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Derivative
acceleration
compensation

Proportional,
integral

Derivative

Torque
reference

Actual speed

Speed
reference

Error value

Warning indications

A warning message,

AF90

will be generated if the autotune routine does not

complete successfully.

For further information, see chapter

Fault tracing (page 547)

.

Settings and diagnostics

Parameters:

25.33 Speed controller autotune

…

25.40 Autotune repeat

times (page 295)

.

Events:

AF90 Speed controller autotuning (page 588)

.

￭

Oscillation damping

The oscillation damping function can be used to cancel out oscillations caused by
mechanics or an oscillating DC voltage. The input – a signal reflecting the oscillation
– is selected by parameter

26.53

. The oscillation damping function outputs a sine

wave (

26.58

) which can be summed with the torque reference with a suitable gain

(

26.57

) and phase shift (

26.56

).

The oscillation damping algorithm can be activated without connecting the output
to the reference chain, which makes it possible to compare the input and output
of the function and make further adjustments before applying the result.

82 Program features

Summary of Contents for ACS880 N5700 Series

Page 1: ... ABB INDUSTRIAL DRIVES ACS880 position control program N5700 Firmware manual ...

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Page 3: ...ACS880 position control program N5700 Firmware manual Table of contents 3AXD50000453573 Rev B EN Original instructions EFFECTIVE 2022 04 20 ...

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Page 5: ...l panel as an external control source 26 Operating modes of the drive 26 Speed control mode 27 Torque control mode 27 Position synchron homing profile velocity control mode 27 Special control modes 4 Default control connections 29 What this chapter contains 29 General 29 Standard connections for position control 30 Standard connections for speed control 30 Default control connections in speed cont...

Page 6: ...with position feedback from motor encoder 43 Example 2 Pulley transmission with position feedback from load side encoder 43 Example 3 Linear screw with laser distance measurement 44 Modulo operation 44 Example 45 Position limits 45 Software limits 45 Hardware limits 45 Position latching 46 Homing 46 Homing modes 47 Mode 0 48 Mode 1 49 Mode 2 50 Mode 3 50 Mode 4 51 Position controller 51 Master ref...

Page 7: ...d diagnostics 64 Programmable digital inputs and outputs 64 Settings and diagnostics 65 Programmable relay outputs 65 Settings and diagnostics 65 Programmable I O extensions 65 Settings and diagnostics 66 Fieldbus control 66 Settings and diagnostics 66 Master follower functionality 66 General 68 Load share function with a speed controlled follower 68 Communication 70 Construction of the master fol...

Page 8: ...y elimination 83 Settings and diagnostics 84 Rush control 84 Settings and diagnostics 84 Encoder support 85 Encoder echo and emulation 85 Settings and diagnostics 85 Jogging 87 Settings and diagnostics 88 Scalar motor control 88 IR compensation for scalar motor control 89 Settings and diagnostics 89 Autophasing 91 Autophasing modes 91 Settings and diagnostics 92 Flux braking 92 Settings and diagno...

Page 9: ...10 Settings and diagnostics 111 Motor thermal protection 111 Motor thermal protection model 111 Temperature monitoring using PTC sensors 113 Temperature monitoring using Pt100 or Pt1000 sensors 113 Temperature monitoring using KTY84 sensors 114 Motor fan control logic parameters 35 100 35 106 114 Ex motor support parameter 95 15 bit 0 114 Settings and diagnostics 115 Motor overload protection 115 ...

Page 10: ...nalyzer 119 Peak value logger 120 Amplitude loggers 120 Miscellaneous 120 User parameter sets 121 Settings and diagnostics 121 Parameter checksum calculation 122 Settings and diagnostics 123 User lock 123 Settings and diagnostics 124 Data storage parameters 124 Settings and diagnostics 124 Reduced run function 125 Activation of the reduced run function 126 du dt filter support 126 Settings and dia...

Page 11: ... 26 Torque reference chain 306 30 Limits 316 31 Fault functions 328 32 Supervision 332 33 Generic timer counter 340 35 Motor thermal protection 355 36 Load analyzer 359 43 Brake chopper 362 44 Mechanical brake control 367 45 Energy efficiency 368 46 Monitoring scaling settings 372 47 Data storage 375 49 Panel port communication 379 50 Fieldbus adapter FBA 388 51 FBA A settings 390 52 FBA A data in...

Page 12: ...bus diagnostics 545 209 I O bus fan identification 8 Fault tracing 547 What this chapter contains 547 Safety 547 Indications 547 Warnings and faults 548 Pure events 548 Editable messages 548 Warning fault history and analysis 548 Event logs 549 Auxiliary codes 549 Factory data logger 549 Other data loggers 549 User data logger 549 PSL2 data logger 549 Parameters that contain warning fault informat...

Page 13: ... values 620 Modbus holding register addresses 620 The Transparent profile 621 Modbus function codes 622 Exception codes 622 Coils 0xxxx reference set 624 Discrete inputs 1xxxx reference set 625 Error code registers holding registers 400090 400100 10 Fieldbus control through a fieldbus adapter 627 What this chapter contains 627 System overview 629 Basics of the fieldbus control interface 630 Contro...

Page 14: ...tion feedback configuration 647 Speed reference source selection I 648 Speed reference source selection II 649 Speed reference ramping and shaping 650 Motor feedback configuration 651 Speed error calculation 652 Speed controller 653 Torque reference source selection and modification 654 Operating mode selection 655 Reference selection for torque controller 656 Torque limitation 657 Torque controll...

Page 15: ... 00 or later see detailed version information below The version information can be checked from parameter group 7 System info or from System info using the Drive composer PC tool or an ACS AP x control panel Information Version Parameter C ZCU target B BCU tar get APCLC B 7 6 Loading package name 1 02 0 2 7 7 Loading package version C ZCU target B BCU tar get APCFC B 7 4 Firmware name 3 40 2 2 7 5...

Page 16: ...e key Device Memory unit ZMU license key for IEC pro gramming N8010 MU License for Appl Prog Memory unit ZMU license key for APCFx N8049 MU Interlock key Position You can see the license information in the Drive composer PC tool or on the ACS AP x control panel in System info Licenses The control program APCLx can be downloaded to the memory unit ZCU with the needed licenses If the program was dow...

Page 17: ...ules 132 to 400 kW 200 to 450 hp 9AKK106930A3466 ACS880 17 drives 45 to 400 kW 60 to 450 hp 9AKK106354A1499 ACS880 17 drives 160 to 3200 kW 9AKK106930A9564 ACS880 31 drives 9AKK107045A8025 ACS880 34 drive modules 132 to 400 kW 200 to 450 hp 9AKK106930A3467 ACS880 37 drives 45 to 400 kW 60 to 450 hp 9AKK106354A1500 ACS880 37 drives 160 to 3200 kW Other drive hardware manuals 3AXD50000028613 ACS880 ...

Page 18: ...library on the Internet on the inside of the back cover For manuals not available in the Document library contact your local ABB representative Terms and abbreviations Description Term Industrial assistant non Bluetooth control panel ACS AP I Industrial assistant control panel with Bluetooth interface ACS AP W Analog input an interface for analog input signals AI Analog output an interface for ana...

Page 19: ...otor identification run During the identification run the drive will identify the characteristics of the motor for optimum motor control ID run Insulated gate bipolar transistor IGBT Inverter unit INU Inverter module s under control of one control unit and related components One inverter unit typically controls one motor Inverter unit IGBT supply unit ISU In a drive module the converter between th...

Page 20: ... of product such connection via network to commissioning tool is not necessary However it is Customer s sole responsibility to provide and continuously ensure a secure connection between the product and Customer network or any other network as the case may be Customer shall establish and maintain any appropriate measures such as but not limited to the installation of firewalls prevention of physic...

Page 21: ...2 Using the control panel Refer to ACS AP I S W and ACH AP H W Assistant control panels user s manual 3AUA0000085685 English Using the control panel 21 ...

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Page 23: ...am Local control vs external control The ACS880 has two main control locations external and local The control location is selected with the Loc Rem key on the control panel or in the PC tool The control program also has Local control words parameters 75 60 75 62 which can be used when the drive is in external control mode Control locations and operating modes 23 ...

Page 24: ... keypad or from a PC equipped with Drive Composer when the drive is set to local control Speed and torque control modes are available for local control frequency mode is available when scalar motor control mode is used see parameter 19 16 Local control is mainly used during commissioning and maintenance The control panel always overrides the external control signal sources when used in local contr...

Page 25: ...for the control panel are available in the start stop command source and reference source selection parameters Reference source selection parameters except PID setpoint selectors have two selections for the control panel The difference between the two selections is in the initial reference value after the reference source switches to the control panel The panel reference is saved whenever another ...

Page 26: ...velocity correction Master ref source sel and modification Position controller Speed error calculation Speed reference source selection I Torque reference source sel modification Speed reference source selection II Speed reference ramping and shaping Speed controller Reference selection for torque controller Operating mode selection Torque limitation Torque controller DTC motor control mode Scalar...

Page 27: ...ents activated by the position control word parameter group 74 to have a profiled move velocity or synchronized operation with a master reference In addition several different homing modes are supported For descriptions of the motion commands see chapter Position control program features page 33 Position control is available in DTC motor control mode for the external control locations Special cont...

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Page 29: ...ontrol the default operating mode is speed control 19 16 Local control mode Speed Standard connections for position control Position control can be used only when external control is active bit 9 of 06 11 Main status word 1 In position control mode some commands are pre configured by parameters 74 20 74 50 to the bits of 74 07 User position control word 1 However position control commands or refer...

Page 30: ...ctivates constant speed 1 Default control connections in speed control Description Term Connection XPOW External power input 24 V DC 2 A 24VI 1 2 24VI GND GND XAI Reference voltage and analog inputs 10 V DC RL 1 10 kohm VREF VREF VREF AGND AI1 AI1 AI2 AI2 1 2 3 4 5 6 7 10 V DC RL 1 10 kohm VREF Ground AGND Speed reference 0 2 10 V Rin 200 kohm AI1 AI1 By default not in use 0 4 20 mA Rin 100 ohm AI...

Page 31: ...nd DICOM 24 V DC 200 mA 24VD Digital input output ground DIOGND XDIO Digital input outputs Output Ready run DIO1 1 DIO1 2 DIO2 Output Running DIO2 XDI Digital inputs Stop 0 Start 1 DI1 1 DI1 DI2 DI3 DI4 DI5 DI6 2 3 4 5 6 24VD Forward 0 Reverse 1 DI2 Reset DI3 Acc Dec time set 1 0 set 2 1 DI4 Constant speed 1 1 On DI5 By default not in use DI6 Safe torque off circuits must be closed for the drive t...

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Page 33: ...s also follow the PLC Open motion state machine guidelines The main states and transitions are shown in the diagram below The actual position control status is visible in parameter 74 10 When the drive is not in a positioning operating mode the status shown is Disabled When the drive is powered up the first status is Initialization The status will then move to Disabled until the enable signal is a...

Page 34: ... movements and operations are activated with position control commands There are two 16 bit control words with freely configurable bits 74 7 and 74 8 Parameters 74 20 74 50 can be used to assign the command source either to the user control words or to any other binary source such as a digital input The resulting command status can be seen in parameters 74 4 and 74 5 The status of position control...

Page 35: ... The status of the command is visible as bit 4 of 74 4 Homing The homing command starts the procedure of homing 86 2 to 86 30 The source of the command is selected by 74 25 The homing mode is selected by 86 31 Homing mode The acceleration and jerk rates are defined by 86 37 and 86 38 respectively During some homing modes the velocity changes from 86 35 to 86 36 according to the state of the homing...

Page 36: ... 86 18 0 the direction is determined by parameters 74 30 and 74 31 The acceleration deceleration and jerk rates are defined by parameters 75 13 75 14 and 75 15 respectively Position index This command starts a movement according to the position index functionality configured in parameter 76 Position indexing Gear in This command starts synchronization according to the synchronization mode selected...

Page 37: ...74 34 The deceleration and jerk rates are defined by 75 14 and 75 15 respectively Watchdog The watchdog function enables the supervision of the communication between the drive and a remote control source The source of the watchdog signal is selected by 74 35 Whenever the supervision is activated by 74 70 the signal must be toggled within the time defined by 74 71 If the timeout expires a warning i...

Page 38: ... is not active as homing has higher priority For more information on latching see section Position latching page 45 Virtual master As an alternative to an external encoder a virtual master can be selected by parameter 87 11 Once selected the virtual master can be operated using 74 47 74 48 74 49 and 74 50 The virtual master is configured by parameters 87 50 87 51 87 52 87 53 and 87 54 The actual v...

Page 39: ...ng after the upper boundary of the range has been reached the value rolls over to the maximum negative value or zero if modulo range is being used The actual measured position is shown by these parameters Encoder 1 revolutions 90 11 90 13 Encoder 1 raw position 1 revolution 224 90 14 90 15 Encoder 2 revolutions 90 21 90 23 Encoder 2 raw position 1 revolution 224 90 24 90 25 The resolution used for...

Page 40: ...or enable actual position tracking over a power down The parameter should generally be set to Disabled with linear SSI encoders to avoid the storing and restoring of false offsets and with a rotary encoder if it stays within its range The parameter should be set to Enabled with a rotary encoder that is likely to wrap around its total absolute range By default the following functions are disabled R...

Page 41: ...l position 88 01 Position reference used 60 Load gear x Feed constant 86 21 86 22 Load encoder scale Speed control Motor gear 90 43 90 44 24 02 Used speed feedback M A B C Feed unit Load units Load revs Gear ratio Motor revs Load revs Load units Load revs Motor revs Position feedback 88 03 Speed reference positioning Speed feedback This table contains formulas for setting the actual position scali...

Page 42: ...settings Example 1 Pulley transmission with position feedback from motor encoder Drive side pulley diameter 200 mm Load side pulley diameter 500 mm Load units 1 unit 1 000 degree 360 degrees as modulo 1 turn of load side pulley Position feedback Motor encoder Speed feedback Motor encoder ENC 1 M ACS880 FEN xx Load gear 86 14 86 15 Load revs Load encoder revs 1 Gear ratio 200 500 or 1 1 see note Fe...

Page 43: ...with laser distance measurement Gear ratio 5 Screw pitch 8 mm load travel per one revolution of load Load units 1 unit 1 mm linear Position feedback 24 bit linear laser encoder with a resolution of 0 1 mm Speed feedback Motor encoder ACS880 FEN xx FEN xx M ENC1 Load gear 86 14 86 15 Load revs Load encoder revs 1 1 Feed constant 86 16 86 17 Load units Load revs 16 777 216 10 Modulo range 86 18 86 1...

Page 44: ...tual position is greater than the modulo operating range the load will move by more than one sequence to reach the target The direction of movement is defined by bits 10 and 11 of parameter 74 4 The sources of these bits are defined by 74 30 and 74 31 The software limits for actual position 86 60 and 86 61 are not active in modulo operation Example If the feed constant is set to 360 load gear to 1...

Page 45: ...d by 75 31 and 75 32 respectively 75 31 and 75 32 must have higher values than the corresponding rates for the base movement Hardware limits With limit switches of the normally closed type it is expected that the state of the switch is true within the limits and false outside the limits Settings and diagnostics Parameter groups 74 Position status control words page 440 and 86 2 Actual position pag...

Page 46: ... is started by activating the source selected by parameter 74 25 During homing bit 5 of parameter 74 1 is set and 74 10 indicates the status Homing During homing the triggering parameters 86 50 86 51 and 86 52 are used Existing latched values will be overwritten After the homing finishes bit 4 of 74 1 will be set In case a standard digital input is used as the homing switch source set 86 33 to Lat...

Page 47: ... DI DI 1 0 DI 1 0 DI 1 0 DI 1 0 DI 1 0 DI 1 0 DI Switch type NO Direction Forward Switch type NO Direction Reverse Switch type NC Direction Forward Switch type NC Direction Reverse Position control program features 47 ...

Page 48: ... 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 DI Z DI Z DI Z DI Z DI Z DI Z DI Z DI Z Switch type NO Direction Forward Switch type NO Direction Reverse Switch type NC Direction Forward Switch type NC Direction Reverse 48 Position control program features ...

Page 49: ... DI DI 1 0 DI 1 0 DI 1 0 DI 1 0 DI 1 0 DI 1 0 DI Switch type NO Direction Forward Switch type NO Direction Reverse Switch type NC Direction Forward Switch type NC Direction Reverse Position control program features 49 ...

Page 50: ... Z DI Z DI Z DI Z DI Z DI Z DI Z Switch type NO Direction Forward Switch type NO Direction Reverse Switch type NC Direction Forward Switch type NC Direction Reverse Mode 4 0 1 Z 0 1 Z Direction Forward Direction Reverse Settings and diagnostics 50 Position control program features ...

Page 51: ...the action selected by 88 31 is taken Settings and diagnostics Parametergroups 86 2Actualposition page463 and88Positioncontrol page478 Master reference Parameter group 87 Master position contains several settings to define the reference source and operation in synchronized mode The master reference source is selected by parameter 87 11 and provides various selections analog input AI1 AI2 fieldbus ...

Page 52: ...e 87 30 External sync velocity correction 87 31 External sync ratio 87 32 Enable PI sync correction 85 01 PI control output 87 35 36 Gear in ratio d dt 88 66 Velocity ref sync 87 04 Master velocity reference d dt Virtual master With the virtual master a physical master source eg master encoder is not needed for synchronized operation The follower will generate its own master reference by convertin...

Page 53: ...ower can be fine tuned with 96 36 The following drawing is an overview of the parameters that configure the master follower link 88 50 D2D send type Master value Reference position Actual position Transmit data selection 61 01 M F data 1 D2D position 61 03 M F data 3 D2D velocity Velocity scaling 88 51 D2D send scale axis velocity 88 52 D2D send scale master velocity Master Follower link 60 01 M F...

Page 54: ...st follower velocity during synchronized operation Communication parameters for receiving data from the master drive In the follower drive parameters 62 1 62 3 must be configured according to the settings of master drive parameters 61 1 61 3 This means that M F position should be selected for the same data word in the follower as D2D position is selected in the master Similarly M F velocity should...

Page 55: ... 3 selection Start master follower axis to standstill state Check Check 74 20 Enable sel Change to synchronized state Check Check 74 32 Gear in sel Run virtual master with 87 50 Check 74 47 Virtual master run sel Run virtual master forward with 87 52 Check 74 48 Virtual master jog forward sel Run virtual master forward with 87 52 Check 74 49 Virtual master jog reverse sel Virtual master ramp stop ...

Page 56: ...768 32767 Should match follower drive parameter 87 40 Check 88 51 D2D send scale axis velocity Scales the value into the range of 32768 32767 Should match follower drive parameter 87 41 Check 88 52 D2D send scale mas ter velocity Drives on M F link syn chronizedtoDDCScommu nication cycle DDCS sync DDCS sync 96 35 Kernel sync mode PI control A generic PI controller is available in parameter group 8...

Page 57: ... 86 59 If there is any deviation between the difference of latched positions and probe positions 78 11 and 78 12 Master latch position the drive performs cyclic correction according to the given parameters If multiple latches are received from one probe the latest received latch is used for the correction calculation The desired correction can be defined in parameter 78 2 Cyclic correction value C...

Page 58: ...8 11 Axis latch position 0 000 78 12 Master latch position 0 000 78 13 Minimum correction 0 000 78 14 Maximum correction 10000 000 78 15 Maximum single correction 10000 000 75 41 Superimposed velocity 1 000 75 42 Superimposed acceleration 10 000 75 43 Superimposed deceleration 10 000 75 44 Superimposed jerk 0 000 The figure below explains the drive behavior with corrective actions Master runs forw...

Page 59: ...needs only its own latch connection You can activate the function through parameter 86 57 Parameter 61 1 or 61 2 or 61 3 needs to be set to D2D velocity Latch 1 rising edge is transferred from master to follower as a pulse marker as part of D2D velocity data instead of actual data This is performed whenever it is necessary and when D2D velocity is selected as transferred data The status of this fu...

Page 60: ...60 ...

Page 61: ...ions Note that the frequency converter a Complete Drive Module or a Basic Drive Module as defined in IEC 61800 2 is not considered as a safety device mentioned in the European Machinery Directive and related harmonized standards Thus the personnel safety of the complete machinery must not be based on a specific frequency converter feature but it has to be implemented as defined in the application ...

Page 62: ...ions and can be set through the control panel as described in chapter Using the control panel the Drive Composer PC tool as described in Drive Composer start up and maintenance PC tool user s manual 3AUA0000094606 English or the fieldbus interface as described in chapters Fieldbus control through the embedded fieldbus interface EFB and Fieldbus control through a fieldbus adapter All parameter sett...

Page 63: ...Settings and diagnostics Parameters 7 30 Adaptive program status page 171 and 96 70 Disable adaptive program page 525 Events 64A6 Adaptive program page 561 Application programming The Position control program includes a ready made application program for position control applications The application program project file and motion library both needed to modify the program are not yet available for...

Page 64: ...The number of analog outputs can be increased by installing FIO 11 or FAIO 01 I O extensions see Programmable I O extensions below The analog outputs on extension modules are updated on a 2 ms time level Settings and diagnostics Parameter group 13 Standard AO page 192 Programmable digital inputs and outputs The control unit has six digital inputs a digital start interlock input and two digital inp...

Page 65: ... outputs RO Analog out puts AO Analog inputs AI Digital I Os DIO Digital inputs DI Location 3 2 2 2 6 DIIL Control unit 2 4 FIO 01 1 3 2 FIO 11 2 2 FAIO 01 2 3 FDIO 01 Three I O extension modules can be activated and configured using parameter groups 14 16 Note Each configuration parameter group contains parameters that display the values of the inputs on that particular extension module These par...

Page 66: ...ation page567 7520FBABcommunication page567 A7C1 FBA A communication page 583 A7C2 FBA B communication page 583 and A7CE EFB comm loss page 584 Master follower functionality General The master follower functionality can be used to link several drives together so that the load can be evenly distributed between the drives This is ideal in applications where the motors are coupled to each other via g...

Page 67: ... the follower are flexibly coupled so that a slight speed difference is possible When both the master and the follower are speed controlled drooping is also typically used see parameter 25 8 The distribution of load between the master and follower can alternatively be adjusted as described under Load share function with a speed controlled follower below Note With a speed controlled follower withou...

Page 68: ...nted by fine tuning the follower speed reference with an additional trim signal based on a torque reference The torque reference is selected by parameter 23 42 by default reference 2 received from the master Load share is adjusted by parameter 26 15 and activated by the source selected by 23 40 Parameter 23 41 provides a gain adjustment for the speed correction The final correction signal added to...

Page 69: ... a stop the follower observes the decreasing reference but receives no stop command until the master stops modulating and clears bit 3 of the follower control word Because of this the maximum and minimum speed limits on the follower drive should not have the same sign otherwise the follower would be pushing against the limit until the master finally stops Three words of additional data can optiona...

Page 70: ...rogramming detailed in Drive application programming manual IEC 61131 3 3AUA0000127808 English Connection examples are shown below Note that a star configuration using fiber optic cables requires an NDBU 95C DDCS branching unit Master follower wiring with electrical cable XD2D XD2D XD2D 1 2 3 4 B A BGND SHIELD 1 2 3 4 B A BGND SHIELD 1 2 3 4 B A BGND SHIELD Termination ON Termination ON Terminatio...

Page 71: ...es 1 R T R T R T R T R T R T R T R T FDCO FDCO RDCO CH2 Follower 2 Follower 1 Master ZCU Control unit ZCU Control unit BCU Control unit ZCU Control unit Follower 3 FDCO MSTR CH0 CH1 CH2 NDBU Where T Transmitter R Receiver Program features 71 ...

Page 72: ... The follower returns a status word and two actual values this is not compulsory but is shown for clarity Master settings Master follower link activation 60 1 M F communication port fiber optic channel or XD2D selection 60 2 M F node address 1 60 3 M F mode DDCS master for both fiber optic and wire connection 60 5 M F HW connection Ring or Star for fiber optic Star for wire Data to be broadcast to...

Page 73: ... reference 1 26 11 Torque ref1 source M F reference 2 Selection of data to be sent to master optional 61 1 M F data 1 selection SW 16bit 61 2 M F data 2 selection Act1 16bit 61 3 M F data 3 selection Act2 16bit Specifications of the fiber optic master follower link Maximum fiber optic cable length FDCO 01 02 or RDCO 04 with POF Plastic Optic Fiber 30 m For distances up to 1000 m use two NOCR 01 op...

Page 74: ...e RDCO an FDCO module can also be used with a BCU control unit but it will reserve one of the three universal option module slots Ring and star configurations are also possible much in the same way as with the master follower link see section Master follower functionality page 66 the notable difference is that the external controller connects to channel CH0 on the RDCO module instead of CH2 The ch...

