed dependency is set by parameters.35.51 Motor load curve, 35.52 Zero speed load and 35.53 Break point.

Note: The motor thermal model can be used when only one motor is connected to the inverter.

Implementing a motor temperature sensor connection

WARNING! IEC 60664 and IEC 61800-5-1 require double or reinforced insulation between live parts and the surface of accessible parts of electrical

equipment which are either non-conductive or conductive but not connected to the protective earth.

You have four implementation alternatives: If there is double or reinforced insulation between the sensor and the live parts of

the motor, you can connect the sensor directly to the analog/digital input(s) of the drive.

If there is basic insulation between the sensor and the live parts of the motor, you can connect the sensor to the analog/digital input(s) of the drive if all other circuits connected to the digital and analog inputs (typically extra-low voltage circuits) are protected against contact and insulated with basic insulation from other low- voltage circuits. The insulation must be rated for the same voltage level as the drive main circuit. Note that extra-low voltage circuits (such as 24 V DC) typically do not meet these requirements. Alternative: You can connect the sensor with a basic insulation to the

analog/digital input(s) of the drive if you do not connect any other external control circuits to drive digital and analog inputs.

You can connect a sensor to a digital input of the drive via an external thermistor relay. The insulation of the relay of must be rated for the main circuit voltage of the motor.

Temperature monitoring using PTC sensors

13 PTC sensors can be connected in series to an analog input and an analog output. The analog output feeds a constant excitation current of 1.6 mA through the sensor. The sensor resistance increases as the motor temperature rises, as does the voltage over the sensor. The temperature measurement function calculates the resistance of the sensor and generates an indication if overtemperature is detected.

For wiring of the sensor, refer to the Hardware Manual of the drive.

The figure below shows typical PTC sensor resistance values as a function of temperature.

When analog output is not available or used for other purposes, it is possible to set up a voltage divider utilizing internal resistance of a digital input. 13 PTC sensors are connected in series to 10V reference and Digital and Analog inputs. The voltage over the digital input internal resistance varies depending on the PTC resistance. The temperature measurement function reads the voltage over the sensor from the analog input and calculates the resistance.

Note: It is important to ensure that the DI used for this is not configured to start any action.

PTC analog I/O hardware connection and parameter setting example

35.11 Temperature 1 source = PTC analog I/O (20) 35.14 Temperature 1 AI source = AI1 actual value (1) 12.15 AI1 actual value = V 13.12 AO1 source = Temp sensor 1 excitation (20) 35.12 Temperature 1 fault limit = xx (set to desired value)

In this example, AI1 is used as input for Temperature 1 and AO1 is used to feed the excitation current to the PTC.

PTC AI/DI Voltage Divider tree HW connection and parameter setting example

35.11 Temperature 1 source = PTC AI/DI Voltage divider tree (23) 35.14 Temperature 1 AI source = AI1 actual value (1) 12.15 AI1 actual value = V 35.12 Temperature 1 fault limit = xx (set to desired value)

In this example, AI1 is used as input for Temperature 1.

100

550

1330

4000

Ohm

T

Temperature monitoring using Pt100 sensors

13 Pt100 sensors can be connected in series to an analog input and an analog output.

The analog output feeds a constant excitation current of 9.1 mA through the sensor. The sensor resistance increases as the motor temperature rises, as does the voltage over the sensor. The temperature measurement function reads the voltage through the analog input and converts it into degrees Celsius.

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

For the wiring of the sensor, see chapter Electrical installation, AI1 and AI2 as Pt100, Pt1000, Ni1000, KTY83 and KTY84 sensor inputs (X1) in the Hardware manual of the drive.

Temperature monitoring using Pt1000 sensors

13 Pt1000 sensors can be connected in series to an analog input and an analog output.

The analog output feeds a constant excitation current of 0.1 mA through the sensor. The sensor resistance increases as the motor temperature rises, as does the voltage over the sensor. The temperature measurement function reads the voltage through the analog input and converts it into degrees Celsius.

For the wiring of the sensor, see chapter Electrical installation, AI1 and AI2 as Pt100, Pt1000, Ni1000, KTY83 and KTY84 sensor inputs (X1) in the Hardware manual of the drive.

Temperature monitoring using Ni1000 sensors

One Ni1000 sensor can be connected to an analog input and an analog output on the control unit.

The analog output feeds a constant excitation current of 9.1 mA through the sensor. The sensor resistance increases as the motor temperature rises, as does the voltage over the sensor. The temperature measurement function reads the voltage through the analog input and converts it into degrees Celsius.

For the wiring of the sensor, see chapter Electrical installation, AI1 and AI2 as Pt100, Pt1000, Ni1000, KTY83 and KTY84 sensor inputs (X1) in the Hardware manual of the drive.

Temperature monitoring using KTY84 sensors

One KTY84 sensor can be connected to an analog input and an analog output on the control unit.

The analog output feeds a constant excitation current of 2.0 mA through the sensor. The sensor resistance increases as the motor temperature rises, as does the voltage

over the sensor. The temperature measurement function reads the voltage through the analog input and converts it into degrees Celsius.

The figure and table on page 146 show typical KTY84 sensor resistance values as a function of the motor operating temperature.

For the wiring of the sensor, see chapter Electrical installation, AI1 and AI2 as Pt100, Pt1000, Ni1000, KTY83 and KTY84 sensor inputs (X1) in the Hardware manual of the drive.

Temperature monitoring using KTY83 sensors

One KTY83 sensor can be connected to an analog input and an analog output on the control unit.

The analog output feeds a constant excitation current of 1.0 mA through the sensor. The sensor resistance increases as the motor temperature rises, as does the voltage over the sensor. The temperature measurement function reads the voltage through the analog input and converts it into degrees Celsius.

The figure and table below show typical KTY83 sensor resistance values as a function of the motor operating temperature.

1000

2000

3000 Ohm

T (oC) -100

0

0 100 200 300

Scaling KTY84 KTY83

C ohm ohm 90 936 1569 110 1063 1774 130 1197 1993 150 1340 2225

KTY83 KTY84

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

For the wiring of the sensor, see chapter Electrical installation, AI1 and AI2 as Pt100, Pt1000, Ni1000, KTY83 and KTY84 sensor inputs (X1) in the Hardware manual of the drive.

Settings and diagnostics

Parameters: group 35 Motor thermal protection (page 310).

Motor overload protection This section describes motor overload protection without using the motor thermal protection model, either with estimated or measured temperature. For protection with the motor thermal protection model, see section Motor thermal protection on page 76.

Motor overload protection is required and specified by multiple standards including the US National Electric Code (NEC), UL 508C and the common UL\IEC 61800-5-1 standard in conjunction with IEC 60947-4-1. The standards allow for motor overload protection without external temperature sensors.

The protection feature allows the user to specify the class of operation in the same manner as the overload relays are specified in standards IEC 60947-4-1 and NEMA ICS 2.

Motor overload protection requires that you specify a motor current tripping level. This is defined by a curve using parameters 35.51 Motor load curve, 35.52 Zero speed load and 35.53 Break point. The tripping level is the motor current at which the overload protection will ultimately trip if the motor current remains at this level continuously.

The motor overload class (class of operation), parameter 35.57 Motor overload class, is given as the time required for the overload relay to trip when operating at 7.2 times the tripping level in the case of IEC 60947-4-1 and 6 times the tripping level in the case of NEMA ICS 2. The standards also specify the time to trip for current levels between the tripping level and the 6 times tripping level. The drive satisfies the IEC standard and NEMA standard trip times.

Using class 20 satisfies the UL 508C requirements.

The motor overload algorithm monitors the squared ratio (motor current / tripping level)2 and accumulates this over time. This is sometimes referred to as I2t protection. The accumulated value is shown with parameter 35.05 Motor overload level.

With parameter 35.56 Motor overload action you can define that when 35.05 Motor overload level reaches 88%, a motor overload warning will be generated, and when it reaches 100%, the drive will trip on the motor overload fault. The rate at which this

internal value is increased depends on the actual current, tripping level current and the overload class selected.

Parameters 35.51 Motor load curve, 35.52 Zero speed load and 35.53 Break point serve a dual purpose. They determine the load curve for temperature estimate when using motor thermal protection model as well as specify the overload tripping level.

Motor overload protection fulfills standard IEC/EN 61800-5-1 ed. 2.1 requirements for thermal memory retention and speed sensitivity. The motor overload state is retained over power down. Speed dependency is set by parameters 35.51 Motor load curve, 35.52 Zero speed load and 35.53 Break point.

Settings and diagnostics

Parameters common to motor thermal protection and motor overload protection: 35.51 Motor load curve, 35.52 Zero speed load and 35.53 Break point.

Parameters specific to motor overload protection: 35.05 Motor overload level, 35.56 Motor overload action and 35.57 Motor overload class..

Application control

Control macros Control macros are predefined parameter edits and I/O configurations. See chapter Control macros.

Process PID control There is a built-in process PID controller in the drive. The controller can be used to control process such as pressure or flow in the pipe or fluid level in the container.

In process PID control, a process reference (setpoint) is connected to the drive instead of a speed reference. An actual value (process feedback) is also brought back to the drive. The process PID control adjusts the drive speed in order to keep the measured process quantity (actual value) at the desired level (setpoint). This means that user does not need to set a frequency/speed/torque reference to the drive but the drive adjust its operation according to the process PID.

The simplified block diagram below illustrates the process PID control.

The drive contains two complete sets of process PID controller settings that can be alternated whenever necessary; see parameter 40.57 PID set1/set2 selection.

Note: Process PID control is only available in external control; see section Local and external control locations on page 50.

Sleep and boost functions for process PID control

The sleep function is suitable for PID control applications where the consumption varies, such as clean water pumping systems. When used, it stops the pump completely during low demand, instead of running the pump slowly below its efficient operating range. The following example visualizes the operation of the function.

Example: The drive controls a pressure boost pump. The water consumption falls at night. As a consequence, the process PID controller decreases the motor speed. However, due to natural losses in the pipes and the low efficiency of the centrifugal pump at low speeds, the motor would never stop rotating. The sleep function detects the slow rotation and stops the unnecessary pumping after the sleep delay has passed. The drive shifts into sleep mode, still monitoring the pressure. The pumping resumes when the pressure falls under the predefined minimum level and the wake- up delay has passed.

The user can extend the PID sleep time by the boost functionality. The boost functionality increases the process setpoint for a predetermined time before the drive enters the sleep mode.

Process PID

AI1 Process actual values

AI2

FBA

Setpoint

Speed, torque or frequency reference chain

Filter

Limitation

Wake-up level (Setpoint — Wake-up deviation [40.47])

t < tsd

Motor speed

Actual value

STOP

tsd = Sleep delay (40.44)

Sleep level (40.43)

START

Wake-up delay (40.48)

tsd

Setpoint

Time

Sleep boost step (40.46)

Sleep mode

Sleep boost time (40.45)

Time

Time

Non-inverted (40.31 = Not inverted (Ref — Fbk))

Wake-up level (Setpoint + Wake-up deviation [40.47])

Actual value

Time

Inverted (40.31 = Inverted (Fbk — Ref))

Tracking

In tracking mode, the PID block output is set directly to the value of parameter 40.50 Set 1 tracking ref selection (or 41.50 Set 2 tracking ref selection).The internal I term of the PID controller is set so that no transient is allowed to pass on to the output, so when the tracking mode is left, normal process control operation can be resumed without a significant bump.

Settings and diagnostics

Parameters: 96.04 Macro select (page 432), groups 40 Process PID set 1(page 335) and 41 Process PID set 2 (page 353).

PID trim function The PID trim function helps to maintain the set tension either by trimming the drive main speed reference or torque reference (speed controller output).

WARNING: Make sure that the drive acceleration and deceleration time is set to 0 when using the PID trim function. This is required to do quick tension

control by speed correction.

PID trim is implemented as one of the Process PID functions (groups 40 Process PID set 1 and 41 Process PID set 2). Both PID set 1 and PID set 2 can be used for this functionality.

The trimmed output is calculated from parameter 40.01 Process PID output actual or 40.03 Process PID setpoint actual. In most cases 40.01 Process PID output actual is used. This is based on the selection in parameter 40.56 Set 1 trim source (for process PID set 1) or 41.56 Set 2 trim source (for process PID set 2). In most of the use cases, the value of parameter 40.56 or 41.56 is set as PID output.

The PID trim functionality in drives is used in applications where tension control of the material is essential. For example, auxiliary drives in metal process industries, infeed and outfeed of rotogravure printing machines, and surface winders.

The examples provided in this chapter are based on PID set 1. You can set the desired values for the PID trim function parameters to get the expected result.

Tension measurement Drive rollers (pull)

Speed controlled conveyor line

When PID trim is activated, bit 5 Trim mode is set to 1 in parameter 40.06 Process PID status word.

See the speed, torque and frequency reference chains in chapter Control chain diagrams for more information on the PID trim addition to the respective reference chains.

The following PID trim modes are available: Direct Proportional Combined.

Direct

The direct method is suitable when you need tension control at fixed rpm/line speed.

In this mode, the PID trim output (40.05) is relative to the maximum speed (30.12), torque (30.20) or frequency (30.14). You can make the selection with parameter 40.52.

The calculated trimmed output actual is the same throughout the speed range with respect to the stable PID output.

The 40.05 value is calculated using the following formula:

The graph below shows the PID trim output in direct mode throughout the speed range. A fixed trim speed reference is added throughout the speed range.

Note: In the above graph, it is assumed that the PID output is limited or stable at 100. This is for clarity only. In real life scenarios, the PID output can vary based on the setpoint and the actual value.

Par40.05 Par40.01 100

——————— Par30.12 or 30.20 or 30.14( ) Par40.55=

40.55 Set 1 trim adjust

Drive speed reference0

40.05 Process PID trim output act

Example:

If: parameter 40.52 Set 1 trim selection = Speed parameter 40.56 Set 1 trim source = PID output parameter 30.12 Maximum speed = 1500 rpm parameter 40.01 Process PID output actual = 100 (limited to 100) parameter 40.55 Set 1 trim adjust = 0.5, then:

Proportional

The proportional method is suitable for applications where tension control is required throughout the speed range but not near zero speed.

In this mode, the PID trim output actual (40.05) is relative to the reference selected by 40.53 and with 40.01 or 40.03.

It is recommended that the speed reference selected in 40.53 and the reference source in 22.11 are equal. This is required to make the proportional mode active.

In most of the use cases, the process speed reference is connected in 40.53. For example, if EXT1 control mode is used and the reference source is AI scaled, then 22.11 and 40.53 should be configured to AI1 scaled.

Parameter 40.05 is calculated using the following formula:

The below graph shows the PID trim output in proportional mode throughout the speed range. Here, the trimmed output is directly proportional to the value of parameter 40.53 Set 1 trimmed ref pointer.

