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EF

Advanced User Guide

M’Ax��

Compact, high-performance, single-axis servoamplifier for brushless AC servo motors

Part Number: 0453-0017-04Issue Number: 4

General information

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligentor incorrect installation or adjustment of the optional operating parameters of the equipment or frommismatching the drive with the motor.

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

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

Important...

Servo-amplifier software versionThis product is supplied with the latest version of user-interface and machine-control software. If thisproduct is to be used with other Control Techniques servo amplifiers in an existing system, there maybe some differences between their software and the software in this product. These differences maycause a difference in functions. This may also apply to servo amplifiers returned from a ControlTechniques Service Centre.

If there is any doubt, contact a Control Techniques Drive Centre.

Copyright © January 2003 Control Techniques Drives Ltd

Issue Code: 4

M’Ax Advanced User GuideIssue Number: 4

Contents

1 Advanced parameters: General information ............................................. 1

2 Menu 0 Parameters ...................................................................................... 2

3 Menu 1 Parameters - Speed reference selection ...................................... 5

4 Menu 2 Parameters - Ramp Selection ...................................................... 12

5 Menu 3 Parameters - Speed Loop PID gains ........................................... 19

6 Menu 4 Parameters - Torque Control ....................................................... 28

7 Menu 5 Parameters - Motor Control ......................................................... 34

8 Menu 6 Parameters - Sequencer Functions, AC Supply Loss Modes ... 38

9 Menu 7 Parameters - Analog Input Output Settings, TemperatureMonitoring ................................................................................................... 42

10 Menu 8 Parameters - Digital Input / Output Settings and Indications ... 49

11 Menu 10 Parameters - Status and Diagnostic Information, Trip log,Braking control ........................................................................................... 56

12 Menu 11 Parameters - Scale factor, Initial displayed parameter, Serialcommunications, Drive information ......................................................... 63

13 Menu 13 Parameters - Pulse Reference Selection & Scaling ................. 69

�1 Advanced parameters: General information

In some cases, the function or range of a parameter are affected by the setting of another parameter; the information in these listsrelate to the default condition of such parameters.

Key

Parameter Information example:

RWRead-write parameter

Read-write (RW) parameter whose defaultvalue is defined by the motor via the SLM

RO

Read-only parameter

Read-only parameter whose value is defined bythe motor via the SLM

{...} Related Menu 0 parameter

[...] Value of a parameter

� range of values

� default values

~ indicates range of values

UniUnipolar variable parameterPositive values only

BiBipolar variable parameter

Positive and negative values

TxtText variable parameter

Alphanumeric code is displayed

BitBit parameterTwo digital states only

RParameters must be copied to the EEPROM (saved) orcopied to the flash memory (stored) for a new value to takeeffect

S

A new value is normally copied to the EEPROM (saved) orcopied to the flash memory (stored) at power-down (seeparameter 0.50 Parameter transfer function selector inChapter 8 Menu 0 Parameters)

PProtectedThe parameter cannot be controlled by an external signal(cannot be a destination parameter)

nMAXMaximum speed of the motor

(defined by the motor via the SLM)

[SLM] Value defined by the motor via the SLM

NOTE

1.17 Keypad reference

� ± Pr 1.06 � 0 rpm RO Bi S P 0.34

Range Default value Units Read only /Read write

Unipolar /Bipolar /Bit / Txt

R / S / P Equivalent Menu0 parameter(whereappropriate)

Parameternumber

Parameterdescription / title

1 M’Ax Advanced User Guidewww.controltechniques.com Issue Number: 4

�2 Menu 0 Parameters

[ ] = value of a parameter [SLM] = value defined by the motor via SLM

Parameter Range(�) Default(�) Type

0.00 Parameter XX.00 0 ~ 3001 RW Uni R S P0.01 Hardware enable indicator 0 ~ 1 RO Bit P0.02 Reference selected indicator 1 ~ 5 RO Uni P0.03 Value of selected reference + value of [1.06] RO Bi P0.04 Final speed reference + value of [1.06] RO Bi P0.05 Speed feedback + value of [1.06] RO Bi P0.06 Reference offset + value of [1.06] 0 RW Uni0.07 Motor current magnitude 0 ~ Max. overload current of drive RO Uni P0.08 Maximum reference clamp 0 ~ 7500 RW Uni

0.09 Stiffness angle 0.0 ~ 30.0o 6.0 RW Uni

0.10 Load inertia0.01~600.00kgcm2 or

0.00001~0.06kgm2JL RW Uni

0.11 Inertia units selected 0 ~ 1 (0 = kgm2, 1 = kgcm2) [SLM] RO Bit

0.12 Speed-loop PID gains selector 0 ~ 3 1 RW Uni0.13 Speed-loop proportional gain Kp1 0.000 ~ 0.3000 [SLM] RW Uni0.14 Speed-loop integral gain Ki1 0.000 ~ 20.000 [SLM] RW Uni0.15 Speed-loop derivative gain Kd1 0.0000 ~ 0.1000 [SLM] RW Uni0.16 Current-demand filter 1 cut-off frequency 0 ~ 1200 500Hz RW Uni0.17 SLM on-line enable 0 ~ 1 0 RW Bit

0.18 Symmetrical current limit 0 ~ 300200% continuous

motor currentRW Uni

0.19 Motor-rated current 0 ~ Full load current [SLM] RO Uni0.20 Drive rated current (FLC) 00.00 ~ 99.99 RO Uni P0.22 Torque mode selector 0 ~ 2 0 RW Bit P0.23 Torque reference +200.00 0~Drive current limit RW Bi0.24 Ramp enable 0 ~ 1 0 RW Bit0.25 Acceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni0.26 Deceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni0.27 Fast ramp select 0 ~ 1 0 RW Bit0.28 Feedback-encoder revolution counter 0 ~ 65535 RO Uni0.29 Feedback-encoder position 0 ~ 65535 RO Uni0.30 Reference selector 0 ~ 5 1 RW Uni0.31 Jog selected indicator 0 ~ 1 RO Bit P0.32 Jog reference 0 ~ 500 50rpm RW Uni0.33 Preset reference + value of [1.06] 1rpm RW Bi0.34 Keypad reference + value of [1.06] RO Bi0.35 User security code 0 ~ 255 149 RW Uni S P

0.36 Serial comms. baud rate300, 600, 1200, 2400, 4800, 9600,

192009600BAUD RW Txt S P

0.37 Serial comms. address 0.0 ~ 24.7 1.1 RW Uni P0.38 Initial parameter displayed selector 00.00 ~ 21.51 0.05 RW Uni P

0.39 Motor [I2t] overload trip indicator 0 ~ 1 RO Bit P

0.40 Motor [I2t] accumulator 0.0 ~ 100.0 RO Uni

0.41 Drive overload accumulator 0.0 ~ 100.0 RO Uni P

0.42Internal braking-resistor overloadaccumulator

0.0 ~ 100.0 RO Uni P

0.43 DC-bus voltage 0 ~ 1000 RO Uni P0.44 Last trip RO Txt S P0.45 SLM communications integrity 0.0 ~ 100.0 RO Uni0.46 Programmable parameter 00.00 ~ 21.51 RW0.47 SLM software version 00.00 ~ 99.99 RO Uni P0.48 Drive software version 00.00 ~ 99.99 RO Uni P0.49 Security status indicator 000 ~ 111 RO Uni0.50 Parameter transfer selector 0 ~ 4 _AN = 0, _SL = 4 RW Txt

M’Ax Advanced User Guide 2Issue Number: 4 www.controltechniques.com

�

Default settings

Use parameter 0.50 to initiate the transfer of parameter values between the RAM, EEPROM (when an option module is fitted), and the flashmemory in the drive (see Appendix H Storage and Transfer of Parameter Values in the M’Ax User Guide). After changing the setting ofparameter 0.50, perform either of the following, as appropriate:• While the display is in Edit mode, press at the same time:

• Set 10.38 at 100 via serial communications.

Terminology

NotesAt the time of selecting no, boot1 or boot2, all parameter values (including the S-parameters) are copied to the flash memory (store).All parameters can be stored at any time by setting 11.67 Flash update enable at 1. The drive must not be powered-down within 15 seconds.When S-parameters are not copied, the related values at the destination remain unchanged.Main parameters can be saved irrespective of the setting of parameter 0.50 (i.e. by setting parameter XX.00 at 1000 and executing theoperation).

0.50 Parameter transfer selector

� See below � RW Txt

Version Setting

AN no

SL boot2

Save Copy main-parameter values in the RAM to the EEPROM (when an option module is fitted)

Retrieve Copy all parameter values from the EEPROM to the RAM (when an option module is fitted)

Store Copy parameter values from the RAM to the flash memory in the drive

Restore Copy parameter values from the flash memory to the RAM

Main parameters All parameters other than those that are normally saved or stored at power-down

S-parameters Parameters that are normally saved at power-down (version _AN only)

Setting Function Usage

no 0

At power-down: S-parameter valuesare copied from the RAM to theEEPROM (save).At power up: All parameter values arecopied from the EEPROM to the RAM(retrieve).

Used only when an optionmodule is fitted (normally, inversion _AN)

rEAd 1The main-parameter values in the flashmemory are immediately copied to theRAM (restore).

Normally used in version _SL,but can also be used in version_AN

Prog 2The main-parameter values in the RAMare immediately copied to the flashmemory (store).

boot1 3

At power-up: The main-parametervalues in the flash memory are copiedto the RAM (restore). The values ofthe S-parameters are ignored.

boot2 4

At power-up: All parameter values(including the S-parameters) in theflash memory are copied to the RAM(restore).

and


�

S

S

S

S

S

S

S

S

S

Parameterset at (2)Prog

0.50

Parameterset at (1)rEAd

0.50

Parameter set at0.50no , boot1 or boot2(0) (3) (4)

Parameterpreset at (3)

0.50boot1


0.50boot2


0.50boot2

Parameterpreset at (0)no

0.50

Parameterpreset at (0)no

0.50

Parameterpreset at (save)1000

XX.00

Parameter values are immediatelycopied in the indicated direction

Parameter values are copied in theindicated direction at the nextpower-up

Parameter values are copied in theindicated direction at power-down

Main parameter values are copied,(excluding the S-parameter values)

S

All parameter values are copied,including the S-parameter valuesS

Only S-parameter values are copied

S

Key

Flash memory RAM EEPROM

Control andmonitoring

Control circuits


�3 Menu 1 Parameters - Speed reference selection


1.01 {0.03} Value of selected reference +[1.06] rpm RO Bi P

1.03 Pre-ramp reference +[1.06] rpm RO Bi P

1.04 {0.06} Reference offset +[1.06] rpm 0 RW Bi

1.05 {0.32} Jog reference 0 ~ 500 rpm 50 RW Uni

1.06 {0.08} Maximum reference clamp 0 ~ nMAX rpm [SLM] RW Uni

1.11 Reference enabled indicator 0 ~ 1 RO Bit P

1.12 Reverse selected indicator 0 ~ 1 RO Bit P

1.13 {0.31} Jog selected indicator 0 ~ 1 RO Bit P

1.14 {0.30} Reference selector 0 ~ 5 1 RW Uni P

1.15 Preset reference selector 0 ~ 4 0 RW Uni P

1.17 {0.34} Keypad reference +[1.06] rpm RO Bi S P

1.21 {0.33} Preset reference 1 +[1.06] rpm 1 RW Bi

1.22 Preset reference 2 +[1.06] rpm 10 RW Bi



1.36 Analog reference +[1.06] rpm RO Bi

1.42 Preset references selected indicator 0 ~ 1 RO Bit

1.43 Keypad reference selected indicator 0 ~ 1 RO Bit

1.44 Pulse reference selected indicator 0 ~ 1 RO Bit

1.45 Preset reference select bit-0 indicator 0 ~ 1 RO Bit

1.46 Preset reference select bit-1 indicator 0 ~ 1 RO Bit

1.49 {0.02} Reference selected indicator 1 ~ 5 RO Uni P

1.50 Preset reference selected indicator 1 ~ 4 RO Uni P


�


�Figure 3-1 Menu 1 software diagram

1.36

Analog reference

Keypadreference

1.42

Preset-referencesselected indicator

1.43

Keypad-referenceselected indicator

1.49Referenceselectedindicator

Referenceselector

1.14

1.01

Value of selectedreference

Reference offset

1.04

Menu 7

1.44 1.43 1.42

00001111

00110011

01010101

Referenceselected

AnalogPresetKeypadKeypadPulsePulsePulsePulse

1.17

1.44

Pulse-referenceselected indicator

Pulse reference

13.01

1.21Preset reference 1

1.22Preset reference 2

Preset reference 3

Preset reference 4

1.46Preset-referenceselect bit-1 indicator

1.45Preset-referenceselect bit-0 indicator

1.23

1.24

0 1 0 1

0 0 1 1

1 2 3 4

Presetreference

Preset referenceselector

1.15

1.50Preset-reference

selected indicator

Menu 7

13445555

1.49


�

1.13

Jog selectedindicator

1.12

Reverseselectedindicator

1.11

Referenceenabledindicator

x(-1)

Jog reference

1.05

Maximumreference clamp

1.06

1.03 Pre-rampreference

Menu 2

Sequencer(Menu 6)

Menu 8

DIGITAL I/O

13.11 Orientationenable

13.14

Orientation

Orientationacceptancewindow

13.15 Orientationcomplete

Limitedby 13.12

3.29Feedbackencoderposition

13.13Orientationpositionreference

_


�

Indication of the reference being used by the drive is given for systems set-up and fault finding. The value indicated by this parameter is thesum of input reference and reference offset [1.04].

When the drive is operating from a pulse reference input and the speed is below 100rpm, use the speed feedback parameter [3.02]for control purposes as parameter 1.01 will display some instability due to the sampling rate at lower speeds.

Indication of the final reference being used by the drive is given for systems set-up and fault finding. The value indicated by this parameter isafter passing through sequencer control.(Refer to Menu 6)The range of this parameter is restricted by the value set in parameter 1.06 Maximum reference clamp.

This reference is added to the selected reference. It can be used as a trim to finely adjust the main reference being selected.Adjustment resolution = 1rpm

Speed reference used for jogging.The speed is restricted by the value set in parameter 1.06 Maximum reference clamp.

Adjustment resolution = 1rpm

Defines drive absolute maximum speed reference.The range of this parameter is restricted by the mechanical speed limit of the motor (Set by motor manufacturer).

These indicators are controlled by the drive sequencer defined in Menu 6. They indicate the appropriate reference as commanded by thedrive logic.

0 = Reference disabled1 = Reference enabled

This indicator is controlled by the drive sequencer defined in Menu 6. This indicates the appropriate reference as commanded by the drivelogic.

0 = Jog not selected1 = Jog selected

Parameter [1.14] selects the speed reference as follows:-0 = Reference selection by terminal input1 = Analog reference.2 = Analog reference.3 = Preset reference selected.4 = Keypad reference selected.5 = Pulse reference selected

1.01 Value of selected reference

� ± Pr 1.06 � rpm RO Bi P 0.03

1.03 Pre-ramp reference

� ± Pr 1.06 � rpm RO Bi P

1.04 Reference offset

� ± Pr 1.06 � 0 rpm RW Bi 0.06

1.05 Jog reference

� 0 ~ 500 � 50 rpm RW Uni 0.32

1.06 Maximum reference clamp

� 0 ~ nmax � SLM rpm RW Uni 0.08

1.11 Reference enabled indicator

1.12 Reference selected indicator

� 0 ~ 1 � RO Bit P

1.13 Jog selected indicator

� 0 ~ 1 � RO Bit P 0.31

1.14 Reference selector

� 0 ~ 5 � 1 RW Uni P 0.30

NOTE


�0: Reference selection by terminal inputThe reference selected depends on the state of bit parameter [1.42] to [1.44]. These bits are for control by digital inputs such that referencecan be selected by external control. If any of the bits are set, the appropriate reference is selected (indicated by parameter [1.49]). If morethan one bit is set the highest numbered will have priority.