Page 75: ...hat is defined as the control word is internally connected to the drive logic the coding of the bits is as presented in section Contents of the fieldbus Control word ABB Drives profile page 633 Likewise the coding of the status word is as shown in section Contents of the fieldbus Status word ABB Drives profile page 635 By default data sets 32 and 33 are dedicated for the mailbox service which enab...

Page 76: ... ACS880 single drives the two control units are connected at the factory In ACS880 multidrives drive systems with one supply unit and multiple inverter units the feature is not typically used Communication The communication between the converters and the drive consists of data sets of three 16 bit words each The inverter unit sends a data set to the supply unit which returns the next data set to t...

Page 77: ...e control DTC the ABB premium motor control platform The switching of the output semiconductors is controlled to achieve the required stator flux and motor torque The reference value for the torque controller comes from the speed controller DC voltage controller or directly from an external torque reference source Motor control requires measurement of the DC voltage and two motor phase currents St...

Page 78: ...ogging page 85 A deceleration ramp can be defined for emergency stop Off3 mode Settings and diagnostics Parameters Speed reference ramping 23 11 Ramp set selection 23 19 Shape time dec 2 and 46 1 Speed scaling page 368 Torque reference ramping 1 30 Nominal torque scale page 136 26 18 Torque ramp up time page 299 and 26 19 Torque ramp down time page 299 Jogging 23 20Acctimejogging page273 and23 21D...

Page 79: ...nitial and maximum speeds is small The maximum torque reference used during autotuning will be the initial torque ie torque when the routine is activated plus 25 38 unless limited by the maximum torque limit parameter group 30 Limits or the nominal motor torque parameter group 99 Motor data The calculated maximum speed during the routine is the initial speed ie speed when the routine is activated ...

Page 80: ...ter group 90 Feedback selection speed error filtering parameter group 24 Speed reference conditioning and zero speed parameters 21 6 and 21 7 have been set to eliminate these disturbances The drive has been started and is running in speed control mode After these conditions have been fulfilled autotuning can be activated by parameter 25 33 or the signal source selected by it Autotune modes Autotun...

Page 81: ...ically transferred into parameters 25 2 proportional gain of the speed controller 25 3 integration time of the speed controller 25 37 mechanical time constant of the motor and machine Nevertheless it is still possible to manually adjust the controller gain integration time and derivation time The figure below is a simplified block diagram of the speed controller The controller output is the refere...

Page 82: ...totuning page 588 Oscillation damping The oscillation damping function can be used to cancel out oscillations caused by mechanics or an oscillating DC voltage The input a signal reflecting the oscillation is selected by parameter 26 53 The oscillation damping function outputs a sine wave 26 58 which can be summed with the torque reference with a suitable gain 26 57 and phase shift 26 56 The oscill...

Page 83: ...ue of 0 degrees is usually a suitable initial value Note Changing the speed error low pass filter time constant or the integration time of the speed controller can affect the tuning of the oscillation damping algorithm It is recommended to tune the speed controller before the oscillation damping algorithm The speed controller gain can be adjusted after the tuning of this algorithm Settings and dia...

Page 84: ...etting these to zero disables rush control Settings and diagnostics Parameter groups 30 Limits page 306 31 Fault functions page 316 and 90 Feedback selection page 484 Parameters 26 81 Rush control gain page 305 and 26 82 Rush control integration time page 305 Encoder support The program supports two single turn or multiturn encoders or resolvers The following optional interface modules are availab...

Page 85: ...an be used when absolute encoder or resolver position needs to be converted to TTL pulses or when the signal must be converted to a different pulse number than the original Settings and diagnostics Parameter groups 90 Feedback selection page 484 91 Encoder module settings page 489 92 Encoder 1 configuration page 493 and 93 Encoder 2 configuration page 501 Jogging The jogging function enables the u...

Page 86: ... of the jogging function 0 1 1 5 6 Drive follows the jog reference 0 1 1 6 7 Drive decelerates to zero speed along the deceleration ramp of the jogging function 0 1 0 7 8 Drive is stopped As long as the jog enable signal is on start commands are ignored After jog enable switches off a fresh start command is required 0 1 0 0 8 9 Drive accelerates to the speed reference along the selec ted accelerat...

Page 87: ...rive is in local control Jogging cannot be enabled when the drive start command is on or the drive started when jogging is enabled Starting the drive after the jog enable switches off requires a fresh start command WARNING If jogging is enabled and activated while the start command is on jogging will activate as soon as the start command switches off If both jogging functions are activated the one...

Page 88: ...e of different sizes or the motors are going to be changed after motor identification ID run In scalar control some standard features are not available See also section Operating modes of the drive page 26 IR compensation for scalar motor control IR compensation also known as voltage boost is available only when the motor control mode is scalar When IR compensation is activated the drive gives an ...

Page 89: ...l sensors generate so called commutation pulses that change their state six times during one revolution so it is only known within which 60 sector of a complete revolution the initial position is Position control program version APCLx v1 0 does not support Hall sensors or so called commutation signals With a permanent magnet motor the autophasing routine is needed after each power up Many encoders...

Page 90: ...efore starting when necessary In open loop control the zero angle of the rotor is determined before starting In closed loop control the actual angle of the rotor is determined with autophasing when the sensor indicates zero angle The offset of the angle must be determined because the actual zero angles of the sensor and the rotor do not usually match The autophasing mode determines how this operat...

Page 91: ...ad is connected As the characteristics of motors and loads differ testing must be done to find out the most suitable standstill mode The drive is capable of determining the rotor position when started into a running motor in open loop or closed loop control In this situation the setting of 21 13 has no effect The autophasing routine can fail and therefore it is recommended to perform the routine s...

Page 92: ...and is given The function does not need to wait for the flux reduction before it can start the braking The cooling of the induction motor is efficient The stator current of the motor increases during flux braking not the rotor current The stator cools much more efficiently than the rotor Flux braking can be used with induction motors and permanent magnet synchronous motors Two braking power levels...

Page 93: ... heating is selected by parameter 21 14 The heating current is set by 21 16 Pre magnetization Pre magnetization refers to DC magnetization of the motor before start Depending on the selected start mode 21 1 or 21 19 premagnetization can be applied to guarantee the highest possible breakaway torque up to 200 of the nominal torque of the motor By adjusting the pre magnetization time 21 2 it is possi...

Page 94: ... a mechanical brake can be applied Postmagnetization is activated by parameter 21 8 The magnetization current and time are set by parameters 21 10 and 21 11 Note Post magnetization is only available in speed control in DTC motor control mode see page 26 and only when ramping is the selected stop mode see parameter 21 3 Continuous magnetization A digital signal such as a user bit in the fieldbus co...

Page 95: ...t 25 of the motor nominal current into the motor for a time period of 4 seconds default The function uses the resistance value at room temperature obtained during an ID run For better results set correct temperature value in parameter 35 50 during ID run The function can be activated with parameter 21 37 The estimation time can be defined with parameter 21 38 The function can be activated using ei...

Page 96: ...he brake control logic observes the settings of parameter group 44 Mechanical brake control as well as several external signals and moves between the states presented in the Brake state diagram on page 97 The tables below the state diagram detail the states and transitions The timing diagram on page 100 shows an example of a close open close sequence The mechanical brake control logic operates on ...

Page 97: ... to the brake actuator through a relay See the wiring example on page 101 The brake control logic in various states will request the drive control logic to hold the motor increase the torque or ramp down the speed These requests are visible in parameter 44 1 Brake state diagram BRAKE DISABLED BRAKE OPENING BRAKE CLOSED BRAKE OPENING WAIT BRAKE OPENING DELAY BRAKE CLOSING BRAKE CLOSING DELAY BRAKE ...

Page 98: ...OSING WAIT Closing conditions have been met The open signal is deactiv ated 44 1 b0 0 and the closing torque written into 44 2 The ramp down request is maintained 44 1 b3 1 The brake logic will remain in this state until 44 13 has elapsed BRAKE CLOSING DELAY At this point if 44 7 is set to No acknowledge the logic proceeds to BRAKE CLOSED state If an acknowledgement signal source has been selected...

Page 99: ...has been requested to close 6 Motor speed has remained below closing speed 44 14 for the duration of 44 15 7 44 13 has elapsed and brake close acknowledgement if chosen by 44 7 has been re ceived 8 Brake has been requested to open 9 Brake control enabled parameter 44 6 1 10 Program features 99 ...

Page 100: ... ref 06 11 b2 Modulating 06 16 b6 Start command 06 16 b5 tmd Ts Tmem ncs tod tccd tcd tcfd trod 1 2 3 4 5 6 7 8 9 Start torque at brake open parameter 44 3 Ts Stored torque value at brake close 44 2 Tmem Motor magnetization delay tmd Brake open delay parameter 44 8 tod Brake close speed parameter 44 14 ncs Brake close command delay parameter 44 15 tccd Brake close delay parameter 44 13 tcd Brake c...

Page 101: ... converter feature such as the brake control function but it has to be implemented as defined in the application specific regulations The figure below shows a brake control wiring example The brake control hardware and wiring is to be sourced and installed by the customer The brake is controlled by bit 0 of parameter 44 1 The source of brake acknowledge status supervision is selected by parameter ...

Page 102: ...rvoltage controller automatically decreases the generating torque when the limit is reached The overvoltage controller also increases any programmed deceleration times if the limit is reached to achieve shorter deceleration times a brake chopper and resistor may be required Undervoltage control power loss ride through If the incoming supply voltage is cut off the drive will continue to operate by ...

Page 103: ...atic restart WARNING Before you activate the function make sure that no dangerous situations can occur The function restarts the drive automatically and continues operation after a supply break It is possible to restart the drive automatically after a short power supply failure by using the Automatic restart function provided that the drive is allowed to run for a time defined by parameter 21 18 t...

Page 104: ...er 21 18 and the start signal is still on normal operation will continue However if the DC voltage remains too low at that point the drive trips on a fault 3280 Settings and diagnostics Parameter 21 18 Auto restart time page 260 Event 3280 Standby timeout page 554 104 Program features ...

Page 105: ...rol limit 1159 124 1008 124 806 119 806 124 697 124 403 124 Internal brake chopper at 100 pulse width 1077 116 936 116 780 116 749 116 648 116 375 116 Internal brake chopper at 0 pulse width 1071 115 932 115 776 115 745 115 644 115 373 115 Overvoltage warning limit 932 100 810 100 675 100 648 100 560 100 324 100 UDCmax DC voltage at upper bound of supply voltage range 891 709 675 594 513 281 DC vo...

Page 106: ... 1 156 UDCmax 100 pulse width is reached at approximately 1 2 UDCmax depending on supply voltage range see table under Voltage control and trip limits above UDCmax is the DC voltage corresponding to the maximum of the AC supply voltage range For information on external brake choppers refer to their documentation Note For runtime braking overvoltage control parameter 30 30 needs to be disabled for ...

Page 107: ... to 567 V 3 Make sure that the value of parameter 99 7 is set to 400 V Example 2 Sine filter at the output of the drive The drive is equipped with a sine filter at the output Motor cable length is 300 m 984 ft Estimated voltage loss across the filter and cable is 40 V Motor nominal voltage is 400 V To compensate for the 40 V voltage loss at the nominal speed 1 Calculate the required voltage at the...

Page 108: ...the largest supply voltage range selection available for the drive 95 1 Limits are 1 Minimum limit Internal DC voltage reference Udc int 2 Maximum limit Maximum DC voltage reference Udc max For more information see the table below and sections Internal DC voltage reference Udc int and Maximum DC voltage reference Udc max This table summarizes the limits to the user defined DC voltage reference and...

Page 109: ...e Maximum drive output voltage Uac out Udc 2 1 Ures where Maximum output voltage of the drive Uac out Actual DC voltage Udc Value of parameter 97 4 Ures The voltage reserve setting 97 4 limits the maximum drive output voltage Limit calculation examples Example 1 Calculating the internal DC voltage reference and maximum DC voltage reference The voltage category is 380 415 V and the power line volta...

Page 110: ...is responsible for installing the emergency stop devices and all additional devices needed for the emergency stop function to fulfill the required emergency stop categories For more information contact your local ABB representative After an emergency stop signal is detected the emergency stop function cannot be canceled even though the signal is canceled If the minimum or maximum torque limit is s...

Page 111: ... drive calculates the temperature of the motor on the basis of the following assumptions 1 When power is applied to the drive for the first time the motor is assumed to be at ambient temperature defined by parameter 35 50 After this when power is applied to the drive the motor is assumed to be at the estimated temperature 2 Motor temperature is calculated using the user adjustable motor thermal ti...

Page 112: ...tput The analog output feeds a constant excitation current of 1 6 mA through the sensor The sensor resistance increases as the motor temperature rises as doesthevoltageoverthesensor Thetemperaturemeasurementfunctioncalculates the resistance of the sensor and generates an indication if overtemperature is detected For wiring of the sensor refer to the Hardware Manual of the drive The figure below sh...

Page 113: ...t limits can be adjusted by parameters For the wiring of the sensor refer to the Hardware Manual of the drive Note If excitation current is too high for the sensor use some other means to measure the temperature Temperature monitoring using KTY84 sensors One KTY84 sensor can be connected to an analog input and an analog output on the control unit The analog output feeds a constant excitation curre...

Page 114: ...ut can be selected for fan feedback A loss of the feedback signal will optionally cause a warning or a fault Start and stop delays can be defined for the fan In addition a feedback delay can be set to define the time within which feedback must be received after the fan starts Ex motor support parameter 95 15 bit 0 The control program has a temperature protection function for Ex motors located in a...

Page 115: ... if the motor current remains at this level continuously The motor overload class class of operation parameter 35 57 is given as the time required for the overload relay to trip when operating at 7 2 times the tripping level in the case of IEC 60947 4 1 and 6 times the tripping level in the case of NEMA ICS 2 The standards also specify the time to trip for current levels between the tripping level...

Page 116: ...emperature 35 62 Cable thermal rise time page 352 Events A480 Motor cable overload page 570 and 4000 Motor cable overload page 555 Automatic fault resets WARNING Before you activate the function make sure that no dangerous situations can occur The function resets the drive automatically and continues operation after a fault The drive can automatically reset itself after overcurrent overvoltage und...

Page 117: ...ect the operation of the Safe torque off function itself For more information on the Safe torque off function see the Hardware manual Swapped supply and motor cabling parameter 31 23 The drive can detect if the supply and motor cables have accidentally been swapped for example if the supply is connected to the motor connection of the drive The parameter selects if a fault is generated or not Note ...

Page 118: ...l communication break Diagnostics Fault and warning messages data logging See chapter Fault tracing page 547 Signal supervision Three signals can be selected to be supervised by this function Whenever a supervised signal exceeds or falls below predefined limits a bit in 32 1 is activated and a warning or fault generated The contents of the message can be edited on the control panel by selecting Me...

Page 119: ...nary source changes state Value counters The counter measures by integration the monitored parameter A warning is given when the calculated area below the signal peak exceeds a user defined limit Settings and diagnostics Parameter group 33 Generic timer counter page 332 Load analyzer Peak value logger The user can select a signal to be monitored by a peak value logger The logger records the peak v...

Page 120: ...e highest range also contains the values above 100 10 10 20 20 30 30 40 40 50 50 60 60 70 70 80 80 90 90 Amplitude ranges parameters36 40 36 49 Percentage of samples Amplitude logger 1 is fixed to monitor motor current and cannot be reset With amplitude logger 1 100 corresponds to the maximum output current of the drive Imax as given in the hardware manual The distribution of collected samples is ...

Page 121: ...er sets is only possible with the drive stopped Settings and diagnostics Parameters 10 3 DI force selection page 173 10 4 DI force data page 173 50 1 FBA A enable page 379 50 31 FBA B enable page 383 and 96 10 User set status page 519 96 13 User set I O mode in2 page 520 Parameter group 95 HW configuration page 507 Events 64B2 User set fault page 562 Parameter checksum calculation A parameter chec...

Page 122: ...t can be edited using the Drive customizer PC tool Settings and diagnostics Parameters 96 53 Actual checksum page 523 96 59 Approved checksum 4 page 524 Events 6200 Checksum mismatch page 560 and A686 Checksum mismatch page 575 122 Program features ...

Page 123: ...sing Drive Composer finish with Enter Confirm the new pass code in 96 101 WARNING Store the pass code in a safe place the user lock cannot be opened even by ABB if the pass code is lost In 96 102 define the actions that you want to prevent we recommend you select all the actions unless otherwise required by the application Enter an invalid random pass code into 96 2 Activate 96 8 or cycle the powe...

Page 124: ...ameter group 47 Data storage page 372 Reduced run function A reduced run function is available for inverter units consisting of parallel connected inverter modules The function makes it possible to continue operation with limited current even if one or more module is out of service for example because of maintenance work In principle reduced run is possible with only one module but the physical re...

Page 125: ...ule bay 6 In case the inverter unit has a DC switch with a charging circuit disable the appropriate channel on the xSFC xx charging controller 7 Switch on the power to the drive inverter unit 8 Enter the number of inverter modules present into parameter 95 13 9 Reset all faults and start the drive inverter unit The maximum current is now automatically limited according to the new inverter configur...

Page 126: ...separately from ABB and others With an ABB sine filter connected to the output of the drive bit 1 of 95 15 must be switched on The setting limits the switching and output frequencies to prevent the drive from operating at filter resonance frequencies and protect the filter from overheating With a custom sine filter bit 3 of 95 15 must be switched on The setting does not limit the output frequency ...

Page 127: ...els When router mode is active the channels coming from the other BCU are forwarded to the local modules The diagrams below show how the control of four converter modules can be switched between two BCUs Note For an example of how to switch converter modules between inverter and IGBT supply use see the ACS880 IGBT supply control program firmware manual 3AUA0000131562 English BCU 1 controlling all ...

Page 128: ...d routed to the local modules There must be at least as many local modules as there are routed channels In PLC control any switch overs must be done in stopped state and so that at least one BCU is in router mode at any given time Additional rules or restrictions may apply when using the router mode with other control programs See the appropriate firmware manual Settings and diagnostics Parameters...

Page 129: ...7 Parameters What this chapter contains The chapter describes the parameters including actual signals of the control program Parameters 129 ...

Page 130: ...ng between the integer used in communication and the value shown on the panel when a 16 bit value is selected for transmission to an external system The scaling is indicated for both 16 bit and 32 bit values A dash indicates that the parameter is not accessible in that format The value is taken from another parameter Other Choosing Other displays a parameter list in which the user can specify the ...

Page 131: ...n positive negative reference enable signal source selection 20 Start stop direction 252 Start and stop modes emergency stop mode and signal source selection DC magnetization settings autophasing mode selection 21 Start stop mode 263 Speed reference selection motor potentiometer settings 22 Speed reference selection 270 Speed reference ramp settings programming of the acceleration and deceleration...

Page 132: ...edded fieldbus 405 DDCS communication configuration 60 DDCS communication 423 Defines the data sent to the DDCS link 61 D2D and DDCS transmit data 430 Mapping of data received through the DDCS link 62 D2D and DDCS receive data 440 Position status and control words 74 Position status control words 450 Definition of motion profiles 75 Position profile 457 Definition of positioning indexes tasks 76 P...

Page 133: ...settings 97 Motor control 533 Motor values supplied by the user that are used in the motor model 98 User motor parameters 536 Motor configuration settings 99 Motor data 544 FSO xx settings 200 Safety 544 Distributed I O bus settings 206 I O bus configuration 545 Distributed I O bus settings 207 I O bus service 545 Distributed I O bus settings 208 I O bus diagnostics 545 Distributed I O bus setting...

Page 134: ...nt for this signal can be defined by parameter 46 11 Filter time motor speed Encoder 1 speed filtered 1 4 Encoder 1 speed For scaling see parameter 46 1 30000 00 30000 00 rpm real32 Speed of encoder 2 in rpm A filter time constant for this signal can be defined by parameter 46 11 Filter time motor speed Encoder 2 speed filtered 1 5 Encoder 2 speed For scaling see parameter 46 1 30000 00 30000 00 r...

Page 135: ...sed through the drive towards the motor in full gigawatt hours The minimum value is zero Inverter GWh motoring 1 18 1 1 GWh 1 1 GWh Motoring energy in GWh 0 32767 GWh int16 Amount of energy that has passed through the drive towards the motor in full megawatt hours Whenever the counter rolls over 1 18 Inverter GWh motoring is incremented The minimum value is zero Inverter MWh motoring 1 19 1 1 MWh ...

Page 136: ...Ambient temperature 1 31 1 1 10 1 Cooling air temperature 40 0 200 0 int16 Amount of energy that has passed through the drive towards the supply in full gigawatt hours The minimum value is zero Inverter GWh regenerating 1 32 1 1 GWh 1 1 GWh Regenerative energy in GWh 0 32767 GWh int16 Amount of energy that has passed through the drive towards the supply in full megawatt hours Whenever the counter ...

Page 137: ...1 Measured or estimated motor speed For scaling see parameter 46 1 0 00 30000 00 rpm real32 Absolute value of 1 3 Motor speed Abs motor speed 1 62 10 1 100 1 Measured or estimated motor speed 0 00 1000 00 real32 Absolute value of 1 6 Output frequency Abs output frequency 1 63 Estimated output frequency For scaling see parameter 46 2 0 00 600 00 Hz real32 Absolute value of 1 10 Motor torque Abs mot...

Page 138: ...ctivated by 95 20 Estimated reactive current flowing through the supply unit Reactive current 1 106 Estimated reactive current For scaling see parameter 46 5 30000 00 30000 00 A real32 Only visible when IGBT supply unit control activated by 95 20 Estimated frequency of the power supply network Grid frequency 1 108 Estimated supply frequency For scaling see parameter 46 2 0 00 100 00 Hz real32 Only...

Page 139: ...ower 1 114 10 1 kVAr 100 1 kVAr Estimated reactive power 30000 00 30000 00 kVAr real32 Only visible when IGBT supply unit control activated by 95 20 Power factor of the supply unit LSU cos φ 1 116 100 1 100 1 Power factor 1 00 1 00 real32 Only visible when IGBT supply unit control activated by 95 20 Nominal power of the supply unit LSU nominal power 1 164 1 1 kW 1 1 kW Nominal power 0 30000 kW Par...

Page 140: ...100 1 Reference 1 from fieldbus adapter B 100000 00 100000 00 0 00 real32 Reference 2 received through fieldbus adapter B FB B reference 2 3 8 1 10 100 1 Reference 2 from fieldbus adapter B 100000 00 100000 00 real32 Scaled reference 1 received through the embedded fieldbus interface The scaling is defined by 58 26 EFB ref1 type EFB reference 1 3 9 1 10 100 1 Reference 1 received through the embed...

Page 141: ...he master The value has been scaled according to parameter 60 11 M F ref2 type M F or D2D ref2 3 14 1 10 100 1 Scaled reference 2 received from master 30000 00 30000 00 int32 Reference 1 received through fieldbus adapter A as a 32 bit integer FB A reference 1 int32 3 30 Reference 1 from fieldbus adapter A 2147483648 2147483647 int32 Reference 2 received through fieldbus adapter A as a 32 bit integ...

Page 142: ...1st active warning 0000 FFFFh 0 uint16 Code of the 2nd active warning Active warning 2 4 7 1 1 2nd active warning 0000 FFFFh 0 uint16 Code of the 3rd active warning Active warning 3 4 8 1 1 3rd active warning 0000 FFFFh 0 uint16 Code of the 4th active warning Active warning 4 4 9 1 1 4th active warning 0000 FFFFh 0 uint16 Code of the 5th active warning Active warning 5 4 10 1 1 5th active warning ...

Page 143: ...ng 0000 FFFFh 0 uint16 Code of the 3rd stored non active warning 3rd latest warning 4 18 1 1 3rd stored warning 0000 FFFFh 0 uint16 Code of the 4th stored non active warning 4th latest warning 4 19 1 1 4th stored warning 0000 FFFFh 0 uint16 Code of the 5th stored non active warning 5th latest warning 4 20 1 1 5th stored warning 0000 FFFFh Parameters 143 ...

Page 144: ...it 4 120 ACS800 Sys tem ctrl pro gram 4 120 ACS800 Standard ctrl program 2340 SHORT CIRC SHORT CIRC 0 2310 OVERCUR RENT OVERCUR RENT 1 3210 DCOVERVOLT DCOVERVOLT 2 2381 4210 4290 42F1 4310 4380 ACS800 TEMP ACS800 TEMP 3 2330 2392 3181 EARTH FAULT EARTH FAULT 4 4981 4991 4992 4993 MOTOR TEMP M THERMISTOR 5 4982 MOTOR TEMP MOTOR TEMP 6 6481 6487 64A1 64A2 64A3 64B1 64E1 6881 6882 6883 6885 SYS TEM_F...