Par40.05 100 100 ——— 1500 0.5=

Par40.05 750=

Par40.05 Par40.01 100

——————— Par40.53 Par40.55=

40.55 Set 1 trim adjust

40.53 Set 1 trimmed ref pointer0

40.05 Process PID trim output act

Note: In the above graph, it is assumed that the PID output is limited or stable at 100. This is for understanding purpose only. In real case scenario, PID output can vary based on the setpoint and actual.

Example:

If: parameter 40.52 Set 1 trim selection = Speed parameter 40.56 Set 1 trim source = PID output parameter 40.53 Set 1 trimmed ref pointer = AI1 scaled parameter 22.11 Ext1 speed ref1 = AI1 scaled parameter 12.20 AI1 scaled at AI1 max = 1500 parameter 12.12 AI1 scaled value = 750 (AI1 actual scaled value) parameter 40.01 Process PID output actual = 100 (limited to 100) parameter 40.55 Set 1 trim adjust = 0.5,

then:

At zero speed, the 40.05 Process PID trim output act value depends on both the 40.55 Set 1 trim adjust and 40.54 Set 1 trim mix parameter values. However, adjusting 40.54 Set 1 trim mix near to zero speed will give quick correction.

Example:

If, parameter 40.52 Set 1 trim selection = Speed parameter 40.56 Set 1 trim source = PID output parameter 30.12 Maximum speed = 1500 rpm parameter 40.53 Set 1 trimmed ref pointer = AI1 scaled parameter 22.11 Ext1 speed ref1 = AI1 scaled parameter 12.20 AI1 scaled at AI1 max = 1500 parameter 12.12 AI1 scaled value = 750 (AI1 actual scaled value) parameter 40.01 Process PID output actual = 100 (limited to 100) parameter 40.54 Set 1 trim mix = 0.1 parameter 40.55 Set 1 trim adjust = 0.5

then

Par40.05 100 100 ——— 750 0.5=

Par40.05 375=

Par40.05 100 100 ——— 750 0.5=

Par40.05 375=

Combined

The combined mode is suitable for applications where the user needs to maintain tension from zero speed to maximum speed. The combined mode is a combination of direct and proportional modes. Here, the trim for zero speed is defined by parameter 40.54 Set 1 trim mix and the trim for speed greater than zero speed is defined by parameter 40.55 Set 1 trim adjust. The trim value is directly proportional to the value of parameter 40.53 Set 1 trimmed ref pointer.

The process speed reference is connected in parameter 40.53 Set 1 trimmed ref pointer. For example, if EXT1 control mode is used and the reference source is AI1 scaled, then 22.11 Ext1 speed ref1 and 40.53 Set 1 trimmed ref pointer shall be configured to AI1 scaled.

The 40.05 Process PID trim output act is calculated using the following formula:

The following graph shows the trim increase in combined mode.

Note: In the above graph, it is assumed that the PID output is limited or stable at 100. This is for clarity only. In real life scenarios, PID output can vary based on the setpoint and actual.

At zero speed, the 40.05 Process PID trim output act value depends on both parameters 40.54 Set 1 trim mix and 40.55 Set 1 trim adjust. However, adjusting 40.54 Set 1 trim mix near to zero speed will give quick correction.

Example:

If:

Parameter 40.52 Set 1 trim selection = Speed Parameter 40.56 Set 1 trim source = PID output Parameter 30.12 Maximum speed = 1500 rpm

Par40.05 Par30.12 Par40.54( ) 1 Par40.54( ) Par40.53[ ]+{ } Par40.55=

40.55 Set 1 trim adjust

40.53 Set 1 trimmed ref pointer0

40.05 Process PID trim output act

40.54 Set 1 trim mix

Par 40.55 Par 40.54

Parameter 40.53 Set 1 trimmed ref pointer = AI1 scaled Parameter 22.11 Ext1 speed ref1 = AI1 scaled Parameter 12.20 AI1 scaled at AI1 max = 1500 Parameter 12.12 AI1 scaled value = 750 (AI1 actual scaled value) Parameter 40.01 Process PID output actual = 100 (limited to 100) Parameter 40.54 Set 1 trim mix = 0.1 Parameter 40.55 Set 1 trim adjust = 1

Then:

If 12.12 AI1 scaled value is 0:

Par40.05 = (100/100) x {(1500 0.1) + [(1 0.1) 0]} 1 Par40.05 = 150

If 12.12 AI1 scaled value is 750:

Par40.05 = (100/100) x {(1500 0.1) + [(1 0.1) 750]} 1 Par40.05 = 825

If 12.12 AI1 scaled value is 1500:

Par40.05 = (100/100) x {(1500 0.1) + [(1 0.1) 1500]} 1 Par40.05 = 1500

PID trim auto connection

Parameter 40.65 Trim auto connection activates the connection of PID trim output actual (40.05) to the respective speed, torque and frequency reference chains. The respective reference chains can be selected with 40.52 (for PID set 1) or 41.52 (for PID set 2).

Parameter 99.04 Motor control mode is also taken into consideration while passing the PID trimmed output actual (40.05) to the speed, torque and frequency reference chains. In scalar control mode, the speed trim and torque trim values are zero and in vector control mode, the frequency trim value is zero.

Par40.05 1500 0.1( ) 1 0.1( ) 0[ ]+{ } 1=

Par40.05 150=

Par40.05 1500 0.1( ) 1 0.1( ) 750[ ]+{ } 1=

Par40.05 825=

Par40.05 1500 0.1( ) 1 0.1( ) 1500[ ]+{ } 1=

Par40.05 1500=

Speed trim connection

Speed trim is added at 23.02 and 24.11 and the final speed reference after the trim addition is available in 24.01.

Torque trim connection

Torque trim is added at 26.75 Torque reference act 5 and the final torque reference after the trim addition is available in parameter 26.76 Torque reference act 6.

Frequency trim connection

Frequency trim is added at 28.02 Frequency ref ramp output and the final frequency reference is generated after the trim addition. At the moment, no parameter is available to see the final frequency reference after adding frequency trim.

Note: PID trim output auto connection is disabled in the firmware when the drive is stopped with the 21.04 Emergency stop mode value Ramp stop (Off1) or value Eme ramp stop (Off3). In other words, PID trim output actual (40.05 Process PID trim output act) will not be added to the respective speed, torque and frequency reference chains during ramp stop or emergency stop.

23.02 Speed ref ramp output

24.11 Speed correction

Speed trim

24.01 Used speed reference

+

26.75 Torque reference act 5

Torque trim

26.76 Torque reference act 6+

28.02 Frequency ref ramp output

Frequency trim

Final frequency reference+

Mechanical brake control A mechanical brake can be used for holding the motor and driven machinery at zero speed when the drive is stopped, or not powered. The brake control logic observes the settings of parameter group 44 Mechanical brake control as well as several external signals, and moves between the states presented in the diagram on page 99. The tables below the state diagram detail the states and transitions. The timing diagram on page 101 shows an example of a close-open-close sequence.

For application example, see section Crane mechanical brake control on page 649.

Inputs of the brake control logic

The start command of the drive (bit 5 of 06.16 Drive status word 1) is the main control source of the brake control logic. An optional external open/close signal can be selected by 44.12 Brake close request. The two signals interact as follows: Start command = 1 AND signal selected by 44.12 Brake close request = 0

Request brake to open Start command = 0 OR signal selected by 44.12 Brake close request = 1

Request brake to close

Another external signal for example, from a higher-level control system can be connected via parameter 44.11 Keep brake closed to prevent the brake from opening.

Other signals that affect the state of the control logic are brake status acknowledgment (optional, defined by parameter 44.07 Brake

acknowledge selection), bit 2 of 06.11 Main status word (indicates whether the drive is ready to follow the

given reference or not), bit 6 of 06.16 Drive status word 1 (indicates whether the drive is modulating or

not).

Outputs of the brake control logic

The mechanical brake is controlled by bit 0 of parameter 44.01 Brake control status. This bit should be selected as the source of a relay output (or a digital input/output in output mode) which is then wired to the brake actuator through a relay. See the wiring example on page 102.

The brake control logic, in various states, will request the drive control logic to hold the motor, increase the torque, or ramp down the speed. These requests are visible in parameter 44.01 Brake control status.

Brake state diagram

State descriptions

State name Description BRAKE DISABLED Brake control is disabled (44.06 = 0, and 44.01 b4 = 0). The open signal is

active (44.01 b0 = 1). BRAKE OPENING BRAKE OPENING WAIT Brake has been requested to open. The drive logic is requested to increase the

torque up to opening torque to hold the load in place (44.01 b1 = 1 and b2 = 1). The state of 44.11 is checked; if it is not 0 within a reasonable time, the drive trips on a 71A5 fault *).

BRAKE CLOSING DELAY

BRAKE CLOSING WAIT

BRAKE DISABLED BRAKE OPENING

BRAKE OPENING WAIT

BRAKE OPENING DELAY

BRAKE CLOSED

BRAKE OPENBRAKE CLOSING

(from any state)

1

(from any state)

2

3

4

5

6

6

6

7

8

9

11

10

12

State change conditions ( )

BRAKE OPENING DELAY Opening conditions have been met and open signal activated (44.01 Brake control status b0 is set). The opening torque request is removed (44.01 Brake control status b1 0). The load is held in place by the speed control of the drive until 44.08 Brake open delay elapses. At this point, if 44.07 Brake acknowledge selection is set to No acknowledge, the logic proceeds to BRAKE OPEN state. If an acknowledgement signal source has been selected, its state is checked; if the state is not brake open, the drive trips on a 71A3 Mechanical brake opening failed fault *).

BRAKE OPEN The brake is open (44.01 Brake control status b0 = 1). Hold request is removed (44.01 Brake control status b2 = 0), and the drive is allowed to follow the reference.

BRAKE CLOSING BRAKE CLOSING WAIT Brake has been requested to close. The drive logic is requested to ramp down

the speed to a stop (44.01 Brake control status b3 = 1). The open signal is kept active (44.01 Brake control status b0 = 1). The brake logic will remain in this state until the motor speed is below 44.14 Brake close level for the time defined by 44.15 Brake close level delay.

BRAKE CLOSING DELAY Closing conditions have been met. The open signal is deactivated (44.01 Brake control status b0 0). The ramp-down request is maintained (44.01 Brake control status b3 = 1). The brake logic will remain in this state until 44.13 Brake close delay has elapsed. At this point, if 44.07 Brake acknowledge selection is set to No acknowledge, the logic proceeds to BRAKE CLOSED state. If an acknowledgment signal source has been selected, its state is checked; if the state is not brake closed, the drive generates an A7A1 Mechanical brake closing failed warning. If 44.17 Brake fault function = Fault, the drive will trip on a 71A2 Mechanical brake closing failed fault after 44.18 Brake fault delay.

BRAKE CLOSED The brake is closed (44.01 Brake control status b0 = 0). The drive is not necessarily modulating. Note concerning open-loop (encoder-less) applications: If the brake is kept closed by a brake close request (either from parameter 44.12) against a modulating drive for longer than 5 seconds, the brake is forced to closed state and the drive trips on a fault, 71A5 Mechanical brake opening not allowed.

*) A warning can alternatively be selected by parameter 44.17 Brake fault function; if so, the drive will keep modulating and remain in this state.

1 Brake control disabled (44.06 Brake control enable 0). 2 06.11 Main status word, bit 2 = 0. 3 Brake has been requested to open and 44.16 Brake reopen delay has expired. 4 Brake open conditions (such as 44.10 Brake open torque) fulfilled and 44.11 Keep brake closed = 0. 5 44.08 Brake open delay has elapsed and brake open acknowledgement (if chosen by 44.07 Brake

acknowledge selection) has been received. 6 Brake has been requested to close. 7 Motor speed has remained below closing speed 44.14 Brake close level for the duration of 44.15

Brake close level delay. 8 44.13 Brake close delay has elapsed and brake close acknowledgment (if chosen by 44.07 Brake

acknowledge selection) has been received. 9 Brake has been requested to open. 10 Brake control enabled (44.06 Brake control enable 1). 11 1) Brake has been requested to open and 44.16 Brake reopen delay has expired, while brake

acknowledge feedback is CLOSED, or 2) Brake has been requested to open and 44.16 Brake reopen delay has expired and 44.07 Brake acknowledge selection is No acknowledge and 44.13 Brake close delay has expired.

12 Brake has been requested to open and 44.16 Brake reopen delay has expired, while brake acknowledge feedback is OPEN.

State name Description

n

Timing diagram

The simplified timing diagram below illustrates the operation of the brake control function. Refer to the Brake state diagram on page 99.

Ts Start torque at brake open (44.03) Tmem Stored torque value at brake close (44.02) tmd Motor magnetization delay tod Brake open delay (44.08) ncs Brake close speed (44.14) tccd Brake close command delay (44.15) tcd Brake close delay (44.13) tcfd Brake close fault delay (44.18) trod Brake reopen delay (44.16) BOW BRAKE OPENING WAIT BOD BRAKE OPENING DELAY BCW BRAKE CLOSING WAIT BCD BRAKE CLOSING DELAY

Start command (06.16 b5)

Modulating (06.16 b6)

Tmem

1 2 3 4 5 6 7 8 9

Ready ref (06.11 b2)

Torque reference

Speed reference

Brake control signal (44.01 b0)

Opening torque request (44.01 b1)

Ramp to stopped request (44.01 b3)

Hold stopped request (44.01 b2)

tod

Ts

ncs

tccd

tcd tcfd

trod

BRAKE CLOSEDState BRAKE

CLOSEDBRAKE OPEN BRAKE OPENING BRAKE CLOSING

BOW BOD BCW BCD

tmd

Wiring example

The figure below shows a brake control wiring example. The brake control hardware and wiring is to be sourced and installed by the customer.

WARNING! Make sure that the machinery into which the drive with brake control function is integrated fulfills the personnel safety regulations. Note that

the frequency converter (a Complete Drive Module or a Basic Drive Module, as defined in IEC/EN 61800-2), is not considered as a safety device mentioned in the European Machinery Directive and related harmonized standards. Thus, the personnel safety of the complete machinery must not be based on a specific frequency converter feature (such as the brake control function), but it has to be implemented as defined in the application specific regulations.

The brake is controlled by bit 0 of parameter 44.01 Brake control status. The source of brake acknowledge (status supervision) is selected by parameter 44.07 Brake acknowledge selection. In this example, parameter 10.24 RO1 source is set to Open brake command (ie. bit 0 of 44.01

Brake control status), and parameter 44.07 Brake acknowledge selection is set to DIO1.

Motor

M

115/230 VAC

Drive control unit

Mechanical brake

Brake control hardware

Emergency brake

XRO1

1 NC

2 COM

3 NO

XD24

XDIO

4 +24VD

5 DIO2

Settings and diagnostics

Parameters: 06.11 Main status word (page 140), 06.16 Drive status word 1 (page 141) and parameter group 44 Mechanical brake control (page 359).

Events: A7A1 Mechanical brake closing failed (page 498), 71A2 Mechanical brake closing failed (page 515), 71A3 Mechanical brake opening failed (page 515) and 71A5 Mechanical brake opening not allowed (page 515).