X = 0 or 1 (don't care condition)

1 or 2: Analog ReferenceThe speed reference is selected from the standard (SL) or high precision (AN) analog voltage input.

3: Preset reference selectedThe reference is one of the four preset speeds, refer to parameters [1.15] and [1.21] to [1.24] for further details.

4: Keypad reference selectedThe drive is controlled via keypad (Parameter [1.17] or [0.34])

5: Pulse reference selectedF&D/quadrature reference selected.

Parameter [1.15] selects a preset speed reference as follows:0 = Preset select by terminal input1 = Preset 1 selected [1.21]2 = Preset 2 selected [1.22]3 = Preset 3 selected [1.23]4 = Preset 4 selected [1.24]

0: Preset selection by terminal inputThe preset selected depends on the state of bit parameter [1.45] to [1.46]. These bits are for control by digital inputs such that presets can be

selected by external control. The preset selected depends on the binary code generated by these bits as follows:

Version _AN - [0.34] or [1.17] indicates the value of the speed reference set by use of the keypad.Version _SL - [0.34] or [1.17] is not used.

If this parameter is selected as the frequency reference (i.e. [1.49] = 4), it is adjusted by the 'Up' and 'Down' keys only when the display is inthe Status Mode. When the drive is not enabled view the keypad reference by looking at parameter [0.34] or [1.17] to ensure the correct valueis set before enabling the drive.The value is saved on power down such that the keypad frequency reference does not have to be set up again on power up.

1.42 Preset-reference

selected indicator

1.43 Keypad-reference

selected indicator

1.44 Pulse-reference

selected indicator

Referenceselected

1.49 Indicationparameter

0 0 0 Analog 1

1 0 0 Preset 3

x 1 0 Keypad 4

x x 1 Pulse 5

1.15 Preset reference selector

� 0 ~ 4 � 0 RW Uni P

Parameter [1.45] Parameter [1.46] Preset selected [1.50]

0 0 1

1 0 2

0 1 3

1 1 4

1.17 Keypad reference

� ± Pr 1.06 � rpm RO Bi S P 0.34

1.21 Preset reference 1

� ± Pr 1.06 � 1 rpm RW Bi 0.33


� ± Pr 1.06 � 10 rpm RW Bi


� ± Pr 1.06 � 100 rpm RW Bi


�

Parameter 1.21 defines the speed reference for preset speed 1.Parameter 1.22 defines the speed reference for preset speed 2.Parameter 1.23 defines the speed reference for preset speed 3.Parameter 1.24 defines the speed reference for preset speed 4.

Although most parameters can be controlled from analog inputs this parameter is a special case, as, if selected as a speed reference, thescan rate will be 250µsec.The range of this parameter is restricted by parameter [1.06].

These bits are provided for control by logic inputs (e.g. digital inputs) for external reference selection. (See parameter 1.14.)0 = Reference not selected1 = Reference selected

These bits are provided for control by logic input (e.g. digital inputs) for external preset reference selection. (See parameter 1.15.)

Indicates the reference currently being selected by parameter 1.14. See parameter 1.14 Reference selector description for further details1 = Analog reference.2 = Analog reference.3 = Preset reference selected.4 = Keypad reference selected.5 = Pulse reference selected.

Indicates the preset speed reference currently being selected by parameter 1.15. See parameter 1.15 Preset reference selector descriptionfor further details.


� ± Pr 1.06 � 1000 rpm RW Bi

1.36 Analog reference

� ± Pr 1.06 � rpm RO Bi

1.42 Preset references selected indicator

1.43 Keypad reference selected indicator

1.44 Pulse reference selected indicator

� 0 ~ 1 � RO Bit

1.45 Preset reference select bit 0 indicator

1.46 Preset reference select bit 1 indicator

� 0 ~ 1 � RO Bit

Preset 1.45 1.46

1 0 0

2 1 0

3 0 1

4 1 1

1.49 Reference selected indicator

� 1 ~ 5 � RO Bit P 0.02

1.50 Preset reference selected indicator

� 0 ~ 5 � RO Uni P


�4 Menu 2 Parameters - Ramp Selection


2.01 Post-ramp reference ±[1.06] RO Bi P

2.02 {0.24} Ramp enable 0 ~ 1 0 RW Bit

2.03 Ramp hold enable 0 ~ 1 0 RW Bit

2.04 {0.27} Fast ramp select 0 ~ 1 0 RW Bit

2.05 Limit switch ramp enable 0 ~ 1 0 RW Bit

2.06 S-ramp enable 0 ~ 1 0 RW Bit

2.07 S-ramp acceleration limit 0 ~ 300.000 s2/1000rpm 0.031 RW Uni

2.10 Acceleration rate selector 0 ~ 5 0 RW Uni

2.11 {0.25} Acceleration rate 1 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.12 Acceleration rate 2 0 ~ 32.000 s/1000rpm 0.200 RW Uni



2.19 Jog acceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.20 Deceleration rate selector 0 ~ 5 0 RW Uni

2.21 {0.26} Deceleration rate 1 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.22 Deceleration rate 2 0 ~ 32.000 s/1000rpm 0.200 RW Uni



2.25 Forward limit switch deceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.26 Reverse limit switch deceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.29 Jog deceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni

2.32 Acceleration-rate select bit-0 indicator 0 ~ 1 0 RO Bit

2.33 Acceleration-rate select bit-1 indicator 0 ~ 1 0 RO Bit

2.35 Deceleration-rate select bit-0 indicator 0 ~ 1 0 RO Bit

2.36 Deceleration-rate select bit-1 indicator 0 ~ 1 0 RO Bit

2.46 Stop-control proportional-gain 1 ~ 200 1 RW Uni

2.47 Stop-control integral-gain 1 ~ 200 10 RW Uni

2.48 Braking-control proportional gain 1 ~ 200 50 RW Uni

2.49 Braking-control integral gain 1 ~ 200 10 RW Uni



2.11Acceleration rate 1

2.12

Jogaccelerationrate

Jog selectedindicatorAcceleration rate 2

Acceleration rate 3

Acceleration rate 4

1.13

2.33Acceleration-rateselect bit-1 indicator

2.32Acceleration-rateselect bit-0 indicator

2.13

2.14

2.19

Accelerationrate selector

1.50

Preset-referenceselected indicator

2.100 1 0 1

0 0 1 1

1 2 3 4

Accelerationrate

2.21Deceleration rate 1

2.22

Jogdecelerationrate

Jog selectedindicatorDeceleration rate 2

Deceleration rate 3

Deceleration rate 4

1.13

2.36Deceleration-rateselect bit-1 indicator

2.35Deceleration-rateselect bit-0 indicator

2.23

2.24

2.29

Decelerationrate selector

1.50

Preset-referenceselected indicator

2.200 1 0 1

0 0 1 1

1 2 3 4

Decelerationrate

Sequencer(Menu 6)

Menu 8

Digital input 3

8

DIGITAL I/O

Forward limit switchdeceleration rate

Reverse limit switchdeceleration rate

2.25

2.26

6.35 Forwardlimit switch

6.36 Reverselimit switch

2.05 Limit switchramp enable


�

Fast rampselect

2.04

Stop-controlproportional-gain

2.46

Stop-controlintegral-gain

2.47

Ramp controllerDC-bus level6.48

Controlled-stop enableindicator

6.49

DC-bus voltage5.05

Internalbraking-resistoroverload alarm

10.12

Internalbraking-resistoroverloadaccumulator

10.39

Sequencer(Menu 6)

1.03

Pre-ramp speedreference

2.01 Post-rampreference

Rampenable

2.02

Menu 1Menu 3

Ramp enableover-ride

Ramp holdenable

2.03

S-ramp

S-rampenable2.06

S-rampaccelerationlimit

2.07

Sequencer(Menu 6)

Ramp control

Braking-controlproportional gain

2.48

Braking-controlintegral gain

2.49

2.05 Limit switchramp enable

6.36 Reverse limitswitch

6.35 Forward limitswitch


�

This is the speed reference after the ramps.The range of this parameter is restricted by the value set in parameter 1.06 Maximum reference clamp.

Set to enable ramps.0 = Ramp disable1 = Ramp enable

If this bit is set the ramp will be held. If S-ramp is enabled the acceleration will ramp towards zero causing the ramp output to curve towards aconstant speed.

0 = Ramp hold disabled1 = Ramp hold enabled

This parameter does not affect the acceleration ramp, and the ramp output always rises at the programmed acceleration rate subject to thecurrent limits.

0 = Fast rampWhen fast ramps are selected the output of the ramp will fall at the programmed deceleration rate (subject to the current limits programmed inthe drive).1 = Prevention of Braking resistor overload tripDuring deceleration, the braking resistor overload alarm being set will cause a controller to operate, the output of which changes the ramprate. As the controller regulates the DC link voltage, the motor deceleration increases and when the motor deceleration rate reaches theprogrammed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. Controllergains can be adjusted using parameters 2.48 & 2.49.

Setting this parameter enables the limit switch ramps.

Setting this parameter enables the S-ramp function. S-ramp is disabled during deceleration using standard ramp. When the motor isaccelerated again after decelerating in standard ramp the acceleration ramp used by the S-ramp function is reset to zero.

0 = S-ramp disable1 = S-ramp enabled

2.01 Post-ramp reference

� ± Pr 1.06 � rpm RO Bi P

2.02 Ramp enable

� 0 ~ 1 � 0 RW Bit 0.24

2.03 Ramp hold enable

� 0 ~ 1 � 0 RW Bit

2.04 Fast ramp select

� 0 ~ 1 � 0 RW Bit 0.27

2.05 Limit switch ramp enable

� 0 ~ 1 � 0 RW Bit

2.06 S-ramp enable

� 0 ~ 1 � 0 RW Bit

DC Link Voltage

Motor Speed

Programmeddecelerationrate

t

Controlleroperational


�

This parameter defines the maximum rate of change of acceleration/deceleration. The default values have been chosen such that for thedefault ramps and maximum speed, the curved parts of the S will be 25% of the original ramp if S-ramp is enabled.

Since the ramp rate is defined in second2/1000rpm and the S-ramp parameter is defined in second2/1000rpm, the time T for the 'curved' partof the S can be determined from:

T = S-ramp rate of change / Ramp rate

Enabling S-ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.

The acceleration rate is selected as follows.0 Ramp rate selection by terminal input1 ~ 4 Ramp rate defined by parameter number, i.e. 1 = 2.11, 2 = 2.125 Ramp rate selection by parameter 1.50

When parameter 2.10 is set to 0 the acceleration ramp rate selected depends on the state of bit parameters 2.32 to 2.33. These bits are forcontrol by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary codegenerated by these bits as follows:

When parameter 2.10 is set to 5 the appropriate acceleration rate is automatically selected depending on the value of parameter 1.50, and soan acceleration rate can be programmed to operate with each preset reference. Since the new ramp rate is selected with the new reference,the acceleration applies towards the selected preset if the motor needs to accelerate to reach the preset.

Refer to parameter 2.10.

2.07 S-ramp acceleration limit

� 0.000 ~ 32.000 � 0.031 s2/1000rpm RW Uni

2.10 Acceleration rate selector

� 0 ~ 5 � 0 RW Uni

2.33 2.32Ramp

defined by

0 0 2.11

0 1 2.12

1 0 2.13

1 1 2.14

2.11 Acceleration rate 1

� 0.000 ~ 32.000 � 0.200 s/1000rpm RW Uni 0.25




� 0.000 ~ 32.000 � 0.200 s/1000rpm RW Uni

Programmedramp rate

S-rampaccelerationramp

Demand SpeedAccelerationActual Speed


�

The jog acceleration rate is only used when the drive starts from the inhibit or ready states, or has reached the jog reference from anotherstate and the speed is changing because the jog reference is changed. This prevents the fast ramps normally used with jog from being usedwhen changing between running and jogging.

The deceleration rate is selected as follows.0 Ramp rate selection by terminal input1~ 4 Ramp rate defined by parameter number, i.e. 1 = 2.21, 2 = 2.22.5 Ramp rate selection by parameter 1.50

When parameter 2.10 is set to 0 the deceleration ramp rate selected depends on the state of bit parameters 2.35 to 2.37. These bits are forcontrol by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary code

generated by these bits as follows:

When parameter 2.20 is set to 5 the appropriate deceleration rate is automatically selected depending on the value of parameter 1.50, and soa deceleration rate can be programmed to operate with each preset reference. Since the new ramp rate is selected with the new reference,the deceleration applies towards the selected preset if the motor needs to decelerate to reach the preset.


Refer to parameters 6.35 and 6.36 respectively.

The jog deceleration rate is only used when the drive is changing speed because the jog reference has changed or to stop from the jogreference. It is not used to go from the jog to the run state. This prevents the fast ramps normally used with jog from being used whenchanging between running and jogging.

2.19 Jog acceleration rate

� 0.000 ~ 32.000 � 0.200 s/1000rpm RW Uni

2.20 Deceleration rate selector

� 0 ~ 5 � 0 RW Uni

2.36 2.35 Ramp defined by

0 0 2.21

0 1 2.22

1 0 2.23

1 1 2.24

2.21 Deceleration rate 1

� 0.000 ~ 32.000 � 0.200 s/1000rpm RW Uni 0.26




� 0.000 ~ 32.000 � 0.200 s/1000rpm RW Uni

2.25 Forward limit switch deceleration rate

2.26 Reverse limit switch deceleration rate

� 0.000 ~ 32.000 � 0.200 s/1000rpm RW Uni

2.29 Jog deceleration rate

� 0.000 ~ 32.000 � 0.200 s/1000rpm RW Uni


�

These bits are provided for control by logic input terminals for external ramp selection (see parameter 2.10 and 2.20).

Used as a ramp rate controller for controlled stop.During mains loss, if the DC bus voltage collapses beyond the level set in parameter 6.48 a DC link controller operates, the output of whichchanges the ramp rate. The controller can be disabled by setting the detection level in parameter 6.48 to 0. As the controller regulates the linkvoltage, the motor deceleration increases to keep the DC bus at a maximum level to achieve the fastest possible controlled stop. When themotor is stopped the controller ceases to operate. Controller gains can be adjusted using parameters 2.46 and 2.47. If the mains is re-appliedduring the stop the controller still operates to zero speed, the mains loss bit 6.48 remains set and can only be reset by giving a drive reset.

Used as a ramp rate controller for preventing braking resistor overload trip. See parameter 2.04 for more information.

2.32 Acceleration-rate select bit-0 indicator

2.33 Acceleration-rate select bit-1 indicator

2.35 Deceleration-rate select bit-0 indicator

2.36 Deceleration-rate select bit-1 indicator

� 0 ~ 1 � 0 RO Bit

2.46 Stop control proportional gain

� 0 ~ 200 � 1 RW Uni

2.47 Stop control integral gain

� 0 ~ 200 � 10 RW Uni

2.48 Braking-control proportional gain

� 0 ~ 200 � 50 RW Uni

2.49 Braking-control integral gain

� 0 ~ 200 � 10 RW Uni


�5 Menu 3 Parameters - Speed Loop PID gains

Notes

The measurement units for parameters 3.18 and 3.20 depend on the setting of 5.34 and 5.54. (5.34 = Inertia units and 5.54 = Inertia range.)