Page 145: ...7 ACS880 fault name Bit 4 120 ACS800 Sys tem ctrl pro gram 4 120 ACS800 Standard ctrl program 3130 SUPPLY PHASE SUPPLY PHASE 0 NO MOTOR DATA NOMOTDATA 1 3220 DC UNDER VOLT DC UNDER VOLT 2 4000 CABLE TEMP Reserved 3 AFEB RUN DISABLE RUN ENABLE 4 7301 7380 7381 73A0 73A1 ENCODERERR ENCODERERR 5 7080 7082 IO COMM ERR I O COMM 6 CTRL B TEMP CTRL B TEMP 7 9082 SELECTABLE EXTERNAL FLT 8 OVER SW FREQ OVE...

Page 146: ...age547 ACS800 alarm name Bit 4 120 ACS800 Sys tem ctrl pro gram 4 120 ACS800 Standard ctrl program A5A0 STARTINHIBIT STARTINHIBIT 0 AFE1 AFE2 EM STOP Reserved 1 A491 A497 A498 A499 MOTOR TEMP M THERMISTOR 2 A492 MOTOR TEMP MOTOR TEMP 3 A2BA A4A9 A4B0 A4B1 A4F6 ACS800 TEMP ACS800 TEMP 4 A797 A7B0 A7B1 A7E1 ENCODERERR ENCODERERR 5 A490 A5EA A782 A8A0 T MEAS CIRC T MEAS ALM 6 DIGITAL IO Reserved 7 AN...

Page 147: ... Reserved Reserved 6 POWFAIL FILE POWFAIL FILE 7 POWDOWN FILE ALM OS_17 8 A780 MOTORSTALL MOTORSTALL 9 A8A0 AI MIN FUNC AI MIN FUNC 10 A6D1 A6D2 A7C1 A7C2 A7CA A7CE COMM MOD ULE Reserved 11 BATT FAILURE Reserved 12 A7EE PANEL LOSS PANEL LOSS 13 A3A2 DC UNDER VOLT Reserved 14 RESTARTED Reserved 15 Warning word 2 4 32 uint16 User defined event word This word collects the status of the events warning...

Page 148: ...ed by the previous parameter The selected event is indicated by the event word only if its auxiliary code matches the value of this parameter With a value of 0000 0000h the event word will indicate the event regardless of the auxiliary code Event word 1 bit 1 aux code 4 44 1 1 Code of warning fault or pure event 0000 0000h FFFF FFFFh 0000h uint16 Selects the hexadecimal code of an event warning fa...

Page 149: ...4 21 03 05 FAULT WORD 1 4 22 03 06 FAULT WORD 2 4 31 03 08 ALARM WORD 1 4 32 03 09 ALARM WORD 2 ACS800 Standard ctrl program 1 The bit assignments of parameters 4 21 4 32 correspond to the ACS800 System control program as follows 4 21 09 01 FAULT WORD 1 4 22 09 02 FAULT WORD 2 4 31 09 04 ALARM WORD 1 4 32 09 04 ALARM WORD 2 ACS800 System ctrl program Parameters 149 ...

Page 150: ... power up 5 9 1 1 1 1 500 microsecond ticks since last boot 0 4294967295 real32 Estimated drive temperature in percent of fault limit The actual trip temperature varies according to the type of the drive Invertertemperature 5 11 0 0 0 C 32 F 94 approx Warning limit 100 0 Fault limit 1 1 10 1 Drive temperature in percent 40 0 160 0 uint16 Diagnostic word 3 Diagnostic word 3 5 22 Reserved b0 10 1 Dr...

Page 151: ... over 3 seconds Aux fan service counter 5 42 1 1 1 1 Auxiliary cooling fan age 0 150 real32 Only visible when IGBT supply unit control activated by 95 20 Estimated supply unit temperature in percent of fault limit 0 0 0 C 32 F 94 approx Warning limit 100 0 Fault limit Line converter temperature 5 111 1 1 10 1 Supply unit temperature in percent 40 0 160 0 uint32 Only visible when IGBT supply unit c...

Page 152: ...trol word 6 2 This parameter is read only 0 uint32 Displays the unaltered control word received from the PLC through fieldbus adapter A when a transparent FBA A transparent control word 6 3 communication profile is selected eg by parameter group 51 FBA A settings See section Control word and Status word page 630 This parameter is read only 1 1 Control word received through fieldbus adapter A 00000...

Page 153: ...rameters 6 18 and 6 25 for the source of the inhibiting signal Inhibited b1 1 DC circuit has been charged If present the DC switch is closed and charging switch is open 0 Charging not complete If the inverter unit is not equipped with a DC switch option F286 check setting of 95 9 DC charged b2 1 Drive is ready to receive a start command Ready to start b3 1 Drive is ready to follow given reference ...

Page 154: ...g applied by functions such as parameters 49 5 and 50 2 Last speed active b6 1 Reference signal lost Loss of reference b7 1 Emergency stop failed see parameters 31 32 and 31 33 Emergency stop failed b8 1 Jogging enable signal is on Jogging active b9 1 Actual speed frequency or torque equals or exceeds limit defined by parameters 46 31 46 33 Valid in both directions of rotation Above limit b10 1 An...

Page 155: ...atus word 6 18 1 DC voltage is missing or drive has not been parametrized correctly Check the parameters in groups 95 and 99 Not ready run b0 1 Control location has changed Ctrl location changed b1 1 Control program is keeping itself in inhibited state SSW inhibit b2 1 A fault is active Fault b3 1 Start enable signal missing Lost start enable b4 1 Run enable signal missing Lost run enable b5 1 Ope...

Page 156: ...r speed feedback Internal speed feedback b4 1 Encoder 1 used for speed feedback in motor control 0 Encoder 1 faulted or not selected as source of speed feedback see par 90 41 and 90 46 Encoder 1 feedback b5 1 Encoder 2 used for speed feedback in motor control 0 Encoder 2 faulted or not selected as source of speed feedback see par 90 41 and 90 46 Encoder 2 feedback b6 1 A constant speed or frequenc...

Page 157: ...n Brake chopper page 106 Brake chopper active b5 Motor temperature estimation active b6 Reserved b7 15 1 1 0000h FFFFh uint16 Drive inhibit status word 2 This word specifies the source of the inhibiting condition that is preventing the drive from starting After the condition is removed the start command must be cycled See bit specific notes See also parameter 6 18 Start inhibit status word and 6 1...

Page 158: ...se status is transmitted as bit 11 of 6 11 Main status word MSW bit 11 sel 6 30 0 0 False 1 1 True 2 Bit 11 of 6 1 Main control word page 152 Ext ctrl loc See Terms and abbreviations page 130 Other bit Ext run enable uint32 Selects a binary source whose status is transmitted as bit 12 of 6 11 Main status word MSW bit 12 sel 6 31 0 0 False 1 1 True 2 Inverted bit 5 of 6 18 Start inhibit status word...

Page 159: ...e OK Net ok b10 Selectable in supply control program Not In Use b11 Selectable in supply control program Not In Use b12 Selectable in supply control program Not in use b13 1 Charging circuit active 0 Charging circuit inactive Charging b14 Selectable in supply control program Not In Use b15 1 1 0000h FFFFh uint16 Only visible when supply unit control activated by 95 20 Shows the control word sent t...

Page 160: ...Main control word page 152 MCW user bit 2 5 Bit 15 of 6 1 Main control word page 152 MCW user bit 3 See Terms and abbreviations page 130 Other bit MCW user bit 1 uint32 Only visible when supply unit control activated by 95 20 Selects a binary source whose status is transmitted as bit 13 of 6 39 Internal state machine LSU CW to the supply unit LSU CW user bit 1 selection 6 41 0 0 FALSE 1 1 TRUE 2 B...

Page 161: ...as bit 12 of the Follower control word to follower drives Bits 0 11 of the Follower control word are taken from 6 1 Main control word See also section Master follower functionality page 66 Follower CW user bit 0 selection 6 45 0 0 FALSE 1 1 TRUE 2 Bit 12 of 6 1 Main control word page 152 MCW user bit 0 3 Bit 13 of 6 1 Main control word page 152 MCW user bit 1 4 Bit 14 of 6 1 Main control word page...

Page 162: ... 152 MCW user bit 2 5 Bit 15 of 6 1 Main control word page 152 MCW user bit 3 See Terms and abbreviations page 130 Other bit uint16 User defined status word This word shows the status of the binary sources selected by parameters 6 60 6 75 This parameter is read only User status word 1 6 50 Status of source selected by parameter 6 60 User status bit 0 b0 Status of source selected by parameter 6 61 ...

Page 163: ... 1 bit 2 sel 6 62 0 0 False 1 1 True 2 Bit 8 of 6 17 Drive status word 2 page 154 Emergency stop failed See Terms and abbreviations page 130 Other bit Magnetized uint32 Selects a binary source whose status is shown as bit 3 of 6 50 User status word 1 User status word 1 bit 3 sel 6 63 0 0 False 1 1 True 2 Bit 1 of 6 17 Drive status word 2 page 154 Magnetized See Terms and abbreviations page 130 Oth...

Page 164: ...User status word 1 User status word 1 bit 9 sel 6 69 0 0 False 1 1 True 2 Bit 7 of 6 16 Drive status word 1 page 153 Limiting See Terms and abbreviations page 130 Other bit Torque control uint32 Selects a binary source whose status is shown as bit 10 of 6 50 User status word 1 User status word 1 bit 10 sel 6 70 0 0 False 1 1 True 2 Bit 2 of 6 17 Drive status word 2 page 154 Torque control See Term...

Page 165: ... word 1 User status word 1 bit 15 sel 6 75 0 0 FALSE 1 1 TRUE See Terms and abbreviations page 130 Other bit uint16 User defined control word 1 User control word 1 6 100 User defined bit User control word 1 bit 0 sel b0 User defined bit User control word 1 bit 1 sel b1 User defined bit User control word 1 bit 2 sel b2 User defined bit User control word 1 bit 3 sel b3 User defined bit User control ...

Page 166: ... User defined bit User control word 2 bit 3 sel b3 User defined bit User control word 2 bit 4 sel b4 User defined bit User control word 2 bit 5 sel b5 User defined bit User control word 2 bit 6 sel b6 User defined bit User control word 2 bit 7 sel b7 User defined bit User control word 2 bit 8 sel b8 User defined bit User control word 2 bit 9 sel b9 User defined bit User control word 2 bit 10 sel b...

Page 167: ...ng controlled Modulating b6 1 Any operating limit is active Limiting b7 1 Drive is in local control Local control b8 1 Drive is in network control Network control b9 1 Control location Ext1 active Ext1 active b10 1 Control location Ext2 active Ext2 active b11 1 Charging contactor is energized The actual state depends on the hardware topology NO or NC Charging relay b12 1 MCB relay is closed MCB re...

Page 168: ...Def Type FbEq 16b 32b Description Name Range Selection No Charging overload b9 Reserved b10 11 Em Off2 b12 Em Off3 b13 Auto reset inhibit b14 Reserved b15 1 1 0000h FFFFh 168 Parameters ...

Page 169: ...Version number of the firmware bootloader Bootloader version 7 8 uint32 Microprocessor load in percent Cpu usage 7 11 1 1 1 1 Microprocessor load 0 100 uint16 Version number of the power unit logic The value of FFFF indicates that the version numbers of parallel connected power units are different See the drive information on the control panel PU logic version number 7 13 uint32 Version name of th...

Page 170: ...1 Status of opening 13 in the application program Opening13 b12 Status of opening 14 in the application program Opening14 b13 Status of opening 15 in the application program Opening15 b14 Status of opening 16 in the application program Opening16 b15 1 1 0000h FFFFh 0 uint32 Only visible with option N8010 application programmability First five ASCII letters of the name given to the application prog...

Page 171: ...s in percent of an internal quota Can be reset from the control panel by keeping Reset depressed for over 3 seconds IEC application Cpu usage peak 7 40 10 1 10 1 Peak microprocessor loading caused by application program 0 0 100 0 real32 Only visible with option N8010 application programmability Displays the average loading of the microprocessor caused by the application program The value is in per...

Page 172: ...on 7 56 1 1 Logic version of module detected in slot 2 0000 FFFFh uint16 Displays the software version of module detected in slot 2 of the drive control unit Slot 2 module software version 7 57 0 uint16 Displays the FPGA logic version of module detected in slot 3 of the drive control unit The logic version is detected for DDCS option modules for example FEN encoder modules FEN 01 FEN 11 FEN 21 FEN...

Page 173: ... status of the DIIL input This parameter is read only uint16 The electrical statuses of the digital inputs can be overridden for eg testing purposes A bit in parameter DI force selection 10 3 10 4 DI force data is provided for each digital input and its value is applied whenever the corresponding bit in this parameter is 1 1 Force DI1 to value of bit 0 of parameter 10 4 DI force data DI1 b0 1 Forc...

Page 174: ...digital input DI1 See parameter 10 5 DI1 ON delay DI1 OFF delay 10 6 10 1 s 10 1 s Deactivation delay for DI1 0 0 3000 0 s 0 0 s uint32 Defines the activation delay for digital input DI2 DI status Delayed DI status tOn tOff tOn tOff Time 1 0 1 0 tOn 10 7 DI2 ON delay tOff 10 8 DI2 OFF delay Electrical status of digital input Indicated by 10 1 DI status Indicated by 10 2 DI delayed status DI2 ON de...

Page 175: ...ital input DI3 See parameter 10 9 DI3 ON delay DI3 OFF delay 10 10 10 1 s 10 1 s Deactivation delay for DI3 0 0 3000 0 s 0 0 s uint32 Defines the activation delay for digital input DI4 DI status Delayed DI status tOn tOff tOn tOff Time 1 0 1 0 tOn 10 11 DI4 ON delay tOff 10 12 DI4 OFF delay Electrical status of digital input Indicated by 10 1 DI status Indicated by 10 2 DI delayed status DI4 ON de...

Page 176: ...tOff tOn tOff Time 1 0 1 0 tOn 10 15 DI6 ON delay tOff 10 16 DI6 OFF delay Electrical status of digital input Indicated by 10 1 DI status Indicated by 10 2 DI delayed status DI6 ON delay 10 15 10 1 s 10 1 s Activation delay for DI6 0 0 3000 0 s 0 0 s uint32 Defines the deactivation delay for digital input DI6 See parameter 10 15 DI6 ON delay DI6 OFF delay 10 16 10 1 s 10 1 s Deactivation delay for...

Page 177: ...ontrol status page 362 Open brake command 23 Bit 11 of 6 16 Drive status word 1 page 153 Ext2 active 24 Bit 9 of 6 11 Main status word page 153 Remote control 33 Bit 0 of 32 1 Supervision status page 328 Supervision 1 34 Bit 1 of 32 1 Supervision status page 328 Supervision 2 35 Bit 2 of 32 1 Supervision status page 328 Supervision 3 40 Bit 0 of 10 99 RO DIO control word page 179 RO DIO control wo...

Page 178: ...efines the deactivation delay for relay output RO2 See parameter 10 28 RO2 ON delay RO2 OFF delay 10 29 10 1 s 10 1 s Deactivation delay for RO2 0 0 3000 0 s Fault 1 uint32 Selects a drive signal to be connected to relay output RO3 For the available selections see parameter 10 24 RO1 source RO3 source 10 30 0 0 s uint32 Defines the activation delay for relay output RO3 Status of selected source RO...

Page 179: ... word with the bit assignments shown below as Modbus I O data Set the target selection parameter of that particular data 58 101 58 124 to RO DIO control word In the source selection parameter of the desired output select the appropriate bit of this word RO DIO control word 10 99 Source bit for relay output RO1 See parameter 10 24 RO1 b0 Source bit for relay output RO2 See parameter 10 27 RO2 b1 So...

Page 180: ...d as a frequency input Frequency Ready run uint32 Selects a drive signal to be connected to digital input output DIO1 when parameter 11 5 DIO1 function is set to Output DIO1 output source 11 6 0 Output is not energized Not energized 1 Output is energized Energized 2 Bit 1 of 6 11 Main status word page 153 Ready run 4 Bit 0 of 6 16 Drive status word 1 page 153 Enabled 5 Bit 5 of 6 16 Drive status w...

Page 181: ... Delayed DIO status tOn tOff tOn tOff 1 0 0 1 Time tOn 11 7 DIO1 ON delay tOff 11 8 DIO1 OFF delay Electrical status of DIO in input mode or status of selected source in output mode Indicated by 11 1 DIO status Indicated by 11 2 DIO delayed status DIO1 ON delay 11 7 10 1 s 10 1 s Activation delay for DIO1 0 0 3000 0 s 0 0 s uint32 Defines the deactivation delay for digital input output DIO1 when u...

Page 182: ...deactivation delay for digital input output DIO2 when used as a digital output or digital input See parameter 11 11 DIO2 ON delay DIO2 OFF delay 11 12 10 1 s 10 1 s Deactivation delay for DIO2 0 0 3000 0 s real32 Displays the value of frequency input 1 via DIO1 when it is used as a frequency input before scaling See parameter 11 42 Freq in 1 min This parameter is read only Freq in 1 actual value 1...

Page 183: ...nput frequency defined by parameter 11 42 Freq in 1 min See diagram at parameter 11 42 Freq in 1 min Freq in 1 at scaled min 11 44 1 1 1000 1 Value corresponding to minimum of frequency input 1 32768 000 32767 000 1500 000 1800 000 95 20 b0 real32 Defines the value that is required to correspond internally to the maximum input frequency defined by parameter 11 43 Freq in 1 max See diagram at param...

Page 184: ... to the minimum value of frequency output 1 defined by parameter 11 60 Freq out 1 at src min fout 11 54 11 61 11 60 11 58 11 59 Signal real selected by par 11 55 fout 11 54 11 61 11 60 11 59 11 58 Signal real selected by par 11 55 Freq out 1 src min 11 58 1 1 1000 1 Real signal value corresponding to minimum value of frequency output 1 32768 000 32767 000 1500 000 1800 000 95 20 b0 real32 Defines ...

Page 185: ...16000 Hz real32 Defines the maximum value of frequency output 1 See diagrams at parameter 11 58 Freq out 1 src min Freq out 1 at src max 11 61 1 1 Hz 1 1 Hz Maximum value of frequency output 1 0 16000 Hz 10 0 ms uint32 Defines a filtering time for parameter 11 1 DIO status and 11 2 DIO delayed status The filtering time will only affect the DIOs that are in input mode DIO filter time 11 81 10 1 ms ...

Page 186: ...ximum value of AI2 into parameter 12 28 AI2 max The value reverts back to No action automatically AI2 max tune No action uint16 Selects how the drive reacts when an analog input signal moves out of the minimum and or maximum limits specified for the input AI supervision function 12 3 The supervision applies a margin of 0 5 V or 1 0 mA to the limits For example if the maximum limit for the input is...

Page 187: ...1 MIN b0 1 Maximum limit supervision of AI1 active AI1 MAX b1 1 Minimum limit supervision of AI2 active AI2 MIN b2 1 Maximum limit supervision of AI2 active AI2 MAX b3 Reserved b4 15 1 1 0000h FFFFh uint16 Activates analog input supervision separately for each control location see section Local control vs external control page 23 The parameter is primarily intended for analog input supervision whe...

Page 188: ...dings and settings related to analog input AI1 Note This setting must match the corresponding hardware setting on the drive control unit see the hardware manual of the drive Control board reboot either by cycling the power or through parameter 96 8 Control board boot is required to validate any changes in the hardware settings AI1 unit selection 12 15 2 Volts V 10 Milliamperes mA 0 100 s real32 De...

Page 189: ... to the minimum analog input AI1 value defined by parameter 12 17 AI1 min Changing the polarity settings of 12 19 and 12 20 can effectively invert the analog input AIscaled 12 12 AIin 12 11 12 20 12 17 12 18 12 19 AI1 scaled at AI1 min 12 19 1 1 1000 1 Real value corresponding to minimum AI1 value 32768 000 32767 000 1500 000 1800 000 95 20 b0 real32 Defines the real internal value that correspond...

Page 190: ...re settings AI2 unit selection 12 25 2 Volts V 10 Milliamperes mA 0 100 s real32 Defines the filter time constant for analog input AI2 See parameter 12 16 AI1 filter time AI2 filter time 12 26 1000 1 s 1000 1 s Filter time constant 0 000 30 000 s 0 000 mA or V real32 Defines the minimum site value for analog input AI2 Set the value actually sent to the drive when the analog signal from plant is wo...

Page 191: ...g input AIscaled 12 22 AIin 12 21 12 30 12 27 12 29 12 28 AI2 scaled at AI2 min 12 29 1 1 1000 1 Real value corresponding to minimum AI2 value 32768 000 32767 000 100 000 real32 Defines the real value that corresponds to the maximum analog input AI2 value defined by parameter 12 28 AI2 max See the drawing at parameter 12 29 AI2 scaled at AI2 min AI2 scaled at AI2 max 12 30 1 1 1000 1 Real value co...

Page 192: ...d ref ramp input page 270 Speed ref ramp in 11 23 2 Speed ref ramp output page 270 Speed ref ramp out 12 24 1 Used speed reference page 277 Speed ref used 13 26 2 Torque reference used page 297 Torq ref used See Terms and abbreviations page 130 Other value 20 The output is used to feed an excitation current to 1 3 Pt100 sensors See section Motor thermal protection page 111 Force Pt100 excitation 2...

Page 193: ...2 Defines the filtering time constant for analog output AO1 100 63 Filtered signal Unfiltered signal T t O I 1 e t T I filter input step O filter output t time T filter time constant AO1 filter time 13 16 1000 1 s 1000 1 s Filter time constant 0 000 30 000 s Parameters 193 ...

Page 194: ...inimum value inverts the output IAO1 mA Signal real selected by 13 12 13 20 13 19 13 18 13 17 AO1 source min 13 17 1 1 10 1 Real signal value corresponding to minimum AO1 output value 32768 0 32767 0 1500 000 1800 000 95 20 b0 real32 Defines the real maximum value of the signal selected by parameter 13 12 AO1 source that corresponds to the maximum required AO1 output value defined by parameter 13 ...

Page 195: ... 1000 1 mA Maximum AO1 output value 0 000 22 000 mA real32 Displays the value of AO2 in mA This parameter is read only AO2 actual value 13 21 1000 1 mA 1000 1 mA Value of AO2 0 000 22 000 mA Motor current uint32 Selects a signal to be connected to analog output AO2 Alternatively sets the output to excitation mode to feed a constant current to a temperature sensor For the selections see parameter 1...

Page 196: ...28 as the minimum value inverts the output IAO2 mA 13 30 Signal real selected by 13 22 13 29 13 28 13 27 AO2 source min 13 27 1 1 10 1 Real signal value corresponding to minimum AO2 output value 32768 0 32767 0 100 0 real32 Defines the real maximum value of the signal selected by parameter 13 22 AO2 source that corresponds to the maximum required AO2 output value defined by parameter 13 30 AO2 out...

Page 197: ...ough fieldbus In 13 12 AO1 source select AO1 data storage Then set this parameter as the target of the incoming value data With the embedded fieldbus interface simply set the target selection parameter of that particular data 58 101 58 124 to AO1 data storage AO1 data storage 13 91 100 1 100 1 Storage parameter for AO1 327 68 327 67 0 00 real32 Storage parameter for controlling analog output AO2 e...

Page 198: ... Slot 2 2 Slot 3 3 4 254 Node ID of the slot on the FEA 03 extension adapter 1 254 No option uint16 Displays the status of I O extension module 1 Module 1 status 14 3 0 No module detected in the specified slot No option 1 A module has been detected but cannot be communicated with 2 The module type is unknown 15 An FIO 01 module has been detected and is active FIO 01 20 An FIO 11 module has been de...

Page 199: ...is parameter depends on the number of digital input outputs on the extension module Example 1001b DIO1 and DIO4 are on remainder are off This parameter is read only DIO status 14 5 uint16 Visible when 14 1 Module 1 type FDIO 01 Displays the delayed status of the digital inputs on the extension module The word is updated only after activation deactivation delays if any are specified Bit 0 indicates...

Page 200: ...0 0 ms 10 0 ms real32 Visible when 14 1 Module 1 type FIO 01 Defines a filtering time for parameters 14 5 DIO status and 14 6 DIO delayed status The filtering time will only affect the DIOs that are in input mode DIO filter time 14 8 10 1 ms 10 1 ms Filtering time for DIO status parameters 0 8 100 0 ms Input uint16 Visible when 14 1 Module 1 type FIO 11 Selects whether DIO1 of the extension module...