DC voltage control

Overvoltage control Overvoltage control of the intermediate DC link is typically needed when the motor is in generating mode. The motor can generate when it decelerates or when the load overhauls the motor shaft, causing the shaft to turn faster than the applied speed or frequency. To prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage controller automatically decreases the generating torque when the limit is reached. The overvoltage controller also increases any programmed deceleration times if the limit is reached; to achieve shorter deceleration times, a brake chopper and resistor may be required.

Undervoltage control (power loss ride-through) If the incoming supply voltage is cut off, the drive will continue to operate by utilizing the kinetic energy of the rotating motor. The drive will be fully operational as long as the motor rotates and generates energy to the drive. The drive can continue operation after the break if the main contactor (if present) remained closed.

Note: Units equipped with a main contactor must be equipped with a hold circuit (e.g. UPS) to keep the contactor control circuit closed during a short supply break.

Implementing the undervoltage control (power loss ride-through)

Implement the undervoltage control function as follows: Check that the undervoltage control function of the drive is enabled with

parameter 30.31Undervoltage control. Parameter 21.01Vector start mode must be set to Automatic (in vector mode) or

parameter 21.19Scalar start mode to Automatic (in scalar mode) to make flying start (starting into a rotating motor) possible.

If the installation is equipped with a main contactor, prevent its tripping at the input power break. For example, use a time delay relay (hold) in the contactor control circuit.

WARNING! Make sure that the flying restart of the motor will not cause any danger. If you are in doubt, do not implement the undervoltage control function.

130

260

390

520

1.6 5.8 8 11.2 15.4 t (s)

UDC

fout

TM

UDC = Intermediate circuit voltage of the drive, fout = Output frequency of the drive, TM = Motor torque. Loss of supply voltage at nominal load (fout = 40 Hz). The intermediate circuit DC voltage drops to the minimum limit. The controller keeps the voltage steady as long as the input power is switched off. The drive runs the motor in generator mode. The motor speed falls but the drive is operational as long as the motor has enough kinetic energy.

Uinput power

20

40

60

80

40

80

120

160

TM (Nm)

fout (Hz)

UDC (Vdc)

Automatic restart

It is possible to restart the drive automatically after a short (max. 10 seconds) power supply failure by using the Automatic restart function, provided that the drive is allowed to run for 10 seconds without the cooling fans operating.

When enabled, the function takes the following actions upon a supply failure to enable a successful restart: The undervoltage fault is suppressed (but a warning is generated). Modulation and cooling is stopped to conserve any remaining energy. DC circuit pre-charging is enabled.

If the DC voltage is restored before the expiration of the period defined by parameter 21.18 Auto restart time and the start signal is still on, normal operation will continue. However, if the DC voltage remains too low at that point, the drive trips on a fault, 3220 DC link undervoltage.

WARNING! Before you activate the function, make sure that no dangerous situations can occur. The function restarts the drive automatically and

continues operation after a supply break.

Voltage control and trip limits The control and trip limits of the intermediate DC voltage regulator are relative to the supply voltage as well as drive/inverter type. The actual measured DC voltage (UDC) is displayed by parameter 01.11 DC voltage. Supply voltage is displayed by parameter 96.03 Estimated AC supply voltage, which is based on the measured DC voltage (UDC/1.41).

The necessary drive DC limits are calculated based on parameters 95.01 (Supply voltage) and 95.02 (Adaptive voltage limits).

The following table shows the values of the selected DC voltage levels in volts. Note that the absolute voltages vary according to drive/inverter type and AC supply voltage range.

When adaptive voltage limit is enabled in parameter 95.02 (Adaptive voltage limits):

DC voltage level [V] 95.01 Supply Voltage

See 95.01 Supply voltage. AC supply voltage

range [V] 208240

AC supply voltage range [V] 380415

AC supply voltage range [V]

440480 Automatic / Not selected

Overvoltage fault limit 421 842 842 842

Overvoltage control limit 389 779 779 779

Internal brake chopper start limit 389 779 779 779

Internal brake chopper stop limit 379 759 759 759

Note: In the above table, 95.03 is the Estimated AC supply voltage while powering up the drive and will not be continuously updated during run time.

When adaptive voltage limit is disabled in parameter 95.02 (Adaptive voltage limits):

Overvoltage warning limit 372 745 745 745

Undervoltage warning limit 0.851.41 par 95.03 value 1)

0.851.41 par 95.03 value 1)

0.851.41par 95.03 value 1)

0.851.41 par 95.03 value 1)

0.851.41208 = 249 2)

0.851.41380 = 455 2)

0.851.41440 = 527 2)

Undervoltage control limit 0.781.41par 95.03 value 1)

0.781.41par 95.03 value 1)

0.781.41par 95.03 value 1)

0.781.41par 95.03 value 1)

0.781.41208 = 229 2)

0.781.41380 = 418 2)

0.781.41440 = 484 2)

Charging relay closing limit / charging deactivation

0.781.41par 95.03 value 1)

0.781.41par 95.03 value 1)

0.781.41par 95.03 value 1)

0.781.41par 95.03 value 1)

0.781.41208 = 229 2)

0.781.41380 = 418 2)

0.781.41440 = 484 2)

Charging relay opening limit / charging activation

0.731.41par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41 par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41208 = 214 2)

0.731.41380 = 391 2)

0.731.41440 = 453 2)

DC voltage at upper bound of supply voltage range (UDCmax)

324 560 648 (variable)

DC voltage at lower bound of supply voltage range (UDCmin)

281 513 594 (variable)

Standby limit 0.731.41par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41208 = 214 2)

0.731.41380 = 391 2)

0.731.41440 = 453 2)

Undervoltage fault limit 3) 0.731.41par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41par 95.03 value 1)

0.731.41208 = 214 2)

0.731.41380 = 391 2)

0.731.41440 = 4532)

1) If parameter 95.01 Supply voltage is set to Automatic / not selected and 95.02 Adaptive voltage limits is set to Enable, the value of parameter 95.03 Estimated AC supply voltage is used, 2) otherwise the lower limit of the range selected with parameter 95.01 Supply voltage is used.

3) The system throws an undervoltage fault when parameter 21.18 (Auto restart time) elapses or the value of parameter 21.18 is 0. In that case the standby limit is used as the undervoltage trip level. The system throws the undervoltage fault only if the drive is modulating when the DC voltage drops below the undervoltage trip level.

DC voltage level [V] 95.01 Supply Voltage

See 95.01 Supply voltage. AC supply voltage

range [V] 208240

AC supply voltage range [V] 380415

AC supply voltage range [V]

440480 Automatic / Not selected

The conditions to trigger undervoltage warning

Undervoltage warning is triggered if one of below conditions is active: If the DC link voltage goes below the undervoltage warning limit (85%) when the

drive is not modulating. If the DC link voltage goes below the standby limit (73%) when the drive is

modulating, and auto restart is enabled (i.e parameter 21.18 Auto restart time

DC voltage level [V] 95.01 Supply Voltage

See 95.01 Supply voltage.

AC supply voltage range [V] 200240

AC supply voltage range

[VAC] 380415

AC supply voltage range

[VAC] 440480

Automatic / Not selected

if 95.03 < 456AC

if 95.03 > 456AC

Overvoltage fault limit 421 842 842 842 842

Overvoltage control limit 389 779 779 779 779

Internal brake chopper start limit 389 779 779 779 779

Internal brake chopper stop limit 379 759 759 759 759

Overvoltage warning limit 372 745 745 745 745

Undervoltage warning limit

0.851.35208 = 239

0.851.35380 = 436

0.851.35440 = 505

0.851.35380 = 436

0.851.3544 0 = 505

Undervoltage control limit

0.781.35208 = 219

0.781.35380 =400

0.781.35440 = 463

0.781.35380 = 400

0.781.3544 0 = 463

Charging relay closing limit / charging deactivation

0.781.35208 = 219

0.781.35380 = 400

0.781.35440 = 463

0.781.35380 = 400

0.781.3544 0 = 463

Charging relay opening limit / charging activation

0.731.35×208 = 205

0.731.35×380 = 374

0.731.35×440 = 434

0.731.35×380 = 374

0.731.35×44 0 = 434

DC voltage at upper bound of supply voltage range (UDCmax)

324 560 648 (variable) (variable)

DC voltage at lower bound of supply voltage range (UDCmin)

281 513 594 (variable) (variable)

Standby limit 0.731.35208 = 205

0.731.35380 = 374

0.731.35440 = 434

0.731.35380 =

374

0.731.3544 0 = 434

Undervoltage fault limit 1)

0.731.35208 = 205

0.731.35380 = 374

0.731.35440 = 434

0.731.35380 =

374

0.731.3544 0 = 434

1) The drive trips on the undervoltage fault when parameter 21.18 (Auto restart time) elapses or the value of parameter 21.18 is 0. In that case the standby limit is used as the undervoltage trip level. The undervoltage fault occurs only if the drive is modulating when the DC voltage drops below the undervoltage trip level.

value > 0 sec). The warning will continue to appear if the actual DC link voltage is continuously below the standby limit and until the auto restart time has elapsed. The control board of the drive must be externally powered by 24 VDC to have this functionality. Otherwise the control board may be switched off if the voltage goes below the hardware limit.

The conditions to trigger undervoltage fault

Undervoltage fault is triggered if the drive is modulating and one of the below conditions is active: If the DC link voltage goes below the undervoltage trip limit (73%) and auto restart

is not enabled (i.e parameter 21.18 Auto restart time value = 0.0 sec). If the DC link voltage goes below the undervoltage trip limit (73%) and auto restart

is enabled (i.e parameter 21.18 Auto restart time value >0 sec), then undervoltage trip will occur if only the DC link voltage is continuously below the undervoltage trip limit and after auto restart time has elapsed. Control board of the drive must be externally powered by 24 VDC source to have this functionality. Otherwise the control board may be switched off, just showing an undervoltage warning.

Settings and diagnostics

Parameters: 01.11 DC voltage (page 129), 30.30 Overvoltage control (page 271), 30.31 Undervoltage control (page 271), 95.01 Supply voltage (page 427) and 95.02 Adaptive voltage limits (page 427).

Brake chopper A brake chopper can be used to handle the energy generated by a decelerating motor. When the DC voltage rises high enough, the chopper connects the DC circuit to an external brake resistor. The chopper operation is based on hysteresis.

The internal brake choppers in the drive (in frames R0R3) start conducting at internal brake chopper start limit 780 V and stop conducting at internal brake chopper stop limit 760 V (AC supply 380480 V).

For information on external brake choppers, refer to the respective user manual.

Note: Overvoltage control needs to be disabled for the chopper to operate.

Settings and diagnostics

Parameters: 01.11 DC voltage (page 129), 30.30 Overvoltage control (page 271) and parameter group 43 Brake chopper (page 356).

Limit to limit control The Limit to limit control function restricts the forward and reverse movement of a load inside two extreme points. The function supports the monitoring of two sensors at both ends of the movement range: one for the slow down point and the other for the stop point. The system installer must install the sensors (eg, limit switches) and connect them to the drive.

In the forward direction, the function allows normal operation of the drive until the movement reaches the forward limiting points:

— When the drive receives the forward slow down signal, it decelerates the speed to the slow down speed. Slow down speed allows smooth transition to stop at a later stage. Vector mode uses the Speed reference ramp (23.1123.15) and Scalar mode the Freq reference ramp (28.7128.75).

— When the drive receives the forward stop signal, it stops the motor. It uses the drive stop mode selection (21.03). The function allows start only in the reverse direction.

In the reverse direction, the function monitors reverse slow down and reverse stop signals. The operation is similar as in the forward direction.

You can enable the function with parameter 76.02 and define the signal sources for the forward slow down, forward stop, reverse slow down and reverse stop. You can also define the slow down speed by a parameter.

The Limit to limit function detects the signal status changes only when the function is active, and the load is moved by the drive and motor. The function does not update the signal states in its state machine despite of the actual status changes: 1. when the user has deactivated or disabled the function 2. when the function has stopped the motor but the load is moved by a force other

than the drive and motor (e.g., by a gravity).

For application example, see sections Crane stop limit function on page 662, Crane slowdown function on page 664, and Fast stop on page 666.

Limit to limit control function

Limitations The external stop or slow down signals (in either direction) must not be on when

the Limit to limit function is activated for the first time. If that is not possible, change the state manually to match the actual status in the Limit to limit state parameter (76.01).

When drive is stopped, the load must not be moved with external force (the drive cannot monitor direction). If this happens, the Limit to limit state can be manually changed to the correct one in parameter Limit to limit state parameter (76.01).

Coast stop without mechanical brake may cause load moving without Limit to limit control (drive is not controlling load movement). If this happens, the Limit to limit state can be manually changed to the correct one in parameter Limit to limit state parameter (76.01).

When Limit to limit control is in Pulse mode then the state is saved over power cycle. The load must not be moved when the drive is powered off. If this happens, then Limit to limit state can be manually changed to the correct one in parameter Limit to limit state parameter (76.01).

LIMIT-TO-LIMIT PHASE 1

FWD

REV

MAX

+SLOW ZERO

-SLOW

MIN

STATES

R EV

Z ER

O —

FW D

M AX

R EV

S LO

W —

FW D

M AX

R EV

M AX

— FW

D S

LO W

R EV

M AX

— FW

D M

AX

R EV

M AX

— FW

D Z

ER O

R EV

— ST

O P

— S IG

R EV

— SL

O W

— SI

G

FW D

— SL

O W

— SI

G

FW D

— ST

O P

— S IG

Tips You can connect Slow down and Stop signals into the same signal source by

setting the Stop limit and Slow down parameters to the same digital input (76.01 Forward stop limit = DI2 and 76.05 Forward slow down limit = DI2).

You can change the Limit to limit state machine state with the parameter Limit to limit state parameter (76.01), in case of maintenance.

Settings and diagnostics

Parameters: groups 21 Start/stop mode (page 200), 23 Speed reference ramp (page 228) and 28 Frequency reference chain (page 247), 76.01 Limit to limit control status (page 417), 76.02 Enable limit to limit control (page 418), 76.03 Limit to limit trigger type (page 418), 76.04 Forward stop limit (page 419), 76.05 Forward slow down limit (page 420), 76.06 Reverse stop limit (page 421), 76.07 Reverse slow down limit (page 421), 76.08 Slow down speed (page 421) and 76.09 Slow down frequency (page 421).

Safety and protections

Fixed/Standard protections

Overcurrent

If the output current exceeds the internal overcurrent limit, the IGBTs are shut down immediately to protect the drive.

DC overvoltage

See section Overvoltage control on page 103.

DC undervoltage

See section Undervoltage control (power loss ride-through) on page 103.

Drive temperature

If the temperature rises high enough, the drive first starts to limit the switching frequency and then the current to protect itself. If it is still keeps heating up, for example because of a fan failure, an overtemperature fault is generated.