Parameter 3.64: sample time = 250µs

Parameter 3.23 can be used for setting a fine analog offset or trim; resolution = 0.1rpm

See Appendix D Optimising the Dynamic Performance in the M’Ax User Guide.

*Parameter 3.55: When this parameter is set to 0, the number of encoder lines = 16384.A power down and up again is required for a new value to take effect.


3.01 {0.04} Final speed reference ±[1.06] rpm RO Bi P

3.02 {0.05} Speed feedback ±[1.06] rpm RO Bi P

3.05 Zero-speed threshold 0 ~ 200 rpm 5 RW Uni

3.06 At-speed lower limit 0 ~ [1.06] rpm 5 RW Uni

3.07 At-speed upper limit 0 ~ [1.06] rpm 5 RW Uni

3.08 Over-speed threshold 0 ~ nMAX rpm 0 RW Uni

3.09 Absolute at-speed detect mode select 0 ~ 1 0 RW Bit

3.10 {0.13} Speed-loop proportional gain Kp1 0.0000 ~ 0.3000 [SLM] RW Uni

3.11 {0.14} Speed-loop integral gain Ki1 0.000 ~ 30.000 [SLM] RW Uni

3.12 {0.15} Speed-loop derivative gain Kd1 0.0000 ~ 0.1000 [SLM] RW Uni

3.13 Speed-loop proportional gain Kp2 0.0000 ~ 0.3000 [SLM] RW Uni

3.14 Speed-loop integral gain Ki2 0.000 ~ 30.000 [SLM] RW Uni

3.15 Speed-loop differential-feedback gain Kd2 0.0000 ~ 0.1000 [SLM] RW Uni

3.16 {0.12} Speed-loop PID gains selector 0 ~ 3 1 RW Uni

3.18 Total inertia0.1 ~ 6000.0 kgcm2 or

0.00001 ~ 0.6 kgm2Jt RO Uni

3.19 {0.09} Stiffness angle 0.0 ~ 30.0 ° 6.0 RW Uni

3.20 {0.10} Load inertia0.1 ~ 6000.0 kgcm2 or

0.00001 ~ 0.6 kgm2JL RW Uni

3.22 Hard speed reference ±500.0 rpm 0.0 RW Bi

3.23 Hard speed reference selector 0 ~ 1 0 RW Bit

3.25 Feedback-encoder phase offset 0 ~ 65535 REV/65536 [SLM] RO Uni

3.28 {0.28} Feedback-encoder revolution counter 0 ~ 65535 REV RO Uni

3.29 {0.29} Feedback-encoder position 0 ~ 65535 REV/65536 RO Uni

3.32 Z marker pulse received indicator 0 ~ 1 RO Bit

3.51 High resolution Marker select 0 ~ 1 RW Bit

3.52 Z marker pulse offset 0 ~ 65535 REV/65536 RO Uni

3.53 Shaft-key offset 0 ~ 65535 REV/65536 [SLM] RO Uni

3.54 Zero offset ±180 ° 0 RW Uni

*3.55 Number of encoder lines 0, 100 ~ 8192 and 16384 4096 RW Uni R

3.56 F/D mode select 0 ~ 1 0 RW Bit

3.57 Speed-loop PID buffer 1 select 0 ~ 1 0 RW Bit



3.60 Speed-loop proportional gain Kp3 0.0000 ~ 0.3000 [SLM] RW Uni

3.61 Speed-loop integral gain Ki3 0.000 ~ 30.000 [SLM] RW Uni

3.62 Speed-loop derivative gain Kd3 0.0000 ~ 0.1000 [SLM] RW Uni

3.63 Speed-loop PID buffer in use indicator 0 ~ 3 RO Uni

3.64 Speed feedback (unfiltered) ±2048 RO Bi

JMMotor inertia(defined by the motor via the SLM, Pr 5.33)

JL Load inertia

Jt Total inertia = JM + JL



Menu 2

2.01Post-rampreference

Hard speedreference

3.22

Hard speedreference selector

3.23

Final speedreference

SLM

Number ofencoder lines

3.55

3.02Speedfeedback

Encoder simulation

Zero-speedthreshold

3.05

At-speedlower limit

3.06

At-speed upperlimit

3.07

Over-speedthreshold

3.08

Absoluteat-speed detectmode select

3.09

10.03At zerospeedindicator

10.05 Below setspeedindicator

10.06 At speedindicator

10.07 Above setspeedindicator

Speed detection and limits

12

67

1314

AA\

BB\

ZZ\

SIM ENC

Demand

Feedback

SLM PIDbuffer 1

F/D modeselect

3.56

Speed detectionindicators

Monitoring

3.28

Feedback-encoderrevolutioncounter

3.29Feedback-encoder position

3.32 Z marker pulsereceived indicator

Alignment

Shaft-key offset3.53

Zero offset3.54

3.01

SLM PIDbuffer 2

SLM PIDbuffer 3

Sequencer(Menu 6)

� technology

Markerpulse

13.01Pulsereference

Menu 13


�

Final speed demand at the input to the speed regulator formed by the sum of the ramp output and the hard speed reference (if the hard speedreference is enabled). If the drive is disabled this parameter will show 0.0.

This is the speed feedback taken from the SLM encoder. This parameter shows the speed feedback used by the speed controller. Thisincludes quantisation ripple given by the counts per revolution (65535) and the sampling interval of 250µs.The value seen on the drive display is filtered so that it can be read by the user, however, the actual parameter held within the drive is notfiltered. If this parameter is routed to an analog output the ripple will be present. It should be noted that the quantisation of the speed feedbackdoes not affect the resolution or accuracy of the speed controller. Use parameter 3.64 for analog output purposes for fast responses.

If the speed feedback (parameter 3.02) is at or below the level defined by this parameter in either direction the Zero speed flag (parameter10.03) is 1, otherwise the flag is 0.

Defines the lower threshold for at speed detection. Refer to parameter 3.09.

Defines the upper threshold for at speed detection. Refer to parameter 3.09.

Defines the speed above which the drive will trip due to overspeed.When this parameter is set to a zero the limit is set by parameter 1.06 x 1.2.

3.09 = 0 reference window mode. The at speed band is from (reference - lower limit) to (reference + upper limit). The reference is the pre-ramp reference (parameter 1.03). The at speed indicator is active when the following is true:- ([1.03] - 3.06) < [3.02] < ([1.03] + 03.07)

3.09 = 1 absolute window mode. The at speed band is from the lower limit to the upper limit. The at speed indicator is active when thefollowing is true:-3.06 < [3.02] < 3.07.

The following diagram shows a generalised representation of the speed controller. The controller includes proportional (Kp) and integral (Ki)feed-forward terms, and a differential (Kd) feedback term. The drive holds three sets of these gains and either set may be selected for use bythe speed controller with parameter 3.16.

3.16 = 1, gains Kp1, Ki1 and Kd2 are used3.16 = 2, gains Kp2, Ki2 and Kd2 are used3.16 = 3, gains Kp3, Ki3 and Kd3 are used

3.01 Final speed reference

� ±Pr1.06 � rpm RO Bi P 0.04

3.02 Speed feedback

� ±Pr1.06 � rpm RO Bi P 0.05

3.05 Zero-speed threshold

� 0 ~ 200 � 5 rpm RW Uni

3.06 At-speed lower limit

� ±Pr1.06 � 5 rpm RW Uni

3.07 At-speed upper limit

� ±Pr1.06 � 5 rpm RW Uni

3.08 Over-speed threshold

� 0 ~ nmax � rpm RW Uni

3.09 Absolute at-speed detect mode select

� 0 ~ 1 � 0 RW Bit

3.10 Speed-loop proportional gain. Kp1

� 0.0000 ~ 0.3000 � SLM RW Uni 0.13

3.11 Speed-loop integral gain. Ki1

� 0.0000 ~ 30.000 � SLM RW Uni 0.14

3.12 Speed-loop derivative gain. Kd1

� 0.0000 ~ 0.1000 � SLM RW Uni 0.15


�Parameter 3.16 may be changed when the drive is enabled or disabled. It is necessary to update the SLM with the required PID set by settingPID buffer update bit i.e. Pr 11.67 to 1. Any of the available 3 buffers can be selected "on the fly".

Proportional gain (Kp)If Kp has a value and Ki is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torquereference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, calledregulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportionalgain is too high then the closed-loop stability limit is reached.

Integral gain (Ki)The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessarytorque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level andincreases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor.Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain thedamping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness anddamping are all adequate for the application. The integral term is implemented in the form of Σ(Ki x error), and so the integral gain can bechanged when the controller is active without causing large torque demand transients.

Differential gain (Kd)The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in away that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces theovershoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.To analyse the performance of the speed controller it may be represented as an s-domain model as shown below.

Where:Kc is the conversion between torque reference and torque producing current. A value of unity at the input to this block gives a torqueproducing current equivalent to the full scale current of the drive. The drive automatically compensates the torque producing current for fluxvariations in field weakening, and so Kc can be assumed to have a constant value. Drive rated current is equivalent to 0.5 x full scale (seeMenu 4 for details of current scaling), and so

Kc = Drive rated current / 0.5Kt is the torque constant of the motor (i.e. torque in Nm per amp of torque producing current).L(s) is the transfer function of the load.The s-domain system above may be used to determine the performance of systems with a relatively low bandwidth. However, the real drivesystem also includes non-ideal delays due to the torque controller response, and speed measurement and control delays. These delays,which can be approximated with a simple unity gain transport delay (Tdelay) as shown below, should be taken into account for more accurate

results.

Kp

Ki

Kd

Speedreference(wr*)

Speedfeedback(wr)

Torquereference(Te*)

-

+

+

+

+

+1s

s

Kp

Ki 1/s

Kd

Ke

Kc Kt L(s)Ke+

_

+

+

+

w*(s)

(rs-1

)

w(s)

(rs-1

)

+s


�

Calculating Kp, Ki, Kd for M'Ax(Set-up method based on Compliance angle)Compliance angle based set-up required following parameters.

Calculate the following:

Ilimit has to be stated in percent of motor rated current (as in parameter 4.07)

Then, these equations should yield correct values for the gains.

Use Kd for no over shoot. If drive is used with position loop then use Kd = 0 for minimum following error.

To give an example:

Speed measurementdelay

Torque referencecalculation delay

Torque controller delay Tdelay

62.5µs 47.5µs 600µs 710µs

Description M’Ax Parameter Symbol

Motor rated current 5.07 IM(rated)

Symmetrical current limit (%) 4.07 Ilimit

Motor torque constant 5.32 Kt

Motor Inertia 5.33 Jm

Load Inertia 3.20 JL

Stiffness Angle 3.19 αTotal inertia 3.18 J

Description Symbol Value Units

Motor rated current IM(rated) 9.5 A

Symmetrical current limit (%) Ilimit 200 %

Motor torque constant Kt 1.6 Nm/ARMS

Motor Inertia Jm 0.00076 Kgm2

Load Inertia JL 0.00224 Kgm2

Stiffness Angle α 6 °

Total inertia J Jm + JLKgm2

Kp+Ki/s

1+Kds

Kc.Kt L(s)

_

+

_

w*(s+)w(s)

Tdelay

NOTE

KcIlimit

100------------ IM rated( )×=

Kb4π---=

Ko Kc Kt×=

Ki22.5

α----------- 90

π Kb× α×---------------------------= =

Kp 2J Ki×

Kb Ko×--------------------=

Kd12--- J

Kb Ko× Ki×---------------------------------=


�

Therefore:

Refer to above text.

The drive holds three gain buffers, any buffer can be selected for use by the speed controller with parameter 3.16.0 = Terminal input control1 = PID buffer 1 is selected2 = PID buffer 2 is selected3 = PID buffer 3 is selected

Summary of effected parameters when switching P.I.D buffers

Total inertia driven by the motor is the sum of: Load Inertia + Motor Inertia.This is required to calculate the PID gains.

The stiffness angle is the required angular displacement when the drive delivers a torque producing current equivalent to the drive rated

3.13 Speed-loop proportional gain. Kp2

� 0.0000 ~ 0.3000 � SLM RW Uni

3.14 Speed-loop integral gain. Ki2

� 0.0000 ~ 30.000 � SLM RW Uni

3.15 Speed-loop derivative gain. Kd2

� 0.0000 ~ 0.1000 � SLM RW Uni

3.16 Speed-loop PID gain selector

� 0 ~ 3 � 1 RW Uni 0.12

Pr 3.16 KP KI KD KC Current demand filter cut off

1 3.10 3.11 3.12 4.07 4.12

2 3.13 3.14 3.15 4.24 4.23

3 3.60 3.61 3.62 4.28 4.27

3.18 Total inertia

�0.1 ~ 6000.00.00001 ~ 0.6

�Kgcm2

Kgm2RO Uni 0.11

3.19 Stiffness angle

� 0.0 ~ 30.0 � 6.0 o RW Uni 0.09

Kc200100---------- 9.5× 19= =

Kb4π--- const= =

Ko 19 1.6× 30.4= =

J 0.00076 0.00224+ 0.003= =

α 6=

Ki22.5

6----------- 3.75= =

Kp 2 0.003 3.75×4π--- 30.4×

--------------------------------- 0.034= =

Kd12--- 0.003

4π--- 30.4 3.75××--------------------------------------- 0.0023= =


�current (parameter 11.32) with no field weakening.

The load inertia should be calculated and entered into 3.20 so that the total inertia can be calculated. Before entering the load inertia valueinto parameter 3.20, check the range status in parameters 5.34 and 5.54.

5.34 = 0 = kgm2

= 1 = kgcm2

5.54 = 0 = Ranges are shown for 3.18 and 3.20= 1 = Ranges are divided by 10

Example:

Load inertia = 42kgcm2

When 5.34 = 1 and 5.54 = 0, 3.20 = 42.0When 5.34 = 1 and 5.54 = 1, 3.20 = 4.20

The hard speed reference is a reference value which does not pass through the ramp system (Menu 2). It is added to the normal post rampspeed reference. The maximum of this input is limited to 500 rpm.

This parameter display’s the flux alignment value of the motor.

When the encoder rotates by more than one revolution, the revolutions in parameter 3.28 increment or decrement in the form of a sixteen bitroll-over counter. Resets to zero on power down.

This parameter gives the encoder position counted from the point when the drive was powered up. On power up, SLM uses single cycle Sin-Cos output to find absolute shaft position.

The encoder has a marker channel and this is used to correct the absolute position with in a revolution after power-Up. After passing throughthe marker this bit is set and zero offset parameter [3.54] is updated with the difference between 0 of encoder position [3.29] and marker. Thisis due to error on initial angle calculation using single cycle sin-cos.

CT-coder has a marker channel and this is used to correct the absolute position within a revolution after power-up. After passing through themarker, if this bit is set to 1 then zero offset parameter 3.54 is updated using 12 Bit accuracy without interpolation, otherwise updated using 16Bit accuracy with interpolation.

3.20 Load inertia

�0.1 ~ 6000.00.00001 ~ 0.6

� JMLKgcm2

Kgm2RW Uni 0.10

3.22 Hard speed reference

� ±500 � 0.0 rpm RW Bi

3.23 Hard speed reference selector

� 0 ~ 1 � 1 RW Bit

3.25 Feedback encoder phase offset

� 0 ~ 65535 � SLM REV RW Uni

3.28 Feedback encoder revolution counter

� 0 ~ 65535 � REV RO Uni 0.28

3.29 Feedback encoder position

� 0 ~ 65535 � REV RO Uni 0.29

3.32 Z marker pulse received indicator

� 0 ~ 1 � RO Bit

3.51 High resolution marker select

� 0 or 1 � RW Bit

ZeroLoad

100% Motor rated current

Stiffness angle


�

Difference in between the encoder marker and 0 position at parameter 3.29. On power up, SLM uses single cycle Sin-Cos output to findabsolute shaft position. This measurement has a maximum of ±3° error. After passing through Marker pulse this offset is calculated.