Page 201: ...sion 1 34 Bit 1 of 32 1 Supervision status page 328 Supervision 2 35 Bit 2 of 32 1 Supervision status page 328 Supervision 3 40 Bit 0 of 10 99 RO DIO control word page 179 RO DIO control word bit0 41 Bit 1 of 10 99 RO DIO control word page 179 RO DIO control word bit1 42 Bit 2 of 10 99 RO DIO control word page 179 RO DIO control word bit2 43 Bit 8 of 10 99 RO DIO control word page 179 RO DIO contr...

Page 202: ...tus page 328 Supervision 1 34 Bit 1 of 32 1 Supervision status page 328 Supervision 2 35 Bit 2 of 32 1 Supervision status page 328 Supervision 3 40 Bit 0 of 10 99 RO DIO control word page 179 RO DIO control word bit0 41 Bit 1 of 10 99 RO DIO control word page 179 RO DIO control word bit1 42 Bit 2 of 10 99 RO DIO control word page 179 RO DIO control word bit2 43 Bit 8 of 10 99 RO DIO control word p...

Page 203: ...IO1 ON delay tOff 14 13 DIO1 OFF delay Electrical status of DIO in input mode or status of selected source in output mode Indicated by 14 5 DIO status Indicated by 14 6 DIO delayed status DIO1 ON delay 14 12 10 1 s 100 1 s Activation delay for DIO1 0 00 3000 00 s 0 00 s real32 Visible when 14 1 Module 1 type FDIO 01 Defines the deactivation delay for digital input DI1 See parameter 14 12 DI1 ON de...

Page 204: ... is set to Output For the available selections see parameter 14 11 DIO1 output source DIO2 output source 14 16 0 00 s real32 Visible when 14 1 Module 1 type FDIO 01 Defines the activation delay for digital input DI2 See parameter 14 12 DI1 ON delay DI2 ON delay 14 17 10 1 s 100 1 s Activation delay for DI2 0 00 3000 00 s 0 00 s real32 Visible when 14 1 Module 1 type FIO 11 Defines the activation d...

Page 205: ...ermined on the basis of actual speed using 850 ms low pass filtering WARNING Make sure that it is safe to continue operation in case of a communication break Last speed 4 Drive generates a warning A8A0 AI Supervised Warning and sets the speed to the speed defined by parameter 22 41 Speed ref safe WARNING Make sure that it is safe to continue operation in case of a communication break Speed ref saf...

Page 206: ...ximum signal to the input and select the appropriate tuning function See also the drawing at parameter 14 35 AI1 scaled at AI1 min AI tune 14 21 0 Tuning action completed or no action has been requested The parameter automatically reverts to this value after any tuning action No action 1 The measured value of AI1 is set as the minimum value of AI1 into parameter 14 33 AI1 min AI1 min tune 2 The me...

Page 207: ...DIO3 function is set to Output For the available selections see parameter 14 11 DIO1 output source DIO3 output source 14 21 uint16 Visible when 14 1 Module 1 type FAIO 01 The true readings of the analog inputs can be overridden for eg testing purposes A forced value parameter is provided for each analog input and its value is applied whenever the corresponding bit in this parameter is 1 AI force s...

Page 208: ...cts whether DIO4 of the extension module is used as a digital input or output DIO4 function 14 24 0 DIO4 is used as a digital output Output 1 DIO4 is used as a digital input Input real32 Visible when 14 1 Module 1 type FAIO 01 Displays the value of analog input AI1 in mA or V depending on whether the input is set to current or voltage This parameter is read only AI1 actual value 14 26 1000 1 mA or...

Page 209: ...eter 96 8 Control board boot is required to validate any changes in the hardware settings AI1 HW switch position 14 29 10 Milliamperes mA 2 Volts V mA uint16 Visible when 14 1 Module 1 type FAIO 01 Selects the unit for readings and settings related to analog input AI1 Note This setting must match the corresponding hardware setting on the I O extension module see the manual of the I O extension mod...

Page 210: ...nterface hardware See parameter 14 31 AI1 filter gain AI1 filter time 14 32 1000 1 s 1000 1 s Filter time constant 0 000 30 000 s 0 000 mA or V real32 Visible when 14 1 Module 1 type FAIO 01 Defines the minimum value for analog input AI1 See also parameter 14 21 AI tune AI1 min 14 33 1000 1 mA or V 1000 1 mA or V Minimum value of AI1 22 000 22 000 mA or V Not energized uint32 Visible when 14 1 Mod...

Page 211: ... for relay output RO1 Status of selected source RO status tOn tOff tOff tOn Time 1 0 0 1 tOn 14 35 RO1 ON delay tOff 14 36 RO1 OFF delay RO1 ON delay 14 35 10 1 s 100 1 s Activation delay for RO1 0 00 3000 00 s 0 000 real32 Visible when 14 1 Module 1 type FAIO 01 Defines the real value that corresponds to the minimum analog input AI1 value defined by parameter 14 33 AI1 min AIscaled 14 27 AIin 14 ...

Page 212: ...2768 000 32767 000 0 00 s real32 Visible when 14 1 Module 1 type FIO 01 Defines the deactivation delay for relay output RO1 See parameter 14 35 RO1 ON delay RO1 OFF delay 14 36 10 1 s 100 1 s Deactivation delay for RO1 0 00 3000 00 s Not energized uint32 Visible when 14 1 Module 1 type FDIO 01 Selects a drive signal to be connected to relay output RO2 For the available selections see parameter 14 ...

Page 213: ...le when 14 1 Module 1 type FAIO 01 Displays the value of analog input AI2 after scaling See parameter 14 50 AI2 scaled at AI2 min This parameter is read only AI2 scaled value 14 42 1 1 1000 1 Scaled value of analog input AI2 32768 000 32767 000 real32 Visible when 14 1 Module 1 type FAIO 01 Forced value that can be used instead of the true reading of the input See parameter 14 22 AI force selectio...

Page 214: ...ion I O module reboot either by cycling the power or through parameter 96 8 Control board boot is required to validate any changes in the hardware settings AI2 unit selection 14 45 10 Milliamperes mA 2 Volts V 1 ms uint16 Visible when 14 1 Module 1 type FAIO 01 Selects a hardware filtering time for AI2 See also parameter 14 47 AI2 filter time AI2 filter gain 14 46 0 No filtering No filtering 1 125...

Page 215: ...er 14 46 AI2 filter gain AI2 filter time 14 47 1000 1 s 1000 1 s Filter time constant 0 000 30 000 s 0 000 mA or V real32 Visible when 14 1 Module 1 type FAIO 01 Defines the minimum value for analog input AI2 See also parameter 14 21 AI tune AI2 min 14 48 1000 1 mA or V 1000 1 mA or V Minimum value of AI2 22 000 22 000 mA or V 10 000 mA or V real32 Visible when 14 1 Module 1 type FAIO 01 Defines t...

Page 216: ...nding to maximum AI2 value 32768 000 32767 000 real32 Visible when 14 1 Module 1 type FIO 11 Displays the value of analog input AI3 in mA or V depending on whether the input is set to current or voltage This parameter is read only AI3 actual value 14 56 1000 1 mA or V 1000 1 mA or V Value of analog input AI3 22 000 22 000 mA or V real32 Visible when 14 1 Module 1 type FIO 11 Displays the value of ...

Page 217: ...s related to analog input AI3 Note This setting must match the corresponding hardware setting on the I O extension module see the manual of the I O extension module The hardware setting is shown by parameter 14 59 AI3 HW switch position I O module reboot either by cycling the power or through parameter 96 8 Control board boot is required to validate any changes in the hardware settings AI3 unit se...

Page 218: ...ter 14 61 AI3 filter gain AI3 filter time 14 62 1000 1 s 1000 1 s Filter time constant 0 000 30 000 s 0 000 mA or V real32 Visible when 14 1 Module 1 type FIO 11 Defines the minimum value for analog input AI3 See also parameter 14 21 AI tune AI3 min 14 63 1000 1 mA or V 1000 1 mA or V Minimum value of AI3 22 000 22 000 mA or V 10 000 mA or V real32 Visible when 14 1 Module 1 type FIO 11 Defines th...

Page 219: ...ponding to maximum AI3 value 32768 000 32767 000 uint16 Visible when 14 1 Module 1 type FAIO 01 The value of the analog output can be overridden for eg testing purposes A forced value parameter 14 78 AO1 force data is provided for the analog output and its value is applied whenever the corresponding bit in this parameter is 1 AO force selection 14 71 1 Force mode Force AO1 to value of parameter 14...

Page 220: ...e 270 Speed ref ramp in 11 23 2 Speed ref ramp output page 270 Speed ref ramp out 12 24 1 Used speed reference page 277 Speed ref used 13 26 2 Torque reference used page 297 Torq ref used See Terms and abbreviations page 130 Other value 20 The output is used to feed an excitation current to 1 3 Pt100 sensors See section Motor thermal protection page 111 Force Pt100 excitation 21 The output is used...

Page 221: ...ee parameter 14 71 AO force selection AO1 force data 14 78 1000 1 mA 1000 1 mA Forced value of analog output AO1 0 000 20 000 mA 0 100 s real32 Visible when 14 1 Module 1 type FAIO 01 Defines the filtering time constant for analog output AO1 Unfiltered signal Filtered signal 100 63 T t O I 1 e t T I filter input step O filter output t time T filter time constant AO1 filter time 14 79 1000 1 s 1000...

Page 222: ... to minimum AO1 output value 32768 0 32767 0 100 0 real32 Visible when 14 1 Module 1 type FAIO 01 Defines the real value of the signal selected by parameter 14 77 AO1 source that corresponds to the maximum AO1 output value defined by parameter 14 83 AO1 out at AO1 src max See parameter 14 80 AO1 source min AO1 source max 14 81 1 1 10 1 Real signal value corresponding to maximum AO1 output value 32...

Page 223: ...um AO1 output value 0 000 20 000 mA real32 Visible when 14 1 Module 1 type FAIO 01 Displays the value of AO2 in mA This parameter is read only AO2 actual value 14 86 1000 1 mA 1000 1 mA Value of AO2 0 000 22 000 mA Zero uint32 Visible when 14 1 Module 1 type FAIO 01 Selects a signal to be connected to analog output AO2 Alternatively sets the output to excitation mode to feed a constant current to ...

Page 224: ... minimum AO2 output value 32768 0 32767 0 100 0 real32 Visible when 14 1 Module 1 type FAIO 01 Defines the real value of the signal selected by parameter 14 87 AO2 source that corresponds to the maximum AO2 output value defined by parameter 14 93 AO2 out at AO2 src max See parameter 14 90 AO2 source min AO2 source max 14 91 1 1 10 1 Real signal value corresponding to maximum AO2 output value 32768...

Page 225: ...00 mA real32 Visible when 14 1 Module 1 type FAIO 01 Defines the maximum output value for analog output AO2 See also drawing at parameter 14 90 AO2 source min AO2 out at AO2 src max 14 93 1000 1 mA 1000 1 mA Maximum AO2 output value 0 000 20 000 mA Parameters 225 ...

Page 226: ...n 15 1 Module 2 type FDIO 01 See parameter 14 8 DI filter time DI filter time 15 8 10 0 ms real32 Visible when 15 1 Module 2 type FIO 11 See parameter 14 8 DIO filter time DIO filter time 15 8 10 0 ms real32 Visible when 15 1 Module 2 type FIO 01 See parameter 14 8 DIO filter time DIO filter time 15 8 Input uint16 Visible when 15 1 Module 2 type FIO 11 See parameter 14 9 DIO1 function DIO1 functio...

Page 227: ...18 0 00 s real32 Visible when 15 1 Module 2 type FIO 01 See parameter 14 18 DIO2 OFF delay DIO2 OFF delay 15 18 Input uint16 Visible when 15 1 Module 2 type FIO 01 See parameter 14 19 DIO3 function DIO3 function 15 19 No action uint16 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 19 AI supervision function AI supervision function 15 19 uint16 Visible when 15 1 Module 2 type FAIO 01 See ...

Page 228: ...on AI1 HW switch position 15 29 mA uint16 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 30 AI1 unit selection AI1 unit selection 15 30 uint16 Visible when 15 1 Module 2 type FDIO 01 See parameter 14 31 RO status RO status 15 31 uint16 Visible when 15 1 Module 2 type FIO 01 See parameter 14 31 RO status RO status 15 31 1 ms uint16 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 ...

Page 229: ... real32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 42 AI2 scaled value AI2 scaled value 15 42 real32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 43 AI2 force data AI2 force data 15 43 uint16 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 44 AI2 HW switch position AI2 HW switch position 15 44 mA uint16 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 45 ...

Page 230: ...6 Visible when 15 1 Module 2 type FIO 11 See parameter 14 71 AO force selection AO force selection 15 71 real32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 76 AO1 actual value AO1 actual value 15 76 Zero uint32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 77 AO1 source AO1 source 15 77 real32 Visible when 15 1 Module 2 type FIO 11 See parameter 14 78 AO1 force data AO1 for...

Page 231: ...l32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 89 AO2 filter time AO2 filter time 15 89 0 0 real32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 90 AO2 source min AO2 source min 15 90 100 0 real32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 91 AO2 source max AO2 source max 15 91 0 000 mA real32 Visible when 15 1 Module 2 type FAIO 01 See parameter 14 92 AO2 ou...

Page 232: ...en 16 1 Module 3 type FDIO 01 See parameter 14 8 DI filter time DI filter time 16 8 10 0 ms real32 Visible when 16 1 Module 3 type FIO 11 See parameter 14 8 DIO filter time DIO filter time 16 8 10 0 ms real32 Visible when 16 1 Module 3 type FIO 01 See parameter 14 8 DIO filter time DIO filter time 16 8 Input uint16 Visible when 16 1 Module 3 type FIO 11 See parameter 14 9 DIO1 function DIO1 functi...

Page 233: ...18 0 00 s real32 Visible when 16 1 Module 3 type FIO 01 See parameter 14 18 DIO2 OFF delay DIO2 OFF delay 16 18 No action uint16 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 19 AI supervision function AI supervision function 16 19 Input uint16 Visible when 16 1 Module 3 type FIO 01 See parameter 14 19 DIO3 function DIO3 function 16 19 uint16 Visible when 16 1 Module 3 type FAIO 01 See ...

Page 234: ...on AI1 HW switch position 16 29 mA uint16 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 30 AI1 unit selection AI1 unit selection 16 30 uint16 Visible when 16 1 Module 3 type FDIO 01 See parameter 14 31 RO status RO status 16 31 uint16 Visible when 16 1 Module 3 type FIO 01 See parameter 14 31 RO status RO status 16 31 1 ms uint16 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 ...

Page 235: ... real32 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 42 AI2 scaled value AI2 scaled value 16 42 real32 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 43 AI2 force data AI2 force data 16 43 uint16 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 44 AI2 HW switch position AI2 HW switch position 16 44 mA uint16 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 45 ...

Page 236: ...force selection AO force selection 16 71 uint16 Visible when 16 1 Module 3 type FIO 11 See parameter 14 71 AO force selection AO force selection 16 71 real32 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 76 AO1 actual value AO1 actual value 16 76 Zero uint32 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 77 AO1 source AO1 source 16 77 real32 Visible when 16 1 Module 3 type FIO...

Page 237: ...e parameter 14 88 AO2 force data AO2 force data 16 88 0 100 s real32 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 89 AO2 filter time AO2 filter time 16 89 0 0 real32 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 90 AO2 source min AO2 source min 16 90 100 0 real32 Visible when 16 1 Module 3 type FAIO 01 See parameter 14 91 AO2 source max AO2 source max 16 91 0 000 mA real32 V...

Page 238: ...erence 26 74 Torque ref ramp out and the greater of the two is used 6 The speed controller output is added to the torque reference Add 7 DC voltage control 16 Position control 17 Synchron control 18 Homing control 19 Profile velocity control EXT1 uint32 Selects the source for external control location EXT1 EXT2 selection Ext1 Ext2 selection 19 11 0 EXT1 1 EXT2 0 EXT1 permanently selected EXT1 1 EX...

Page 239: ...if the load is lost in torque control Minimum 5 Combination of selections Speed and Torque the torque selector compares the speed controller output 25 1 Torque reference speed control and the torque reference 26 74 Torque ref ramp out and selects the greater of the two If speed error becomes positive the drive follows the speed controller output until speed error becomes negative again This preven...

Page 240: ...ontrol start and stop buttons on the control panel and the local controls on the PC tool WARNING Before disabling local control ensure that the control panel is not needed for stopping the drive Local control disable 19 17 0 Local control enabled No 1 Local control disabled Yes 240 Parameters ...

Page 241: ...interpreted as follows In1 Start Command State of source 1 20 3 Start 0 1 20 2 Edge 1 20 2 Level Stop 0 2 The source selected by 20 3 Ext1 in1 source is the start signal the source selected by 20 4 Ext1 in2 source In1 Start In2 Dir determines the direction The state transitions of the source bits are interpreted as follows Command State of source 2 20 4 State of source 1 20 3 Stop Any 0 Start forw...

Page 242: ...art forward 0 1 0 1 Start reverse 1 1 0 1 Stop Any 0 Any Note The start signal is always edge triggered with this setting regardless of parameter 20 2 Ext1 start trigger type In1P Start In2 Stop In3 Dir 6 The sources of the start and stop commands are selected by parameters 20 3 Ext1 in1 source 20 4 Ext1 in2 source and 20 5 Ext1 in3 source The state transitions of the source bits are interpreted a...

Page 243: ...el triggered with this setting regardless of parameter 20 2 Ext1 start trigger type DDCS controller Edge uint16 Defines whether the start signal for external control location EXT1 is edge triggered or level triggered Note This parameter is only effective when parameter 20 1 Ext1 commands is set to In1 Start In1 Start In2 Dir In1 Start fwd In2 Start rev or Control panel Ext1 start trigger type 20 2...

Page 244: ...ds is selected by parameter 20 8 Ext2 in1 source The state transitions of the source bits are interpreted as follows Command State of source 1 20 8 Start 0 1 20 7 Edge 1 20 7 Level Stop 0 In1 Start 2 The source selected by 20 8 Ext2 in1 source is the start signal the source selected by 20 9 Ext2 in2 source determines the direction The state transitions of the source bits are interpreted as follows...

Page 245: ...tart forward 0 1 0 1 Start reverse 1 1 0 1 Stop Any 0 Any Note The start signal is always edge triggered with this setting regardless of parameter 20 7 Ext2 start trigger type In1P Start In2 Stop In3 Dir 6 The sources of the start and stop commands are selected by parameters 20 8 Ext2 in1 source 20 9 Ext2 in2 source and 20 10 Ext2 in3 source The state transitions of the source bits are interpreted...

Page 246: ...er 20 7 Ext2 start trigger type DDCS controller Edge uint16 Defines whether the start signal for external control location EXT2 is edge triggered or level triggered Note This parameter is only effective when parameter 20 6 Ext2 commands is set to In1 Start In1 Start In2 Dir In1 Start fwd In2 Start rev or Control panel Ext2 start trigger type 20 7 0 The start signal is edge triggered Edge 1 The sta...

Page 247: ... signal on Note The warning that indicates a missing signal can be suppressed using parameter 20 30 Enable signals warning function See also parameter 20 19 Enable start command Run enable 1 source 20 12 0 0 Not selected 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digit...

Page 248: ...ng will not stop the drive Note If a level triggered start command is on when the start enable signal switches on the drive will start An edgetriggered start signal must be cycled for the drive to start See parameters 20 2 Ext1 start trigger type 20 7 Ext2 start trigger type and 20 29 Local start trigger type The warning that indicates a missing signal can be suppressed using parameter 20 30 Enabl...

Page 249: ...roller monitors the rotation direction of the motor 20 23 Positive speed enable 20 24 Negative speed enable 23 01 Speed ref ramp input 01 01 Motor speed used Positive speed enable 20 23 0 0 Not selected 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digital input DI4 10 2 ...

Page 250: ...l input DI5 10 2 DI delayed status bit 4 DI5 7 Digital input DI6 10 2 DI delayed status bit 5 DI6 10 Digital input output DIO1 11 2 DIO delayed status bit 0 DIO1 11 Digital input output DIO1 11 2 DIO delayed status bit 1 DIO2 See Terms and abbreviations page 130 Other bit Not selected uint32 If enabled by parameter 20 25 Jogging enable selects the source for the activation of jogging function 1 Jo...

Page 251: ... Defines whether the start signal for local control for example control panel or PC tool is edge triggered or level triggered Local start trigger type 20 29 0 The start signal is edge triggered Edge 1 The start signal is level triggered Level uint16 Selects enable signal eg run enable start enable warnings to be suppressed This parameter can be used to prevent these warnings from flooding the even...

Page 252: ...e 93 0 The drive pre magnetizes the motor before start The premagnetizing time is determined automatically Fast being typically 200 ms to 2 s depending on motor size This mode should be selected if a high break away torque is required 1 The drive pre magnetizes the motor before start The premagnetizing time is defined by parameter 21 2 Constant time Magnetization time This mode should be selected ...

Page 253: ...nd the drive automatically premagnetizes the motor for the set time To ensure full magnetizing set this parameter to the same value as or higher than the rotor time constant If not known use the rule of thumb value given in the table below Constant magnetizing time Motor rated power 50 to 100 ms 1 kW 100 to 200 ms 1 to 10 kW 200 to 1000 ms 10 to 200 kW 1000 to 2000 ms 200 to 1000 kW Note This para...

Page 254: ...wed 0 Starting not allowed Ramp stop Off1 1 With the drive running 1 Normal operation 0 Stop by coasting The drive can be restarted by restoring the start interlock signal and switching the start signal from 0 to 1 With the drive stopped 1 Starting allowed 0 Starting not allowed Coast stop Off2 2 With the drive running 1 Normal operation 0 Stop by ramping along emergency stop ramp defined by param...

Page 255: ...l input DI6 10 2 DI delayed status bit 5 DI6 11 Digital input output DIO1 11 2 DIO delayed status bit 0 DIO1 12 Digital input output DIO2 11 2 DIO delayed status bit 1 DIO2 See Terms and abbreviations page 130 Other bit 30 00 rpm real32 Defines the zero speed limit The motor is stopped along a speed ramp when ramped stop is selected until the defined zero speed limit is reached After the zero spee...

Page 256: ...otor coasts to a standstill Speed controller switched off Motor coasts to a stop 21 06 Time Speed With zero speed delay The drive receives a stop command and decelerates along a ramp When actual motor speed falls below the value of parameter 21 6 Zero speed limit the zero speed delay function activates During the delay the function keeps the speed controller live the inverter modulates motor is ma...

Page 257: ...gnetization See section Post magnetization page 94 Note Post magnetization is only available when ramping is the selected stop mode see parameter 21 3 Stop mode Post magnetization b1 Reserved b2 15 1 1 0000h FFFFh 5 00 rpm real32 Defines the DC hold speed See parameter 21 8 DC current control and section DC hold page 93 DC hold speed 21 9 DC hold speed For scaling see parameter 46 1 0 00 1000 00 r...

Page 258: ...nd abbreviations page 130 Other bit Turning uint16 Selects the way autophasing is performed See section Autophasing page 89 Note This parameter cannot be changed while the drive is running Autophasing mode 21 13 0 This mode gives the most accurate autophasing result This mode can be used and is recommended if the motor is allowed to rotate and the start up is not time critical Note This mode will ...

Page 259: ...2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digital input DI4 10 2 DI delayed status bit 3 DI4 6 Digital input DI5 10 2 DI delayed status bit 4 DI5 7 Digital input DI6 10 2 DI delayed status bit 5 DI6 8 Supervision 1 active 32 1 Supervision status bit 0 Supervision 1 9 Supervision 2 active 32 1 Supervisio...

Page 260: ... is set to Scalar Note The start function for the DTC motor control mode is selected by parameter 21 1 Start mode With permanent magnet motors Automatic start mode must be used See also section DC magnetization page 93 Scalar start mode 21 19 0 Immediate start from zero speed Normal 1 The drive pre magnetizes the motor before start The premagnetizing time is defined by parameter 21 2 Magnetization...

Page 261: ...tatus bit 1 DI2 5 Digital input DI3 10 2 DI delayed status bit 2 DI3 6 Digital input DI4 10 2 DI delayed status bit 3 DI4 7 Digital input DI5 10 2 DI delayed status bit 4 DI5 8 Digital input DI6 10 2 DI delayed status bit 5 DI6 11 Digital input output DIO1 11 2 DIO delayed status bit 0 DIO1 12 Digital input output DIO2 11 2 DIO delayed status bit 1 DIO2 See Terms and abbreviations page 130 Other b...