Short circuit

In case of a short circuit, the IGBTs are shut down immediately to protect the drive.

Emergency stop The emergency stop signal is connected to the input selected by parameter 21.05 Emergency stop source. An emergency stop can also be generated through fieldbus (06.01, bits 02).

The mode of the emergency stop is selected by parameter 21.04 Emergency stop mode. The following modes are available: Off1: Stop along the standard deceleration ramp defined for the particular

reference type in use Off2: Stop by coasting Off3: Stop by the emergency stop ramp defined by parameter 23.23 Emergency

stop time.

With Off1 or Off3 emergency stop modes, the ramp-down of the motor speed can be supervised by parameters 31.32 Emergency ramp supervision and 31.33 Emergency ramp supervision delay.

Notes: The installer of the equipment is responsible for installing the emergency stop

devices and all additional devices needed for the emergency stop function to fulfill the required emergency stop categories.

After an emergency stop signal is detected, the emergency stop function cannot be canceled even though the signal is canceled.

If the minimum (or maximum) torque limit is set to 0%, the emergency stop function may not be able to stop the drive.

During an emergency stop, the speed and torque reference parameters such as reference ramp shapes (23.32 Shape time 1 and 23.33 Shape time 2) are not considered.

Settings and diagnostics

Parameters: 21.04 Emergency stop mode (page 202), 21.05 Emergency stop source (page 203), 23.23 Emergency stop time (page 230), 31.32 Emergency ramp supervision (page 283) and 31.33 Emergency ramp supervision delay (page 283).

Programmable protection functions

External events (31.0131.10)

Five different event signals from the process can be connected to selectable inputs to generate trips and warnings for the driven equipment. When the signal is lost, an external event (fault, warning, or a mere log entry) is generated.

Motor phase loss detection (31.19)

The parameter selects how the drive reacts whenever a motor phase loss is detected.

The motor phase loss detection is enabled by default and displays fault 3381 Output phase loss whenever the drive detects a phase loss. The motor phase loss detection

needs to be enabled or disabled based on the motor control mode and the nominal current as follows: With the vector control, the motor phase loss detection is always on and there are

no operational limits. With the scalar control, the motor phase loss detection activates when the motor

frequency is above 10% of the motor nominal frequency. This limit cannot be changed.

With motors having nominal current below 1/6 of drive nominal current, the supervision must be disabled as the drive cannot measure the motor current accurately.

Earth (Ground) fault detection (31.20)

Note that an earth fault in the supply cable does not activate the protection in a grounded supply, the protection activates within 2 milliseconds in an ungrounded supply, the supply capacitance must be 1 microfarad or more the capacitive currents caused by shielded motor cables up to 300 meters will not

activate the protection the protection is deactivated when the drive is stopped.

Supply phase loss detection (31.20)

The parameter selects how the drive reacts whenever a supply phase loss is detected.

Safe torque off detection (31.22)

The drive monitors the status of the Safe torque off input, and this parameter selects which indications are given when the signals are lost. (The parameter does not affect the operation of the Safe torque off function itself). For more information on the Safe torque off function, see the hardware manual of the drive.

Swapped supply and motor cabling (31.23)

The drive can detect if the supply and motor cables have accidentally been swapped (for example, if the supply is connected to the motor connection of the drive). The parameter selects if a fault is generated or not.

Stall protection (31.2431.28)

The drive protects the motor in a stall situation. It is possible to adjust the supervision limits (current, frequency and time) and choose how the drive reacts to a motor stall condition.

Overspeed protection (31.30)

The user can set overspeed (and overfrequency) limits by specifying a margin that is added to the currently-used maximum and minimum speed (or frequency) limits.

Local control loss detection (49.05)

The parameter selects how the drive reacts to a control panel or PC tool communication break.

AI supervision (12.0312.04)

The parameters select how the drive reacts when an analog input signal moves out of the minimum and/or maximum limits specified for the input.

Automatic fault resets The drive can automatically reset itself after overcurrent, overvoltage, undervoltage and external faults. The user can also specify a fault that is automatically reset.

By default, automatic resets are off and must be specifically activated by the user.

Settings and diagnostics

Parameters: 31.1231.16.

Diagnostics

Signal supervision Six signals can be selected to be supervised by this function. Whenever a supervised signal exceeds or falls below predefined limits, a bit in 32.01 Supervision status is activated, and a warning or fault generated.

The supervised signal is low-pass filtered.

Settings and diagnostics

Parameters: group 32 Supervision (page 285).

Energy saving calculators This feature consists of the following functionalities: An energy optimizer that adjusts the motor flux in such a way that the total system

efficiency is maximized A counter that monitors used and saved energy by the motor and displays them in

kWh, currency or volume of CO2 emissions, and A load analyzer showing the load profile of the drive (see section Load analyzer

on page 115).

In addition, there are counters that show energy consumption in kWh of the current and previous hour as well as the current and previous day.

Note: The accuracy of the energy savings calculation is directly dependent on the accuracy of the reference motor power given in parameter 45.19 Comparison power.

Settings and diagnostics

Parameters: group 45 Energy efficiency (page 368), 01.50 Current hour kWh (page 130), 01.51 Previous hour kWh (page 130), 01.52 Current day kWh (page 130) and 01.53 Previous day kWh (page 130).

Load analyzer

Peak value logger

The user can select a signal to be monitored by a peak value logger. The logger records the peak value of the signal along with the time the peak occurred, as well as motor current, DC voltage and motor speed at the time of the peak. The peak value is sampled at 2 ms intervals.

Amplitude loggers

The control program has two amplitude loggers.

For amplitude logger 2, the user can select a signal to be sampled at 200 ms intervals, and specify a value that corresponds to 100%. The collected samples are sorted into 10 read-only parameters according to their amplitude.

Parameter 36.40 shows the share of samples that have fallen in range 010% of the reference value during the time that the logging has been active.

Parameter 36.41 shows that share of samples that have fallen in range 1020% of the reference value during the time that the logging has been active

etc.

You can view this graphically with the assistant panel or the Drive Composer PC tool.

Amplitude logger 1 is fixed to monitor motor current, and cannot be reset. With amplitude logger 1, 100% corresponds to the maximum output current of the drive (Imax). The maximum output current values are listed in the section Ratings in the Hardware manual of the drive. The measured current is logged continuously. The distribution of samples is shown by parameters 36.2036.29.

Settings and diagnostics

Parameters: group 36 Load analyzer (page 325).

sh ar

e of

a ll

sa m

pl es

0 10

%

10

20 %

20

30 %

30

40 %

40

50 %

50

60 %

60

70 %

70

80 %

80

90 %

>9 0%

Amplitude ranges (parameters 36.4036.49)

Miscellaneous

Backup and restore You can make backups of the settings manually to the assistant panel. The panel also keeps one automatic backup. You can restore a backup to another drive, or a new drive replacing a faulty one. You can make backups and restore on the panel, or with the Drive Composer PC tool.

See the relevant assistant control panel for more information on backing up and settings.

Backup

Manual backup

Make a backup when necessary, for example, after you have started up the drive or when you want to copy the settings to another drive.

Parameter changes from fieldbus interfaces are ignored unless you have forced parameter saving.

Automatic backup

The assistant panel has space for one automatic backup. An automatic backup is created two hours after the last parameter change. After completing the backup, the panel waits for 24 hours before checking if there are additional parameter changes. If there are, it creates a new backup overwriting the previous one when two hours have passed after the latest change.

You cannot adjust the delay time or disable the automatic backup function.

Parameter changes from fieldbus interfaces are ignored unless you have forced parameter saving.

Restore

The backups are shown on the panel. Automatic and manual backups are separately marked.

Note: To restore a backup, the drive has to be in Local control.

Settings and diagnostics

Parameters: 96.07 Parameter save manually (page 434).

User parameter sets The drive supports four user parameter sets that can be saved to the permanent memory and recalled using drive parameters. It is also possible to use digital inputs to switch between user parameter sets. To change a user parameter set, the drive has to be stopped.

A user parameter set contains all editable values in parameter groups 1099 except I/O extension module settings (15 I/O extension module) Data storage parameters (47 Data storage) Fieldbus communication settings (50 Fieldbus adapter (FBA)53 FBA A data out

and 58 Embedded fieldbus).

As the motor settings are included in the user parameter sets, make sure the settings correspond to the motor used in the application before recalling a user set. In an application where different motors are used with the drive, the motor ID run needs to be performed with each motor and the results saved to different user sets. The appropriate set can then be recalled when the motor is switched.

Settings and diagnostics

Parameters: 96.1096.13.

Data storage parameters Twelve (eight 32-bit, four 16-bit) parameters are reserved for data storage. These parameters are unconnected by default and can be used for linking, testing and commissioning purposes. They can be written to and read from using other parameters source or target selections.

Settings and diagnostics

Parameters: group 47 Data storage (page 377).

Parameter checksum calculation Parameter checksums A and B can be calculated from a set of parameters to monitor changes in the drive configuration. The parameter sets are different for A and B. Each of the calculated checksum is compared to corresponding reference checksum. If a mismatch occurs, the drive generates an event (a pure event, warning or fault). The calculated checksum can be set as the new reference checksum.

The set of parameters for checksum A does not include fieldbus settings parameters.

The parameters included in the checksum A calculation are user editable parameters in parameter groups 10, 15, 19, 20, 21, 22, 23, 24, 25, 28, 30, 31, 32, 34, 35, 36, 37, 40, 41, 43, 45, 46, 71, 76, 90, 91, 92, 95, 96, 97, 98, and 99.

The set of parameters for checksum B does not include: fieldbus settings motor data settings, and energy data settings parameters.

The parameters included in the checksum B calculation are user editable parameters in parameter groups 10, 15, 19, 20, 21, 22, 23, 24, 25, 28, 30, 31, 32, 34, 35, 36, 37, 40, 41, 43, 46, 71, 76, 90, 91, 92, 95, 96, and 97.

Settings and diagnostics Parameters: 96.5496.55, 96.6896.69 and 96.7196.72. Events: A686 Checksum mismatch (page 494), B686 Checksum mismatch (page

503) and 6200 Checksum mismatch (page 511).

Motor potentiometer The motor potentiometer is a counter whose value can be adjusted up and down using two digital signals selected by parameters.

When enabled, the motor potentiometer assumes a set value. Depending on the mode selected, the motor potentiometer value is either retained or reset over a power cycle.

The change rate is defined as the time it would take for the value to change from the minimum to the maximum, or vice versa. If the up and down signals are simultaneously on, the motor potentiometer value does not change.

The output of the function is shown, and it can be directly set as the reference source in the main selector parameters, or used as an input by other source selector parameters.

The following example shows the behavior of the motor potentiometer value.

For application example, see section Crane motor potentiometer on page 673.

Settings and diagnostics

Parameters: 22.7122.80.

User lock For better cybersecurity, you can set a master password to prevent eg. the changing of parameter values and/or the loading of firmware and other files.

0

1

0

1

0 22.80

22.74

22.73

22.77

22.76

22.75

WARNING! ABB will not be liable for damages or losses caused by the failure to activate the user lock using a new pass code. See Cybersecurity disclaimer

(page 15).

To activate the user lock for the first time, enter the default pass code, 10000000, into 96.02 Pass code. This will make parameters 96.10096.102 visible. Then enter a new pass code into 96.100 Change user pass code, and confirm the code in 96.101 Confirm user pass code. In 96.102 User lock functionality, define the actions that you want to prevent.

To close the user lock, enter an invalid pass code into 96.02 Pass code, activate 96.08 Control board boot, or cycle the power. With the lock closed, parameters 96.10096.102 are hidden.

To reopen the lock, enter your pass code into 96.02 Pass code. This will again make parameters 96.10096.102 visible.

Settings and diagnostics

Parameters: 96.02 Pass code (page 431) and 96.10096.102.

AI dead band User can define a dead band value (12.110) for the analog input signals. The value is valid both for analog input AI1 and AI2, and both for the voltage and milliampere signals. The dead band value of 100% corresponds to 10 V for a voltage signal and 20 mA for a current signal. In case of voltage: 10 V x (parameter 12.110 value) x 0.01 In case of current: 20 mA x (parameter 12.110 value) x 0.01

The control program automatically calculates a hysteresis value for the AI dead band: AI dead band hysteresis value = AI dead band value x 0.1

Example

Parameter 12.110 (AI dead band) value is set to 50%.

In case of voltage signal: AI unit selection = V AI dead band value = 10 x 50 x 0.01 = 5 V AI Hysteresis value = 5 x 0.1 = 0.5 V AI dead band hysteresis positive value = 5 + 0.5 = 5.5 V AI dead band hysteresis negative value = 5 — 0.5 = 4.5 V

Now, when AI input voltage is increasing up to 5.5 V, AI actual shows 0. As soon as AI input voltage reaches 5.5 V, AI actual shows 5.5 V and continues to detect the AI input voltage up to AI max which is in range of 0 V to 10 V. When AI input voltage is

decreasing, AI actual shows the actual AI applied up to 4.5 V. As soon as AI input goes below 4.5 V, AI actual shows 0 till input voltage reaches 0 V.

High speed counter High speed counter counts pulses from the input source selected by user (33.71). User can also define how to enable or disable the counter (33.80).

The counter value can be read from parameter 33.02, which is an unsigned 32-bit integer. The counter update time is 2 ms. The counter has configurable direction, preset source and value, and high and low limits (parameters 33.73 to 33.77).

The counter value can be configured to roll over or to saturate to limit values (33.72). There is also a divider (33.79) that can be used for scaling down fast pulse counting to a more comprehensive scale (for example when encoder counting divided by encoder pulse number would result in counting the number of axis rotations). The remainder of the division is kept until preset is done. The counter has a status word (33.04) indicating the current count status.

The following counter inputs are supported: Frequency input (up to 16 kHz) 1)

Encoder, where the rising and falling edges are calculated Encoder with direction, where the rising and falling edges are calculated.2)

Digital inputs 15 (up to 125 Hz) DIOs as input (up to 250 Hz) Pointer to any bit in the parameters (maximum frequency depends on the source

bit update cycle). 1) When a digital input (DI3/BMIO-01, DI4/BIO-01) is configured as counter and that is used as the counter source (33.71 = Frequency input 1), then frequency inputs are not available. See configuration parameters for DI3, DI4 and DI5 (11.13, 11.17 and 11.21). 2) When an encoder with direction is selected, the direction parameter 33.73 has no effect.

It is possible to configure two digital inputs as frequency inputs. However, if counter needs to be used, only one input can be configured as frequency input. This is a hardware limitation.

When a digital input (DI1, DI2 / DI3-DI5 or DIO configured as a digital input) is used as the counter source, then the maximum signal frequency is limited to 125 Hz. Higher frequencies can cause aliasing and result in wrong counter values.

The reason for the maximum signal frequency limitation is the 2 ms update time. With two samples required (in the same state), only the rising edge is calculated. The minimum cycle time of 8 ms results in a maximum signal frequency of 125 Hz.