This is offset in between SLM marker pulse and shaft key, set by motor manufacturer.

User specified marker offset for encoder simulation.

Range selectable from 100 lines per revolution to 8192 lines per revolutionSet this parameter to 0 enables 16384 pulses per revolutionWhen modified, in order for the new value to take effect, a power-down and up again is required.

0 = Quadrature A & B differential outputs (Including Marker pulses)1 = Frequency & Directional differential outputs (Including Marker pulses)

Allows the user to select which gain buffer is required. Buffer selection:

x = don't care conditions

Refer to parameters 3.10, 3.11, 3.12

Used to indicate which PID buffer currently in use.

3.52 Z marker pulse offset

� 0 ~ 65535 � REV RO Uni

3.53 Shaft key offset

� 0 ~ 65535 � SLM REV RO Uni

3.54 Zero offset

� 0 ~ 180 � 0 o RW Uni

3.55 Number of simulated encoder lines

�

0, 100 ~ 8192selectable& 16384

� 4096 RW Uni R

3.56 F/D mode select

� 0 ~ 1 � 0 RW Bit

3.57 Speed-loop PID Buffer 1 select



� 0 ~ 1 � 0 RW Bit

Pr3.57 Pr3.58 Pr3.59 Gain Buffer selected, Pr3.16

1 x x 1

0 1 x 2

0 0 1 3

3.60 Speed loop proportional gain. Kp3

� 0.0000 ~ 0.3000 � SLM RW Uni

3.61 Speed loop integral gain. Ki3

� 0.0000 ~ 30.000 � SLM RW Uni

3.62 Speed loop derivative gain. Kd3

� 0.0000 ~ 0.1000 � SLM RW Uni

3.63 Speed loop PID buffer in use indicator

� 0 ~ 3 � RO Uni


�

The speed feedback in counts / 250µs taken from the SLM encoder. This is used as source for analog output. This can be used by a PLC forinstantaneous speed measurements.

3.64 Speed feedback unfiltered

� ±2048 � RO Bi


�6 Menu 4 Parameters - Torque Control

Notes

Parameters 4.52, 4.53, 4.54: see section F.2 Adjusting the threshold for the motor thermal-overload alarm in the M’Ax User Guide.

Parameter 4.04: the range 0 ~ 620 represents 0 ~ 200% FLC


4.01 {0.07} Motor current magnitude 0 ~ IOL A RO Uni P

4.03 Torque demand ±200.0%IT A RO Bi P

4.04 Current demand 0 ~ 620 RO Uni P

4.07 {0.18} Symmetrical current limit Kc1 0 ~ 300.0% IM 200.0 RW Uni

4.08 Torque reference ±200.0%ILIM 0.0 RW Bi

4.09 Torque-reference offset ±200.0%ILIM 0.0 RW Bi

4.10 Torque-reference offset enable 0 ~ 1 0 RW Bit

4.11 Torque mode selector 0 ~ 2 0 RW Uni

4.12 {0.16} Current-demand filter 1 cut-off frequency 0 ~ 1200Hz 500 RW Uni

4.15 Motor - thermal time-constant [SLM] RO Uni

4.23 Current-demand filter 2 cut-off frequency 0 ~ 1200Hz 500 RW Uni

4.24 Symmetrical current limit Kc2 0 ~ 300.0% IM 200.0 RW Uni

4.26 Torque-compensation gain 0 ~ 5000 rads/s RW Uni

4.27 Current-demand filter 3 cut-off frequency 0 ~ 1200Hz 500 RW Uni

4.28 Symmetrical current limit Kc3 0 ~ 300.0% IM 200.0 RW Uni

4.51 Reserved for internal system purposes

4.52 Motor thermal-overload trip level 0 ~ 125%IM 110 RW Uni

4.53Symmetrical current limit after motor thermal-overload trip

0 ~ 300%IM 105 RW Uni

4.54 Thermal-overload time to trip 0 ~ 200s 10 RW Uni

4.55 SLM overheat threshold parameter 0 ~ 100°C 85 RW Uni

4.56 Motor overload alarm level 0 ~ 100 70 RW Uni

4.57 Motor overload alarm 0 ~ 1 RO Uni

4.58 ‘U’ phase current loop offset correction 0 ~ 65535 0 RW Uni

4.59 ‘V’ phase current loop offset correction 0 ~ 65535 0 RW Uni

FLCFull-load current (continuous-current rating of thedrive)

IOL Maximum overload current from the drive [2 x FLC]

IMRated continuous motor-current (defined by the motorvia the SLM)

ITMaximum torque-producing current (derived from[FLC x kT])

ILIMValue of the current limit that is obtained from thesetting of 4.07 Symmetrical current limit

LT Trip level of the drive thermal-overload accumulator

nMAXMaximum speed of the motor (defined by the motor viathe SLM)

JM Motor inertia (defined by the motor via the SLM)



� technology

RMS current calculation 4.01

Motor currentmagnitude

4.08

Torquereference

4.09

Torquereference offset

4.10

Torque referenceoffset enable

4.11Torque modeselector

Menu 3

SLM

Menu 5

Speed demand

4.03 Torquedemand

ScalingTorquecompensation

4.26

10.17Motor [I t] overload

trip indicator

Motor overloaddetection

Currentdemand

4.04

Menu 5

Currentdemand

Motor current

2

Menu 3

4.59

4.58

4.57Motor overload alarm

'U' phase current loopoffset correction

'V' phase current loopoffset correction

4.56

4.55SLM overheatthreshold

Motor overload alarmlevel

Torque compensationgain

4.15

Motor −rated current

Motor − thermaltime-constant

Drive ratedcurrent11.32

5.074.23Current-demandfilter 2 cut-offfrequency

4.12Current-demandfilter 1 cut-offfrequency

4.27Current-demandfilter 3 cut-offfrequency

4.07 Symmetrical currentlimit Kc1




�

This parameter is the r.m.s. current from each output phase of the drive.

The torque demand is derived from the torque reference and offset. The units of the torque demand are % of allowed maximum torque to themotor (Based on Symmetrical current limit).

100% rated torque = 100% rated current of the motor.

The Current demand is read from SLM. The units of the current demand are % of rated drive current.620 = 200% rated drive current

Symmetrical current limit is used to scale the maximum motor current. This is used to scale the current scaling from SLM. After changing thisparameter SLM-PID update is necessary to use new settings. Refer to P.I.D gain calculation section in Menu 3.

This is the parameter for main torque reference. The units are % of maximum motor rated torque based on symmetrical current limit with aresolution of 0.1%. If connected to an analog input on the drive this parameter is updated every 250µs.

This parameter is for an offset to be added to the main torque reference. The torque offset is updated every 1ms when connected to ananalog input, and so parameter 4.08 should be used for fast updating if required.

The torque offset is added to the torque reference when parameter 4.10 is set to one.0 = Torque reference offset disable1 = Torque reference offset enable

0 = Speed control modeThe torque demand is equal to the speed loop output.

1 or 2 = Torque controlThe torque demand is given by the sum of the torque reference and the torque offset, if enabled. The speed is not limited in any way,however, the drive will trip at the over speed threshold if runaway occurs. To activate a parameter change, a save and power down isnecessary.

A first order filter, with specified bandwidth by this parameter is provided on the current demand to reduce acoustic noise and vibrationproduced in an application. The filter introduces a lag in the speed loop, and so the speed loop gains may need to be reduced to maintainstability as the filter time constant is increased. Alternative bandwidth can be selected depending on the value of the speed controller gainselector [3.16].

[3.16] = 1 parameter [4.12] is used[3.16] = 2 parameter [4.23] is used[3.16] = 3 parameter [4.27] is used

4.01 Motor current magnitude

� 0 ~ IOL � A RO Uni P 0.07

4.03 Torque demand

� ±0 ~ 200 � %ITA RO Bi P

4.04 Current demand

� 0 ~ 620 � RO Uni P

4.07 Symmetrical current limit Kc1

� 0 ~ 300 � 200.0 %IM RW Uni 0.18

4.08 Torque-reference

� ±200 � 0.0 %ILIM RW Bi

4.09 Torque-reference offset

� ±200 � 0 %ILIM RW Bi

4.10 Torque-reference offset enable

� 0 ~ 1 � 0 RW Bit

4.11 Torque mode selector

� 0 ~ 2 � 0 RW Uni

4.12 Current demand filter 1 cut-off frequency

� 0 ~ 1200 � 500 Hz RW Uni 0.16


�

The motor is modelled thermally in a way that is equivalent to the electrical circuit shown below.

The temperature of the motor as a percentage of maximum temperature, with a constant current magnitude of I, after time t is given by

Temp = [I2 / (Motor rated current x Motor overload threshold)2] (1 - e-t/τ) x 100%

This assumes that the maximum allowed motor temperature is produced with 110% rated current and that τ is the thermal time constant of thepoint in the motor that reaches it maximum allowed temperature first. τ is defined by SLM (indicated by parameter [4.15]) and Motor overloadthreshold is defined in parameter [4.52]. When the estimated temperature reaches Motor overload threshold the drive limits the current tocurrent scaling set by the parameter [4.53]. The time for a trip or reduction of current limit from cold with constant motor current is given by:

Ttrip = -(Par 4.15) x ln(1 - ((4.52/100) x Par 5.07 / Par 4.01)2)

The thermal model accumulator is set to zero at power-up and accumulates the temperature of the motor whilst the drive remains powered-up.


Refer to parameter 4.07 and P.I.D calculation section in Menu 3.

Not available in current software version.


Refer to parameter 4.07 and P.I.D calculation section in Menu 3.

For drive’s internal system purposes only.

See parameter 4.15. To activate a new value a save and power down is necessary.

4.15 Motor-thermal time-constant

� � SLM RO Uni 0.16

4.23 Current-demand filter 2 cut-off frequency

� 0 ~ 1200 � 500 Hz RW Uni


� 0 ~ 300 � 200.0 %IM RW Uni

4.26 Torque-compensation gain

� 0 ~ 5000 � Rads/s RW Uni

4.27 Current-demand filter 3 cut-off frequency

� 0 ~ 1200 � 500 Hz RW Uni


� 0 ~ 300 � 200.00 %IM RW Uni


4.52 Motor thermal-overload trip level

� 0 ~ 125 � 110 %IM RW Uni

= RC

I2

C R Temp


�

The Motor overload warning bit 10.17 is set if integrator value is greater than Motor overload warning threshold 4.52. Also the output current

scaling is switched to parameter 4.53 (Current scaling during I2t limit).

When the I2t threshold goes above the limit set in parameter 4.52, the SLM alters its current scaling to limit the motor current in a defaultstate.If a controller wants to use this as a warning bit, the threshold [4.52] can be adjusted to a required level (i.e. 75% instead of 110%). Changing

the I2t threshold in [4.52] will not limit the current scaling after the motor thermal overload alarm is set. In this case the controller should takethe necessary action to protect the motor, i.e. reduce acceleration or stop.The drive will operate, when the motor thermal overload alarm is set, until the thermal overload time to trip parameter value [4.54] has beenexceeded.Typical Example:

1. Set 4.53 Symmetrical current limit after motor thermal-overload alarm at 200 (the largest of the symmetrical current limit values).2. Set 4.54 Thermal-overload time to trip at 12 (process cycle time, rounded-up to nearest integer).3. Calculate the following:

4. Calculate the following:

5. Calculate the following:

6. Enter the calculated value into 4.52.7. Perform the following, as appropriate:

4.53 Symmetrical current limit after motor thermal-overload trip

� 0 ~ 300 � 105 %IM RW Uni

Parameter Value

4.15 Motor – thermal time-constant 89

4.07 Symmetrical current limit Kc1 150



Process cycle time 11.5s

Gain sequencing using all three PID-gains buffers

I2t trip threshold 4.52

Standard current Scaling , ,4.07 4.24 4.28

Current scaling

Current Scaling During I t Trip2 4.53

I2t Warning threshold 4.56

0

1

0

1SLM I t Trip Bit 13 Status2

I t Warning Bit Status2 4.57

Accumulator value10.58

Time

Time

tc 4.15[ ]– In 12105

24.53[ ]-------------------–

� ��

×=

tc 89– In 121052200

------------–� ��

× 28.7 s( )= =

tD tC 4.54[ ]– 28.7 12– 16.7 s( )= = =

4.52[ ] 4.53[ ] 1 et– D 4.15[ ]⁄

–×=

4.52[ ] 200[ ] 1 e 16.7–( ) 89⁄–× 82.7= = (%)


�Version _ANInitiate the save operation by setting parameter XX.00 at 1000.Execute the operation by performing either of the following:• While the display is in Edit mode, press at the same time:

• Set parameter 10.38 at 100 (via serial communications)

Version _SLVersion _AN (if required)Ensure the drive is disabled by checking that the Hardware enable contact is open or that parameter 6.15 is set at 0, then perform eitherof the following:• Initiate the store operation by setting parameter 0.50 at 2 (Prog). Execute the operation by setting parameter 10.38 at 100.• Set 11.67 Flash update enable at 1.

This is a secondary motor overload protection. The user can set Current scaling during I2t limit (4.53) to standard current scaling (4.07) andthe motion controller reduces torque demand in order to protect the motor. This secondary protection trips the drive on motor overload(I2t.AC) if Motor overload warning bit (10.17) is continuously set more than Motor overload time limit.

The value set in this parameter is the trip threshold level for the SLM thermistor. Once this level has been exceeded, the drive will trip ‘Oht3’.

This bit parameter is set if the motor overload accumulator [10.58] rises above the motor overload alarm level set in parameter 4.56,otherwise cleared.

These parameters are to compensate for the current loop and power stage offsets, which end up as speed ripple on the demanded speed.These parameters are relayed to the SLM on power-up and are only required for high performance applications.Please contact Technical Support for further assistance in using these parameters.

4.54 Thermal overload time to trip

� 0 ~ 200 � 10 s RW Uni

4.55 SLM overheat threshold parameter

� 0 ~ 100 � 85 °C RW Uni

4.56 Motor overload alarm level

� 0 ~ 100 � 70 RW Uni

4.57 Motor overload alarm

� 0 ~ 1 � RO Bit

4.58 ‘U’ phase current loop offset correction

4.59 ‘V’ phase current loop offset correction

� 0 ~ 65535 � 0 RW Uni

and


�7 Menu 5 Parameters - Motor Control

Notes

The settings of parameter 5.34 are as follows:

0 kgm2

1 kgcm2

The settings of parameter 5.54 are as follows:

0 Ranges are as shown for 3.18 and 3.20

1 Ranges are divided by 10


5.05 {0.43} DC-bus voltage 0 ~ 1000 V RO Uni P

5.07 {0.19} Motor - rated current 0 ~ FLC A [SLM] RO Uni

5.08 Motor - rated speed 0 ~ 7500rpm [SLM] RO Uni

5.09 Motor - rated voltage 0 ~ VS [SLM] RO Uni

5.11 Motor - number of poles 0 ~ 255 [SLM] RO Uni

5.12 Flux alignment test enable 0 ~ 1 0 RW Bit

5.32 Motor torque-constant 0.00 ~ 500.00Nm/A [SLM] RO Uni

5.33 Motor inertia0.1 ~ 6000.0 kgcm2 or

0.00001 ~ 0.6 kgm2[SLM] RO Uni

5.34 {0.11} Inertia units selected 0 ~ 1 [SLM] RO Bit



5.54 Inertia range select 0 ~ 1 1 RW Bit

FLCFull-load current(continuous-current rating of the drive)

VS AC supply voltage



Pulse width modulatorand power stage

U

V

W

5.05 DC-bus voltage

Current measurement

Offset adjustment

Motor − ratedspeed

Motor − numberof poles

Motor − ratedcurrent

Menu 4

Motor parameters

5.07

5.08

5.11

Menu 4Sine-wavemodulator

Positioninformation

SLM

IUIV

Current loop

Braking control

Currentdemand

Motor inertia5.33

Feedback-encoderphase offset3.25

Phase advance[MO]

Motor current

Menu 10

� technology


�

Voltage across the internal DC Bus Voltage.