Page 262: ...tus bit 0 Supervision 1 9 Supervision 2 active 32 1 Supervision status bit 1 Supervision 2 10 Supervision 3 active 32 1 Supervision status bit 2 Supervision 3 11 Motor temperature estimation is performed always with drive start command Drive start command 12 Motor temperature estimation is performed once after drive power up control board boot Drive power up 4 0 s real32 Defines the motor temperat...

Page 263: ...mathematical function 22 13 Speed ref1 function applied to the two signals to create the reference ADD SUB MUL MIN MAX Ref1 22 11 22 81 22 82 22 13 22 14 22 83 22 12 0 AI FB Other 0 AI FB Other 0 1 0 None Zero 1 12 12 AI1 scaled value page 188 AI1 scaled 2 12 22 AI2 scaled value page 190 AI2 scaled 4 3 5 FB A reference 1 page 140 FB A ref1 5 3 6 FB A reference 2 page 140 FB A ref2 8 3 9 EFB refere...

Page 264: ...f1 ref2 3 The multiplication of the reference sources is used as speed reference 1 Mul ref1 x ref2 4 The smaller of the reference sources is used as speed reference 1 Min ref1 ref2 5 The greater of the reference sources is used as speed reference 1 Max ref1 ref2 Follow Ext1 Ext2 selection uint32 Configures the selection between speed references 1 and 2 See diagram at 22 11 Speed ref1 source 0 Spee...

Page 265: ...17 uint16 Determines how constant speeds are selected and whether the rotation direction signal is considered or not when applying a constant speed Constant speed function 22 21 1 Packed 7 constant speeds are selectable using the three sources defined by parameters 22 22 22 23 and 22 24 0 Separate Constant speeds 1 2 and 3 are separately activated by the sources defined by parameters 22 22 22 23 a...

Page 266: ... Constant speed 1 0 0 1 Constant speed 2 0 1 0 Constant speed 3 0 1 1 Constant speed 4 1 0 0 Constant speed 5 1 0 1 Constant speed 6 1 1 0 Constant speed 7 1 1 1 Constant speed sel1 22 22 0 0 Not selected 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digital input DI4 10 ...

Page 267: ...2 Constant speed sel1 For the selections see parameter 22 22 Constant speed sel1 Constant speed sel3 22 24 300 00 rpm real32 Defines constant speed 1 the speed the motor will turn when constant speed 1 is selected Constant speed 1 22 26 Constant speed 1 For scaling see parameter 46 1 30000 00 30000 00 rpm 0 00 rpm real32 Defines constant speed 2 Constant speed 2 22 27 Constant speed 2 For scaling ...

Page 268: ...e the control chain diagram on page 647 This parameter is read only Speed reference act 1 22 81 Value of reference source 1 For scaling see parameter 46 1 30000 00 30000 00 rpm real32 Displays the value of speed reference source 2 selected by parameter 22 12 Speed ref2 source See the control chain diagram on page 647 This parameter is read only Speed reference act 2 22 82 Value of reference source...

Page 269: ...trol chain diagram on page 647 This parameter is read only Speed reference act 6 22 86 Speed reference after additive 2 For scaling see parameter 46 1 30000 00 30000 00 rpm real32 Displays the value of speed reference before application of critical speeds See the control chain diagram on page 648 The value is received from 22 86 Speed reference act 6 unless overridden by any constant speed a joggi...

Page 270: ...re active 1 Acceleration time 2 and deceleration time 2 are active 0 0 Acc Dec time 1 1 1 Acc Dec time 2 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digital input DI4 10 2 DI delayed status bit 3 DI4 6 Digital input DI5 10 2 DI delayed status bit 4 DI5 7 Digital input DI6 10 2 DI de...

Page 271: ...tion in order not to exceed drive torque limits or not to exceed a safe DC link voltage If there is any doubt about the deceleration time being too short ensure that DC overvoltage control is on parameter 30 30 Overvoltage control Note If a short deceleration time is needed for a high inertia application the drive should be equipped with braking equipment such as a brake chopper and brake resistor...

Page 272: ...near ramp 23 17 0 s S curve ramp 23 17 0 s Linear ramp 23 16 0 s Shape time S curve ramp 23 16 0 s Speed Time Deceleration Speed Time Linear ramp 23 18 0 s Linear ramp 23 19 0 s S curve ramp 23 18 0 s S curve ramp 23 19 0 s Shape time acc 1 23 16 10 1 s 1000 1 s Ramp shape at start of acceleration 0 000 1800 000 s 0 000 s real32 Defines the shape of the acceleration ramp at the end of the accelera...

Page 273: ...m the value of parameter 46 1 Speed scaling This also applies to torque control because the drive switches to speed control on receiving an emergency stop Off3 command In frequency control mode this parameter specifies the time it would take for the frequency to decrease from the value of 46 2 Frequency scaling to zero The emergency stop mode and activation source are selected by parameters 21 4 E...

Page 274: ...peed ctrl balancing enable See also parameter 23 27 Ramp out balancing ref 0 Disabled 1 Enabled Ramp out balancing enable 23 26 0 0 Not selected 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digital input DI4 10 2 DI delayed status bit 3 DI4 6 Digital input DI5 10 2 DI de...

Page 275: ...Off 1 Variable slope enabled not available in local control On See Terms and abbreviations page 130 Other bit 50 ms real32 Defines the rate of the speed reference change when variable slope is enabled by parameter 23 28 Variable slope enable For the best result enter the reference update interval into this parameter Variable slope rate 23 29 1 1 ms 1 1 ms Variable slope rate 2 30000 ms real32 Disp...

Page 276: ... Terms and abbreviations page 130 Other bit 1 00 real32 Adjusts the gain of the speed correction term in a speed controlled follower In effect defines how accurately the follower follows the master torque A greater value results in a more accurate performance See section Load share function with a speed controlled follower page 68 Follower speed correction gain 23 41 1 1 100 1 Speed correction ter...

Page 277: ...ain diagram on page 651 Speed error filtered 24 3 This parameter is read only Filtered speed error For scaling see parameter 46 1 30000 00 30000 00 rpm 0 00 rpm real32 Displays the inverted unfiltered speed error See the control chain diagram on page 651 Speed error inverted 24 4 This parameter is read only Inverted speed error For scaling see parameter 46 1 30000 00 30000 00 rpm 0 00 rpm real32 D...

Page 278: ... coming to the speed controller is filtered by a common 2nd order band elimination filter to eliminate the amplification of mechanical resonance frequencies Note Tuning the resonance frequency filter requires a basic understanding of frequency filters Incorrect tuning can amplify mechanical oscillations and damage the drive hardware To ensure the stability of the speed controller stop the drive or...

Page 279: ...ue of 24 15 must be smaller than 24 17 Damping of zero 24 15 100 1 1000 1 Damping coefficient 1 000 1 000 40 00 Hz real32 Defines the frequency of pole of the resonance frequency filter 40 20log10 H Z f Hz fzero 45 Hz fpole 50 Hz zero 0 pole 0 250 0 20 40 60 50 0 100 20 fzero 45 Hz fpole 40 Hz zero 0 pole 0 250 fzero 45 Hz fpole 30 Hz zero 0 pole 0 250 Note If this value is very different from the...

Page 280: ...perties By setting this parameter to 1 the effect of the pole is eliminated 40 20log10 H Z f Hz fzero 45 Hz fpole 40 Hz zero 0 pole 0 050 0 20 40 60 50 0 100 20 fzero 45 Hz fpole 40 Hz zero 0 pole 0 250 fzero 45 Hz fpole 40 Hz zero 0 pole 0 750 Note To ensure that the resonance frequency band is filtered rather than amplified the value of 24 15 must be smaller than 24 17 Damping of pole 24 17 100 ...

Page 281: ...Def Type FbEq 16b 32b Description Name Range Selection No Disable uint32 Speed error window control enable 24 41 Parameters 281 ...

Page 282: ...ntroller input at zero so the drive stays in torque control If the motor load is lost then the motor speed will rise as the torque controller tries to maintain torque The speed error speed reference actual speed will increase until it exits the speed error window When this is detected the exceeding part of the error value is connected to the speed controller The speed controller produces a referen...

Page 283: ... speed controlled follower the speed error window must not exceed 21 6 Zero speed limit for a reliable ramp stop Make sure both 24 43 and 24 44 are smaller than 21 6 or speed error window control disabled when a ramp stop is required 0 Speed error window control disabled 1 Speed error window control enabled 0 0 Disable 1 1 Enable See Terms and abbreviations page 130 Other bit Normalspeedcontrol ui...

Page 284: ... error window For scaling see parameter 46 1 0 00 3000 00 rpm 0 00 rpm real32 Defines the lower boundary of the speed error window See parameter 24 41 Speed error window control enable Speed error window low 24 44 Lower boundary of speed error window For scaling see parameter 46 1 0 00 3000 00 rpm 0 00 rpm real32 Defines an additional speed error step given to the input of the speed controller and...

Page 285: ...oportional gain Kp of the speed controller Too high a gain may cause speed oscillation The figure below shows the speed controller output after an error step when the error remains constant Speed proportional gain 25 2 Gain Kp 1 TI Integration time 0 TD Derivation time 0 Controller output Controller output K p x e e Error value Time E Error value If gain is set to 1 00 a 10 error reference actual ...

Page 286: ...troller This is useful to do when tuning the proportional gain adjust the proportional gain first then return the integration time The integrator has anti windup control for operation at a torque or current limit The figure below shows the speed controller output after an error step when the error remains constant Controller output Gain Kp 1 TI Integration time 0 TD Derivation time 0 e Error value...

Page 287: ...is not normally required and should be left at zero The figure below shows the speed controller output after an error step when the error remains constant The speed error derivative must be filtered with a low pass filter to eliminate external disturbances Kp e Kp TD e Ts TI Kp e Controller output Error value e Error value Time Gain Kp 1 TI Integration time 0 TD Derivation time 0 Ts Sample time pe...

Page 288: ...echanical time constants of the motor and the driven machine The figure below shows the speed responses when a high inertia load is accelerated along a ramp No acceleration compensation Speed reference Actual speed Time Acceleration compensation Time Speed reference Actual speed Acc comp derivation time 25 6 10 1 s 100 1 s Acceleration compensation derivation time 0 00 1000 00 s 8 0 ms real32 Defi...

Page 289: ...ler output is 50 droop rate is 1 nominal speed of the drive is 1500 rpm Speed decrease 0 50 0 01 1500 rpm 7 5 rpm Motor speed in of nominal Speed controller output Drive load 100 No drooping Drooping 100 25 08 Drooping rate Drooping rate 25 8 100 1 100 1 Droop rate 0 00 100 00 Not selected uint32 Selects the source for enabling disabling speed controller output balancing This function is used to g...

Page 290: ...e parameter 46 3 1600 0 0 0 300 0 real32 Defines the maximum speed controller output torque Speed control max torque 25 12 Maximum speed controller output torque For scaling see parameter 46 3 0 0 1600 0 400 0 real32 Defines the minimum speed controller output torque during a ramped emergency stop Off1 or Off3 Min torq sp ctrl em stop 25 13 Minimum speed controller output torque for ramped emergen...

Page 291: ...mit the coefficients for the gain and integration time are calculated linearly on the basis of the breakpoints See also the block diagram on page 652 1 000 Kp Proportional gain TI Integration time Actual speed 90 01 rpm 25 19 25 18 Coefficient for K p or TI 25 21 or 25 22 0 Speed adapt min limit 25 18 1 1 rpm 1 1 rpm Minimum actual speed for speed controller adaptation 0 30000 rpm real32 Maximum a...

Page 292: ...it the coefficient for the gain is calculated linearly on the basis of the breakpoints Filtering can be applied on the torque reference using parameter 25 26 Torque adapt filt time See also the block diagram on page 652 1 000 25 27 Coefficient for K p proportional gain Final torque reference 26 01 rpm 25 25 0 Torque adapt max limit 25 25 Maximum torque reference for speed controller adaptation For...

Page 293: ...peed controller is multiplied by a coefficient of 0 1 between 0 100 flux reference respectively See also the block diagram on page 652 Coefficient for K p proportional gain 1 000 0 000 0 100 Flux reference 01 24 Flux adaptation enable 25 30 0 Speed controller adaptation based on flux reference disabled Disable 1 Speed controller adaptation based on flux reference enabled Enable Parameters 293 ...

Page 294: ...nd machinery will run against the torque and speed limits during the autotune routine MAKE SURE IT IS SAFE TO ACTIVATE THE AUTOTUNE FUNCTION The autotune routine can be aborted by stopping the drive 0 1 Activate speed controller autotune Note The value does not revert to 0 automatically Speed controller autotune 25 33 0 0 Off 1 1 On See Terms and abbreviations page 130 Other bit Normal uint16 Defi...

Page 295: ...39 100 1 100 1 Autotune speed step 0 00 100 00 10 uint16 Determines how many acceleration deceleration cycles are performed during the autotune routine Increasing the value will improve the accuracy of the autotune function and allow the use of smaller torque or speed step values Autotune repeat times 25 40 1 1 1 1 Number of cycles during autotune routine 1 10 real32 Reserved Torque reference Auto...

Page 296: ...e output of the derivative D part of the speed controller See the control chain diagram on page 652 This parameter is read only Torque deriv reference 25 55 D part output of speed controller For scaling see parameter 46 3 30000 0 30000 0 real32 Displays the output of the acceleration compensation function on page 652 See the control chain diagram This parameter is read only Torque acc compensation...

Page 297: ...limiting of the torque reference before it is passed on Minimum torque ref 26 8 to the torque ramp controller For absolute torque limiting refer to parameter 30 19 Minimum torque 1 Minimum torque reference For scaling see parameter 46 3 1000 0 0 0 300 0 real32 Defines the maximum torque reference Allows for local limiting of the torque reference before it is passed on Maximum torque ref 26 9 to th...

Page 298: ...ons and a diagram of reference source selection see parameter 26 11 Torque ref1 source Torque ref2 source 26 12 Ref1 uint16 Selects a mathematical function between the reference sources selected by parameters 26 11 Torque ref1 source and 26 12 Torque ref2 source See diagram at 26 11 Torque ref1 source Torque ref1 function 26 13 0 Signal selected by 26 11 Torque ref1 source is used as torque refere...

Page 299: ...ed to share the correct amount each yet use the same master torque reference Load share 26 15 1000 1 1000 1 Torque reference scaling factor 8 000 8 000 Zero uint32 Selects the source of torque reference additive 1 Note For safety reasons the additive is not applied when an emergency stop is active See the control chain diagram on page 653 For the selections see parameter 26 11 Torque ref1 source T...

Page 300: ...elected uint32 Selects a source that forces torque reference additive 2 see parameter 26 25 Torque additive 2 source to zero 0 Normal operation 1 Force torque reference additive 2 to zero Force torque ref add 2 zero 26 26 0 0 Not selected 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status...

Page 301: ...r 26 41 Torque step Torque step enable 26 42 0 Torque step disabled Disable 1 Torque step enabled Enable Selected uint32 Selects a source that enables disables the torque step defined by parameter 26 44 Torque step source See also parameter 26 41 Torque step 1 Torque step enabled Torque step pointer enable 26 43 0 0 Not selected 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 D...

Page 302: ...anel as an external control source page 25 Control panel ref copied See Terms and abbreviations page 130 Other value Not selected uint32 Parameters 26 51 26 58 configure the oscillation damping function See section Oscillation damping page 82 and the block diagram on page 655 This parameter enables or selects a source that enables the oscillation damping algorithm 1 Oscillation damping algorithm e...

Page 303: ...11 2 DIO delayed status bit 0 DIO1 11 Digital input output DIO2 11 2 DIO delayed status bit 1 DIO2 See Terms and abbreviations page 130 Other bit Speed error uint32 Selects the input signal for the oscillation damping function Note Before changing this parameter run time disable the oscillation damping output using parameter 26 52 Monitor the behavior of 26 58 before re enabling the output Oscilla...

Page 304: ...ble This parameter is read only Oscillation damping output 26 58 10 1 1000 1 Output of the oscillation damping function 1600 000 1600 000 real32 Displays the value of torque reference source 1 selected by parameter 26 11 Torque ref1 source See the control chain diagram on page 653 This parameter is read only Torquereferenceact 1 26 70 Value of torque reference source 1 For scaling see parameter 46...

Page 305: ...Torque reference after application of reference additive 2 For scaling see parameter 46 3 1600 0 1600 0 real32 Displays the value of the source of torque reference additive 2 See the control chain diagram on page 655 This parameter is read only Torque ref add A actual 26 77 Torque reference additive 2 For scaling see parameter 46 3 1600 0 1600 0 real32 Displays the value of torque reference additi...

Page 306: ...page 656 1 Torque reference is being limited by the rush control because of maximum speed limit 30 12 Maximum speed Tlim max speed b5 1 Torque reference is being limited by the rush control becauseofminimumspeedlimit 30 11Minimumspeed Tlim min speed b6 1 Speed reference is being limited by 30 12 Maximum speed orbymaximumpermanentmagnetmotorspeed limit based on DC voltage Max speed ref lim b7 1 Spe...

Page 307: ...r current limit identified by bits 8 11 is active Internal current b4 With permanent magnet motors synchronous reluctance motors and externally excited synchronous motors only 1 Maximum load angle limit is active ie the motor is producing as much torque as possible Maximumloadangle b5 With asynchronous motors only 1 Motor pull out limit is active ie the motor cannot produce any more torque Motor p...

Page 308: ...m Disable uint16 A temporary motor current limit specifically for starting can be defined by this parameter and 30 16 Maximum start current When this parameter is set to Enable the drive observes the start current limit defined by 30 16 Maximum start current The limit is in force for 2 seconds after initial magnetization of an asynchronous induction motor or autophasing of a permanent magnet motor...

Page 309: ... analog source such as an analog input User defined minimum torque limit User defined maximum torque limit 30 21 30 18 30 22 30 25 30 24 30 23 0 AI1 AI1 AI2 PID Other Other PID AI2 0 30 19 30 20 0 1 1 0 The limit selection parameters are updated on a 10 ms time level Note In addition to the user defined limits torque may be limited for other reasons such as power limitation Refer to the block diag...

Page 310: ...um torque limit 1 For scaling see parameter 46 3 1600 0 0 0 300 0 real32 Defines a maximum torque limit for the drive in percent of nominal motor torque See diagram at parameter 30 18 Minimum torque sel The limit is effective when the source selected by 30 25 Maximum torque sel is 0 or 30 25 is set to Maximum torque 1 Maximum torque 1 30 20 Maximum torque 1 For scaling see parameter 46 3 0 0 1600 ...

Page 311: ... Do not set this parameter to 0 in an attempt to prevent reverse rotation In an open loop application that is likely to prevent the motor from stopping altogether To prevent reverse rotation use the speed frequency limits in this parameter group or parameters 20 23 20 24 See diagram at 30 18 Minimum torque sel Minimum torque 2 30 23 Minimum torque limit 2 For scaling see parameter 46 3 1600 0 0 0 ...

Page 312: ...nes the maximum shaft power in generating mode ie when power is being transferred from the machinery to the motor The value is given in percent of nominal motor power Note Do not set this parameter to 0 in an attempt to prevent reverse rotation In an open loop application that is likely to prevent the motor from stopping altogether To prevent reverse rotation use the speed frequency limits in this...

Page 313: ...en IGBT supply unit control activated by 95 20 Displays limit word 1 of the supply unit This parameter is read only LSU limit word 1 30 101 1 Power reference is being limited by supply control program parameters P user ref max b0 1 Power reference is being limited by supply control program parameters P user ref min b1 1 Power is being limited by parameter 30 149 P user max b2 1 Power is being limi...

Page 314: ...r limits see parameters 30 148 and 30 149 Generating power b3 1 Active current is being limited For details see bits 6 9 and 14 15 Active current limit b4 1 Reactive current is being limited For details see bits 12 13 Reactive current limit b5 1 Active current is being limited by internal main circuit thermal limit Thermal limit b6 1 Active current is being limited by internal safe operation area ...

Page 315: ...ogram parameters User I max b2 1 Current is being limited based on temperature Temp I max b3 Reserved b4 15 1 1 0000h FFFFh 130 0 real32 Only visible when IGBT supply unit control activated by 95 20 Defines a minimum power limit for the supply unit Negative values refer to regenerating ie feeding power into the supply network LSUminimumpower limit 30 148 1 1 10 1 Minimum power limit for supply uni...

Page 316: ...Fault 95 20 b8 uint16 Selects the type of external event 1 External event 1 type 31 2 0 The external event generates a fault Fault 1 The external event generates a warning Warning 3 If the drive is modulating the external event generates a fault Warning Fault Otherwise the event generates a warning Inactive true DIIL 95 20 b5 uint32 Defines the source of external event 2 See also parameter 31 4 Ex...

Page 317: ...event 5 source 31 9 uint16 Selects the type of external event 5 External event 5 type 31 10 0 The external event generates a fault Fault 1 The external event generates a warning Warning 3 If the drive is modulating the external event generates a fault Otherwise the event generates a warning Warning Fault DI3 uint32 Selects the source of an external fault reset signal This signal will be observed e...

Page 318: ... The function resets the drive automatically and continues operation after a fault Note The autoreset function is only available in external control see section Local control vs external control page 23 Faults related to the Safe torque off STO function cannot be automatically reset The bits of this binary number correspond to the following faults Autoreset selection 31 12 Overcurrent b0 Overvolta...

Page 319: ... remains and cannot be reset each reset attempt will generate an event and start a new time window In practice if the specified number of resets 31 14 at specified intervals 31 16 take longer than the value of 31 15 the drive will continue to attempt resetting the fault until the cause is eventually removed Total trials time 31 15 10 1 s 10 1 s Time for automatic resets 1 0 600 0 s 0 0 s real32 De...

Page 320: ...ction itself The STO function will operate regardless of the setting of this parameter a running drive will stop upon removal of one or both STO signals and will not start until both STO signals are restored and all faults reset The loss of only one STO signal always generates a fault as it is interpreted as a malfunction This parameter cannot be changed while the drive is running For more informa...

Page 321: ...1 Fault Warning 2 Indication Inputs Stopped Running IN2 IN1 Event B5A0 STO event Fault 5091 Safe torque off 0 0 Event B5A0 STO event and fault FA81 Safe torque off 1 loss Faults 5091 Safe torque off and FA81 Safe torque off 1 loss 1 0 Event B5A0 STO event and fault FA82 Safe torque off 2 loss Faults 5091 Safe torque off and FA82 Safe torque off 2 loss 0 1 Normal operation 1 1 Fault Event 3 Indicat...

Page 322: ...us Wiring or earth fault 31 23 0 No action taken protection disabled No action 1 The drive trips on fault 3181 Wiring or earth fault Fault Fault uint16 Selects how the drive reacts to a motor stall condition A stall condition is defined as follows The drive exceeds the stall current limit 31 25 Stall current limit and the output frequency is below the level set by parameter 31 27 Stall frequency l...

Page 323: ...arameter 31 24 Stall function Stall time 31 28 1 1 s 1 1 s Stall time 0 3600 s 500 00 rpm real32 Defines together with 30 11 Minimum speed and 30 12 Maximum speed the maximum allowed speed of the motor overspeed protection If 90 1 Motor speed for control or the estimated speed exceeds the speed limit defined by parameter 30 11 or 30 12 by more than the value of this parameter the drive trips on th...

Page 324: ...Emergency ramp failed sets bit 8 of 6 17 Drive status word 2 and coasts to a stop If 31 32 is set to 0 and 31 33 is set to 0 s the emergency stop ramp supervision is disabled Emergency ramp supervision 31 32 1 1 0 1 Maximum deviation from expected deceleration rate 0 300 real32 If parameter 31 32 Emergency ramp supervision is set to 0 this parameter defines the maximum time an emergency stop mode ...

Page 325: ...fference between the modules If this parameter is set to Fault the inverter unit will trip but still carry out the actions listed above Otherwise the inverter will attempt to continue operation Main fan fault function 31 35 0 The drive trips on fault 5080 Fan Fault 1 The drive generates an A581 Fan Warning 2 No action taken No action Fault uint16 Only visible with a ZCU control unit Selects how th...

Page 326: ...31 37 Ramp stop supervision is set to 0 this parameter defines the maximum time a ramp stop is allowed to take If the motor has not stopped when the time elapses the drive trips on 73B1 Stop failed sets bit 14 of 6 17 Drive status word 2 and coasts to a stop If 31 37 is set to a value other than 0 this parameter defines a delay between the receipt of the stop command and the activation of the supe...