Signal supervision function (group 32 Supervision) can be used to tell when a certain value has been reached outside of the counter status word content.

Settings and diagnostics

Counter parameters: 33.0233.79 Frequency input parameters: 11.13, 11.17 and 11.21 Encoder configuration parameters: groups 90 Feedback selection, 91 Encoder

module settings and 92 Encoder 1 configuration.

6 Parameters

Contents Terms and abbreviations Fieldbus addresses Summary of parameter groups Parameter listing Differences in the default values between 50 Hz and 60 Hz supply frequency

settings

Terms and abbreviations Term Definition Actual signal Signal measured or calculated by the drive. Usually can only be

monitored but not adjusted; some counter-type signals can however be reset.

Analog src Analog source: the parameter can be set to the value of another parameter by choosing Other, and selecting the source parameter from a list. In addition to the Other selection, the parameter may offer other pre-selected settings. Not in this version.

Binary src Binary source: the value of the parameter can be taken from a specific bit in another parameter value (Other). Sometimes the value can be fixed to 0 (false) or 1 (true). In addition, the parameter may offer other pre-selected settings. Not in this version.

Default The default is shown on the same row as the parameter name. The default value of a parameter for the ABB standard macro with BMIO-01. For information on other macro-specific parameter values, see chapter Control macros.

FbEq16/32 The fieldbus equivalent for 16-bit and 32-bit. They are shown on the same row as the parameter range, or for each selection. 16-bit fieldbus equivalent: The scaling between the value shown on the panel and the integer used in fieldbus communication when the user selects a 16-bit value in parameter group 52 FBA A data in or 53 FBA A data out. A dash (-) indicates that the user cannot access the parameter in 16-bit format. 32-bit fieldbus equivalent: The scaling between the value shown on the panel and the integer used in communication when a 32- bit value is selected for transmission to an external system.

List Selection list. No. Parameter number. PB Packed Boolean (bit list). Real Real number. Type Type (analogue src, binary src, list, PPB, real). Other The value is taken from another parameter.

Choosing Other displays a parameter list in which the user can specify the source parameter.

Other [bit] The value is taken from a specific bit in another parameter. The user selects the source from a parameter list.

Parameter Either a user-adjustable operating instruction for the drive, or an Actual signal.

p.u. Per unit [parameter number] Value of the parameter

Fieldbus addresses Refer to the fieldbus adapter users manual.

Summary of parameter groups Group Contents Page 01 Actual values Basic signals for monitoring the drive. 128 03 Input references Values of references received from various sources. 132 04 Warnings and faults Information on warnings and faults that occurred last. 133 05 Diagnostics Various run-time-type counters and measurements

related to drive maintenance. 135

06 Control and status words

Drive control and status words. 139

07 System info Drive hardware and firmware information. 146 09 Crane application signals

Signals related to crane applications. 149

10 Standard DI, RO Configuration of digital inputs and relay outputs. 150 11 Standard DIO, FI, FO Configuration of the digital input/outputs. 156 12 Standard AI Configuration of standard analog inputs. 163

13 Standard AO Configuration of standard analog outputs. 170 15 I/O extension module Configuration of the I/O extension module. 175 19 Operation mode Selection of local and external control location sources

and operating modes. 180

20 Start/stop/direction Start/stop/direction and run/start/jog enable signal source selection; positive/negative reference enable signal source selection.

183

21 Start/stop mode Start and stop modes; emergency stop mode and signal source selection; DC magnetization settings.

200

22 Speed reference selection

Speed reference selection; motor potentiometer settings. 212

23 Speed reference ramp Speed reference ramp settings (programming of the acceleration and deceleration rates for the drive).

228

24 Speed reference conditioning

Speed error calculation; speed error window control configuration; speed error step.

233

25 Speed control Speed controller settings. 234 26 Torque reference chain Settings for the torque reference chain. 240 28 Frequency reference chain

Settings for the frequency reference chain. 247

30 Limits Drive operation limits. 262 31 Fault functions Configuration of external events; selection of behavior of

the drive upon fault situations. 274

32 Supervision Configuration of signal supervision functions 13. 285

33 Generic timer & counter

Generic timer and counter functions. 299

34 Timed functions Configuration of the timed functions. 302 35 Motor thermal protection

Motor thermal protection settings such as temperature measurement configuration, load curve definition and motor fan control configuration.

310

36 Load analyzer Peak value and amplitude logger settings. 325 37 User load curve Settings for user load curve. 329 40 Process PID set 1 Parameter values for process PID control. 335 41 Process PID set 2 A second set of parameter values for process PID control. 353 43 Brake chopper Settings for the internal brake chopper. 356

44 Mechanical brake control

Configuration of mechanical brake control. 359

45 Energy efficiency Settings for the energy saving calculators. 368

46 Monitoring/scaling settings

Speed supervision settings; actual signal filtering; general scaling settings.

373

47 Data storage Data storage parameters that can be written to and read from using other parameters source and target settings.

377

49 Panel port communication

Communication settings for the control panel port on the drive.

379

50 Fieldbus adapter (FBA) Fieldbus communication configuration. 382 51 FBA A settings Fieldbus adapter A configuration. 388 52 FBA A data in Selection of data to be transferred from drive to fieldbus

controller through fieldbus adapter A. 390

53 FBA A data out Selection of data to be transferred from fieldbus controller to drive through fieldbus adapter A.

391

58 Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface. 391 71 External PID1 Configuration of external PID. 414

76 Application features Application parameters for, e.g., Limit to limit control configuration.

417

90 Feedback selection Motor and load feedback configuration. 424

91 Encoder module settings Configuration of encoder interface modules. 426 92 Encoder 1 configuration

Settings for encoder 1. 426

95 HW configuration Various hardware-related settings. 427 96 System Language selection; access levels; macro selection;

parameter save and restore; control unit reboot; user parameter sets; unit selection; parameter checksum calculation; user lock.

430

97 Motor control Switching frequency; slip gain; voltage reserve; flux braking; anti-cogging (signal injection); IR compensation.

441

Group Contents Page

98 User motor parameters Motor values supplied by the user that are used in the motor model.

447

99 Motor data Motor configuration settings. 449

Group Contents Page

Parameter listing No. Name/Value Description Default

FbEq 16 01 01 Actual values Basic signals for monitoring the drive.

All parameters in this group are read-only unless otherwise noted. Note: Values of these actual signals are filtered with the filter time defined in group 46 Monitoring/scaling settings. The selection lists for parameters in other groups mean the raw value of the actual signal instead. For example, if a selection is Output frequency it does not point to the value of parameter 01.06 Output frequency but to the raw value.

01.01 Motor speed used Measured or Estimated motor speed depending on the type of feedback used in parameter 96.01 Motor feedback selection. A filter time constant for this signal can be defined by parameter 46.11 Filter time motor speed.

—

-30000.00 30000.00 rpm

Measured or estimated motor speed. See par. 46.01

01.02 Motor speed estimated

Estimated motor speed in rpm. A filter time constant for this signal can be defined by parameter 46.11 Filter time motor speed.

—

-30000.00 30000.00 rpm

Estimated motor speed. See par. 46.01

01.03 Motor speed % Actual speed in percent of the motor synchronous speed. The filter time constant can be adjusted by parameter 46.11 Filter time motor speed.

—

-1000.00 1000.00%

Motor speed. See par. 46.01

01.04 Encoder 1 speed filtered

Measured motor speed from Encoder 1. The filter time constant can be adjusted by parameter 46.11 Filter time motor speed.

—

-30000 30000 1=1 01.06 Output frequency Estimated drive output frequency in Hz. A filter

time constant for this signal can be defined by parameter 46.12 Filter time output frequency.

—

-500.00500.00 Hz

Estimated output frequency. See par. 46.02

01.07 Motor current Measured (absolute) motor current in A. — 0.0030000.00 Motor current. See par.

46.05

01.08 Motor current % of motor nom

Motor current (drive output current) in percent of the nominal motor current.

—

0.01000.0% Motor current. 1=1% 01.09 Motor current % of

drive nom Motor current (drive output current) in percent of the nominal drive current.

—

0.01000.0% Motor current. 1=1% 01.10 Motor torque Motor torque in percent of the nominal motor

torque. See also parameter 01.30 Nominal torque scale. A filter time constant for this signal can be defined by parameter 46.13 Filter time motor torque.

—

-1600.01600.0% Motor torque. See par. 46.03

01.11 DC voltage Measured intermediate circuit DC Link voltage. — 0.002000.00 V DC link voltage. 10 = 1 V

01.13 Output voltage Calculated motor voltage in V AC. — 02000 V Motor voltage. 1 = 1 V

01.14 Output power Measured output power in kW. The filter time constant can be adjusted by parameter 46.14 Filter time power.

—

-32768.00 32767.00 kW

Output power. See par. 46.04

01.15 Output power % of motor nom

Measured output power in % of nominal motor power.

—

-300.00 300.00% Output power. 10 = 1% 01.17 Motor shaft power Estimated mechanical power at motor shaft in kW

or hp. Parameter96.16 defines the unit. . The filter time constant can be adjusted by parameter 46.14 Filter time power.

—

-32768.00 32767.00 kW or hp

Motor shaft power. See par. 46.04

01.18 Inverter GWh counter Amount of energy that has passed through the drive (in either direction) in full gigawatt-hours. The minimum value is zero.

—

065535 GWh Energy in GWh. 1 = 1 GWh 01.19 Inverter MWh counter Amount of energy that has passed through the

drive (in either direction) in full megawatt-hours. Whenever the counter rolls over, 01.18 Inverter GWh counter is incremented. The minimum value is zero.

—

01000 MWh Energy in MWh. 1 = 1 MWh

No. Name/Value Description Default FbEq 16

01.20 Inverter kWh counter Amount of energy that has passed through the drive (in either direction) in full kilowatt-hours. Whenever the counter rolls over, 01.19 Inverter MWh counter is incremented. The minimum value is zero.

—

01000 kWh Energy in kWh. 10 = 1 kWh 01.24 Flux actual % Used flux in percent of nominal flux of motor. —

0200% Flux value. 1 = 1% 01.30 Nominal torque scale Nominal torque in Nm which corresponds to

100%. Note: This parameter is copied from parameter 99.12 Motor nominal torque if given. Otherwise the value is calculated from other motor data.

0

0.0004000000 Nm or lbft

Nominal torque. 1 = 100 unit

01.50 Current hour kWh Current hour energy consumption. This is the energy of the last 60 minutes (not necessarily continuous) the drive has been running, not the energy of a calendar hour. The value is set to the value before the power cycle when the drive is again up and running.

— / —

0.001000000.00 kWh

Energy. 1 = 1 kWh

01.51 Previous hour kWh Previous hour energy consumption. The value Current hour kWh is stored here when its values has been cumulated for 60 minutes. The value is set to the value before the power cycle when the drive is again up and running.

—

0.001000000.00 kWh

Energy. 1 = 1 kWh

01.52 Current day kWh Current day energy consumption. This is the energy of the last 24 hours (not necessarily continuous) the drive has been running, not the energy of a calendar day. The value is set to the value before the power cycle when the drive is again up and running.

—

0.001000000.00 kWh

Energy. 1 = 1 kWh

01.53 Previous day kWh Previous day energy consumption. The value is set to the value before the power cycle when the drive is again up and running.

—

0.00 1000000.00 kWh

Energy. 1 = 1 kWh

No. Name/Value Description Default FbEq 16

01.54 Cumulative inverter energy

Amount of energy that has passed through the drive (in either direction) in full kilowatt-hours. The minimum value is zero.

—

-200000000.0 200000000.0 kWh

Energy in kWh. 10 = 1 kWh

01.55 Inverter GWh counter (resettable)

Amount of energy that has passed through the drive (in either direction) in full gigawatt-hours. The minimum value is zero. You can reset the value by setting it to zero. Resetting any of parameters 01.5501.58 resets all of them.

—

065535 GWh Energy in GWh. 1 = 1 GWh 01.56 Inverter MWh counter

(resettable) Amount of energy that has passed through the drive (in either direction) in full megawatt-hours. Whenever the counter rolls over, 01.55 Inverter GWh counter (resettable) is incremented. The minimum value is zero. You can reset the value by setting it to zero. Resetting any of parameters 01.5501.58 resets all of them.

—

01000 MWh Energy in MWh. 1 = 1 MWh 01.57 Inverter kWh counter

(resettable) Amount of energy that has passed through the drive (in either direction) in full kilowatt-hours. Whenever the counter rolls over, 01.56 Inverter MWh counter (resettable) is incremented. The minimum value is zero. You can reset the value by setting it to zero. Resetting any of parameters 01.5501.58 resets all of them.

—

01000 kWh Energy in kWh. 10 = 1 kWh 01.58 Cumulative inverter

energy (resettable) Amount of energy that has passed through the drive (in either direction) in full kilowatt-hours. The minimum value is zero. You can reset the value by setting it to zero. Resetting any of parameters 01.5501.58 resets all of them.

—

-200000000.0 200000000.0 kWh

Energy in kWh. 10 = 1 kWh

01.61 Abs motor speed used Absolute value of the motor speed used 01.01 Motor speed used.

—

0.00 30000.00 rpm

1 = 1 rpm

No. Name/Value Description Default FbEq 16

01.62 Abs motor speed % Absolute value of the motor speed % 01.03 Motor speed %.

—

0.00 1000.00% 10 = 1% 01.63 Abs output frequency Absolute value of the output frequency 01.06

Output frequency. —

0.00500.00 Hz 1 = 1 Hz 01.64 Abs motor torque Absolute value of the motor torque 01.10 Motor

torque. —

0.0 1600.0% 1 = 1% 01.65 Abs output power Absolute value of the output power 01.14 Output

power. —

0.00 32767.00 kW

1 = 1 kW

01.66 Abs output power % mot nom

Absolute value of the output power % of motor nominal 01.15 Output power % of motor nom.

—

0.00 300.00% 1 = 1% 01.68 Abs motor shaft power Absolute value of the motor shaft power 01.17

Motor shaft power. —

0.00 332767.00 kW

1 = 1 kW

03 03 Input references Values of references received from various sources.

All parameters in this group are read-only unless otherwise noted.

03.01 Panel reference Local mode reference is given from the control panel.

0

-100000.00 100000.00 rpm, Hz or %

Control panel or PC tool reference. 1 = 10 unit

03.02 Panel reference remote

Remote mode reference given from the control panel.

—

-100000.00 100000.00 rpm, Hz or %

Control panel or PC tool reference. 1 = 10 unit

03.05 FB A reference 1 Scaled fieldbus A reference 1. See parameter 50.14 FBA A reference 1.

0

-100000.00 100000.00

Reference from fieldbus adapter A. 1 = 10

03.06 FB A reference 2 Scaled fieldbus A reference 2. See parameter 50.15 FBA A reference 2.

0

-100000.00 100000.00

Reference 2 from fieldbus adapter A. 1 = 10

No. Name/Value Description Default FbEq 16

03.09 EFB reference 1 Scaled reference 1 received through the embedded fieldbus interface. The scaling is defined by 58.26 EFB ref1 type

—

-30000.00 30000.00

Scaled reference 1 received through the embedded fieldbus interface.