This value is read from the SLM. The value is used is for current limit (refer to symmetrical current limit, parameter 4.07) and motor thermalprotection (refer to thermal time constant, parameter 4.15).

This value is set by the motor manufacturer and stored in the SLM. On power up the value set in the motor object is read by the drive andstored in parameter 5.08.

The rated voltage is calculated from the Ke and rated rpm of the motor.

This parameter is read from the SLM and is set to the number of poles of the motor being used.

The drive can automatically measure the phase angle between the rotor flux and the encoder position by performing a phasing test.Parameter 5.12 will return to zero on completing the flux alignment test. The value of the encoder phase position is stored in SLM andindicated by parameter [3.25].Flux AlignmentUse this procedure only in exceptional circumstances; do not use it when setting up the drive.1. Disconnect the load from the motor.2. Ensure the Hardware enable contact is open.3. If a RUN contact is connected, ensure that it is open.4. Apply the AC supply (or auxiliary back-up supply) to the drive.5. Ensure parameter 6.08 Hold zero speed select is set at 0.6. Close the Hardware enable contact.7. Check that the display shows rdY, or that parameter 0.01 is set at 0.8. Set 5.12 Flux alignment test enable at 1. When the test is completed, 5.12 automatically returns to 0.9. Re-enter the required settings into the appropriate parameters.10. Remove the AC supply or auxiliary back-up supply; the new flux-alignment value is automatically stored in the SLM.

The Kt value is read from the SLM. The drive requires this information to calculate the correct speed controller gains.

This parameter is read from the SLM. The unit used in the displayed value is dependent on the value in parameter 5.34.

0 - Kgm2

1 - Kgcm2

This parameter is read from the SLM.

5.05 DC-bus voltage

� 0 ~ 1000 � V RO Uni P 0.43

5.07 Motor - rated current

� 0 ~ FLC � SLM A RO Uni 0.19

5.08 Motor - rated speed

� 0 ~ 7500 � SLM rpm RO Uni

5.09 Motor - rated voltage

� 0 ~ Vs � SLM V RO Uni

5.11 Motor - number of poles

� 0 ~ 255 � SLM RO Uni

5.12 Flux alignment test enable

� 0 ~ 1 � 0 RW Bit

5.32 Motor - torque constant

� 0.00 ~ 500.00 � SLM Nm/A RO Uni

5.33 Motor inertia

�0.1 ~ 6000.00.00001 ~ 0.6

� SLMKgcm2

Kgm2RO Uni

5.34 Inertia units selected

� 0 ~ 1 � SLM RO Bit 0.11


�

For drive's internal system purposes only.

The settings of parameter 5.54 are as follows:0 = Ranges are as shown for 3.18 and 3.201 = Ranges are divided by 10

The value of this parameter needs to be known before programming 3.18 and 3.20.



5.54 Inertia range select

� 0 ~ 1 � SLM RW Bit


�8 Menu 6 Parameters - Sequencer Functions, AC Supply Loss

ModesParameter Range(�) Default(�) Type

6.01 Stop mode selector 0 ~ 2 2 RW Txt P

6.03 AC supply loss mode selector 0 ~ 1 0 RW Uni P

6.08 Hold zero speed select 0 ~ 1 1 RW Bit

6.15 Drive enable 0 ~ 1 1 RW Bit

6.20 Powered-up time (years, days) 00.00 ~ 9.365 y.d RO Uni S P

6.21 Powered-up time (hours, minutes) 00.00 ~ 23.59 h.m RO Uni S P

6.31 Sequencing bit JOG FORWARD 0 ~ 1 0 RW Bit

6.32 Sequencing bit JOG REVERSE 0 ~ 1 0 RW Bit

6.33 Sequencing bit FORWARD/REVERSE 0 ~ 1 0 RW Bit

6.34 Sequencing bit RUN 0 ~ 1 0 RW Bit

6.35 FORWARD LIMIT switch 0 ~ 1 0 RW Bit

6.36 REVERSE LIMIT switch 0 ~ 1 0 RW Bit

6.44 Active supply indicator 0 ~ 1 RO Bit

6.48 DC-bus threshold voltage 0 ~ 600 400 RW Uni

6.49 Controlled-stop enabled indicator 0 ~ 1 RO Bit

6.50 UV warning threshold 0 ~ 600 400 RW Uni



13.15

Orientationcomplete

Under-voltswarningthreshold

6.50 10.16

UV warningflag


�

Only one stopping phase exists and the ready state is entered as soon as the single stopping action is complete.

0 = DisabledThere is no mains loss detection and the drive operates normally as long as the DC Link voltage within specificationi.e greater than DC Bus undervolt trip level.

1= Controlled StopThe drive detects mains loss by comparing the DC bus voltage with the controlled stop enable DC bus level parameter [6.48]. If the DC buslevel is less than the value stored in parameter [6.48] then a controlled stop is requested, which triggers a controller to operate. This controllerwill regulate the ramp rate to keep the DC bus level above the programmed level as close as possible to the required ramp rate. Controllergains can be adjusted using parameters [2.46] & [2.47].The drive will continue a controlled stop even if mains voltage is restored, a drive reset is necessary to resume normal application. During acontrolled stop the drive will display “CSP”.

When this bit is set the drive will hold torque at standstill when not in the running state rather than disabling the output bridge. The drive statuswill be StP when the drive is at standstill rather than rdY.

0 = rdY1 = StP

Setting this parameter to 0 will disable the drive. It must be at 1 for the drive to run.0 = Drive disable1 = Drive enable

Hardware enable contact must also be closed to run the drive. Refer to parameter 8.09 for hardware enable indicator.

Together with the next parameter the drive records the amount of time the drive has been running since it left the manufacturing plant.

Together with the previous parameter the drive records the amount of time the drive has been running since it left the manufacturing plant.

The drive sequencer uses these bits as inputs rather than looking at terminals directly. This allows the customer to define the use of eachdrive terminal according to each application needs.

0 = Disabled1 = Enabled

6.01 Stop mode selector

� 0 ~ 2 � 2 RW Txt P

StoppingMode

Action

0 - COASt Inhibits the inverter

1 - rP Stop with ramp

2 - no.rP Stop with no ramp

6.03 AC supply loss mode selector

� 0 ~ 1 � 0 RW Bit P

6.08 Hold zero speed select

� 0 ~ 1 � 1 RW Bit

6.15 Drive enable

� 0 ~ 1 � 1 RW Bit

6.20 Power-up time (Years, Days)

� 00.00 ~ 9.365 � Yrs ~ days RO Uni S P

6.21 Power-up time (Hours, Minutes)

� 00.00 ~ 23.59 � Hours ~ Mins RO Uni S P

6.31 Sequencing Bit JOG FORWARD

6.32 Sequencing Bit JOG REVERSE

6.33 Sequencing Bit FORWARD / REVERSE

6.34 Sequencing Bit RUN

� 0 ~ 1 � 0 RW Bit

NOTE


�

Digital inputs connected to limit switches should be routed to these parameters if fast stopping is required at a limit. The drive will respond in500µs (500µs digital input filter delay) and stop the motor with zero ramp rate (i.e. in current limit) if limit switch ramp is disabled (i.e.parameter 2.05 Limit switch ramp disable is set to zero). If limit switch ramp is enabled the drive will stop the motor using the ramp rate set inForward deceleration ramp parameter 2.25 or Reverse deceleration ramp parameter 2.26.The limit switches are direction dependant so that the motor can rotate in a direction that allows the system to move away from the limitswitch. The drive status will indicate “LSP” meaning Limit switch StoP active, until the system moves away from the limit switch.

The drive can operate from the following supplies as indicated by this parameter.0 - Main power terminals

The drive power circuit, gate drives, control circuits and SLM module are using the main power terminals to derive their supplies. The drivewill operate normally. Parameters that are saved at power-down are saved when the supply is removed in this mode and a UU trip occurs.

1- 30V Control backupAuxiliary back-up supply in operation.

The drive detects mains loss by comparing the DC bus voltage with the controlled stop enable DC bus level parameter 6.48. If the DC buslevel is less than the value stored in parameter 6.48 then a controlled stop is requested. Drive controls the ramp rate to keep the DC bus levelabove the programmed level as close as possible to the required ramp rate. The drive will continue a controlled stop even if mains voltage isrestored.

This parameter indicates that the motor is being subject to controlled deceleration to a stop during failure of the AC supply.0 = Controlled stop not active1 = Controlled stop enabled

The UV trip level is 350V DC.Refer to parameter 10.16.

6.35 FORWARD LIMIT switch

6.36 REVERSE LIMIT switch

� 0 ~ 1 � 0 RW Bit

6.44 Active supply indicator

� 0 ~ 1 � RO Bit

6.48 DC Bus threshold voltage

� 0 ~ 600 � 400 V RW Uni

6.49 Controlled stop enabled indicator

� 0 ~ 1 � RO Bit

6.50 UV warning threshold

� 0 ~ 600 � 400 RW Uni


�9 Menu 7 Parameters - Analog Input Output Settings,

Temperature Monitoring

Notes

Analog-input selection

When parameter 1.14 is set at 0, 1 or 2, parameter 7.10 is automatically set at 1.36 in order to select parameter 1.36 as the destinationparameter for the analog input. The setting of 7.10 cannot then be changed.

Other settings of parameter 1.14 allow parameter 7.10 to be set at any value (including 1.36).

When parameter 7.10 is set at any of the following...

1.36(irrespective of the setting of parameter 1.14)

4.08

3.22

... the parameters listed below are by-passed in order to simplify setting-up and increase speed of response to changes in the input signal:

7.01 Analog input

7.07 Analog input offset trim

7.08 Analog input scaling

7.09 Analog input invert

Parameter 7.54: sample time = 250µs

Pulse ModeThe analog input destination selector parameter 7.10 cannot be used when a Pulse reference is selected (i.e parameter 1.14 to 5).This is due to the internal characteristics of the drive.

Analog-input scaling

Analog-input scaling operates only when 7.10 Analog input destination selector is set at 1.36 or 3.22 and 7.57 Analog input scaling enable isset at 1.

The scaling should be used for final adjustment only. Keep the ratio of 7.55 over 7.56 below 1.1. Failure to do so willpossibly end up in speed reversal

The appropriate parameter, as follows, indicates the scaled speed demand:

1.36 Analog reference

3.22 Hard speed reference


7.01 Analog input ±100.0% RO Bi P

7.04 Power-stage temperature 0 ~ 100 °C ±10 °C RO Uni P

7.07 Analog input offset trim ±10.0% 0.0 RW Bi P

7.08 Analog input scaling 0.000 ~ 4.000 1.000 RW Uni

7.09 Analog input invert 0 ~ 1 0 RW Bit

7.10 Analog input destination selector00.00 ~ 20.50

menu.parameter1.36 RW Uni R P

7.19 Analog output 1 source selector00.00 ~ 20.50

menu.parameter3.64 RW Uni

7.20 Analog output 1 scaling 0.000 ~ 4.000 1.000 RW Uni

7.22 Analog output 2 source selector00.00 ~ 20.50


7.23 Analog output 2 scaling 0.000 ~ 4.000 1.000 RW Uni

7.25 Calibrate analog input 1 full scale 0 ~ 1 0 RW Bit

7.26 Analog-input sample time 0.25 ~ 4.0 ms 1.000 RW Uni R

7.52 _AN option module fitted indicator 0 ~ 1 RO Bit

7.53 V/f scale ±4096 871 RW Uni

7.54 Filtered input ±8192 RO Uni

7.55 Analog input scaling numerator 0 ~ 32367 1 RW Uni

7.56 Analog input scaling denominator 0 ~ 32367 1 RW Uni

7.57 Analog input scaling enable 0 ~ 1 0 RW Bit

WARNING


�Analog-output scaling

When parameter 3.64 is selected, and parameter 7.20 is set at 1, 10V at Analog output 1 represents 7500rpm.

When parameter 4.04 is selected, and parameter 7.23 is set at 1, 10V at Analog output 2 represents 200% FLC.

Analog-input destination in torque modeWhen the drive is in torque mode (parameter 4.11 set to 1 or 2) and controlled by an analog input, parameter 7.10 Analog input destinationselector must be set to 4.08, parameter 1.14 Reference selector must be set to 3 to 5.

Summary for torque mode with analog reference1. Set 1.14 to 32. Set 4.11 to 1 or 23. Set 7.10 to 4.084. Set XX.00 to 1000

5. Execute command in Edit mode

6. Power-down7. Power-up

and


�


�

This parameter displays the level of the analog signal in percentage that is present at the terminal.

This parameter displays the temperature currently being measured on the heatsink. If this level reaches 90°C the drive will give an alarmindication hot on the lower line of the display. If the temperature continues to rise the drive will trip O.ht2 to protect it's self from device failuredue to over temperature.

This parameter can be used to trim out any offset in the users reference signal.

This parameter can be used to scale the analog input if so desired.

This parameter can be used to invert the analog input reference if so desired.

The parameter, which the analog input is required to control is programmed here. Only a non-bit parameter which is not protected can becontrolled by the analog input. If a non-valid parameter is programmed then the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset is performed or the drive powered down.

The parameter which is desired to be read via the analog output should be programmed here. Only a non bit parameter can be programmed.After modifications of this parameter the source is only changed when a reset is performed or the drive powered down.

This parameter is used to scale the output if so desired. Automatic scaling is provided such that when the source parameter is at its maximumvalue the analog output will be at a maximum.

The parameter which is desired to be read via the analog output should be programmed here. Only a non bit parameter can be programmed.After modifications of this parameter the source is only changed when a reset is performed or the drive powered down and then up again.

This parameter is used to scale the output if so desired. Automatic scaling is provided such that when the source parameter is at its maximumvalue the analog output will be at a maximum.

7.01 Analog input

� 0 ~ 100 � % RO Bi P

7.04 Power-stage temperature

� 0 ~ 100 � °C ±10°C RO Uni P

7.07 Analog input offset trim

� ±10.0 � 0.0 % RW Bi P

7.08 Analog input scaling

� 0.000 ~ 4.000 � 1.000 RW Uni

7.09 Analog input invert

� 0 ~ 1 � 0 RW Bit

7.10 Analog input destination selector

� 00.00 ~ 20.50 � 1.36 Menu. Par RW Uni R P

7.19 Analog output 1 source selector

� 00.00 ~ 20.50 � 3.64 Menu. Par RW Uni

7.20 Analog output 1 scaling

� 0.000 ~ 4.000 � 1.000 RW Uni

7.22 Analog output 2 source selector

� 00.00 ~ 20.50 � 4.04 RW Uni

7.23 Analog output 2 scaling

� 0.000 ~ 4.000 � 1.000 RW Uni


�

Setting this bit will cause the drive to adjust it's own scale factor such that the required maximum is reached at the input level at the timecalibration takes place. This parameter is cleared by the software when the calibration is complete.