Page 327: ...ws the ramp specified for an emergency stop in parameter 23 23 Emergency stop time Emergency ramp Fault uint16 Selects how the drive reacts when the communication to an I O extension module fails Ext I O comm loss event 31 55 0 No action taken No action 1 The drive generates a warning A799 ExtIO comm loss Warning 2 The drive trips on a fault 7082 Ext I O comm loss Fault Fault uint16 Only visible w...

Page 328: ...its 32 9 and 32 10 respectively The action to be taken when the condition is fulfilled is selected by 32 6 0 Signal supervision 1 not in use Disabled 1 Action is taken whenever the signal falls below its lower limit Low 2 Action is taken whenever the signal rises above its upper limit High 3 Action is taken whenever the absolute value of the signal falls below its absolute lower limit Abs low 4 Ac...

Page 329: ... time 32 8 1000 1 s 1000 1 s Signal filter time 0 000 30 000 s 0 00 real32 Defines the lower limit for signal supervision 1 Supervision 1 low 32 9 Low limit 21474830 00 21474830 00 0 00 real32 Defines the upper limit for signal supervision 1 Supervision 1 high 32 10 Upper limit 21474830 00 21474830 00 Disabled uint16 Selects the mode of signal supervision function 2 Determines how the monitored si...

Page 330: ...he signal monitored by signal supervision 2 Supervision 2 filter time 32 18 1000 1 s 1000 1 s Signal filter time 0 000 30 000 s 0 00 real32 Defines the lower limit for signal supervision 2 Supervision 2 low 32 19 Low limit 21474830 00 21474830 00 0 00 real32 Defines the upper limit for signal supervision 2 Supervision 2 high 32 20 Upper limit 21474830 00 21474830 00 Disabled uint16 Selects the mod...

Page 331: ...ve trips on 80B2 Signal supervision 3 Fault 3 If running the drive trips on 80B2 Signal supervision 3 Fault if running Zero uint32 Selects the signal to be monitored by signal supervision function 3 For the available selections see parameter 32 7 Supervision 1 signal Supervision 3 signal 32 27 0 000 s real32 Defines a filter time constant for the signal monitored by signal supervision 3 Supervisio...

Page 332: ...it 0 of 33 1 Counter status is set to 1 The warning specified by 33 14 On time 1 warn message is also given if enabled by 33 12 On time 1 function The timer can be reset from the Drive Composer PC tool or from the control panel by keeping Reset depressed for over 3 seconds Actual present value of on time timer 1 0 4294967295 s uint32 Sets the warning limit for on time timer 1 On time 1 warn limit ...

Page 333: ...age is also given if enabled by 33 22 On time 2 function The timer can be reset from the Drive Composer PC tool or from the control panel by keeping Reset depressed for over 3 seconds On time 2 actual 33 20 Actual present value of on time timer 2 0 4294967295 s uint32 Sets the warning limit for on time timer 2 On time 2 warn limit 33 21 Warning limit for on time timer 2 0 4294967295 s uint16 Confi...

Page 334: ...31 Edge counter 1 warn limit bit 2 of 33 1 Counter status is set to 1 The warning specified by 33 35 Edge counter 1 warn message is also given if enabled by 33 32 Edge counter 1 function The counter can be reset from the Drive Composer PC tool or from the control panel by keeping Reset depressed for over 3 seconds Edge counter 1 actual 33 30 Actual present value of signal edge counter 1 0 42949672...

Page 335: ...sage text can be edited on the control panel by choosing Menu Settings Edit texts Edge counter 1 exceeded 11 A884 Main contactor Counted main contactor 12 A881 Output relay Counted output relay 13 A882 Motor starts Counted motor starts 14 A883 Power ups Counted power ups 15 A885 DC charge Counted DC charges uint32 Displays the actual present value of signal edge counter 2 The counter is incremente...

Page 336: ...ng edges are not counted 1 Enable Rising edges are counted Count rising edges b2 Count falling edges 0 Disable Falling edges are not counted 1 Enable Falling edges are counted Count falling edges b3 Reserved b4 15 1 1 0000h FFFFh False uint32 Selects the signal to be monitored by signal edge counter 2 Edge counter 2 source 33 43 0 0 False 1 1 True 2 Bit 0 of 10 21 RO status page 176 RO1 See Terms ...

Page 337: ...ng optionally generated when the counter is equal or greater than the limit With a negative limit bit 4 of 33 1 Counter status is set to 1 and a warning optionally generated when the counter is equal or smaller than the limit 0 Counter disabled Value counter 1 warn limit 33 51 Limit for value counter 1 2147483000 2147483000 uint16 Configures value counter 1 Value counter 1 function 33 52 0 Loop Wh...

Page 338: ...n The counter can be reset from the Drive Composer PC tool or from the control panel by keeping Reset depressed for over 3 seconds Value counter 2 actual 33 60 Actual present value of value counter 2 2147483008 2147483008 real32 Sets the limit for value counter 2 With a positive limit bit 5 of 33 1 Counter status is set to 1 and a warning optionally generated when the counter is equal or greater t...

Page 339: ... real32 Defines a divisor for value counter 2 The value of the monitored signal is divided by this value before integration Value counter 2 divider 33 64 Divisor for value counter 2 0 001 2147483 000 Value counter 2 exceeded uint32 Selects the optional warning message for value counter 2 Value counter 2 warn message 33 65 5 A88B Value counter 2 The message text can be edited on the control panel b...

Page 340: ...ed by parameter 96 16 Unit selection Measured temperature 2 35 3 Note With F the range is 76 1832 With a PTC sensor the range is 0 5000 ohms This parameter is read only 1 1 1 1 Measured temperature 2 60 1000 uint16 Displays the status of optional FPTC xx thermistor protection modules The word can be used as the source of eg external events FPTC status word 35 4 Note The module found bits are updat...

Page 341: ... 35 9 Calibration status of temperature 1 See parameter 35 17 Temperature 1 calibration Temperature 1 calibration done b0 Calibration status of temperature 2 See parameter 35 27 Temperature 2 calibration Temperature 2 calibration done b1 Reserved b2 15 1 1 0000h FFFFh Disabled uint16 Selects the source from which measured temperature 1 is read For wiring examples see the hardware manual of the dri...

Page 342: ...anges The voltage is read by the analog input and converted into degrees KTY84 analog I O 3 KTY84 sensor connected to encoder interface 1 See also parameters 91 21 Module 1 temp sensor type and 91 22 Module 1 temp filter time KTY84 encoder module 1 4 KTY84 sensor connected to encoder interface 2 See also parameters 91 24 Module 2 temp sensor type and 91 25 Module 2 temp filter time KTY84 encoder m...

Page 343: ...le 2 temp sensor type and 91 25 Module 2 temp filter time PTCencodermodule 2 11 The temperature is taken from the source selected by parameter 35 14 Temperature 1 AI source The value of the source is assumed to be in the unit of temperature specified by 96 16 Unit selection Direct temperature 13 Pt1000 sensor connected to a standard analog input selected by parameter 35 14 Temperature 1 AI source ...

Page 344: ...th F the range is 76 1832 With a PTC sensor the range is 0 5000 ohms Temperature 1 warning limit 35 13 1 1 1 1 Warning limit for temperature monitoring function 1 60 1000 Not selected uint32 Specifies the analog input when the setting of 35 11 Temperature 1 source requires measurement through an analog input Note If the input is located on an I O extension module use the selection Other to point t...

Page 345: ...it or on an extension module The following settings are required Set the hardware jumper or switch related to the analog input to U voltage Any change must be validated by a control unit reboot Set the unit selection parameter of the input to volt Set the source selection parameter of the analog output to Force KTY84 excitation Select the analog input in parameter 35 24 In case the input is locate...

Page 346: ...ed by parameter 35 24 Temperature 2 AI source and an analog output The input and output can be on the drive control unit or on an extension module The required settings are the same as with selection KTY84 analog I O except that the source selection parameter of the analog output must be set to Force Pt100 excitation PTC analog I O 9 PTC sensor connected to encoder interface 1 See also parameters ...

Page 347: ...000 110 real32 Defines the warning limit for temperature monitoring function 2 When measured temperature 2 exceeds the limit a warning A492 External temperature 2 is generated The unit is selected by parameter 96 16 Unit selection Note With F the range is 76 1832 With a PTC sensor the range is 0 5000 ohms Temperature 2 warning limit 35 23 1 1 1 1 Warning limit for temperature monitoring function 2...

Page 348: ...increases if it operates in the region above the load curve and decreases if it operates in the region below the load curve WARNING The model cannot protect the motor if the motor does not cool properly because of dust dirt etc Motor ambient temperature 35 50 1 1 1 1 Ambient temperature 60 100 100 uint16 Defines the motor load curve together with parameters 35 52 Zero speed load and 35 53 Break po...

Page 349: ...h parameters 35 51 Motor load curve and 35 52 Zero speed load Defines the break point frequency of the load curve i e the point at which the motor load curve begins to decrease from the value of parameter 35 51 Motor load curve towards the value of parameter 35 52 Zero speed load See parameter 35 51 Motor load curve Break point 35 53 Break point for the motor load curve For scaling see parameter 4...

Page 350: ... the motor is overloaded to the warning level that is parameter 35 5 Motor overload level reaches value 88 0 Warning only 2 Drive generates warning A783 Motor overload when the motor is overloaded to the warning level that is parameter 35 5 Motor overload level reaches value 88 0 Drive trips on fault 7122 Motor overload when the motor is overloaded to the fault level that is parameter 35 5 Motor o...

Page 351: ...ly Cable temperature 35 60 1 1 10 1 Calculated temperature of motor cable 0 0 200 0 10000 00 A real32 Specifies the continuous current of the motor cable for the thermal protection function in the control program WARNING The value entered in this parameter must be limited according to all factors affecting the loadability of the cable such as ambient temperature cabling arrangement and shrouding R...

Page 352: ...s Motor cable thermal time constant 0 50000 s Off 06 16 b6 95 20 b6 uint32 Parameters 35 100 35 106 configure a monitored start stop control logic for external equipment such as a contactor controlled motor cooling fan This parameter selects the signal that starts and stops the fan 0 Stop 1 Start The output controlling the fan contactor is to be connected to parameter 35 105 bit 1 On and off delay...

Page 353: ...I3 5 Digital input DI4 10 2 DI delayed status bit 3 DI4 6 Digital input DI5 10 2 DI delayed status bit 4 DI5 7 Digital input DI6 10 2 DI delayed status bit 5 DI6 10 Digital input output DIO1 11 2 DIO delayed status bit 0 DIO1 11 Digital input output DIO2 11 2 DIO delayed status bit 1 DIO2 See Terms and abbreviations page 130 Other bit 0 5 95 20 b6 s uint32 Defines a feedback delay for the motor fa...

Page 354: ...3 0 Stopped 1 Running DOL feedback b2 Fault status 0 Fault fan feedback missing The action taken is selected by 35 106 1 No fault DOL fault 1 b3 Reserved b4 15 1 1 0000h FFFFh Fault uint16 Selects the action taken when missing fan feedback is detected by the motor fan control logic DOL starter event type 35 106 0 No action taken No action 1 The drive generates a warning A781 Motor fan Warning 2 Dr...

Page 355: ... in 11 23 2 Speed ref ramp output page 270 Speed ref ramp out 12 24 1 Used speed reference page 277 Speed ref used 13 26 2 Torque reference used page 297 Torq ref used See Terms and abbreviations page 130 Other value 2 00 s real32 Defines a filtering time for the peak value logger See parameter 36 1 PVL signal source PVL filter time 36 2 100 1 s 100 1 s Peak value logger filtering time 0 00 120 00...

Page 356: ...36 8 0 Amplitude logger 1 active continuously 1 Amplitude logger 1 active only when the drive is modulating AL1 b0 0 Amplitude logger 2 active continuously 1 Amplitude logger 2 active only when the drive is modulating AL2 b1 Reserved b2 15 1 1 0000h FFFFh Done uint16 Resets the peak value logger and or amplitude logger 2 Amplitude logger 1 cannot be reset Reset loggers 36 9 0 Reset completed or no...

Page 357: ... and 20 0 00 100 00 real32 Displays the percentage of samples recorded by amplitude logger 1 that fall between 20 and 30 AL1 20 to 30 36 22 1 1 100 1 Amplitude logger 1 samples between 20 and 30 0 00 100 00 real32 Displays the percentage of samples recorded by amplitude logger 1 that fall between 30 and 40 AL1 30 to 40 36 23 1 1 100 1 Amplitude logger 1 samples between 30 and 40 0 00 100 00 real32...

Page 358: ...e logger 2 that fall between 40 and 50 AL2 40 to 50 36 44 1 1 100 1 Amplitude logger 2 samples between 40 and 50 0 00 100 00 real32 Displays the percentage of samples recorded by amplitude logger 2 that fall between 50 and 60 AL2 50 to 60 36 45 1 1 100 1 Amplitude logger 2 samples between 50 and 60 0 00 100 00 real32 Displays the percentage of samples recorded by amplitude logger 2 that fall betwe...

Page 359: ...lects the brake resistor overload protection method calculation or measurement Brake chopper function 43 6 Note Before enabling brake chopper control ensure that A brake resistor is connected Overvoltage control is switched off parameter 30 30 Overvoltage control and The supply voltage range parameter 95 1 Supply voltage has been selected correctly 0 Brake chopper control disabled Disabled 1 Brake...

Page 360: ...k protection On uint32 Selects the source for quick brake chopper on off control 0 Brake chopper IGBT pulses are cut off 1 Normal brake chopper IGBT modulation allowed This parameter can be used to enable chopper operation only when the supply is missing from a drive with a regenerative supply unit Brake chopper run enable 43 7 0 0 Off 1 1 On See Terms and abbreviations page 130 Other bit 0 s real...

Page 361: ...ss temperature The value is given in percent of the temperature the resistor reaches when loaded with the power defined by parameter 43 9 Brake resistor max cont power Brake resistor fault limit 43 11 1 1 1 1 Brake resistor temperature fault limit 0 150 95 real32 Selects the warning limit for the brake resistor protection based on the thermal model See parameter 43 6 Brake chopper function When th...

Page 362: ...ake control page 96 1 Brake control logic in BRAKE CLOSING state Closing b8 See section Mechanical brake control page 96 Reserved b9 15 1 1 0000h FFFFh real32 Displays the torque in percent at the instant of the previous brake close command Brake torque memory 44 2 This value can be used as a reference for the brake open torque See parameters 44 9 Brake open torque source and 44 10 Brake open torq...

Page 363: ...for brake open close status acknowledgement supervision When a brake control error unexpected state of the acknowledgement signal is detected the drive reacts as defined by parameter 44 17 Brake fault function 0 Brake closed 1 Brake open Brake acknowledge selection 44 7 0 0 Off 1 1 On 2 Brake open closed supervision disabled No acknowledge 3 Digital input DI1 10 2 DI delayed status bit 0 DI1 4 Dig...

Page 364: ...e open torque source 44 9 0 Zero Zero 1 12 12 AI1 scaled value page 188 AI1 scaled 2 12 22 AI2 scaled value page 190 AI2 scaled 3 3 5 FB A reference 1 page 140 FBA ref1 4 3 6 FB A reference 2 page 140 FBA ref2 7 Parameter 44 2 Brake torque memory Brake torque memory 8 Parameter 44 10 Brake open torque Brake open torque See Terms and abbreviations page 130 Other value 0 0 real32 Defines the sign ie...

Page 365: ...peration No external close signal connected 1 Close brake Note In an open loop encoderless application if the brake is kept closed by a brake close request against a modulating drive for longer than 5 seconds the brake is forced to close and the drive trips on a fault 71A5 Mech brk opening not allowed This parameter cannot be changed while the drive is running Brake close request 44 12 0 0 Not sel...

Page 366: ...ines a minimum time between brake closure and a subsequent open command Brake reopen delay 44 16 100 1 s 100 1 s Brake reopen delay 0 00 10 00 s Fault uint16 Determines how the drive reacts upon a mechanical brake control error Note If parameter 44 7 Brake acknowledge selection is set to No acknowledge acknowledgement status supervision is disabled altogether and will generate no warnings or fault...

Page 367: ...s 100 1 s Brake close fault delay 0 00 60 00 s 100 ms real32 Defines a filtering time for parameter 44 2 Brake torque memory actual torque value used as open torque reference Filter time brake torque memory 44 21 100 1 ms 1 1 ms Filtering time 0 100 ms Def Type FbEq 16b 32b Description Name Range Selection No Settings for the energy saving calculators Energy efficiency 45 Disable uint16 Enables di...

Page 368: ...caling of torque parameters The value of this parameter in percent of nominal motor Torque scaling 46 3 torque corresponds to 10000 in fieldbus master follower etc communication See also parameter 46 42 Torque decimals 10 1 10 1 Torque corresponding to 10000 on fieldbus 0 1 1000 0 1000 00 kW or hp real32 Defines the output power value that corresponds to 10000 in fieldbus master follower etc commu...

Page 369: ... Hz 500 ms real32 Defines a filter time for signals 1 1 Motor speed used 1 2 Motor speed estimated 1 4 Encoder 1 speed filtered and 1 5 Encoder 2 speed filtered Filter time motor speed 46 11 1 1 ms 1 1 ms Motor speed signal filter time 0 20000 ms 500 ms real32 Defines a filter time for signal 1 6 Output frequency Filter time output frequency 46 12 1 1 ms 1 1 ms Output frequency signal filter time ...

Page 370: ...s the drive is considered to be at setpoint This is indicated by bit 8 of 6 11 Main status word The bit switches off when the absolute difference between reference and actual speed exceeds the value of 46 21 At speed hysteresis Hysteresis Drive at setpoint 06 11 bit 8 1 Hysteresis 22 87 46 21 rpm 22 87 0 5 x 46 21 rpm 22 87 rpm 22 87 0 5 x 46 21 rpm 22 87 46 21 rpm 0 rpm 90 01 rpm At speed hystere...

Page 371: ... 0 0 300 0 1500 00 rpm real32 Defines the trigger level for above limit indication in speed control When actual speed exceeds the limit bit 10 of 6 17 Drive status word 2 is set Above speed limit 46 31 Above limit indication trigger level for speed control For scaling see parameter 46 1 0 00 30000 00 rpm 300 0 real32 Defines the trigger level for above limit indication in torque control When actua...

Page 372: ...caling see parameter 47 32 32768 000 32767 000 real32 Data storage parameter 3 See also parameter 47 1 DataStorage 1 real32 DataStorage3real32 47 3 32 bit real floating point number For scaling see parameter 47 33 32768 000 32767 000 real32 Data storage parameter 4 See also parameter 47 1 DataStorage 1 real32 DataStorage 4 real32 47 4 32 bit real floating point number For scaling see parameter 47 ...

Page 373: ...483647 int32 Data storage parameter 16 DataStorage 8 int32 47 18 32 bit integer 2147483648 2147483647 int16 Data storage parameter 17 DataStorage 1 int16 47 21 1 1 1 1 16 bit integer 32768 32767 int16 Data storage parameter 18 DataStorage 2 int16 47 22 1 1 1 1 16 bit integer 32768 32767 int16 Data storage parameter 19 DataStorage 3 int16 47 23 1 1 1 1 16 bit integer 32768 32767 int16 Data storage ...

Page 374: ...00 00 Frequency Unscaled uint16 Defines the 16 bit scaling of parameter 47 2 DataStorage 2 real32 See parameter 47 31 DataStorage 1 real32 type DataStorage2real32 type 47 32 Unscaled uint16 Defines the 16 bit scaling of parameter 47 3 DataStorage 3 real32 See parameter 47 31 DataStorage 1 real32 type DataStorage3real32 type 47 33 Unscaled uint16 Defines the 16 bit scaling of parameter 47 4 DataSto...

Page 375: ...s how the drive reacts to a control panel or PC tool communication break Communicationloss action 49 5 Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 49 6 Refresh settings See also parameters 49 7 Panel comm supervision force and 49 8 Secondary comm loss action 0 No action taken No action 1 Drive trips on 7081 Control panel loss ...

Page 376: ...6 Applies the settings of parameters 49 1 Node ID number 49 5 Note Refreshing may cause a communication break so reconnecting the drive may be required Refresh settings 49 6 0 Refresh done or not requested Done 1 Refresh parameters 49 1 Node ID number 49 5 The value reverts automatically to Done Refresh uint16 Activates control panel communication monitoring separately for each control location se...

Page 377: ...ocal control vs external control page 23 Minimum ext speed ref panel 49 15 Minimum speed reference For scaling see parameter 46 1 30000 00 30000 00 rpm 30000 00 rpm real32 Defines a maximum limit for control panel speed reference in external control In local control the limits in parameter group 30 Limits are in force See section Local control vs external control page 23 Maximum ext speed ref pane...

Page 378: ...ed in the top right corner of the control panel This parameter is only effective when the control panel is not an active reference source Panel actual source 49 24 0 The active reference is displayed Automatic 1 Not in use Process PID setpoint actual See Terms and abbreviations page 130 Other value 378 Parameters ...

Page 379: ...6 Selects how the drive reacts upon a fieldbus communication break A time delay for the action can be defined by parameter 50 3 FBA A comm loss t out FBA A comm loss func 50 2 See also parameter 50 26 FBA A comm supervision force 0 No action taken No action 1 Drive trips on 7510 FBA A communication This only occurs if control is expected from the FBA A interface Fault FBA A selected as source of s...

Page 380: ...BA A comm loss func is taken Time count starts when the communication link fails to update the message As a rule of thumb this parameter should be set to at least 3 times the transmit interval of the master Note There is a 60 second boot up delay immediately after power up During the delay the communication break monitoring is disabled but communication itself can be active FBA A comm loss t out 5...

Page 381: ...two decimals General 3 1 10 Motor torque is sent as actual value 1 The scaling is defined by parameter 46 3 Torque scaling Torque 4 1 1 Motor speed used is sent as actual value 1 The scaling is defined by parameter 46 1 Speed scaling Speed 5 1 6 Output frequency is sent as actual value 1 The scaling is defined by parameter 46 2 Frequency scaling Frequency 6 Actual raw position is sent as actual va...

Page 382: ... 1 1 Control word sent by master to fieldbus adapter A 00000000 FFFFFFFFh int32 Displays raw unmodified reference REF1 sent by the master PLC to fieldbus adapter A if debugging is enabled by parameter 50 12 FBA A debug mode This parameter is read only FBA A reference 1 50 14 int32 Displays raw unmodified reference REF2 sent by the master PLC to fieldbus adapter A if debugging is enabled by paramet...

Page 383: ...speed Fast 2 Very fast speed Very fast 3 Low speed Optimized for PC tool communication and monitoring usage Monitoring uint16 Activates fieldbus communication monitoring separately for each control location see section Local control vs external control page 23 The parameter is primarily intended for monitoring the communication with FBA A when it is connected to the application program and not sel...

Page 384: ...ced using parameter 50 56 FBA B comm supervision force Fault 2 Drive generates an A7C2 FBA B communication warning and freezes the speed to the level the drive was operating at This only occurs if control is expected from the FBA B interface or if supervision is forced using parameter 50 56 FBA B comm supervision force The speed is determined on the basis of actual speed using 850 ms low pass filt...

Page 385: ...B ref1 type 50 34 Auto uint16 Selects the type and scaling of reference 2 received from fieldbus adapter B See parameter 50 4 FBA A ref1 type FBA B ref2 type 50 35 Auto uint16 Selects the type source and scaling of actual value 1 transmitted to the fieldbus network through fieldbus adapter B See parameter 50 7 FBA A actual 1 type FBA B actual 1 type 50 37 Auto uint16 Selects the type source and sc...

Page 386: ... 1 1 Control word sent by master to fieldbus adapter B 00000000 FFFFFFFFh int32 Displays raw unmodified reference REF1 sent by the master PLC to fieldbus adapter B if debugging is enabled by parameter 50 42 FBA B debug mode This parameter is read only FBA B reference 1 50 44 int32 Displays raw unmodified reference REF2 sent by the master PLC to fieldbus adapter B if debugging is enabled by paramet...

Page 387: ...rmal speed Normal 1 Fast speed Fast 2 Very fast speed Very fast 3 Low speed Optimized for PC tool communication and monitoring usage Monitoring uint16 Activates fieldbus communication monitoring separately for each control location see section Local control vs external control page 23 The parameter is primarily intended for monitoring the communication with FBA B when it is connected to the applic...

Page 388: ...ally to Done FBA A par refresh 51 27 Note This parameter cannot be changed while the drive is running 0 Refreshing done Done 1 Refreshing Refresh 0 uint16 Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive FBA A par table ver 51 28 In format axyz where ax major table revision number yz minor table revision number This parameter is re...

Page 389: ... line 6 Adapter is performing a hardware reset Reset 0 uint16 Displays the patch and build versions of the adapter module firmware in format xxyy where xx patch version number yy build version number Example C802 200 02 patch version 200 build version 2 FBA A comm SW ver 51 32 1 1 Patch and build versions of adapter module firmware 0000 FFFFh 0 uint16 Displays the major and minor versions of the a...