1 = 10

03.10 EFB reference 2 Scaled embedded fieldbus reference 2. — -30000.00 30000.00

Scaled reference 2 received through the embedded fieldbus interface. The scaling is defined by 58.27 EFB ref2 type

1 = 10

03.17 Integrated Panel ref Local mode reference given from the integrated control panel. The unit (rpm, Hz or %) is set from parameter.

0

-100000.00 100000.00 rpm, Hz or %

Integrated control panel reference. 1 = 10

03.18 Integrated Panel ref remote

Remote mode reference given from the integrated control panel.

0

-100000.00 100000.00 rpm, Hz or %

Integrated control panel reference. 1 = 10

04 04 Warnings and faults Information on warnings and faults that occurred last.

For explanations of individual warning and fault codes, see chapter Fault tracing. All parameters in this group are read-only unless otherwise noted.

04.01 Tripping fault Code of the 1st active fault (the fault that caused the drive to trip as it arrived at the trip register).

—

0000hFFFFh Fault code. 1=1 04.02 Active fault 2 2nd active fault in the trip register. —

0000hFFFFh Fault code. 1=1 04.03 Active fault 3 3rd active fault in the trip register. —

0000hFFFFh Fault code. 1=1 04.06 Active warning 1 1st active warning in warning register. —

0000hFFFFh Warning code. 1=1 04.07 Active warning 2 2nd active warning in warning register. —

0000hFFFFh Warning code. 1=1 04.08 Active warning 3 3rd active warning in warning register. —

0000hFFFFh Warning code. 1=1

No. Name/Value Description Default FbEq 16

04.11 Latest fault Latest fault in the trip log store. The trip log store is loaded with the active faults in the order they occur.

—

0000hFFFFh Fault code. 1=1 04.12 2nd latest fault 2nd fault in trip log store. —

0000hFFFFh Fault code. 1=1 04.13 3rd latest fault 3rd fault in trip log store. —

0000hFFFFh Fault code. 1=1 04.16 Latest warning Latest warning in the warning log store. The

warning log store is loaded with the active warnings in the order they occur.

—

0000hFFFFh Warning code. 1=1 04.17 2nd latest warning 2nd warning in trip log store. —

0000hFFFFh Warning code. 1=1 04.18 3rd latest warning 3rd warning in trip log store. —

0000hFFFFh Warning code. 1=1 04.40 Event word 1 Shows the user-defined event word. This word

collects the status of the events (warnings, faults or pure events) selected by parameters 04.4104.71. See chapter Fault tracing (page 123) for the list of event codes. This parameter is read-only.

—

0b00000b1111 Event word. 1 = 1 04.41 Event word 1 bit 0

code Selects the hexadecimal code of an event (warning, fault or pure event) whose status is shown as bit 0 of parameter 04.40. See chapter Fault tracing (page 487) for the event codes.

0x2310h

0000hFFFFh Code of event. 1 = 1 04.43 Event word 1 bit 1

code Selects the hexadecimal code of an event (warning, fault or pure event) whose status is shown as bit 1 of parameter 04.40. See chapter Fault tracing (page 487) for the event codes.

0x3210h

0000hFFFFh Code of event. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 User bit 0 1 = Event selected by parameter 04.41 is active. 1 User bit 1 1 = Event selected by parameter 04.43 is active. 15 User bit 15 1 = Event selected by parameter 04.71 is active.

04.45 Event word 1 bit 2 code

0x4310h

04.47 Event word 1 bit 3 code

0x2340h

04.49 Event word 1 bit 4 code

0x0000h

04.51 Event word 1 bit 5 code

0x3220h

04.53 Event word 1 bit 6 code

0x80A0h

04.55 Event word 1 bit 7 code

0x0000h

04.57 Event word 1 bit 8 code

0x7122h

04.59 Event word 1 bit 9 code

0x7081h

04.61 Event word 1 bit 10 code

0xFF61h

04.63 Event word 1 bit 11 code

0x7121h

04.65 Event word 1 bit 12 code

0x4110h

04.67 Event word 1 bit 13 code

0x9081h

04.69 Event word 1 bit 14 code

0x9082h

04.71 Event word 1 bit 15 code

Selects the hexadecimal code of an event (warning, fault or pure event) whose status is shown as bit 15 of parameter 04.40. See chapter Fault tracing (page 487) for the event codes.

0x2330h

0000hFFFFh Code of event. 1 = 1 05 05 Diagnostics Various run-time-type counters and measurements

related to drive maintenance. All parameters in this group are read-only unless otherwise noted.

05.01 On-time counter Drive on-time counter. The counter runs when the drive is powered.

—

065535 d On-time counter (number of days). 1 = 1 d 05.02 Run-time counter Motor run-time counter. The counter runs when the

inverter modulates. —

065535 d Motor run-time counter. 1 = 1 d

No. Name/Value Description Default FbEq 16

05.03 Hours run Corresponding parameter to 05.02 Run-time counter in hours, that is, 24 * 05.02 value + fractional part of a day.

—

0 429496729.5 h

Hours. 1 = 1 h

05.04 Fan on-time counter Running time of the drive cooling fan. Can be reset from the control panel by keeping Reset down for over 3 seconds.

—

065535 d Cooling fan run-time. 1 = 1 d 05.10 Control board

temperature Measured temperature of the control board. —

-100 300 C or F Temperature in degrees Celsius for Fahrenheit. 1 = unit 05.11 Inverter temperature Estimated drive temperature in percent of fault

limit. The fault limit varies according to the type of the drive. 0.0% = 0 C (32 F) 100.0% = Fault limit

—

-40.0160.0% Temperature in percent. 1 = 1% 05.20 Diagnostic word 1 Diagnostic word 1. For possible causes and

remedies, see chapter Fault tracing. 0b0000

0b00000b1111 Diagnostic word 1. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Value 0 Any warning or fault 1 = Drive has generated a warning or tripped on a

fault. 1 Any warning 1 = Drive has generated a warning. 2 Any fault 1 = Drive has tripped on a fault. 3 Reserved 4 Overcurrent fault 1 = Drive has tripped on fault 2310 Overcurrent. 5 Reserved 6 DC overvoltage 1 = Drive has tripped on fault 3210 DC link

overvoltage. 7 DC undervoltage 1 = Drive has tripped on fault 3220 DC link

undervoltage. 8 Reserved 9 Device overtemp flt 1 = Drive has tripped on fault 4310 Excess

temperature. 10…15 Reserved

05.21 Diagnostic word 2 Diagnostic word 2 For possible causes and remedies, see chapter Fault tracing.

0b0000

0b00000b1111 Diagnostic word 2. 1 = 1 05.22 Diagnostic word 3 Diagnostic word 3. For possible causes and

remedies, see chapter Fault tracing. 0b0000

0b00000b1111 Diagnostic word 3. 1 = 1 05.80 Motor speed at fault Copy of parameter 24.02 Used speed feedback

(in both scalar and speed control modes) at the occurrence of the latest fault.

—

-30000.00 30000.00 rpm

Motor speed at fault. See par. 46.01

05.81 Output frequency at fault

Displays the output frequency (01.06) at which fault occurred.

—

-500.00500.00 Hz

Output frequency at fault. See par. 46.02

05.82 DC voltage at fault Displays the DC link volt age (01.11) at which fault occurred.

—

0.002000.00 V DC voltage at fault. 10 = 1 V 05.83 Motor current at fault Displays the motor current (01.07) at which fault

occurred. —

0.0030000.00 A Motor current at fault. See par. 46.05

05.84 Motor torque at fault Displays the motor torque (01.10) at which fault occurred

—

-1600.01600.0% Motor torque at fault. See par. 46.03

No. Name/Value Description Default FbEq 16

Bit Name Value 0…9 Reserved 10 Motor overtemp flt 1 = Drive has tripped on fault 4981 External

temperature 1 or 4982 External temperature 2. 1115 Reserved

Bit Name Value 0…8 Reserved 9 kWh pulse 1 = kWh pulse is active. 10 Reserved 11 Fan command 1 = The drive fan is rotating above the minimum fan speed.

In case of an On/Off fan that is not stopped, this bit is 1. 1215 Reserved

05.85 Main status word at fault

Copy of parameter 06.11 Main status word at the occurrence of the latest fault.

—

0000hFFFFh Main status word. 1 = 1 05.86 DI delayed status at

fault Displays the DI delayed status (10.02) at which fault occurred. For the bit list, see parameter 10.02 DI delayed status.

0000h

0000hFFFFh DI delayed status at fault. 1 = 1 05.87 Inverter temperature

at fault Displays the inverter temperature (05.11) at which fault occurred.

—

-40160C Inverter temperature at fault. 1 = 1C 05.88 Reference used at

fault Displays the reference used (28.01/26.73/23.01) at which fault occurred. The type of the reference depends on the selected operation mode (19.01).

—

-500.00 500.00 Hz/

-1600.01600.0%/

30000.00 30000.00 rpm

Reference used at fault. See par. 46.02/ See par. 46.03/ See par. 46.01

No. Name/Value Description Default FbEq 16

06 06 Control and status words

Drive control and status words.

06.01 Main control word The main control word of the drive. This parameter shows the control signals as received from the selected sources (such as digital inputs, the fieldbus interfaces and the application program). The bit assignments of the word are as described on page 597. The related status word and state diagram are presented on pages 598 and 599 respectively. This parameter is read-only. Note: With the fieldbus control, the parameter value is not same as the value that it receives from the PLC. For the correct value, see parameter 50.12 FBA A debug mode.

0000h

0000hFFFFh Main control word. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name 0 Off1 control 1 Off2 control 2 Off3 control 3 Run 4 Ramp out zero 5 Ramp hold 6 Ramp in zero 7 Reset 8 Inching 1 9 Inching 2 10 Remote cmd 11 Ext ctrl loc 12 User bit 0 13 User bit 1 14 User bit 2 15 User bit 3

06.11 Main status word ABB Drives Profile Main status word. Reflects the status of the drive irrespective of control source e.g. a fieldbus system, control panel (keypad), PC- Tool, standard I/O, application program or sequence programming, and irrespective of the actual control profile which is used to control the drive. The bit assignments are described on page 597 (Contents of the fieldbus control word). The state diagram (valid for ABB drives profile) is on page 599. This parameter is read-only. Note: With the fieldbus control, the parameter value is not same as the value that it receives from the PLC. For the correct value, see parameter 50.12 FBA A debug mode.

0000h

0000hFFFFh Main status word. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name 0 Ready to switch

ON 1 Ready run 2 Ready ref 3 Tripped 4 Off 2 inactive 5 Off 3 inactive 6 Switch-on inhibited 7 Warning 8 At setpoint 9 Remote 10 Above limit 11 User bit 0 12 User bit 1 13 User bit 2 14 User bit 3 15 Reserved

06.16 Drive status word 1 Drive status word 1. This parameter is read-only.

—

0000hFFFFh Drive status word 1. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Enabled 1 = Both run enable (see par. 20.12) and start enable

(20.19) signals are present. Note: This bit is not affected by the presence of a fault.

1 Inhibited 1 = Start inhibited. To start the drive, the inhibiting signal (see par. 06.18) must be removed and the start signal cycled.

2 DC charged 1 = DC circuit has been charged 3 Ready to start 1 = Drive is ready to receive a start command 4 Following

reference 1 = Drive is ready to follow given reference

5 Started 1 = Drive has been started 6 Modulating 1 = Drive is modulating (output stage is being controlled) 7 Limiting 1 = Any operating limit (speed, torque, etc.) is active 8 Local control 1 = Drive is in local control 9 Network control 1 = Drive is in Network control (see page 14). 10 Ext1 active 1 = Control location EXT1 active 11 Ext2 active 1 = Control location EXT2 active 12 Reserved 13 Start request 1 = Start requested. 0 = When Enable to rotate signal (see

par. 20.22) is 0 (rotating of the motor is disabled).

14 Running 1 = One of the following statuses is active: Started + Run Permissive granted + no faults Started + Run Permissive granted + faulted + auto reset

not expired Started + Run Permissive granted + DC hold Started + Run Permissive granted + PID sleep (w/wo

motor heating) Started + Run Permissive granted + Pre-magnetization Not started or start inhibited + in ramp stop

06.17 Drive status word 2 Drive status word 2. This parameter is read-only.

—

0000hFFFFh Drive status word 2. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Identification run

done 1 = Motor identification (ID) run has been performed

1 Magnetized 1 = The motor has been magnetized 2 Torque control 1 = Torque control mode active 3 Speed control 1 = Speed control mode active 4 Reserved 5 Safe reference

active 1 = A safe reference is applied by functions such as parameters 49.05 and 50.02

6 Last speed active 1 = A last speed reference is applied by functions such as parameters 49.05 and 50.02

7 Reserved 8 Emergency stop

failed 1 = Emergency stop failed (see parameters 31.32 and 31.33)

9 Jogging active 1 = Jogging enable signal is on 10 Above limit Actual speed, frequency or torque equals or exceeds the

limit (defined by parameters 46.31…45.33). Valid for both directions of rotation.

1112 Reserved 13 Start delay active 1 = Start delay (par. 21.22) active. 1415 Reserved

06.18 Start inhibit status word

Start inhibit status word. This word specifies the source of the inhibiting signal that is preventing the drive from starting. The conditions marked with an asterisk (*) only require that the start command is cycled. In all other instances, the inhibiting condition must be removed first. See also parameter 06.16 Drive status word 1, bit 1. This parameter is read-only.

—

0000hFFFFh Start inhibit status word. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Not ready run 1 = DC voltage is missing or drive has not been

parametrized correctly. Check the parameters in groups 95 and 99.

1 Ctrl location changed

* 1 = Control location has changed

2 SSW inhibit 1 = Control program is keeping itself in inhibited state 3 Fault reset * 1 = A fault has been reset 4 Lost start enable 1 = Start enable signal missing 5 Lost run enable 1 = Run enable signal missing 6 Reserved 7 STO 1 = Safe torque off function active 8 Current calibration

ended * 1 = Current calibration routine has finished

9 ID run ended * 1 = Motor identification run has finished 10 Reserved — 11 Em Off1 1 = Emergency stop signal (mode off1) 12 Em Off2 1 = Emergency stop signal (mode off2) 13 Em Off3 1 = Emergency stop signal (mode off3) 14 Auto reset inhibit 1 = The autoreset function is inhibiting operation 15 Jogging active 1 = The jogging enable signal is inhibiting operation

06.19 Speed control status word

Speed control status word. This parameter is read-only.

—

0000hFFFFh Speed control status word. 1 = 1 06.20 Constant speed status

word Constant speed/frequency status word. Indicates which constant speed or frequency is active (if any). See also parameter 06.19 Speed control status word, bit 7, and section Constant speeds/frequencies. This parameter is read-only.