This parameter affects the low speed performance and the speed of response to a changing speed demand. Low values give good dynamicresponse but noisier operation at low speeds and high values give smooth low speed operation but less dynamic response. A compromisemust be made between low speed operation and good dynamic response.After modification of this parameter the sample time is only changed when a reset or power down and back up again is carried out.

Indicates 1 if an AN (high precision) option module is fitted.

This parameter is the input scale factor (Counts / 250µs) for full analog input. This scale factor is automatically adjusted by the calibrateroutine, parameter 7.25. Default value is 227 which is nominal counts with 10V input.

This is the output of the V/F accumulator. Updated every 250µs.

The above two parameters are used for analog input ratio, when routed for Analog Reference input [Parameter 1.36], to achieve the lastniche of necessary maximum speed. The sampled analog input counts per every 250µS are scaled according to Maximum reference Clamp[Parameter 1.06] and then multiplied by the numerator and divided by the denominator.

This parameter enables the ratio of Analog Reference input.0 - Disable1 - Enable

7.25 Calibrate analog input 1 full scale

� 0 ~ 1 � 0 RW Bit

7.26 Analog input sample time

� 0.250 ~ 4.000 � 1.000 ms RW Uni R

7.52 AN option module fitted indicator

� 0 ~ 1 � RO Bit

7.53 V/F scale

� ±4096 � 871 RW Uni

7.54 Filtered input

� ±8192 � RO Uni

7.55 Analog input scaling numerator

7.56 Analog input scaling denominator

� ±32367 � 1 RW Uni

7.57 Analog input scaling enable

� 0 ~ 1 � 0 RW Bit


�10 Menu 8 Parameters - Digital Input / Output Settings and

IndicationsParameter Range(�) Default(�) Type

8.01 Digital input 1 state indicator - Digital I/O Terminal 10 0 ~ 1 RO Bit P








8.09 {0.01}Hardware enable indicator - MCIEIA 485 / StandaloneTerminal 3

0 ~ 1 RO Bit P

8.11 Digital input 1 invert 0 ~ 1 0 RW Bit


8.13 Digital input 3 invert 0 ~ 1 0 RW Uni



8.16 Digital input 6 invert 0 ~ 1 0 RW Uni



8.20 Digital input / output read word 0 ~ 16384 RO Uni P

8.21Digital input 1 destination selector(RUN)

00.00 ~ 20.50menu.parameter

6.34 RW Uni P

8.22Digital input 2 destination selector(REVERSE SELECT)


6.33 RW Uni P

8.23Digital input 3 destination selector(JOG FORWARD)


6.31 RW Uni P

8.24Digital input 4 destination selector(FORWARD LIMIT)


6.35 RW Uni P

8.25Digital input 5 destination selector(REVERSE LIMIT)


6.36 RW Uni P

8.26Digital input 6 destination selector(RESET)


10.33 RW Uni P

8.27Digital input 7 destination selector(Preset reference select bit-0)


1.45 RW Uni P

8.28Digital input 8 destination selector(Preset reference select bit-1)


1.46 RW Uni P

8.51 Digital output 1 state indicator - Digital I/O Terminal 5 0 ~ 1 RO Bit P




8.55 Status-relay state indicator 0 ~ 1 RO Bit P

8.59 Status line indicator 0 ~ 1 RO Bit

8.60 Status line output enable 0 ~ 1 RO Bit

8.61 Digital output 1 invert 0 ~ 1 0 RW Bit




8.65 Status-relay invert 0 ~ 1 0 RW Bit

8.71Digital output 1 source selector(DRIVE RUNNING)


10.02 RW Uni P

8.72Digital output 2 source selector(AT ZERO SPEED)


10.03 RW Uni P

8.73Digital output 3 source selector(ALARM)


10.19 RW Uni P

8.74Digital output 4 source selector(AT SPEED)


10.06 RW Uni P

8.75Status-relay source selector(DRIVE HEALTHY)


10.01 RW Uni P



DIGITAL I/O

STANDALONE

DIGITAL I/O

??.??

Any bitparameter

??.??Y

x(-1)

Digital input X

X??.??

Any unprotectedbit parameter

??.??

8.2X

Digital input Xdestinationselector

x(-1)

8.1X

Digital input Xinvert

Digital input Xstate indicator

8.0X

X

12345678

Default function

RUNREVERSE SELECTJOG FORWARDFORWARD LIMITREVERSE LIMITRESETPRESET SELECT BIT 0PRESET SELECT BIT 1

Defaultdestinationparameter

6.346.336.316.356.3610.331.451.46

Pin

10987161312

Y

1234

Default function

M'AX RUNNINGAT ZERO SPEEDALARMAT SPEED

Default sourceparameter

10.0210.0310.1910.06

Pin

5432

Digital output Ystate indicator

8.5Y8.7Y

Digital output Ysource selector

8.6Y

Digital output Yinvert

Digital output Y

Hardware enable

3

Hardware enableindicator

8.09

U

V

W

Power stage

SIM ENC3

SLM4

MC4

MULTIDROP OUT4

MULTIDROP IN4

MC/EIA485

10.01

??.??10

x(-1)

Status-relaystate indicator

8.558.75

Status-relaysource selector

8.65

Status-relayinvert

Any bitparameter

Drive healthyindicator 8


�

These parameters indicate the input state of the terminals.0 = In-active1 = Active

This parameter indicates if the hardware enable contact is closed. If the hardware enable contact is open the drive will display “Inh”. If thehardware enable is closed, the drive will display either “Rdy”, “StP”, or “run”.

0 = In-active1 = Active

This invert parameter is used to change the sense of terminal 10 on the Digital I/O port. Setting this parameter to 1 causes the input sense tothe destination parameter to be inverted.

0 = Not inverted1 = Inverted









8.01 Digital input 1 state indicator - Digital I/O terminal 10








� 0 ~ 1 � RO Bit P

8.09 Hardware enable indicator - MCIEIA 485 / Standalone terminal 3

� 0 ~ 1 � RO Bit P 0.01

8.11 Digital Input 1 invert

� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P


�







This word is used to determine the status of the digital I/O by reading one parameter. The bits in this word reflect the state of parameters 8.01to 8.08 and parameters 8.51 to 8.60.

* Reserved for future development.

This parameter should be programmed with the destination parameter for terminal 10 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Run.

This parameter should be programmed with the destination parameter for terminal 9 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Reverse select.

This parameter should be programmed with the destination parameter for terminal 8 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Jog forward.


� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P

8.20 Digital input / output read word

� 0 ~ 16384 � RO Uni P

Bit Digital I/O Parameter Bit Digital I/O Parameter

0 Digital input 1 8.01 8 Digital Output 1 8.51




4 Digital input 5 8.05 12 Status Line Input* 8.59

5 Digital input 6 8.06 13 Status Line Output* 8.60

6 Digital input 7 8.07 14

7 Digital input 8 8.08 15

8.21 Digital input 1 destination selector (RUN)

� 0.00 ~ 20.50 � 6.34 Menu.Par RW Uni P

8.22 Digital input 2 destination selector (REVERSE SELECT)

� 0.00 ~ 20.50 � 6.33 Menu.Par RW Uni P

8.23 Digital input 3 destination selector (JOG FORWARD)

� 0.00 ~ 20.50 � 6.31 Menu.Par RW Uni P


�

This parameter should be programmed with the destination parameter for terminal 7 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Forward limit.

This parameter should be programmed with the destination parameter for terminal 1 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Reverse limit.

This parameter should be programmed with the destination parameter for terminal 6 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Reset.

This parameter should be programmed with the destination parameter for terminal 13 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Preset reference select bit-0.

This parameter should be programmed with the destination parameter for terminal 12 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed the input is not routed anywhere. After modification of thisparameter the destination is only changed when a reset or power down and back up again. Defaulted to Preset reference select bit-1.

This parameter is set if terminal 5 of the Digital I/O port is active.




This parameter indicates the state whether the drive has tripped or not. A logic 0 indicates a trip state is present.0 = De-energised1 = Energised, drive healthy.

8.24 Digital input 4 destination selector (FORWARD LIMIT)

� 0.00 ~ 20.50 � 6.35 Menu.Par RW Uni P

8.25 Digital input 5 destination selector (REVERSE LIMIT)

� 0.00 ~ 20.50 � 6.36 Menu.Par RW Uni P

8.26 Digital input 6 destination selector (RESET)

� 0.00 ~ 20.50 � 10.33 Menu.Par RW Uni P

8.27 Digital input 7 destination selector (Preset reference select bit-0)

� 0.00 ~ 20.50 � 1.45 Menu.Par RW Uni P

8.28 Digital input 8 destination selector (Preset reference select bit-1)

� 0.00 ~ 20.50 � 1.46 Menu.Par RW Uni P

8.51 Digital output 1 state indicator - Digital I/O Terminal 5

� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P


� 0 ~ 1 � RO Bit P

8.55 Status relay state indicator

� 0 ~ 1 � RO Bit P


�

Parameter not used

Parameter not used.

This invert parameter is used to change the sense of terminal 5 on the Digital I/O port.0 = Not inverted1 = Inverted




This invert parameter is used to change the sense of terminal 8 and 10 on the MC/EIA485 port. Setting this parameter to a 1 causes theoutput from the source parameter to be inverted.


This parameter should be programmed with the source parameter for terminal 5 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed an output will assume the last valid state (i.e. the value of previouslyprogrammed parameter). After modification of this parameter the source is only changed when a reset is performed or a power down andback up again. Defaulted to drive running.

This parameter should be programmed with the source parameter for terminal 4 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed an output will drive current. After modification of this parameter thesource is only changed when a reset is performed or a power down and back up again. Defaulted to At zero speed.

8.59 Status line indicator

� 0 ~ 1 � RO Bit

8.60 Status line output enable

� 0 ~ 1 � RO Bit

8.61 Digital output 1 invert

� 0 ~ 1 � 0 RW Bit


� 0 ~ 1 � 0 RW Bit


� 0 ~ 1 � 0 RW Bit


� 0 ~ 1 � 0 RW Bit

8.65 Status relay invert

� 0 ~ 1 � 0 RW Bit

8.71 Digital output 1 source selector (DRIVE RUNNING)

� 0.00 ~ 20.50 � 10.02 Menu.Par RW Uni P

8.72 Digital output 2 source selector (AT ZERO SPEED)

� 0.00 ~ 20.50 � 10.03 Menu.Par RW Uni P


�

This parameter should be programmed with the source parameter for terminal 3 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed an output will drive current. After modification of this parameter thesource is only changed when a reset is performed or a power down and back up again. Defaulted to Alarm indicator.

This parameter should be programmed with the source parameter for terminal 2 on the Digital I/O port. Only bit parameters can beprogrammed into this parameter. If a non-valid parameter is programmed an output will drive current. After modification of this parameter thesource is only changed when a reset is performed or a power down and back up again. Defaulted to At speed.

This parameter should be programmed with the source parameter for the status relay on terminal 8 and 10 on the MC/EIA485 connector. Onlybit parameters can be programmed into this parameter. If a non-valid parameter is programmed the output will be open. After modifications ofthese parameters the destinations are only changed when a reset is performed or the drive is powered down and back up again. Defaulted todrive healthy.

8.73 Digital output 3 source selector (ALARM)

� 0.00 ~ 20.50 � 10.19 Menu.Par RW Uni P

8.74 Digital output 4 source selector (AT SPEED)

� 0.00 ~ 20.50 � 10.06 Menu.Par RW Uni P

8.75 Status relay source selector (DRIVE HEALTHY)

� 0.00 ~ 20.50 � 10.06 Menu.Par RW Uni P


�11 Menu 10 Parameters - Status and Diagnostic Information,

Trip log, Braking control

The under-voltage protection [10.53] can only be disabled via a digital input.


10.01 Drive healthy indicator 0 ~ 1 RO Bit P

10.02 Drive running indicator 0 ~ 1 RO Bit P

10.03 At zero speed indicator 0 ~ 1 RO Bit P

10.05 Below set speed indicator 0 ~ 1 RO Bit P

10.06 At speed indicator 0 ~ 1 RO Bit P

10.07 Above set speed indicator 0 ~ 1 RO Bit P

10.11 Braking active indicator 0 ~ 1 RO Bit P

10.12 Braking-resistor overload alarm indicator 0 ~ 1 RO Bit P

10.15 AC supply loss indicator 0 ~ 1 RO Bit P

10.16 UV warning flag 0 ~ 1 RO Bit

10.17 {0.39} Motor [I2t] overload trip indicator 0 ~ 1 RO Bit P

10.18 Heatsink temperature alarm indicator 0 ~ 1 RO Bit P

10.19 Alarm indicator 0 ~ 1 RO Bit P

10.20 {0.44} Last trip RO Txt S P

10.21 Second last trip RO Txt S P

10.22 Third last trip RO Txt S P

10.23 Fourth last trip RO Txt S P

10.24 Fifth last trip RO Txt S P

10.25 Sixth last trip RO Txt S P

10.33 Drive reset 0 ~ 1 RO Bit

10.38 User-defined trips 0 ~ 255 0 RW Uni

10.39 {0.42} Internal braking-resistor overload accumulator 0 ~ 100.0% RO Uni P

10.40 Status word 0 ~ 32767 RO Uni P

10.41 Trip-0 time (years, days) 0.000 ~ 9.365 y.d RO Uni P

10.42 Trip-0 time (hours, minutes) 00.00 ~ 23.59 h.m RO Uni S P






10.52 SLM technology failure indicator 0 ~ 512 RO Uni P

10.53 Under-voltage protection disable 0 ~ 1 RO Bit P

10.54 AC-supply phase failure protection disable 0 ~ 1 0 RW Bit

10.55 Internal braking-resistor protection disable 0 ~ 1 0 RW Bit

10.56 {0.41} Drive overload accumulator 0.0 ~ 100.0% RO Uni P

10.57 Supply interlock 0 ~ 1 RO Bit P

10.58 {0.40} Motor I2t accumulator 0.0 ~ 100.0% RO Uni P

10.59 SLM PCB temperature 0 ~ 100 °C RO Uni P

10.60 SLM technology fault warning 0 ~ 1 RO Bit

NOTE


�

This parameter indicates whether the drive has tripped or not.0 = Trip condition1 = Drive healthy

This parameter is set if the servo output is active.0 = Inhibit condition1 = hardware enable active

This parameter displays 1 when speed feedback is at zero or below the zero speed threshold as defined by parameter [3.05].0 = Above zero speed1 = At zero speed

This parameter is set when the absolute value of the ramp output or speed feedback is below the 'at speed' window as defined by parameters[3.06] and [3.09]. Parameter is only set if the drive is running.

0 = At set speed1 = Below set speed

This parameter is set when the absolute value of the ramp output or speed feedback is within the 'at speed' window as defined by parameters[3.06],[3.07] and [3.09]. Parameter is only set if the drive is running.

0 = Outside ‘at speed’ threshold1 = ‘At speed’ threshold reached

This parameter is set when the absolute value of the ramp output or speed feedback is above the 'at speed' window as defined by parameters[3.07], and [3.09]. Parameter is only set if drive is running.

0 = Outside ‘above set speed’ threshold1 = ‘Above set speed’ threshold reached

This parameter is set when the power is being transferred from the motor to the braking resistor.0 = Braking circuit inactive (DC Bus level below 780V)1 = Braking circuit active (DC Bus level above 780V)

This parameter is set when the braking is active and the braking energy accumulator is greater than 75%. Only active when internal brakingresistor is used.