Page 390: ...ldbus adapter A FBA A data in1 52 1 0 None None 1 Control Word 16 bits CW 16bit 2 Reference REF1 16 bits Ref1 16bit 3 Reference REF2 16 bits Ref2 16bit 4 Status Word 16 bits SW 16bit 5 Actual value ACT1 16 bits Act1 16bit 6 Actual value ACT2 16 bits Act2 16bit 11 Control Word 32 bits CW 32bit 12 Reference REF1 32 bits Ref1 32bit 13 Reference REF2 32 bits Ref2 32bit 14 Status Word 32 bits SW 32bit ...

Page 391: ...int32 Parameters 53 01 53 12 select data to be transferred from the fieldbus controller to the drive through fieldbus adapter A FBA data out1 53 1 0 None None 1 Control Word 16 bits CW 16bit 2 Reference REF1 16 bits Ref1 16bit 3 Reference REF2 16 bits Ref2 16bit 11 Control Word 32 bits CW 32bit 12 Reference REF1 32 bits Ref1 32bit 13 Reference REF2 32 bits Ref2 32bit 21 Control Word 2 16 bits CW2 ...

Page 392: ...is parameter cannot be changed while the drive is running 0 Refreshing done Done 1 Refreshing Refresh 0 uint16 Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of FBA B par table ver 54 28 the drive In format axyz where ax major table revision number yz minor table revision number This parameter is read only 1 1 Parameter table revision of adap...

Page 393: ... line 6 Adapter is performing a hardware reset Reset 0 uint16 Displays the patch and build versions of the adapter module firmware in format xxyy where xx patch version number yy build version number Example C802 200 02 patch version 200 build version 2 FBA B comm SW ver 54 32 1 1 Patch and build versions of adapter module firmware 0000 FFFFh 0 uint16 Displays the major and minor versions of the a...

Page 394: ...it 2 Reference REF1 16 bits Ref1 16bit 3 Reference REF2 16 bits Ref2 16bit 4 Status Word 16 bits SW 16bit 5 Actual value ACT1 16 bits Act1 16bit 6 Actual value ACT2 16 bits Act2 16bit 11 Control Word 32 bits CW 32bit 12 Reference REF1 32 bits Ref1 32bit 13 Reference REF2 32 bits Ref2 32bit 14 Status Word 32 bits SW 32bit 15 Actual value ACT1 32 bits Act1 32bit 16 Actual value ACT2 32 bits Act2 32b...

Page 395: ...troller to the drive through fieldbus adapter B FBA B data out1 56 1 0 None None 1 Control Word 16 bits CW 16bit 2 Reference REF1 16 bits Ref1 16bit 3 Reference REF2 16 bits Ref2 16bit 11 Control Word 32 bits CW 32bit 12 Reference REF1 32 bits Ref1 32bit 13 Reference REF2 32 bits Ref2 32bit 21 Control Word 2 16 bits CW2 16bit See Terms and abbreviations page 130 Other value None uint32 See paramet...

Page 396: ...vices with the same address are not allowed on line Node address 58 3 Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58 6 Communication control 1 1 1 1 Node address values 1 247 are allowable 0 255 19 2 kbps uint16 Selects the transfer rate of the fieldbus link Changes to this parameter take effect after the control unit is reboo...

Page 397: ...or b4 1 Error detected check parameters 58 04 and 58 05 Parity error b5 1 Error detected check parameters 58 05 and 58 04 Baud rate error b6 1 0 bytes received during last 5 seconds No bus activity b7 1 0 packets addressed to any device detected during last 5 seconds No packets b8 1 Errors detected interference or another device with the same address on line Noise or addressing error b9 1 0 packet...

Page 398: ...he bus Can be reset from the control panel by keeping Reset depressed for over 3 seconds CRC errors 58 12 1 1 1 1 Number of CRC errors 0 4294967295 Fault uint16 Selects how the drive reacts to an EFB communication break Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58 6 Communication control See also parameters 58 15 Communicati...

Page 399: ...dated by parameter 58 6 Communication control See also parameters 58 14 Communication loss action and 58 16 Communication loss time Communicationloss mode 58 15 1 Any message addressed to the drive resets the timeout Any message 2 A write of the control word or a reference from the fieldbus resets the timeout Cw Ref1 Ref2 3 0 s uint16 Sets a timeout for EFB communication If a communication break l...

Page 400: ...caling are chosen automatically according to which reference chain see settings Torque Speed Frequency the incoming reference is connected to If the reference is not connected to any chain no scaling is applied as with setting Transparent Auto 1 No scaling is applied Transparent 2 Generic reference with a scaling of 100 1 ie integer and two decimals General 3 The scaling is defined by parameter 46...

Page 401: ...he 16 bit scaling is 1 1 unit Transparent 2 The value selected by parameter 58 32 EFB act2 transparent source is sent as actual value 2 with a 16 bit scaling of 100 1 unit ie integer and two decimals General 3 1 10 Motor torque is sent as actual value 2 The scaling is defined by parameter 46 3 Torque scaling Torque 4 1 1 Motor speed used is sent as actual value 2 The scaling is defined by paramete...

Page 402: ...would be mapped to register 400000 11264 160 411424 Mode 2 LO HI uint16 Selects in which order 16 bit registers of 32 bit parameters are transferred For each register the first byte contains the high order byte and the second byte contains the low order byte Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58 6 Communication contro...

Page 403: ...tual value ACT2 32 bits Act2 32bit 21 Control Word 2 16 bits When a 32 bit control word is used this setting means the most significant 16 bits CW2 16bit 24 Status Word 2 16 bits When a 32 bit control word is used this setting means the most significant 16 bits SW2 16bit 31 Parameter 10 99 RO DIO control word RO DIO control word 32 Parameter 13 91 AO1 data storage AO1 data storage 33 Parameter 13 ...

Page 404: ...nt32 Defines the address in the drive which the Modbus master accesses when it reads from or writes to register address 400006 For the selections see parameter 58 101 Data I O 1 Data I O 6 58 106 None uint32 Parameter selector for Modbus register address 400007 For the selections see parameter 58 101 Data I O 1 Data I O 7 58 107 None uint32 Parameter selector for Modbus register address 400024 For...

Page 405: ...unication port 60 1 0 None communication disabled Not in use 1 Channel A on FDCO module in slot 1 with ZCU control unit only Slot 1A 2 Channel A on FDCO module in slot 2 with ZCU control unit only Slot 2A 3 Channel A on FDCO module in slot 3 with ZCU control unit only Slot 3A 4 Channel B on FDCO module in slot 1 with ZCU control unit only Slot 1B 5 Channel B on FDCO module in slot 2 with ZCU contr...

Page 406: ...wer functionality see page 66 through the XD2D connector select DDCS follower instead D2D follower 5 The role of the drive on the master follower DDCS link is defined by parameters 60 15 Force master and 60 16 Force follower DDCS forcing 6 The role of the drive on the master follower D2D link is defined by parameters 60 15 Force master and 60 16 Force follower Note This setting is only to be used ...

Page 407: ...on taken NoAction 1 The drive generates an A7CB M F comm loss warning This only occurs if control is expected from the master follower link or if supervision is forced using parameter 60 32 M F comm supervision force WARNING Make sure that it is safe to continue operation in case of a communication break Warning 2 Drive trips on 7582 M F comm loss This only occurs if control is expected from the m...

Page 408: ...arameter 46 2 Frequency scaling Frequency Auto uint16 Selects the type source and scaling of actual value ACT2 transmitted to the master follower link M F act2 type 60 13 0 Type source and scaling follow the type of reference 2 selected by parameter 60 11 M F ref2 type See the individual settings below for the sources and scalings Auto 1 Reserved 2 Reserved 3 1 10 Motor torque is sent as actual va...

Page 409: ... master only Selects how the drive reacts to a fault in a follower See also parameter 60 23 M F status supervision sel 1 Note Each follower must be configured to transmit its status word as one of the three data words in parameters 60 1 60 3 In the master the corresponding target parameter 62 4 62 12 must be set to Follower SW Follower fault action 60 17 0 No action taken Unaffected drives on the ...

Page 410: ...g manual 3AUA0000127808 English In the master parameters 60 19 M F comm supervision sel 1 and 60 20 M F comm supervision sel 2 specify the followers that are monitored for loss of communication This parameter selects which followers out of followers 1 16 are monitored Each of the selected followers is polled by the master If no reply is received the action specified in 60 9 M F comm loss function ...

Page 411: ...llower 20 is polled by the master Follower 20 b3 1 Follower 21 is polled by the master Follower 21 b4 1 Follower 22 is polled by the master Follower 22 b5 1 Follower 23 is polled by the master Follower 23 b6 1 Follower 24 is polled by the master Follower 24 b7 1 Follower 25 is polled by the master Follower 25 b8 1 Follower 26 is polled by the master Follower 26 b9 1 Follower 27 is polled by the ma...

Page 412: ...ctivate communication supervision for the same followers in parameter 60 19 M F comm supervision sel 1 The status of communication is shown by 62 37 M F communication status 1 and 62 38 M F communication status 2 M F status supervision sel 1 60 23 Status of follower 1 is monitored Follower 1 b0 Status of follower 2 is monitored Follower 2 b1 Status of follower 3 is monitored Follower 3 b2 Status o...

Page 413: ...itored Follower 28 b11 1 Status of follower 29 is monitored Follower 29 b12 1 Status of follower 30 is monitored Follower 30 b13 1 Status of follower 31 is monitored Follower 31 b14 1 Status of follower 32 is monitored Follower 32 b15 1 1 0000h FFFFh uint16 In the D2D master parameters 60 27 M F status supv mode sel 1 and 60 28 M F status supv mode sel 2 specify the mode of follower status word mo...

Page 414: ...ollower 12 is monitored continuously 1 Status of follower 12 is monitored only when it is in stopped state Follower 12 b11 0 Status of follower 13 is monitored continuously 1 Status of follower 13 is monitored only when it is in stopped state Follower 13 b12 0 Status of follower 14 is monitored continuously 1 Status of follower 14 is monitored only when it is in stopped state Follower 14 b13 0 Sta...

Page 415: ...atus of follower 27 is monitored continuously 1 Status of follower 27 is monitored only when it is in stopped state Follower 27 b10 0 Status of follower 28 is monitored continuously 1 Status of follower 28 is monitored only when it is in stopped state Follower 28 b11 0 Status of follower 29 is monitored continuously 1 Status of follower 29 is monitored only when it is in stopped state Follower 29 ...

Page 416: ... mode 60 33 0 Faster time level disabled Disabled 1 Faster time level enabled Enable Not in use uint16 Selects the channel used for connecting an optional FEA xx extension adapter Extension adapter com port 60 41 0 None communication disabled Not in use 1 Channel A on FDCO module in slot 1 Slot 1A 2 Channel A on FDCO module in slot 2 Slot 2A 3 Channel A on FDCO module in slot 3 Slot 3A 4 Channel B...

Page 417: ...us controller With optical ModuleBus the drive address is set according to the position value as follows 1 Multiply the hundreds of the position value by 16 2 Add the tens and ones of the position value to the result For example if the position value is 101 this parameter must be set to 1 16 1 17 DDCS controller node address 60 52 Node address 1 254 Star uint16 Selects the topology of the fiber op...

Page 418: ...e There is a 60 second boot up delay immediately after power up During the delay the communication break monitoring is disabled but communication itself can be active With an AC 800M controller the controller detects a communication break immediately but re establishing the communication is done at 9 second idle intervals Also note that the sending interval of a data set is not the same as the exe...

Page 419: ...ve trips on 7581 DDCS controller comm loss This occurs even though no control is expected from the external controller Fault always 5 Drive generates an A7CA DDCS controller comm loss warning This only occurs if control is expected from the external controller or if supervision is forced using parameter 60 65 DDCS controller comm supervision force WARNING Make sure that it is safe to continue oper...

Page 420: ...the type source and scaling of actual value ACT2 transmitted to the external controller DDCS controller act2 type 60 63 0 Type source and scaling follow the type of reference 2 selected by parameter 60 61 DDCS controller ref2 type See the individual settings below for the sources and scalings Auto 1 Reserved 2 Reserved 3 1 10 Motor torque is sent as actual value 2 The scaling is defined by paramet...

Page 421: ...a BC 10 uint16 Only visible when supply unit control activated by 95 20 Defines the light intensity of the transmission LED of RDCO module channel CH1 This parameter is effective only when parameter 60 71 INU LSU communication port is set to RDCO CH 1 FDCO modules have a hardware transmitter current selector In general use higher values with longer fiber optic cables The maximum setting is applica...

Page 422: ... other converter typically the supply unit WARNING With settings other than Fault the inverter unit will continue operating based on the status information that was last received from the other converter Make sure this does not cause danger INU LSU comm loss function 60 79 0 No action taken No action 1 The drive generates a warning AF80 INU LSU comm loss Warning 2 Drive trips on 7580 INU LSU comm ...

Page 423: ... 1 Main control word and the bits selected by parameters 06 45 06 48 Follower CW Note Bit 3 of the follower control word is kept on as long as the master is modulating and when it switches to 0 the follower coasts to a stop 6145 24 1 Used speed reference page 277 Used speed reference 6731 26 75 Torque reference act 5 page 305 Torquereferenceact 5 6658 26 2 Torque reference used page 297 Torque ref...

Page 424: ...election value should be interpreted Act2 16bit 27 This is the block where writer describes in more details how the selection value should be interpreted Follower CW 6145 This is the block where writer describes in more details how the selection value should be interpreted Used speed reference 6731 This is the block where writer describes in more details how the selection value should be interpret...

Page 425: ...r drive type ABB standard drive Parameters 61 95 61 100 display the data to be sent to the external controller If no data has been preselected the value to be sent can be written directly into these parameters For example this parameter preselects the data for word 1 of data set 2 Parameter 61 95 Data set 2 data 1 value displays the selected data in integer format If no data is preselected the val...

Page 426: ...lue For the selections see parameter 61 51 Data set 11 data 1 selection Data set 11 data 2 selection 61 52 None uint32 Preselects the data to be sent as word 3 of data set 11 to the external controller See also parameter 61 103 Data set 11 data 3 value For the selections see parameter 61 51 Data set 11 data 1 selection Data set 11 data 3 selection 61 53 None uint32 See parameter 61 51 Data set 11 ...

Page 427: ...data to be sent to the external controller as word 2 of data set 11 If no data has been preselected by 61 52 Data set 11 data 2 selection the value to be sent can be written directly into this parameter Data set 11 data 2 value 61 102 Data to be sent as word 2 of data set 11 0 65535 uint16 Displays in integer format the data to be sent to the external controller as word 3 of data set 11 If no data...

Page 428: ...a 2 value For the selections see parameter 61 151 INU LSU data set 10 data 1 sel INU LSU data set 10 data 2 sel 61 152 Reactive power reference uint32 Preselects the data to be sent as word 3 of data set 10 to the other converter See also parameter 61 203 INU LSU data set 10 data 3 value For the selections see parameter 61 151 INU LSU data set 10 data 1 sel INU LSU data set 10 data 3 sel 61 153 ui...

Page 429: ...Def Type FbEq 16b 32b Description Name Range Selection No Data to be sent as word 3 of data set 10 0 65535 Parameters 429 ...

Page 430: ...as word 2 from the master through the master follower link M F data 2 selection 62 2 See also parameter 62 26 M F data 2 value For the selections see parameter 62 1 M F data 1 selection None uint32 Follower only Defines a target for the data received as word 3 from the master through the master follower link M F data 3 selection 62 3 See also parameter 62 27 M F data 3 value For the selections see...

Page 431: ...3 value For the selections see parameter 62 4 Follower node 2 data 1 sel Follower node 3 data 3 sel 62 9 Follower SW uint32 Defines a target for the data received as word 1 from the third follower ie the follower with node address 4 through the master follower link See also parameter 62 34 Follower node 4 data 1 value For the selections see parameter 62 4 Follower node 2 data 1 sel Follower node 4...

Page 432: ...rameters Follower node 2 data 1 value 62 28 Data received as word 1 from follower with node address 2 0 65535 uint16 Displays in integer format the data received from the first follower ie follower with node address 2 as word 2 Parameter 62 5 Follower node 2 data 2 sel can be used to select a target for the received data This parameter can also be used as a signal source by other parameters Follow...

Page 433: ... data received from the third follower ie follower with node address 4 as word 1 Parameter 62 10 Follower node 4 data 1 sel can be used to select a target for the received data This parameter can also be used as a signal source by other parameters Follower node 4 data 1 value 62 34 Data received as word 1 from follower with node address 4 0 65535 uint16 Displays in integer format the data received...

Page 434: ...ication with follower 12 OK Follower 12 b11 1 Communication with follower 13 OK Follower 13 b12 1 Communication with follower 14 OK Follower 14 b13 1 Communication with follower 15 OK Follower 15 b14 1 Communication with follower 16 OK Follower 16 b15 1 1 0000h FFFFh uint16 In the master displays the status of the communication with followers specified by parameter 60 20 M F comm supervision sel 2...

Page 435: ...Follower 9 ready Follower 9 b8 1 Follower 10 ready Follower 10 b9 1 Follower 11 ready Follower 11 b10 1 Follower 12 ready Follower 12 b11 1 Follower 13 ready Follower 13 b12 1 Follower 14 ready Follower 14 b13 1 Follower 15 ready Follower 15 b14 1 Follower 16 ready Follower 16 b15 1 1 0000h FFFFh uint16 In the master displays the ready status of the communication with followers specified by parame...

Page 436: ...F1 16 bits Ref1 16bit 3 Reference REF2 16 bits Ref2 16bit See Terms and abbreviations page 130 Other value None uint32 Defines a target for the data received as word 2 of data set 1 See also parameter 62 96 Data set 1 data 2 value For the selections see parameter 62 45 Data set 1 data 1 selection Data set 1 data 2 selection 62 46 None uint32 See parameter 62 45 Data set 1 data 1 selection Data set...

Page 437: ...data set 1 0 65535 0 uint16 Displays in integer format the data received from the external controller as word 2 of data set 1 A target for this data can be selected by parameter 62 46 Data set 1 data 2 selection The value can also be used as a source by another parameter Data set 1 data 2 value 62 96 Data received as word 2 of data set 1 0 65535 0 uint16 Displays in integer format the data receive...

Page 438: ...lays in integer format the data received from the external controller as word 3 of data set 24 A target for this data can be selected by parameter 62 74 Data set 24 data 3 selection The value can also be used as a source by another parameter Data set 24 data 3 value 62 124 Data received as word 3 of data set 24 0 65535 LSU SW uint32 Parameters 62 151 62 203 only visible when supply unit control ac...

Page 439: ...ted by parameter 62 152 INU LSU data set 11 data 2 sel The value can also be used as a source by another parameter INU LSU data set 11 data 2 value 62 202 Data received as word 2 of data set 11 0 65535 uint16 Displays in integer format the data received from the other converter as word 3 of data set 11 A target for this data can be selected by parameter 62 153 INU LSU data set 11 data 3 sel The va...

Page 440: ...ning completed axis remains in target position In position b11 1 Actual velocity is within defined window 88 40 In velocity window b12 1 Velocity procedure completed axis is following target velocity In velocity b13 1 Axis stopping Stopping b14 Toggle bit to indicate operating condition of system Watchdog acknowledged b15 1 1 0000h FFFFh uint16 Position status word 2 This parameter is read only Po...

Page 441: ...9 Defines direction for rollover axis configurations in modulo operation 86 18 0 00 Shortest 10 Forward 01 Reverse 11 Shortest Path direction bit 0 b10 Defines direction for rollover axis configurations in modulo operation 86 18 0 00 Shortest 10 Forward 01 Reverse 11 Shortest Path direction bit 1 b11 1 Provide gear in synchronization with master axis function Note Bit value transition behavior def...

Page 442: ...ter jog forward b8 1 Jog virtual master in reverse direction 0 Stop jogging in reverse direction Virtual master jog reverse b9 1 Initiate stop function for virtual master axis Virtual master stop b10 Reserved b11 15 1 1 0000h FFFFh uint16 User specific position control word 1 The word can be used to store control signals received through the fieldbus interfaces eg groups 53 FBA A data out and 56 F...

Page 443: ...parameter is read only Position control actual status 74 10 0 Axis disabled Disabled 1 Axis at a standstill state Standstill 2 Homing routine in progress Homing 3 Error stop was initiated Error Stop 4 Stopping routine in progress Stopping 5 Axis executing infinite profile Continuous 6 Axis executing profile in time Discrete 7 Axis synchronized with master axis Synchronized 99 Axis initialization r...

Page 444: ...ng the command will cause drive to ramp down to a standstill True New target is activated on rising edge and the move command may be cleared anytime after it has been acknowledged New move command is possible only after on going task is finished ie 74 10 Position control actual status Standstill False Edge New target is activated on rising edge and the move command may be cleared anytime after it ...

Page 445: ...ition CW1 bit 1 12 Bit 2 of 74 7 User Position control word 1 User Position CW1 bit 2 13 Bit 3 of 74 7 User Position control word 1 User Position CW1 bit 3 14 Bit 4 of 74 7 User Position control word 1 User Position CW1 bit 4 15 Bit 5 of 74 7 User Position control word 1 User Position CW1 bit 5 16 Bit 6 of 74 7 User Position control word 1 User Position CW1 bit 6 17 Bit 7 of 74 7 User Position con...

Page 446: ...ype defines whether the command is edge triggered or level triggered For the selections see 74 20 Enable sel Relative sel 74 27 User Position CW1 bit 7 int32 Selects the source of a signal that activates the move absolute function Parameter 74 15 Position command trigger type defines whether the command is edge triggered or level triggered For the selections see 74 20 Enable sel Absolute sel 74 28...

Page 447: ...es the move additive function Parameter 74 15 Position command trigger type defines whether the command is edge triggered or level triggered For the selections see 74 20 Enable sel Additive sel 74 40 False int32 Selects the source of a signal that activates the move superimposed function Parameter 74 15 Position command trigger type defines whether the command is edge triggered or level triggered ...

Page 448: ...arameter 87 54 This command is always level triggered For the selections see 74 20 Enable sel Virtual master stop sel 74 50 False int32 Selects the source of user bit 1 The status is displayed by 74 2 Position status word 2 bit 11 Position SW2 user bit 1 sel 74 60 0 0 False 1 1 True See Terms and abbreviations page 130 Other bit False int32 Selects the source of user bit 2 The status is displayed ...

Page 449: ...led by 74 20 Enable sel Op mode change action 74 80 0 The axis will stop using the deceleration and jerk values from parameters 75 31 Stop deceleration and 75 32 Stop jerk During deceleration it is possible to issue another motion command Halt 1 The axis will continue at the current velocity Any motion commands can be issued Last speed Relative uint16 Defines the synchronization type used with gea...

Page 450: ...32 Defines the maximum deceleration rate to be used during movement Deceleration 75 14 1000 1 units s 2 1 1 units s 2 Maximum deceleration 0 000 20000000 000 units s 2 0 000 units s 3 real32 Defines the maximum jerk value to be used during movement Note 0 000 unlimited Jerk 75 15 1000 1 units s 3 1 1 units s 3 Maximum jerk 0 000 20000000 000 units s 3 0 000 units s real32 Defines the positioning v...

Page 451: ... Fast Stop configuration generated Stop deceleration 75 31 1000 1 units s 2 1 1 units s 2 Deceleration rate for stopping 0 000 20000000 000 units s 2 0 000 units s 3 real32 Defines the jerk value for stopping This value must be higher than that in the active profile Otherwise this value is ignored and a warning E205 Fast Stop configuration generated Note 0 000 unlimited Stop jerk 75 32 1000 1 unit...

Page 452: ...tion of 87 20 External encoder source Note that non absolute encoders cannot track any movement while the drive is not powered Master retentive 5 Restores the retained master position taking into account any movement since the position was stored Master absolute 6 Shifts the master position by the value of 75 35 Preset position The axis will not follow even if its status is Synchronized see 74 10 ...

Page 453: ...units s 2 Maximum phasing acceleration 0 000 20000000 000 units s 2 10 000 units s 2 real32 Defines the maximum phasing deceleration rate Phasing deceleration 75 53 1000 1 units s 2 1 1 units s 2 Maximum phasing deceleration 0 000 20000000 000 units s 2 0 000 units s 3 real32 Defines the maximum phasing jerk value Phasing jerk 75 54 1000 1 units s 3 1 1 units s 3 Maximum phasing jerk 0 000 2000000...