—

0000hFFFFh Constant speed/frequency status word. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description

0 Zero speed

1 = Drive has been running below zero speed limit (par. 21.06) for a time defined by parameter 21.07 Zero speed delay

1 Forward 1 = Drive is running in forward direction above zero speed limit (par. 21.06)

2 Reverse 1 = Drive is running in reverse direction above zero speed limit (par. 21.06)

3 Out of window Speed out of speed window

4 Internal speed feedback Estimate used for motor control

5 Encoder 1 feedback Encoder 1 feedback used for motor control 6 Encoder 2 feedback Encoder 2 feedback used for motor control

7 Any constant speed request

1 = A constant speed or frequency has been selected; see par. 06.20 below.

8 Follower speed correction min lim

Minimum limit of speed correction is reached by speed controlled follower application.

9 Follower speed correction max lim

Maximum limit of speed correction is reached by speed controlled follower application.

10…15 Reserved

Bit Name Description 0 Constant speed 1 1 = Constant speed or frequency 1 selected 1 Constant speed 2 1 = Constant speed or frequency 2 selected 2 Constant speed 3 1 = Constant speed or frequency 3 selected 3 Constant speed 4 1 = Constant speed or frequency 4 selected 4 Constant speed 5 1 = Constant speed or frequency 5 selected 5 Constant speed 6 1 = Constant speed or frequency 6 selected 6 Constant speed 7 1 = Constant speed or frequency 7 selected 715 Reserved

06.21 Drive status word 3 Drive status word 3. This parameter is read-only.

—

0000hFFFFh Drive status word 1. 1 = 1 06.29 MSW bit 10

selection Selects a binary source whose status is transmitted as bit 10 (User bit 0) of parameter 06.11 Main status word.

Above limit

False 0. 0 True 1. 1 Above limit Bit 10 of 06.17 Drive status word 2. 2 Other [bit] Source selection (see Terms and abbreviations). —

06.30 MSW bit 11 selection Selects a binary source whose status is transmitted as bit 11 (User bit 0) of 06.11 Main status word.

Ext ctrl loc

False 0. 0 True 1. 1 Ext ctrl loc Bit 11 of 06.01 Main control word. 2 Other [bit] Source selection (see Terms and abbreviations). —

06.31 MSW bit 12 selection Selects a binary source whose status is transmitted as bit 12 (User bit 1) of 06.11 Main status word.

Ext run enable

False 0. 0 True 1. 1 Ext run enable Status of the external run enable signal (see

parameter 20.12 Run enable 1 source). 2

Other [bit] Source selection (see Terms and abbreviations). — 06.32 MSW bit 13 selection Selects a binary source whose status is

transmitted as bit 13 (User bit 2) of 06.11 Main status word.

False

False 0. 0 True 1. 1 Other [bit] Source selection (see Terms and abbreviations). —

No. Name/Value Description Default FbEq 16

Bit Name Description 0 DC hold active 1 = DC hold is active 1 Post-

magnetizing active

1 = Post-magnetizing is active

2 Motor pre- heating active

1 = Motor pre-heating is active

315 Reserved

06.33 MSW bit 14 selection Selects a binary source whose status is transmitted as bit 14 (User bit 3) of 06.11 Main status word.

False

False 0. 0 True 1. 1 Other [bit] Source selection (see Terms and abbreviations). —

07 07 System info Drive hardware and firmware information.

All parameters in this group are read-only. 07.03 Drive rating id Type of the drive/inverter unit. — 07.04 Firmware name Firmware identification. — 07.05 Firmware version Version number of the firmware. — 07.06 Loading package

name Name of the firmware loading package. —

07.07 Loading package version

Version number of the firmware loading package. —

07.11 Cpu usage Microprocessor load in percent. — 0100% Microprocessor load. 1 = 1-

07.25 Customization package name

First five ASCII letters of the name given to the customization package. The full name is visible under System info on the control panel or the Drive Composer PC tool. _N/A_ = None.

—

07.26 Customization package version

Customization package version number. Also visible under System info on the control panel or the Drive Composer PC tool.

—

07.30 Adaptive program status

Shows the status of the adaptive program. See section Adaptive programming on page 58.

—

0000hFFFFh Adaptive program status 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Initialized Adaptive program initialized. 1 Editing Adaptive program in editing state. 2 Edit done Editing of the adaptive program finished. 3 Running Adaptive program running. 4-13 Reserved 14 State

changing State changing on-going in the adaptive programming engine.

15 Faulted Adaptive program faulted.

07.31 AP sequence state Shows the number of the active state of the sequence program part of the adaptive program (AP). If adaptive programming is not running, or it does not contain a sequence program, the parameter is zero.

020 1 = 1 07.35 Drive configuration Plug n play configuration. Performs HW

initialization, and shows the detected module configuration of the drive. During the HW initialization, if the drive is not able to detect any module, the value is set to 1, Base unit. For more information, see section Automatic drive configuration for fieldbus control on page 600.

0x0000

0x0000oxffff Drive configuration. 1 = 1 07.36 Drive configuration 2 Shows the detected option module configuration. See

parameter 07.35.

0x0000

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Reserved 1 Base unit 2 BMIO-01 1 = I/O and Modbus module included 3 FENA-21 1 = Ethernet adapter module included 4 FECA-01 1 = EtherCAT adapter module

included 5 FPBA-01 1 = PROFIBUS DP adapter module

included 6 FCAN-01 1 = CANopen adapter module

included 7 BCAN-01 1 = CANopen adapter module

included 8 BIO-01 1 = binary I/O module included 9 RIIO-01 1 = modbus power module included 10 FSCA-01 1 = RS-485 adapter module included 11 FEIP-21 1 = EtherNet/IP adapter module

included 12 FMBT-21 1 = Modbus/TCP adapter module

included 13 Reserved

0000hFFFFh Drive configuration 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Reserved 1 FDNA-01 1 = FDNA-01 DeviceNet adapter

module included 2 FCNA-01 1 = FCNA-01 ControlNet adapter

module included 3…6 Reserved 7 FSPS-21 1 = FSPS-21 adapter module

included 8…15 Reserved

09 09 Crane application signals

Signals related to crane applications. All parameters in this group are read-only.

09.01 Crane SW1 Shows the crane status word 1. 0000h

0000h…FFFFh Crane status word 1. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Brake slip at

standstill 1 = Speed matching function detected a brake slip when the motor was not running.

1 Slowdown activated 1 = Slowdown command is active either in the forward or reverse direction.

2 Forward slowdown limit

1 = Slowdown command is inactive in the forward direction.

3 Reverse slowdown limit

1 = Slowdown command is inactive in the reverse direction.

4 Reserved 5 Reserved 6 Reserved 7 Forward stop limit 1 = Forward limit command is inactive. 8 Reverse stop limit 1 = Reverse limit command is inactive. 9 Reserved 10 Joystick reference

check 1 = Reference is greater than +/- 10% of the minimum or maximum scaled value of the used joystick reference, and the joystick zero position input is active.

11 Joystick zero position

1 = Drive does not accept a start command because of a wrong state of the joystick zero position input.

12 Brake control selected

1 = Mechanical brake control is selected.

13 Torque prove ok 1 = Torque proving has been successfully performed or Torque proving has been disabled.

14 Fast stop 1 = Fast stop command is active. 15 Power on

acknowledge warning

1 = Power on acknowledgment circuit is open, main contactor is open, warning D20B Power on acknowledge is generated. 0 = Power on acknowledgment circuit is closed, main contactor is closed. See parameter 20.212 Power on acknowledge (page 197) and section Power on acknowledgment (page 667).

09.03 Crane FW1 Shows the crane fault status word 1 with fault bits. 0000h

0000h…FFFFh Crane fault status word 1 with fault bits. 1 = 1 09.06 Crane speed

reference Shows the final speed reference received from the signal source.

0.00 rpm

-30000.00 30000.00 rpm

Final crane speed reference. 1 = 1 rpm

09.16 Crane frequency reference

Shows the final frequency received from the signal source.

0.00 Hz

-500.00…500.00 Final crane frequency reference. 10 = 1 Hz 10 Standard DI, RO Configuration of digital inputs and relay outputs.

10.01 DI status Displays the electrical status of digital inputs DI1DI6. The activation/deactivation delays of the inputs (if any are specified) are ignored. Bits 05 reflect the status of DI1DI6. Example: 0000000000010011b = DI5, DI2 and DI1 are on, DI3, DI4 and DI6 are off. This parameter is read-only.

—

0000hFFFFh Status of digital inputs. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Name Description 0 Reserved 1 Speed match 1 = D105 Speed match (page 523) 2 Reserved 3 Reserved 4 Stops limits IO error 1 = D108 Stop limits I/O error (page 523) 5 Reserved 6 Torque prove 1 = D100 Torque prove (page 522) 7 Brake slip 1 = D101 Brake slip (page 522) 8 Brake safe closure 1 = D102 Brake safe closure (page 522) 915 Reserved

Bit Value 0 DI1 = Sstatus of digital input 1. 1 DI2 = Status of digital input 2. 2 DI3 = Status of digital input 3. 3 DI4 = Status of digital input 4. 4 DI5 = Status of digital input 5. 5 DI6 = Status of digital input 6. 6…15 Reserved.

10.02 DI delayed status Displays the status of digital inputs. This word is updated only after activation / deactivation delays.

0000h

0000hFFFFh Delayed status of digital inputs. 1 = 1 10.03 DI force selection Selects the digital inputs, states of which will be

controlled by parameter 10.04 DI forced data. A bit in parameter 10.04 DI forced data is provided for each digital input, and its value is applied whenever the corresponding bit in this parameter is 1. Note: Boot and power cycle reset the force selections (parameters 10.03 and 10.04).

0000h

0000hFFFFh Override selection for digital inputs. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Value 0 DI1 = Delayed status of digital input 1. 1 DI2 = Delayed status of digital input 2. 2 DI3 = Delayed status of digital input 3. 3 DI4 = Delayed status of digital input 4. 4 DI5 = Delayed status of digital input 5. 5 DI6 = Delayed status of digital input 6. 6…15 Reserved.

Bit Value 0 1 = Force DI1 to value of bit 0 of parameter 10.04 DI forced data. 1 1 = Force DI2 to value of bit 1 of parameter 10.04 DI forced data. 2 1 = Force DI3 to value of bit 2 of parameter 10.04 DI forced data. 3 1 = Force DI4 to value of bit 3 of parameter 10.04 DI forced data. 4 1 = Force DI5 to value of bit 4 of parameter 10.04 DI forced data. 5 1 = Force DI6 to value of bit 5 of parameter 10.04 DI forced data. 6…15 Reserved.

10.04 DI forced data Defines the forced values for the digital inputs selected by parameter 10.03 DI force selection. It is only possible to force an input that has been selected in parameter 10.03 DI force selection. Bit 0 is the forced value for DI1.

0000h

0000hFFFFh Forced values of digital inputs. 1 = 1 10.05 DI1 ON delay Defines the activation delay for digital input DI1. 0.00 s

0.00 3000.00 s Activation delay for DI1. 10 = 1 s 10.06 DI1 OFF delay Defines the deactivation delay for digital input DI1. 0.00 s

0.00 3000.00 s Deactivation delay for DI1. 10 = 1 s 10.07 DI2 ON delay Defines the activation delay for digital input DI2. 0.00 s

0.00 3000.00 s Activation delay for DI2. 10 = 1 s 10.08 DI2 OFF delay Defines the deactivation delay for digital input DI2. 0.00 s

0.00 3000.00 s Deactivation delay for DI2. 10 = 1 s 10.21 RO status Status of relay outputs R01…RO5. —

0000hFFFFh Status of relay outputs. 1 = 1

No. Name/Value Description Default FbEq 16

Bit Value 0 Force the value of this bit to D1, if so defined in parameter 10.03 DI force

selection. 1 Force the value of this bit to D2, if so defined in parameter 10.03 DI force

selection. 2 Force the value of this bit to D3, if so defined in parameter 10.03 DI force

selection. 3 Force the value of this bit to D4, if so defined in parameter 10.03 DI force

selection. 4 Force the value of this bit to D5, if so defined in parameter 10.03 DI force

selection. 5 Force the value of this bit to D6, if so defined in parameter 10.03 DI force

selection. 6…15 Reserved.

Bit Value 0 1 = RO1 is energized. 1 1 = RO4 is energized. 2 1 = RO5 is energized. 3…15 Reserved.

10.22 RO force selection Selects the relay outputs that will be controlled by parameter 10.23. The signals connected to the relay outputs can be overridden for eg. testing purposes. A bit in parameter 10.23 RO forced data is provided for each relay output, and its value is applied whenever the corresponding bit in this parameter is 1. Note: Boot and power cycle reset the force selections (parameters 10.22 and 10.23).

0000h

0000hFFFFh Override selection for relay outputs. 1 = 1 10.23 RO forced data Contains the values of relay outputs that are used

instead of the connected signals if selected in parameter 10.22 RO force selection. Bit 0 is the forced value for RO1. This provides the possibility to test the drive functionality without the plant wiring. Ton and Toff delays are passed.

0000hFFFFh Forced RO values. 1 = 1 10.24 RO1 source Selects a drive signal to be connected to relay

output RO1. Fault (-1)

Not energized Output is not energized. 0 Energized Output is energized. 1 Ready run Bit 1 of 06.11 Main status word. 2 Enabled Bit 0 of 06.16 Drive status word 1. 4

No. Name/Value Description Default FbEq 16

Bit Value 0 1 = Force RO1 to value of bit 0 of parameter 10.23 RO forced data (0 =

Normal mode). 1 1 = Force RO4 to value of bit 0 of parameter 10.23 RO forced data (0 =

Normal mode). 2 1 = Force RO5 to value of bit 0 of parameter 10.23 RO forced data (0 =

Normal mode). 315 Reserved

Bit Value 0 1 = Force the value of this bit to RO1, if so defined in parameter 10.22 RO

force selection. 1 1 = Force the value of this bit to RO4, if so defined in parameter 10.22 RO

force selection. 2 1 = Force the value of this bit to RO5, if so defined in parameter 10.22 RO

force selection. 315 Reserved

Started Bit 5 of 06.16 Drive status word 1. 5 Magnetized Bit 1 of 06.17 Drive status word 2. 6 Running Bit 14 of 06.16 Drive status word 1. 7 Ready ref Bit 2 of 06.11 Main status word. 8 At setpoint Bit 8 of 06.11 Main status word. 9 Reverse Bit 2 of 06.19 Speed control status word. 10 Zero speed Bit 0 of 06.19 Speed control status word. 11 Above limit Bit 10 of 06.17 Drive status word 2. 12 Warning Bit 7 of 06.11 Main status word. 13 Fault Bit 3 of 06.11 Main status word. 14 Fault (-1) Inverted bit 3 of 06.11 Main status word. 15 Fault/Warning A warning or fault is active. 16 Overcurrent A drive is tripped to overcurrent fault. 17 Overvoltage A drive is tripped to overvoltage fault. 18 Drive temp A drive is tripped to drive temperature fault. 19 Undervoltage A drive is tripped to undervoltage fault. 20 Motor temp A drive is tripped to motor temperature fault. 21 Brake command Bit 0 of 44.01 Brake control status. 22 Ext2 active Bit 11 of 06.16 Drive status word 1. 23 Remote control Bit 9 of 06.11 Main status word. 24 Timed function 1 Bit 0 of 34.01 Timed functions status. 27 Timed function 2 Bit 1 of 34.01 Timed functions status. 28 Timed function 3 Bit 2 of 34.01 Timed functions status. 29 Reserved Bit 3 of 34.01 Timed functions status. 30 Reserved Bit 4 of 34.01 Timed functions status. 31 Reserved Bit 5 of 34.01 Timed functions status. 32 Supervision 1 Bit 0 of 32.01 Supervision status. 33 Supervision 2 Bit 1 of 32.01 Supervision status. 34 Supervision 3 Bit 2 of 32.01 Supervision status. 35 Start delay Bit 13 of 06.17 Drive status word 2. 39 RO/DIO control word bit0

Bit 0 of 10.99 RO/DIO control word. 40

RO/DIO control word bit1

Bit 1 of 10.99 RO/DIO control word. 41

RO/DIO control word bit2

Bit 2 of 10.99 RO/DIO control word. 42

Event word 1 Parameter 04.40 Event word 1. 53

No. Name/Value Description Default FbEq 16

User load curve Bit 3 (Outside load limit) of 37.01 ULC output status word (see page 329).