0 = Braking resistor overload alarm inactive1 = Braking resistor overload alarm active

This parameter is set to indicate a loss of input supply to the drive.0 = AC supply healthy, 1 = AC supply lost

10.01 Drive healthy indicator

� 0 ~ 1 � RO Bit P

10.02 Drive running indicator

� 0 ~ 1 � RO Bit P

10.03 At zero speed indicator

� 0 ~ 1 � RO Bit P

10.05 Below set speed indicator

� 0 ~ 1 � RO Bit P

10.06 At speed indicator

� 0 ~ 1 � RO Bit P

10.07 Above set speed indicator

� 0 ~ 1 � RO Bit P

10.11 Braking active indicator

� 0 ~ 1 � RO Bit P

10.12 Braking-resistor overload alarm indicator

� 0 ~ 1 � RO Bit P

10.15 AC supply loss indicator

� 0 ~ 1 � RO Bit P


�

This bit parameter is set if the DC bus level falls below the UV warning threshold set in parameter [6.50], otherwise cleared.The UV trip level is 350V DC.

This parameter is set if the motor current is larger than 110% of the programmed motor rated current and the overload accumulator is greater

than 100% to warn that if the motor current is not reduced the drive will trip on I2t overload.

0 = Motor I2t overload alarm inactive

1 = Motor I2t overload alarm active

This parameter is set if the heatsink temperature is greater than 90°C0 = Heatsink temperatures below alarm threshold1 = Heatsink temperature alarm active

Indicates that one of the drive alarms is active.0 = Drive healthy, no alarm active

1 = Alarm active

Contains the last 6 drive trips. Parameter [10.20] is the most recent trip and [10.25] the oldest. When a new trip occurs all the parametersmove down one, the current trip is put in [10.20] and the oldest trip is lost off the bottom of the log. Possible trips for M'Ax are shown in thetable below. At time stamps are stored for each trip (see parameters [10.41] to [10.47]). UU trips are not stored unless the drive is runningwhen the trip occurs.

Any trip can be initiated by the actions described or by writing the relevant trip number to parameter [10.38]. If any trips shown as user tripsare initiated the trip string is trxxx, where xxx is the trip number.

10.16 UV warning flag

� 0 ~ 1 � RO Bit

10.17 Motor I2t overload trip indicator

� 0 ~ 1 � RO Bit P 0.39

10.18 Heatsink temperature alarm indicator

� 0 ~ 1 � RO Bit P

10.19 Alarm indicator

� 0 ~ 1 � RO Bit P

Alarm indicators

Ibr The I2t accumulator for the internal braking resistor in the drive hasreached 75% of the value of which the drive will trip

OuLMotor thermal overload accumulator in the drive indicates that the motorwindings are at their maximum specified working temperature

hot The drive heatsink and / or internal control circuits have reached 90°COnL SLM on-line

10.20 Last trip

� � RO Txt S P 0.44

10.21 Second last trip

10.22 Third last trip

10.23 Fourth last trip

10.24 Fifth last trip

10.25 Sixth last trip

� � RO Txt S P


�

A 0 to 1 change on this parameter will cause a drive reset. If a drive reset terminal is required on the drive the required terminal must beprogrammed to control this bit. Digital input 6 is defaulted to reset function.

No. String Cause of trip

1 UU DC link under voltage

2 OU

DC link over voltage. This could be because the DC link voltage has exceeded the maximum levelor has remained above the maximum continuous level for more than 30s.Drive voltage rating: 400VInstantaneous trip: 830VMax continuous level: 810V

3 OI.AC AC instantaneous over current, caused by hardware fault, this trip cannot be reset for 2s

4 OI.br Braking resistor instantaneous current trip. This trip cannot be reset for 2s.

5 PS Internal drive power supply trip

6 Et External trip

7 OU.SPd Over speed (see [3.08])

8 ~ 10 tr08 ~ tr10 User trips

11 tunE1 No axis movement, during Flux alignment procedure.

12 tunE2 Incorrect direction of rotation, during Flux alignment procedure


18 tunE Flux alignment procedure stops before completion

19 It.br Braking resistor over-heat based on thermal model. (see [10.39])

20 I2t.AC Motor over-heat based on thermal model (see [10.58])

21 O.ht1 Drive over-heat based on thermal model (see [10.56])

22 O.ht2 Drive over-heat based on heat sink temperature (see [7.04])

23 O.ht3 SLM over-heat based on PCB temperature (see [10.59])

24 O.ht4 SLM over-heat based on PCB temperature (see [10.59])

25 tr25 User trips

26 OP.Oul Digital output overload


31 EEFInternal drive EEPROM failure. All the parameters are set to default. The trip can only be removedby entering a load default command (i.e. 1233,1244,1255 etc.) into parameter [x.00] beforeresetting the drive.

32 PhHigh input voltage phase imbalance or input phase loss. Normally a motor load of between 50 and100% or drive rating is required to trigger the trip. The drive will attempt to stop the motor beforetripping, if specified in parameter [10.54].


50 dL.Er

DrivelinK hardware error. Possibly due to:• No 24v supply to SLM• Faulty cable• Damaged SLM / drive RS485 drivers due to excessive ESD

51 dR.SI Motor / drive excessive current rating mismatch

52 SL.Er See parameter 10.52 for explanation

53 CtC.ErEncoder error cause:• Quadrant mismatch• Initialisation failure

54 SL.ErThe SLM is being initialised (the trip code is seen momentarily when the drive is being powered-up). Momentary display of the trip code does not cause the drive to trip.

55 In.An9 Initial mismatch from the SLM; contact the supplier of the drive.


100 tr100 Drive reset

101 ~ 254 tr101 ~ tr254 User trips

255 tr255 Clear trip log information

10.33 Drive Reset

� 0 ~ 1 � RO Bit


�

This parameter is used to generate user trips, or to reset the drive codes are as shown in the table below

This parameter gives an indication of the average power. Zero indicates the resistor is not being used and 100% is the trip level. 100% equals125W power consumption through the resistor.

This parameter is used by the serial communications interfaceThe bits in this parameter correspond to the status bits in menu 10 as follows.

When a trip occurs, the reason for the trip is put into the top location in the trip log (parameter 10.20). At the same time the time from thepowered-up clock is put into Trip 0 time (parameters 10.41 and 10.42). The times for earlier trips (Trip 1 to 5) are moved to the next parameterin the same way that trips move down the trip log. The time for Trips 1 to 5 are stored as the time difference between when Trip 0 occurredand the relevant trip in hours and minutes. The maximum time difference that can be stored is 600 hours. If this time is exceeded the valuestored is 320.00.

The value of parameter 10.52 indicates which of the following has caused this trip.

10.38 User-defined trips

� 0 ~ 255 � 0 RW Uni

1 ~ 55 General drive trips that give trip strings

56 ~ 99 User trips that give string trXX,where XX is the trip number

100 If the parameter is set to 100 the drive is reset

255If the parameter is set to 255 the trip log (parameters 10.20~ 10.25 and 10.41 ~ 10.47) are cleared

10.39 Internal braking-resistor overload accumulator

� 0 ~ 100.0 � % RO Uni P 0.42

10.40 Status word

� 0 ~ 32767 � RO Uni P

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Notused

10.15Not

usedNot

used10.12 10.11

Notused

Notused

Notused

10.07 10.06 10.05Not

used10.03 10.02 10.01

10.41 Trip-0 time (years, days)

� 0.000 ~ 9.365 � Years. days RO Uni P

10.42 Trip-0 time (hours, minutes)

� 00.00 ~ 23.59 � Hours. mins RO Uni S P






� 00.00 ~ 600.00 � Hours. mins RO Uni S P

10.52 SLM technology failure indicator

� 0 ~ 512 � RO Uni P


�

This disables UU trip state and enables charge up relay for low voltage use. It is necessary to use a digital input to set this bit. This input isused to provide interlock before return to full volts from low voltage supply. The drive healthy bit is dropped after a delay of 20ms to allowcharging up relay to drop. This interlock mechanism protects the drive from applying full power to DC bus caps without a charging resistor.

When this parameter is activated by user trip 32 Ph is disabled.0 = Phase failure protection enabled1 = Phase failure protection disabled

When this parameter is activated by user trip 19 It.Br is disabled.0 = Internal braking resistor protection enabled1 = Internal braking resistor protection disabled

The M'Ax power stage is rated at 200% for 2 seconds. The drive includes a thermal protection system. The drive over temperature alarm bitis set if this parameter is greater than 75%. The drive will trip on O.ht1 if 10.56 > 100%.


10.52 Cause of trip

0 Dl.Er trip has occurred before SL.Er trip

1 Encoder object crc or checksum incorrect

2 Motor object crc checksum incorrect

4 Eze object crc checksum incorrect

8 Failure in encoder

16Invalid entry for address 49 of the motorobject

32 SLM not compatible with drive software

64 Eze object not compatible with drive software

128SLM technology failure. Maximum number ofcommunication attempts reached

256 SLM disabled state

512190 Frame motor fitted with a SLM softwareversion 3.01

10.53 Under voltage protection disable

� 0 ~ 1 � RO Bit P

10.54 AC-supply phase failure protection disable

� 0 ~ 1 � 0 RW Bit P

10.55 Internal braking-resistor protection disable

� 0 ~ 1 � 0 RW Bit P

10.56 Drive overload accumulator

� 0.0 ~ 100.0 � % RO Uni P 0.41

10.57 Supply interlock

� 0 ~ 1 � RO Bit P

10.53

Drive healthy

delay

Supply interlock delay [ ]10.57


�

The drive will trip on I2t.AC if 10.58 > 100%, for the time specified in parameter 4.54 Motor Overload time limit. Refer to parameter 4.54.

The drive will trip on O.ht3 if 10.59 > 85°C.

This bit parameter is set to indicate that either the “SL.Er” or “dL.Er” trip condition has occurred.

10.58 Motor I2T accumulator

� 0.0 ~ 100.0 � % RO Uni P 0.40

10.59 SLM PCB temperature

� 0 ~ 100 � °C RO Uni

10.60 SLM technology fault warning

� 0 ~ 1 � RO Bit


�12 Menu 11 Parameters - Scale factor, Initial displayed

parameter, Serial communications, Drive information

Notes

Parameter 11.25 settings




11.20 Parameter 0.46 assignment selector 00.00 ~ 19.71 3.02 RW Uni

11.21 Parameter 0.46 scaling 0.000 ~ 9.999 0.1 RW Uni

11.22 Initially displayed parameter selector00.00 ~ 13.99


11.23 {0.37} Serial comms. address 0.0 ~ 24.7 group.unit 1.1 RW Uni

11.24 Serial comms. protocol selector 0 ~ 1 0 RW Txt P

11.25 {0.36} Serial comms. baud rate 0 ~ 6 5 (9600) RW Uni P

11.26 Serial comms. transmit-delay time 0 ~ 255 µs 2 RW Uni P

11.29 {0.48} Drive software version 01.00 ~ 99.99 RO Uni P

11.30 {0.35} User security code 0 ~ 255 149 RW Uni S P

11.32 {0.20} Drive rated current (FLC) 00.00 ~ 99.99 A RO Uni P

11.33 Drive voltage rating 200 ~ 480 V RO Uni P

11.34 {0.47} Drive software build number 00 ~ 99 RO Uni P

11.39 SLM software version 00.99 ~ 99.99 RO Uni P

11.51 Hardware revision 0 ~ 15 RO Uni

11.52 SLM update enable 0 ~ 1 RW Bit

11.53 SLM address 1 ~ 128 RW Uni

11.54 SLM data/command 0 ~65535 RW Uni

11.55 SLM instruction 0 ~65535 RW Uni

11.56 {0.45} SLM communications integrity 0 ~ 100% RO Uni P

11.57 Number of errors on last instruction 0 ~ 255 RO Uni P

11.58 SLM update error indicator 0 ~ 1 RO Bit P

11.59 SLM busy indicator 0 ~ 1 RO Bit P

11.60 SLM background-read enable 0 ~ 1 RW Bit P

11.61 SLM test results 0 ~ 1 RO Bit P

11.62 SLM power-up delay 0 ~ 5 1 (250) RW Uni P

11.63 SLM buffer update 0 ~ 1 0 RW Bit

11.64 {0.17} SLM on-line enable 0 ~ 1 0 RW Bit

11.65 SLM encoder mode select 0 ~ 1 0 RW Bit

11.66 Host mode enable 0 ~ 1 1 RW Bit P

11.67 Flash update enable 0 ~ 1 0 RW Bit P

11.68 Flash device type FL28 (0) ~ FL29 (1) RO Txt P

11.25 0 1 2 3 4 5 6

Baud rate(bits/s)

300 600 1200 2400 4800 9600 19200

11.62 0 1 2 3 4 5

SLM powerup delay

(ms)0 250 500 750 1000 1250

11.68 Description

FL-28 Intel device fitted

FL-29 AMD compatible device fitted


�

Parameter [0.46] can be assigned to any advanced parameter and given a scaling factor. Typical uses are as follows:1. Indicates the rate of flow in a way that is meaningful to the production process (e.g cans per hour)2. Indicates the torque calculated from the motor current.The default function is as follows:

0.1 x [0.05] speed feedback

Assigning [0.46] to another parameter.1. Enter the number of the required parameter in [11.20].2. Save parameters.

Changing the scaling for [0.46.]1. Note the number of decimal places used by the values of the parameter assigned to parameter [0.46]. Obtain the value of the modifier

from the following table.

2. Use [11.21] to define the required scaling factor, as follows:[11.21] = [0.46] / [XX.XX] x M

Where:[XX.XX] is the value of the parameter that is assigned to parameter 0.46 by parameter [11.20].

3. Save parameters.

ExamplesDefault settings.Parameter assigned to parameter [0.46] = [3.02]Number of decimal places used in the value of parameter [3.02] = 1Therefore M = 1Default setting of parameter [11.21] = 0.1

The value of parameter [0.46] is given by:-[0.46] = [3.02] x [11.21] x M

For example, when [3.02] = 1500rpm, [0.46] is as follows:-[0.46] = 1500 x 0.1 x 1 = 150

Approximate indication of torque.1. Set parameter [11.20] at [4.01] or [0.07] (motor current magnitude).2. Two decimal places are used in the value, therefore M = 103. Set parameter [11.21] at 0.16 (1.6 / 10 = 0.16) to represent the KT of the motor. (Here KT is divided by 10 due to M = 10.)

4. Parameter [0.46] will indicate as follows:-[0.46] = [4.01] x 0.16 x 10

When [4.01] is 2.75A:-[0.46] = 2.75 x 0.16 x 10 = 4.4

This parameter defines which parameter is displayed on power up. Defaulted to parameter 0.05 Speed feedback.

Used in ANSI to define the unique address for the drive by the serial interface. Any number which has a zero in it should not be used tocommunicate with a single drive as these are used in addressing groups of drives.Used in MODBUS RTU to define the unique address for the drive for the serial interface. Any number in the permitted range 0.1 to 24.7 canbe used as the drive address, 0.0 is a special address that broadcasts to all drives.

11.20 Parameter 0.46 assigned selector

� 00.00 ~ 19.71 � 3.02 RW Uni

11.21 Parameter 0.46 scaling

� 0.000 ~ 9.999 � 0.1 RW Uni

No. of decimalplaces

Scalingmodifier (M)

0 0.1

1 1

2 10

3 100

etc. etc.

11.22 Initial displayed Parameter selector

� 0.00 ~ 13.99 � 0.05 Menu.Par RW Uni P

11.23 Serial comms. Address

� 0.0 ~ 24.7 � 1.1 Group.Unit RW Uni P 0.37


�

This is the mode of operation of the serial port.0 = ANSI1 = MODBUS RTU

Used in ANSI comms mode to select the comms port baud rate.0 = 3001 = 6002 = 12003 = 24004 = 48005 = 96006 = 19200

This defines the minimum time before the drive will enable its transmit buffers and transmit data in response to a message from the controller.This allows the host software to have time to disable its own transmit buffers after transmitting data to the drive.