61

RO/DIO control word Maps to corresponding bit in parameter 10.99 RO/DIO control word. For example, Bit 0 of 10.99 RO/DIO control word controls RO1, Bit 1 of 10.99 RO/DIO control word controls RO4, and so on.

62

Other [bit] Source selection (see Terms and abbreviations). — 10.25 RO1 ON delay Defines the activation delay for relay output RO1. 0.0 —

tOn = 10.25 RO1 ON delay tOff = 10.26 RO1 OFF delay

0.0 3000.0 s Activation delay for RO1. 10 = 1 — 10.26 RO1 OFF delay Defines the deactivation delay for relay output

RO1. See parameter 10.25 RO1 ON delay. 0.0 —

0.0 3000.0 s Deactivation delay for RO1. 10 = 1 — 10.99 RO/DIO control word Storage parameter for controlling the relay outputs

eg. through the embedded fieldbus interface. To control the relay outputs (RO) of the drive, send a control word with the bit assignments shown below as Modbus I/O data. Set the target selection parameter of that particular data (58.10158.114) to RO/DIO control word. In the source selection parameter of the desired output, select the appropriate bit of this word.

0000h

0000hFFFFh RO control word. 1 = 1

No. Name/Value Description Default FbEq 16

1

0

1

0

tOn tOff tOn tOff

Status of selected source

RO status

Time

Bit Name Description 0 RO1 Source bits for relay outputs RO1RO5 (see parameter

10.24).1 RO4 2 RO5 3 RO6 4 RO7 57 RO8-10 8…15 DIO1-8

10.101 RO1 toggle counter Displays the number of times relay output RO1 has changed states.

—

04294967000 State change count. 1 = 1 11 11 Standard DIO, FI, FO Configuration of the digital inputs/outputs (DIO) for use as

digital inputs,

11.02 DIO delayed status Displays the delayed status of digital input/outputs DIO2 and DIO1. This word is updated only after activation/deactivation delays (if any are specified). Example: 0010 = DIO2 is on, DIO1 is off. This parameter is read-only.

—

0000b0011b Status of digital input/outputs. 1 = 1 11.03 DIO force selection Selects the digital inputs, states which will be

controlled by parameter 11.04. A bit in parameter 11.04 is provided for each digital input, and its value is applied whenever the corresponding bit in this parameter is 1.

0000h

0000h…FFFFh Forced selections of digital inputs/outputs. 1=1 11.04 DIO force data Defines the forced values for the digital inputs

selected by parameter 11.03 DIO force selection. It is only possible to force an input that has been selected in parameter 10.03 DI force selection. Bit 0 is the forced value for DIO1.

0000h

0000h…FFFFh Forced values of digital inputs/outputs. 1=1 11.05 DIO1 configuration Selects whether DIO1 is used as a digital output,

digital input, or frequency output. Note: DIOs cannot be used as frequency inputs.

Input

Digital output DIO1 is used as a digital output. 0 Input Digital input. 1 Frequency output DIO1 is used as frequency output. 2

No. Name/Value Description Default FbEq 16

Bit Value 0 1 = Force DIO1 to value of bit 0 of parameter 11.04 DIO force data. 1 1 = Force DIO2 to value of bit 1 of parameter 11.04 DIO force data. 2…15 Reserved

Bit Value 0 Set state of DIO1. 1 Set state of DIO2. 2…15 Reserved

11.06 DIO1 output source Selects a drive signal to be connected to digital input/output DIO1 when it is configured to digital output by parameter 11.05.

Not energized

Not energized Output is not energized. 0 Energized Output is energized. 1 Ready run Bit 1 of 06.11 Main status word. 2 Enabled Bit 0 of 06.16 Drive status word 1. 4 Started Bit 5 of 06.16 Drive status word 1. 5 Magnetized Bit 1 of 06.17 Drive status word 2. 6 Running Bit 6 of 06.16 Drive status word 1. 7 Ready ref Bit 2 of 06.11 Main status word. 8 At setpoint Bit 8 of 06.11 Main status word. 9 Reverse Bit 2 of 06.19 Speed control status word. 10 Zero speed Bit 0 of 06.19 Speed control status word. 11 Above limit Bit 10 of 06.17 Drive status word 2. 12 Warning Bit 7 of 06.11 Main status word. 13 Fault Bit 3 of 06.11 Main status word. 14 Fault (-1) Inverted bit 3 of 06.11 Main status word. 15 Fault/Warning A warning or fault is active. 16 Overcurrent A drive is tripped to overcurrent fault. 17 Overvoltage A drive is tripped to overvoltage fault. 18 Drive temp A drive is tripped to drive temperature fault. 19 Undervoltage A drive is tripped to undervoltage fault. 20 Motor temp A drive is tripped to motor temperature fault. 21 Brake command Bit 0 of 44.01 Brake control status. 22 Ext2 active Bit 11 of 06.16 Drive status word 1. 23 Remote control Bit 9 of 06.11 Main status word. 24 Timed function 1 Bit 0 of 34.01 Timed functions status. 27 Timed function 2 Bit 1 of 34.01 Timed functions status. 28 Timed function 3 Bit 2 of 34.01 Timed functions status. 29 Reserved Bit 3 of 34.01 Timed functions status. 30 Reserved Bit 4 of 34.01 Timed functions status. 31 Reserved Bit 5 of 34.01 Timed functions status. 32 Supervision 1 Bit 0 of 32.01 Supervision status. 33 Supervision 2 Bit 1 of 32.01 Supervision status. 34 Supervision 3 Bit 2 of 32.01 Supervision status. 35 Start delay Bit 13 of 06.17 Drive status word 2. 39

No. Name/Value Description Default FbEq 16

RO/DIO control word bit0

Bit 0 of 10.99 RO/DIO control word. 40

RO/DIO control word bit1

Bit 1 of 10.99 RO/DIO control word. 41

RO/DIO control word bit2

Bit 2 of 10.99 RO/DIO control word. 42

User load curve Bit 3 (Outside load limit) of 37.01 ULC output status word (see page 329).

61

RO/DIO control word Maps to corresponding bit in parameter 10.99 RO/DIO control word. For example, Bit 0 of 10.99 RO/DIO control word controls RO1, Bit 1 of 10.99 RO/DIO control word controls RO4, and so on.

62

Other [bit] Source selection (see Terms and abbreviations). — 11.07 DIO1 ON delay Defines the on (activation) delay for digital

input/output DIO1 (when used as a digital output or digital input).

0.00 s

0.0 3000.0 s Activation delay for DIO1. 10 = 1 s 11.08 DIO1 OFF delay Defines the deactivation delay for digital

input/output DIO1 (when used as a digital output or digital input). See parameter 11.07 DIO1 ON delay.

0.00 s

0.0 3000.0 s Deactivation delay for DIO1. 10 = 1 s 11.09 DIO2 configuration Selects whether DIO2 is used as a digital output or

input, or a frequency output. Note: DIOs cannot be used as frequency inputs.

Digital output

Digital output DIO2 is used as a digital output. 0 Input DIO2 is used as a digital input. 1 Frequency output DIO2 is used as frequency output. 2

11.10 DIO2 output source Selects a drive signal to be connected to digital input/output DIO2 when parameter 11.09 DIO2 configuration is set to Digital output. For the available selections, see parameter 11.06 DIO1 output source.

Ready run

11.11 DIO2 ON delay Defines the activation delay for digital input/output DIO2 (when used as a digital output or digital input).

0.00 s

0.0 300.0 s Activation delay for DIO2 10 = 1 s 11.12 DIO2 OFF delay Defines the deactivation delay for digital

input/output DIO2 (when used as a digital output or digital input). See parameter 11.11 DIO1 ON delay.

0.00 s

0.0 3000.0 s Deactivation delay for DIO2. 10 = 1 s 11.13 DI3 configuration Selects the type of digital input DI3: normal digital

input or frequency input. Digital input

No. Name/Value Description Default FbEq 16

Digital input Digital input. See parameter 11.42 for more information.

0

Frequency input Frequency input. 1 Counter This value is available only when the BMIO-01

module is attached. If DI3 is configured as Counter, DI4 will not function as Frequency Input 2 due to hardware limitation.

0

11.17 DI4 configuration Selects the type of digital input DI4: normal digital input or frequency input.

Digital input Digital input. 0 Frequency input Frequency input. 1 Counter Available only when the BMIO-01 module is

attached. If DI3 is configured as Counter, DI4 will not function as Frequency Input 2 due to hardware limitation.

0

11.21 DI5 configuration Selects the type of digital input DI5: normal digital input or frequency input.

Digital input Digital input. 0 Frequency input Frequency input. 1 Counter This value is available only when the BIO-01

module is attached. If DI5 is configured as Counter, DI6 will not function as Frequency Input 2 due to hardware limitation.

0

11.38 Freq in 1 actual value Displays the value of frequency input 1 before scaling. See parameter 11.42 Freq in 1 min. This parameter is read-only.

—

0 16000 Hz Unscaled value of frequency input 1. 1 = 1 Hz 11.39 Freq in 1 scaled value Displays the value of frequency input 1 after

scaling. See parameter 11.42 Freq in 1 min. This parameter is read-only.

—

-32768.000 32767.000

Scaled value of frequency input 1. 1 = 1

No. Name/Value Description Default FbEq 16

11.42 Freq in 1 min Defines the minimum for the frequency actually arriving at frequency input 1. The incoming frequency signal (11.38 Freq in 1 actual value) is scaled into an internal signal (11.39 Freq in 1 scaled value) by parameters 11.4211.45 as follows:

0 Hz

0 16000 Hz Minimum frequency of frequency input 1. 1 = 1 Hz 11.43 Freq in 1 max Defines the maximum value of the frequency

signal actually arriving at frequency input 1. See parameter 11.42 Freq in 1 min.

16000 Hz

0 16000 Hz Maximum frequency of frequency input 1. 1 = 1 Hz 11.44 Freq in 1 at scaled min Defines the value that corresponds to the actual

minimum input frequency defined by parameter 11.42 Freq in 1 min.

0.000

-32768.000 32767.000

Value corresponding to minimum of frequency input 1.

1 = 1

11.45 Freq in 1 at scaled max

Defines the value that corresponds to the actual maximum input frequency defined by parameter 11.43 Freq in 1 max. See parameter 11.42 Freq in 1 min.

1500.000

-32768.000 32767.000

Value corresponding to maximum of frequency input 1.

1 = 1

11.46 Freq in 2 actual value Displays the value of frequency input 2 before scaling. See parameter 11.50 Freq in 2 min This parameter is read-only.

—

0 16000 Hz Unscaled value of frequency input 2. 1 = 1 Hz 11.47 Freq in 2 scaled Displays the value of frequency input 2 after

scaling. See parameter 11.50 Freq in 2 min. This parameter is read-only.

—

No. Name/Value Description Default FbEq 16

11.43

11.45

11.42

11.39

fin (11.38)

11.44

-32768.000 32767.000

Scaled value of frequency input 2. 1 = 1

11.50 Freq in 2 min Defines the minimum value for frequency input 2. 0 Hz 0 16000 Hz Minimum frequency of frequency input 2. 1 = 1 Hz

11.51 Freq in 2 max Defines the maximum value for frequency input 2. 16000 Hz 0 16000 Hz Maximum frequency for frequency input 2. 1 = 1 Hz

11.52 Freq in 2 at scaled min Defines the real value that corresponds to the minimum frequency input 2 value defined by parameter Freq in 2 min.

0.000

-32768.000 32767.000

Value corresponding to minimum of frequency input 2.

1 = 1

11.53 Freq in 2 at scaled max

Defines the real value that corresponds to the maximum frequency input 2 value defined by parameter Freq in 2 max.

1500.000

-32768.000 32767.000

Value corresponding to maximum of frequency input 2.

1 = 1

11.54 Freq out 1 actual value Displays the value of frequency output 1 after scaling. See parameter 11.58 Freq out 1 src min. This parameter is read-only.

—

0 16000 Hz Unscaled value of frequency input 2. 1 = 1 Hz 11.55 Freq out 1 source Selects a signal to be connected to frequency

output 1. Motor speed used

Not selected None 0 Motor speed used 01.01 Motor speed used 1 Output frequency 01.06 Output frequency 3 Motor current 01.07 Motor current 4 Motor torque 01.10 Motor torque 6 DC voltage 01.11 DC voltage 7 Output power 01.13 Output power 8 Speed ref ramp in 23.02 Speed ref ramp input 10 Speed ref ramp out 23.01 Speed ref ramp output 11 Speed ref used 24.01 Used speed reference 12 Torque ref used 26.02 Torque reference used 13 Freq ref used 28.02 Frequency ref ramp output 14 Process PID out 40.04 Process PID deviation actual 16 Other Source selection (see Terms and abbreviations). —

No. Name/Value Description Default FbEq 16

11.58 Freq out 1 src min Defines the real value of the signal (selected by parameter 11.55 Freq out 1 source and shown by parameter 11.54 Freq out 1 actual value) that corresponds to the minimum value of frequency output 1 (defined by parameter 11.60 Freq out 1 at src min).

0.000

-32768.000 32767.000

Real signal value corresponding to minimum value of frequency output 1.

1 = 1

11.59 Freq out 1 src max Defines the minimum value for frequency output 1. 1500.000 -32768.000 32767.000