Indicates the version of the drive software fitted. The last digit indicates the version of the mask software within the drive processor.

If any number other than 149 (factory default) is programmed into this parameter user security is applied. The parameter value can only beseen while it is being edited, otherwise the value displayed is 149 so that the actual security code cannot be seen. Setting this security codeprotects all parameters from being adjusted, except this one, until the correct code has been entered in parameter xx.00. Setting a securitycode of zero does not set security, but disables the function that requires 149 to be entered into parameter [xx.00] to exit Menu 0 after power-up.

This parameter indicates the maximum continuous current rating of the drive in amps.

This parameter indicates the voltage rating of the drive.

This parameter indicates the sub version of user software stored in the memory.

Indicates the version of the SLM software fitted to the motor.

11.24 Serial comms. Protocol selector

� 0 ~ 1 � 0 RW Bit P

11.25 Serial comms baud rate

� 0 ~ 6 � 5 RW Uni P 0.36

11.26 Serial comms. transmit-delay time

� 0 ~ 255 � 2 ms RW Uni P

11.29 Drive software version

� 01.00 ~ 99.99 � RO Uni P 0.48

11.30 User security code

� 0 ~ 255 � 149 RW Uni S P 0.35

11.32 Drive rated current (FLC)

� 00.00 ~ 99.99 � A RO Uni P 0.20

11.33 Drive voltage rating

� 200 ~ 480 � V RO Uni P

11.34 Drive software build number

� .00 ~ .99 � RO Uni P

11.39 SLM software version

� 00.99 ~ 99.99 � RO Uni 0.47


�Read & Write SLM parameters and Issue SLM command to M'Ax

SLM Update bit [11.52] will execute an instruction. SLM Instruction parameter [11.55] provides the instruction to be carried out. According tothe instruction Data location is used as a data or command. SLM Status bit is set for Nak and cleared for Ack. SLM update is held high untilinstruction is complete. Make sure SLM update bit is clear before changing SLM instruction parameter.

Indicates the hardware version of the drive.

When set to 1, executes the SLM instruction set in parameter [11.55] and returns to 0 after the execution.

SLM Memory location to be written or read from the execution of SLM instruction.

This parameter serves two purposes:-1. SLM data / command to be written by the execution of SLM instruction.2. SLM data read from the specified address in parameter [11.53] by the execution of SLM instruction 1 [11.55].

0 Reserved1 Read SLM Parameter

Read SLM Address specified on menu [11.53] and update menu [11.54] with the read data.2 Write SLM Parameter

Write to SLM Address specified on menu [11.53] with the Data specified on menu [11.54]3 Issue Commands to SLM

Issue specified Command on menu [11.54] to SLM.4 SLM Initialisation5 Change PID parameter buffer 16 Change PID Parameter buffer 27 Change PID Parameter buffer 38 SLM Background read9 Read encoder Object10 Read encoder Motor Object11 Read encoder EZ Object12 Reserved

11.51 Hardware revision

� 0 ~ 15 � RO Uni

11.52 SLM update

� 0 ~ 1 � 0 RW Bit

11.53 SLM address

� 0 ~ 128 � RW Uni

11.54 SLM data / command

� 0 ~ 65535 � RW Uni

11.55 SLM instruction

� 0 ~ 65535 � RW Uni

[ ]11.52

[ ]11.60

[ ]11.55

[ ]11.53

[ ]11.54

Execute

Disable background read

Instruction

Address

Data / Command

Done

Busy

Data

SLM update error

Number of errors

EEPROM CRC Error

[ ]11.52

[ ]11.58

[ ]11.56

[ ]11.54

[ ]11.57

SLM

[ ]11.59


�13 Encoder error check14 Issue zero command15 Read zero offset16 Select torque mode17 Select speed mode18 Test SLM19 EEPROM write enable20 EEPROM write disable21 Read encoder initial angle22 Flux align23 Fan enable24 Fan disable25 Change Flux align PID parameter buffer 126 Update Current Scaling27 Identify Fitted SLM

This parameter indicates the DrivelinK serial communications physical layer integrity in %.

This parameter keeps the tracking of total number of protocol errors occurred on SLM instruction [11.55] execution since drive powered up.

Set to 1 if last SLM instruction [11.55] execution failed / had errors.

Set to 1 to indicate while an SLM instruction is in progress and returns to 0 on execution accomplished.

This parameter enables/disables the background SLM status polling.1 - Continuous poll for status using SLM instruction 8(SLM Background read) enabled.0 - Continuous poll for status using SLM instruction 8(SLM Background read) disabled.

Reserved.

This parameter specifies the time delay in between the drive power-up and +24V SLM supply available. Default time delay is set to 250ms,assuming the drive provides the +24V SLM supply.

11.56 SLM comms integrity

� 0 ~ 100 � % RO Uni 0.45

11.57 Number of errors on last instruction

� 0 ~ 255 � RO Uni

11.58 SLM update error indicator

� 0 ~ 1 � RO Bit

11.59 SLM busy indicator

� 0 ~ 1 � RO Bit

11.60 Background-read enable

� 0 ~ 1 � RW Bit

11.61 SLM test results

� 0 ~ 1 � RO Bit

11.62 SLM power up delay

� 0 ~ 5 � 1 (250) RW Uni

Parameter 11.62 Delay (ms)

0 0

1 250

2 500

3 750

4 1000

5 1250


�

A transition from 0 to 1(positive edge triggered) on this parameter updates the current gain buffer in use by SLM.

This parameter enables/disables the continuous gain buffer update to SLM.1 - Continuous gain buffer update enabled.0 - Continuous gain buffer update disabled.

When this bit is set the drive will be in alarm condition (i.e. parameter 10.19 will be set to 1) and flash onl on the display (not available for SL_option)

Reserved.

This parameter defines the mode of operation of the drive.1 - Standalone operation as a speed controller.0 - Drivelink compatible controller, M’Ax operation as a current amplifier.

Update flash memory parameter store. (Refer to 0.50 information).

This parameter identifies for the user which flash device is fitted to the drive.

11.63 SLM buffer update

� 0 ~ 1 � 0 RW Bit

11.64 SLM on-line enable

� 0 ~ 1 � 0 RW Bit 0.17

11.65 SLM Encoder mode

� 0 ~ 1 � 0 RW Bit

11.66 Host mode enable

� 0 ~ 1 � 1 RW Bit

11.67 Flash update enable

� 0 ~ 1 � 0 RW Bit

11.68 Flash device type

� FL28 ~ FL29 � RO Txt P

11.68 Description

FL-28 (0) Intel device fitted

FL-29 (1) AMD device fitted


�13 Menu 13 Parameters - Pulse Reference Selection & Scaling

*Range for parameter 13.10 is as follows:0 - Pulse reference without position control1 - Pulse reference with position control2 - Digital reference control via serial communications

Below 100rpm use the following parameters for display purposes only (1.01, 3.01 and 13.01). Use the speed feedback 3.02 forcontrol purpose if necessary.

When using a pulse input, analog input cannot be used.

Parameter 13.15 is set at 1 when the following applies:

Orientation acceptance window [13.14] ≤ absolute value (Orientation error).When Orientation error = Orientation position reference [13.13] - Feedback position [3.29]


13.01 Pulse reference ±7500 rpm RO Bi P

13.02 Revolutions error 0 ~ 65535 RW Uni

13.03 Position error 0 ~ 65535 RW Uni

13.10 Pulse / position control select 0 ~ 2* 0 RW Uni

13.11 Orientation enable 0 ~ 1 0 RW Uni

13.12 Orientation speed 0 ~ 250 rpm 50 RW Uni

13.13 Orientation position reference 0 ~ 65535 0 RW Uni

13.14 Orientation acceptance window 0 ~ 2000 200 RW Uni

13.15 Orientation complete 0 ~ 1 RW Bit

13.20 Pulse reference selector

0 ~ 20 = F&D1 = Quad2 = Pulse Pulse

1 RW Uni

13.21 Reference encoder - pulses per revolution 0 ~ 32767 4096 RW Uni

13.22 Reference demand (most significant word) 0 ~ 65536 RO Uni

13.23 Reference demand (least significant word) 0 ~ 65536 RO Uni

13.24 Ratio-0 numerator 0 ~ 32767 1 RW Uni

13.25 Ratio-0 denominator 0 ~ 32767 1 RW Uni

13.26 Ratio-1 numerator 0 ~ 32767 1 RW Uni

13.27 Ratio-1 denominator 0 ~ 32767 1 RW Uni

13.28 Ratio select 0 ~ 1 0 RW Bit

13.29 Pulse-reference offset ±32767 0 RW Bi

13.30 Move to offset enable 0 ~ 1 0 RW Bit

13.31 Maximum positioning speed 0 ~ 512 0 RW Uni

NOTE

NOTE

NOTE


�



2.02

Rampenable


�

Menu 3Referenceposition

13.22

13.23

Referenceposition(mostsignificantword)

Referenceposition(leastsignificantword)

+

_

Feedbackposition

3.28

3.29

Feedback-encoderrevolutioncounter

Feedback-encoderposition

Positionerror

13.02

13.03

Revolutionserror

Positionerror

Menu 3

13.10

Pulse / positioncontrol select(See parametertable for settings)


�

The speed in rpm is indicated by this parameter, for the selected Pulse Reference input.

When the drive is operating from a pulse reference input and the speed is below 100rpm, this parameter should be used for displaypurposes only. Use the speed feedback parameter [3.02] for control purposes if necessary.

The required displacement / movement in position should be entered into Revolutions Error (parameter 13.02) and Position Error (parameter13.03) using serial communications while parameter 13.10 = 2. The value of parameter 13.02 must be entered first, followed by parameter13.03. The new value is entered into the buffer when the value of 13.03 has been entered. The drive runs at maximum speed [1.06], while itis moving into position (see parameter 13.01). The total position displacement / movement is given by:

Position displacement (32 bit) = [13.02] x 65536 = [13.03]Reference position (parameters 13.22 and 13.23) will be updated with the position displacement. I.e. the appropriate number of counts areadded or subtracted to the reference position.When reading the position error value from the drive, Position error (13.03) must be read first. When parameter 13.03 is accessed, the valuein Revolutions error (13.02) is frozen until it has also been accessed.

0 - Pulse reference without position control1 - Pulse reference with position control2 - Digital reference control via serial communications

Setting this parameter enables the orientation function. This function allows the motor to be stopped at a pre-defined position under analog ordigital speed reference control. The orientation position for the shaft is set in Orientation position reference (parameter 13.13) The range ofparameter 13.13 is 0 to 65535, giving a resolution of 0.011°. When the Stop signal is received (i.e. bit parameter 6.34 Run enable is set to 0),the motor decelerates to the orientation speed set in Orientation speed parameter 13.12. The motor continues rotating in the same directionuntil the orientation position is reached within the Orientation acceptance window (parameter 13.14).




Parameter 13.15 is set at 1 when the following applies:Orientation acceptance window [13.14] ≤ absolute value (Orientation error).When Orientation error = Orientation position reference [13.13] - Feedback position [3.29]

13.01 Pulse reference

� ±7500 � rpm RO Bi P

13.02 Revolutions error

13.03 Position error

� 0 ~ 65535 � RW Uni

13.10 Pulse / position control select

� 0 ~ 2 � 0 RW Uni

13.11 Orientation enable

� 0 ~ 1 � 0 RW Bit

13.12 Orientation speed

� 0 ~ 250 � 150 rpm RW Uni

13.13 Orientation position reference

� 0 ~ 65535 � 0 RW Uni

13.14 Orientation acceptance window

� 0 ~ 2000 � 200 RW Uni

13.15 Orientation complete

� 0 ~ 1 � RO Bit

NOTE


�

This parameter specifies the Pulse Reference input format.0 - Digital Reference signals treated as Frequency and Direction.1 - Digital Reference signals treated as Quadrature A & B signals.2 - Digital Reference signals treated as Directional pulse input signals.

When using the pulse input, analog input cannot be used.

This parameter specifies the number of pulses per revolution for the selected Pulse reference input.

These two parameters display the 32-Bit reference position accumulator, accumulated with the input pulse

Slave Speed / Demand RatioFour parameters allow the user to specify the required ratio for the slave axis. These parameters are grouped in two banks (Bank 0 and Bank1), allowing to switch in between the banks with a bit parameter. Each Bank is comprised of a numerator and denominator. The sampledpulse counts every 250µs are multiplied by the corresponding numerator and divided by the corresponding denominator to obtain therequired ratio of Speed / Position of the slave following the pulse reference input.

13.20 Pulse reference selector

� 0 ~ 2 � 1 RW Uni

13.21 Reference encoder - Number of lines per revolution

� 0 ~ 32767 � 4096 RW Uni

13.22 Reference demand (most significant word)

13.23 Reference demand (least significant word)

� 0 ~ 65536 � RO Uni

NOTE

A

B

1

0

Clockwise Counter-clockwise

Parameter = 1: Quadrature 'A' 'B' signals13.20

In clockwise rotation 'B' lags 'A' by 90o In counter-clockwise rotation 'B' leads 'A' by 90o

1

0

Parameter = 0: Frequency and directions13.20

A

B

1

0

1

0

For clockwise rotation 'B' = 0 For counter-clockwise rotation 'B' = 1

Parameter = 2: Directional pulses13.20

A

B

1

0

1

0

'A' pulses = clockwise rotation 'B' pulses = counter-clockwise rotation

31 16 15 013.23 13.23


�

The above four parameters are used for slave / ratioing of Speed / Position with respect to the Pulse reference input. The sampled pulsecounts per every 250µs are multiplied by the corresponding numerator and divided by the corresponding denominator to obtain the requiredratio of Speed / Position of the slave following the pulse reference input.

This parameter selects the ratio bank to be used for slave / ratioing.0 - Selects the ratio bank-0 (Ratio numerator 0 & Ratio denominator 0)1 - Selects the ratio bank-1 (Ratio numerator 1 & Ratio denominator 1)

Phase advance / retard of the slave axisThree parameters allow phase advance or retard the slave axis. Pulse Reference Offset [13.29] parameter specifies the absolute offset anglein encoder counts (65536 counts / rev). After setting the offset user enables the bit Move to Offset [13.30] to change the position. The drivethen moves to the new relative position with the programmed Maximum Rate of change [13.31] (Pulses/ 125µs). Drive clears 13.30 afterreaching to the new position.

The absolute offset angle in encoder counts (65535 counts / rev).

When this bit is set to 1, with a non-zero value of Pulse Reference Offset [13.29] the slave will move with the specified Maximum Rate ofchange, by deducting the specified Maximum Rate of change from Pulse Reference Offset [13.29] every 125µs, until Pulse Reference Offset[13.29] becomes zero. This bit is cleared by the sequencer when Pulse Reference Offset [13.29] reaches zero.

The Maximum no of pulses that could be moved every 125µs.

13.24 Ratio 0 numerator

13.25 Ratio 0 denominator

13.26 Ratio 1 numerator

13.27 Ratio 1 denominator

� 0 ~ 32767 � 1 RW Uni

13.28 Ratio select

� 0 ~ 1 � 0 RW Bit

13.29 Pulse reference offset

� ±32767 � 0 RW Bi

13.30 Move to offset enable

� 0 ~ 1 � 0 RW Bit

13.31 Maximum positioning speed

� 0 ~ 512 � 0 RW Uni


m’ax - nidec netherlands · 9600baud rw txt s p 0.37 serial comms. address 0.0 ~ 24.7 1.1 rw uni...

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