Page 454: ...vision Watchdog b15 1 1 0000h FFFFh uint16 Local position control word 2 Local position control word 2 75 62 1 Initiate additive positioning movement Additive b0 1 Initiate superimposed movement Superimposed b1 Reserved b2 1 Initiate phasing relative movement Phasing relative b3 Reserved b4 1 Initiate position latching routine 1 Latch 1 b5 1 Initiate position latching routine 2 Latch 2 b6 1 Start ...

Page 455: ...on rate to be used during movement Local deceleration 75 66 1000 1 units s 2 1 1 units s 2 Maximum deceleration 0 000 20000000 000 units s 2 0 000 units s 3 real32 Defines the maximum jerk value to be used during movement Note 0 000 unlimited Local jerk 75 67 1000 1 units s 3 1 1 units s 3 Maximum jerk 0 000 20000000 000 units s 3 0 000 units real32 Defines the positioning velocity when the target...

Page 456: ...Def Type FbEq 16b 32b Description Name Range Selection No 100 1 1 1 Overriding value 0 001 100 000 456 Parameters ...

Page 457: ...tion index Preset index 10 Positioning indexes 1 and 2 will alternate starting with index 1 Between indexes the delay defined by 76 9 Cycle index delay will be applied Cycle index 1 uint16 See parameter 76 2 selection Preset index Preset position index 76 3 1 1 1 1 Positioning index 1 8 False int32 See parameter 76 2 selection Index selection Position index source 1 76 4 0 0 False 1 1 True 2 Digit...

Page 458: ...everse direction 11 Shortest direction Shortest 0 Forward 1 b1 Direction These bits are only relevant in a modulo axis configuration 86 18 0 00 Shortest direction 10 Forward direction 01 Reverse direction 11 Shortest direction Shortest 0 Reverse 1 b2 Reserved b3 15 1 1 0000h FFFFh 0 000 units real32 Depending on bit 1 of 76 10 defines either the absolute target position or the distance from the la...

Page 459: ... velocity 0 000 2000000 000 units s uint16 Defines the type and direction of movement for positioning index 2 See 76 10 Pos index 1 mode Pos index 2 mode 76 20 0 000 units real32 Depending on bit 1 of 76 20 defines either the absolute target position or the distance from the last reference position See 76 11 Pos index 1 target position Pos index 2 target position 76 21 1000 1 units 1 1 units 20000...

Page 460: ...eserved b12 15 1 1 0000h FFFFh 0 000 units real32 Calculates the required cyclic correction value Cyclic correction value 78 2 1000 1 units 1 1 units Cyclic correction value 2000000 000 2000000 000 units False int32 Selects a source that enables disables the cyclic correction function Cyclic correction enable 78 10 0 0 False 1 1 True 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital i...

Page 461: ... minimum threshold for the cyclic correction For example if the minimum value is set to 30 degrees and the requested cyclic correction is 20 degrees no correction is made Minimum correction 78 13 1000 1 units 1 1 units Minimum threshold for the cyclic correction 0 000 2000000 000 units 0 000 units real32 Defines the maximum threshold for cyclic correction For example if the maximum value is set to...

Page 462: ...rror reference actual value causes the PI controller output to change by 10 PI proportional gain 85 13 100 1 units 100 1 units PI controller gain 30000 00 30000 00 units 0 000 s real32 Defines the integration time for the PI controller The integration time defines the rate at which the controller output changes when the error value is constant and the proportional gain is 100 00 The shorter the in...

Page 463: ...1 Absolute encoder detected Encoder 1 absolute b6 1 Absolute encoder detected Encoder 2 absolute b7 1 Lath1 in master triggered This information is received through parameter D2D velocity data Latch1 in master triggered b8 Reserved b9 1 State of FEN module digital input did not settle during input validation time implying too short a filter time or bad signal quality 86 53 86 54 not reliable Posit...

Page 464: ...83648 2147483647 increments int32 Displays the actual absolute position of encoder 2 using the resolution defined by 86 12 Enc2 increments per revolution This parameter is read only Encoder 2 position 86 5 Absolute position of encoder 2 2147483648 2147483647 increments int32 Displays the estimated position using the defined resolution If estimated feedback is selected in 86 13 Actual position sour...

Page 465: ... speeds for example if the encoder is not mounted directly on the rotated machinery 86 14 Load gear numerator 86 15 Load gear denominator Load speed Encoder speed If actual position feedback is measured directly from the load side after gear then this ratio is 1 If actual position feedback is measured from the motor shaft this ratio is 1 gear ratio Load gear numerator 86 14 1 1 1 1 Load gear numer...

Page 466: ...osition source increases When you use this option make sure that you set the parameter 86 25 Actual position tracking to Enable Reverse int32 Parameters 86 21 Load encoder scale numerator and 86 22 Load encoder scale denominator define a gear function between the motor and load speeds 86 21 Load encoder scale numerator 86 22 Load encoder scale denominator Motor speed Load encoder speed Load encode...

Page 467: ...igital input DI2 of the FEN xx interface module to which encoder 1 is connected ENC1 DI2 2 Digital input DI1 of the FEN xx interface module to which encoder 2 is connected ENC2 DI1 3 Digital input DI2 of the FEN xx interface module to which encoder 2 is connected ENC2 DI2 4 The input defined by 86 56 Latch 1 SW input source Latch 1 SW input Forward uint32 Selects the direction used when homing Hom...

Page 468: ...ch encoder 1 is connected DI2 ENC1 b1 1 Position source Encoder 2 Trigger Digital input DI1 of the FEN xx interface module to which encoder 2 is connected DI1 ENC2 b2 1 Position source Encoder 2 Trigger Digital input DI2 of the FEN xx interface module to which encoder 2 is connected DI2 ENC2 b3 1 Position source Encoder 1 Trigger Z pulse of encoder 1 Z1 ENC1 b4 1 Position source Encoder 2 Trigger ...

Page 469: ... 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digital input DI4 10 2 DI delayed status bit 3 DI4 6 Digital input DI5 10 2 DI delayed status bit 4 DI5 7 Digital input DI6 10 2 DI delayed status bit 5 DI6 10 Digital input output DIO1 11 2 DIO delayed status bit 0 DIO1 11 D...

Page 470: ...us See the Notes at 86 60 Maximum position Minimum position 86 61 1000 1 units 1000 1 units Minimum position 2000000 000 2000000 000 units uint32 Selects the signal source of the maximum position limit switch If the signal is removed a stop command is activated and Error stop indicated by 74 10 Position control actual status Running in the forward direction is prevented For the selections see para...

Page 471: ...in 86 101 Actual position 2147483648 2147483647 increments int32 A backup value of 86 8 Actual position raw that is preserved over a power cycle The value is updated together with the actual position but is not affected by the Preset position functionality unless selected as retentive This parameter is read only Raw axis position backup retain 86 102 Backup of raw actual position 2147483648 214748...

Page 472: ... units per second Master velocity reference 87 4 This parameter is read only 1000 1 units s 1000 1 units s Master axis velocity 2000000 000 2000000 000 units s int32 Displays the difference between the unfiltered master position reference and the compensated filtered values in increments Master reference error raw 87 5 This parameter is read only Master reference error 2147483648 2147483647 increm...

Page 473: ...I2 scaled 3 3 5 FB A reference 1 page 140 FB A ref1 4 3 6 FB A reference 2 page 140 FB A ref2 5 Master drive parameter 88 50 D2D send type is set to Master value See also parameter 87 41 D2D rec scale master velocity D2D master value 6 Master drive parameter 88 50 D2D send type is set to Actual position or Reference position See also parameter 87 40 D2D rec scale axis velocity D2D axis value 7 86 ...

Page 474: ...circular via the D2D channel Force linear master 87 17 0 The modulo numerator determines if the master axis is linear or rollover Disable 1 Master axis is forced to linear Enable See Terms and abbreviations page 130 Other value None uint16 Forces or selects a signal that forces the master axis to linear even if parameter 87 15 is non zero ie if the master axis is defined as rollover This parameter...

Page 475: ...ter is only effective when the axis is in Synchronized state External sync velocity correction 87 30 0 No additive applied Not selected See Terms and abbreviations page 130 Other bit real32 Defines a multiplier to scale the synchronization velocity reference This parameter is only effective when the axis is in Synchronized state A typical application is a winder unwinder in an electrical shaft con...

Page 476: ...y Note that 88 50 D2D send type should be set to Actual position or Reference position on the master For the received velocity reference to match the one that was sent this parameter setting must match the setting of 88 51 D2D send scale axis velocity on the master D2D rec scale axis velocity 87 40 1000 1 units s 1000 1 units s Scaling factor for axis speed 0 000 2000000 000 units s real32 In the ...

Page 477: ...ill to 87 51 Virtual master max velocity Virtual master ramp time 87 53 1000 1 s 1000 1 s Master velocity ramp up time 0 000 3000 000 s real32 Defines the time constant for master velocity ramp down The value represents the time needed to decelerate the master velocity from 87 51 Virtual master max velocity to a standstill Virtual master stop ramp time 87 54 1000 1 s 1000 1 s Master velocity ramp ...

Page 478: ... in rpm This parameter is read only 1 1 rpm 100 1 rpm Position controller output value 30000 00 30000 00 rpm real32 Displays the speed reference used as a feed forward term in the position control loop to minimize the Speed feed forward 88 4 position error difference between position reference and actual position This parameter is read only 1 1 rpm 100 1 rpm Speed reference as a feed forward term ...

Page 479: ...timated acceleration Estimated acceleration filter time 88 13 1000 1 ms 1000 1 ms Filter time 0 3000 ms real32 Defines the override value in percent The value can be used to slow down the axis movement and will immediately affect the axis velocity as well as the used acceleration deceleration and jerk rates In case local control is enabled by 75 60 Local control enable the value of 75 69 Local ove...

Page 480: ...on selected by 88 31 Following error limit event will be taken Following error limit 88 30 1000 1 units 1000 1 units Maximum following error 0 000 2000000 000 units Fault uint32 Defines the action in case the position error limit 88 30 Following error limit is exceeded Following error limit event 88 31 0 The drive trips on a fault E101 Following Error Exceeded Fault 1 The drive generates a warning...

Page 481: ... master defines a scaling factor for axis velocity sent to the follower when 88 50 D2D send type is set to Actual position or Reference position The value of this parameter defines the maximum velocity to be sent See also 87 40 D2D rec scale axis velocity D2D send scale axis velocity 88 51 1000 1 units s 1000 1 units s Scaling factor for axis speed 0 000 2000000 000 units s real32 In the master de...

Page 482: ...Fh real32 Displays the position reference from the primary position profile generated in parameter group 75 Position profile This parameter is read only Pos ref profile 88 61 1000 1 units 1000 1 units Position reference from primary profile 2000000 000 2000000 000 units real32 Displays the velocity reference from the primary position profile generated in parameter group 75 Position profile This pa...

Page 483: ...up 87 Master position This parameter is read only Pos ref sync 88 65 1000 1 units 1000 1 units Position reference from master position chain 2000000 000 2000000 000 units real32 Displays the velocity reference from the master position reference chain group 87 Master position This parameter is read only Velocity ref sync 88 66 1000 1 units s 1000 1 units s Velocity reference from master position ch...

Page 484: ...ne revolution received from the source selected by parameter 90 41 Motor feedback selection Motor position 90 2 In case measured feedback is selected it is also scaled by the motor gear function 90 43 Motor gear numerator and 90 44 Motor gear denominator Note This parameter is read only 32767 1 rev 100000000 1 rev Motor position 0 00000000 1 00000000 rev real32 Displays encoder 1 speed in rpm Note...

Page 485: ...raw measurement Note This parameter is read only Encoder 1 revolutions raw 90 15 Raw encoder 1 revolution count 0 16777215 real32 Displays encoder 2 speed in rpm Note This parameter is read only Encoder 2 speed 90 20 Encoder 2 speed For scaling see parameter 46 1 32768 00 32767 00 rpm real32 Displays the actual position of encoder 2 within one revolution Note This parameter is read only Encoder 2 ...

Page 486: ... Motor feedback selected as load feedback source Motor feedback b3 0 Position counter not initialized or encoder feedback was lost Fresh counter initialization recommended 1 Position counter successfully initialized Pos counter init ready b4 1 Position counter initialization is being prevented Position counter re init disabled b5 1 Encoder feedback intermittent or lost If the drive is running esti...

Page 487: ... denominator 2147483648 2147483647 Fault uint16 Selects how the drive reacts to loss of measured motor feedback Motor feedback fault 90 45 0 Drive trips on a 7301 Motor speed feedback or 7381 Encoder fault Fault 1 Drive generates an A798 Encoder option comm loss A7B0 Motor speed feedback or A7E1 Encoder warning and continues operation using estimated feedbacks Note Before using this setting test t...

Page 488: ...00 rpm and During high dynamic motion with the speed reference changing rapidly Enable motor encoder drift detection 90 47 0 Drift detection disabled No 1 Drift detection enabled Yes 100 00 rpm int32 Defines a supervision limit for the difference between actual load encoder speed scaled to motor axis as rpm and actual motor speed If the difference remains above this limit for longer than the time ...

Page 489: ...odule detected in the specified slot No option 1 A module has been detected but cannot be communicated with 2 The module type is unknown 16 An FEN 01 module has been detected and is active FEN 01 17 An FEN 11 module has been detected and is active FEN 11 18 An FEN 21 module has been detected and is active FEN 21 21 An FEN 31 module has been detected and is active FEN 31 25 An FSE 31 module has bee...

Page 490: ...r settings have been changed The parameter cannot be changed while the drive is running Encoder parameter refresh 91 10 0 Refreshing done Done 1 Refreshing Refresh None uint16 Defines the type of the module used as interface module 1 Module 1 type 91 11 0 None communication disabled None 1 FEN 01 FEN 01 2 FEN 11 FEN 11 3 FEN 21 FEN 21 4 FEN 31 FEN 31 5 FSE 31 FSE 31 2 uint16 Specifies the slot 1 3...

Page 491: ...None uint16 Specifies the type of temperature sensor connected to interface module 2 Note that the module must also be activated by parameters 91 13 91 14 Module 2 temp sensor type 91 24 0 None None 1 PTC The unit is ohms PTC 2 KTY84 The unit is selected by parameter 96 16 Unit selection KTY 84 3 Pt1000 The unit is selected by parameter 96 16 Unit selection Note Pt1000 sensor supports FEN 11 and F...

Page 492: ...erface module 2 whose signal is echoed by or emulated to the TTL output See also section Encoder support page 84 Module 2 TTL output source 91 41 0 TTL output not in use Not selected 1 Input 1 is echoed by or emulated to the TTL output Module input 1 2 Input 2 is echoed by or emulated to the TTL output Module input 2 uint16 Defines the number of TTL pulses per revolution for encoder emulation outp...

Page 493: ...6 Selects the interface module that the encoder is connected to Encoder 1 source 92 2 The physical locations and types of encoder interface modules are defined in parameter group 91 Encoder module settings 0 Interface module 1 Module 1 1 Interface module 2 Module 2 1 kHz uint16 Visible when 92 1 Encoder 1 type Resolver Defines the frequency of the excitation signal Excitation signal frequency 92 1...

Page 494: ...on Single track 1 uint16 Visible when 92 1 Encoder 1 type Resolver Defines the number of pole pairs of the resolver Resolver polepairs 92 12 1 1 1 1 Number of resolver pole pairs 1 32 Disable uint16 Visible when 92 1 Encoder 1 type Absolute encoder Enables the encoder zero pulse for the absolute encoder input X42 of the FEN 11 interface module Note No zero pulse exists with serial interfaces ie wh...

Page 495: ...r example a setting of 15 bits corresponds to 32768 positions per revolution The value is used when parameter 92 11 Absolute position source is set to EnDat Hiperface or SSI When parameter 92 11 Absolute position source is set to Tamagawa this parameter is internally set to 17 Note With an EnDat or HIPERFACE encoder and FEN 11 FPGA version VIE12200 or later this parameter is automatically set upon...

Page 496: ...ameter is not effective with FEN xx modules with FPGA version VIEx 2000 or later Speed estimation enable 92 14 0 Last calculated speed used The calculation interval is 62 5 microseconds to 4 milliseconds Disable 1 Estimated speed estimated at the time of data request is used Enable 4880Hz uint16 Visible when 92 1 Encoder 1 type HTL 1 Activates transient filtering for the encoder changes in directi...

Page 497: ...ted within this time the measured speed is zeroed by the interface Increasing the setting can improve measuring performance especially at low near zero speeds Note The parameter is only supported by FEN xx modules with FPGA version VIEx 2000 or later On older modules the pulse waiting time is fixed to 4 ms Note The parameter only affects speed measurement Position is updated whenever a new pulse e...

Page 498: ...ithout sin cos signals Note This setting requires an FEN 11 interface revision H or later Continuous speed and position 50 ms uint16 Visible when 92 1 Encoder 1 type Absolute encoder Selects the maximum encoder calculation time for an EnDat encoder Note This parameter needs to be set only when an EnDat encoder is used in continuous mode ie without incremental sin cos signals supported only as enco...

Page 499: ...er 1 type Absolute encoder Selects the data format for an SSI encoder SSI data format 92 36 0 Binary code Binary 1 Gray code Gray 100 kBit s uint16 Visible when 92 1 Encoder 1 type Absolute encoder Selects the baud rate for an SSI encoder SSI baud rate 92 37 0 10 kbit s 10 kBit s 1 50 kbit s 50 kBit s 2 100 kbit s 100 kBit s 3 200 kbit s 200 kBit s 4 500 kbit s 500 kBit s 5 1000 kbit s 1000 kBit s...

Page 500: ...ven 4800 bits s uint16 Visible when 92 1 Encoder 1 type Absolute encoder Defines the transfer rate of the link with a HIPERFACE encoder Typically this parameter need not be set Hiperface baud rate 92 46 0 4800 bit s 4800 bits s 1 9600 bit s 9600 bits s 2 19200 bit s 19200 bits s 3 38400 bit s 38400 bits s 64 uint16 Visible when 92 1 Encoder 1 type Absolute encoder Defines the node address for a HI...

Page 501: ...d types of Encoder 2 source 93 2 encoder interface modules are defined in parameter group 91 Encoder module settings 1 Interface module 1 Module 1 2 Interface module 2 Module 2 1 kHz uint16 Visible when 93 1 Encoder 2 type Resolver See parameter 92 10 Excitation signal frequency Excitation signal frequency 93 10 0 uint16 Visible when 93 1 Encoder 2 type Absolute encoder See parameter 92 10 Sine co...

Page 502: ...ng 93 24 Fault uint16 Visible when 93 1 Encoder 2 type HTL See parameter 92 25 Pulse overfrequency function Pulse overfrequency function 93 25 Initial position uint16 Visible when 93 1 Encoder 2 type Absolute encoder See parameter 92 30 Serial link mode Serial link mode 93 30 50 ms uint16 Visible when 93 1 Encoder 2 type Absolute encoder See parameter 92 31 EnDat max calculation time EnDat calc ti...

Page 503: ...ef Type FbEq 16b 32b Description Name Range Selection No 64 uint16 Visible when 93 1 Encoder 2 type Absolute encoder See parameter 92 47 Hiperface node address Hiperface node address 93 47 Parameters 503 ...

Page 504: ...y unit line side converter via the inverter unit motor side converter LSU panel communication 94 2 Note This feature is only supported by the following drives ACS880 11 ACS880 31 ACS880 17 based on an integrated drive module ACS880 37 based on an integrated drive module 0 Control panel and PC tool access to supply unit via inverter unit disabled Disable 1 Control panel and PC tool access to supply...

Page 505: ...uint32 Only visible when IGBT supply unit control activated by 95 20 Selects the source of the reactive power reference to be sent to the supply unit Reactive power ref source 94 31 0 None Zero 1 94 32 User reactive power reference User ref See Terms and abbreviations page 130 Other value 0 0 kVAr real32 Only visible when IGBT supply unit control activated by 95 20 Defines the reactive power refer...

Page 506: ...ive bit 15 of 95 20 HW options word 1 is on The value is given in percent of nominal motor power Note With a diode supply unit bit 11 of 95 20 is on the motoring shaft power is limited to 2 upon a network failure regardless of this parameter Power gen limit on net loss 94 41 1 1 100 1 Maximum shaft power for generating mode upon a supply network failure 600 00 0 00 506 Parameters ...

Page 507: ...25 600 V 525 600 V 6 660 690 V 660 690 V Disable Enable 95 20 b15 uint16 Enables adaptive voltage limits Adaptive voltage limits can be used if for example an IGBT supply unit is used to raise the DC voltage level Adaptive voltage limits 95 2 If the communication between the inverter and the IGBT supply unit is active 95 20 HW options word 1 the voltage limits are related to the DC voltage referen...

Page 508: ... and power unit link faults are masked when the drive is in stopped state so the main circuit can be powered down without faults while the control unit is powered External 24V 2 Type BCU control units only The drive control unit is powered from two redundant external power supplies The loss of one of the supplies generates a warning AFEC External power signal missing The drive power unit and power...

Page 509: ...ule Charging contactor Charging logic If the DC switch is opened with the inverter running the inverter is given a coast to stop command and its charging circuit activated Starting the inverter is prevented until the DC switch is closed and the DC circuit in the inverter unit recharged Note By default DIIL is the input for the Run enable signal Adjust 20 12 Run enable 1 source if necessary Note An...

Page 510: ...on page 124 Reduced run mask 95 12 Module 1 has been removed Module 1 removed b0 Module 2 has been removed Module 2 removed b1 Module 3 has been removed Module 3 removed b2 Module 4 has been removed Module 4 removed b3 Module 5 has been removed Module 5 removed b4 Module 6 has been removed Module 6 removed b5 Module 7 has been removed Module 7 removed b6 Module 8 has been removed Module 8 removed ...

Page 511: ...d disabled by toggling the specific bits Note The installation of the hardware specified by this parameter may require derating of drive output or impose other limitations Refer to the hardware manual of the drive Note This parameter cannot be changed while the drive is running Special HW settings 95 15 1 The driven motor is an Ex motor provided by ABB for potentially explosive atmospheres This se...

Page 512: ...nels starting from CH1 The other BCU is then connected to one or more successive channels starting from the first free channel Note The lowest channel selected in this parameter is routed to the local power unit with the lowest number etc Note There must be at least as many local power modules as there are routed channels Note This parameter cannot be changed while the drive is running SeesectionR...

Page 513: ...23 11 Emergency stop Cat 0 b1 1 Emergency stop Category 1 without FSO module Affects 10 24 21 4 21 5 23 11 Emergency stop Cat 1 b2 1 Control of cabinet cooling fan used only with specific ACS880 07 hardware Affects 10 27 10 28 10 29 RO2 for 07 cabinet cooling fan b3 1 Control unit powered externally Affects 95 4 Only visible with a ZCU control unit Externally powered control unit b4 1 DC switch mo...

Page 514: ...er defaults See parameter 95 20 HW options word 1 WARNING After switching any bits in this word recheck the values of the affected parameters Note This parameter cannot be changed while the drive is running HW options word 2 95 21 1 Dual use active For drives with option N8200 Allows higher output speeds frequencies and speed frequency reference limits Dual use b0 1 Synchronous reluctance motor us...

Page 515: ... filter Only visible with a BCU control unit Defines the drive inverter type if it consists of parallel connected modules If the drive inverter consists of a single module leave the value at Not selected Note This parameter cannot be changed while the drive is running Parallel type configuration 95 31 0 The drive inverter does not consist of parallel connected modules or type not selected Not sele...

Page 516: ...the user pass code by default 10000000 enables parameters 96 100 96 102 which can be used to define a new user pass code and to select the actions that are to be prevented Entering an invalid pass code will close the user lock if open i e hide parameters 96 100 96 102 After entering the code check that the parameters are in fact hidden If they are not enter another random pass code Entering severa...

Page 517: ...ble parameter values are restored to default values except motor data and ID run results parameter 31 42 Overcurrent fault limit control panel PC communication settings I O extension module settings fieldbus adapter settings encoder configuration data application macro selection and the parameter defaults implemented by it parameter 95 21 HW options word 2 parameter 95 9 Switch fuse controller dif...

Page 518: ...lt values This will also restore the default settings of the fieldbus adapter if one is connected potentially including settings that cannot be accessed through drive parameters Reset all fieldbus settings Done uint16 Savesthevalidparametervaluestopermanentmemory This parameter should be used to store values sent from a fieldbus or when using an external power supply to the control board as the su...

Page 519: ...ng and restoring of up to four custom sets of parameter settings See section User parameter sets page 120 The set that was in use before powering down the drive is in use after the next power up Note Hardware configuration settings such as I O extension module fieldbus and encoder configuration parameters groups 14 16 51 56 58 and 92 93 and parameters 50 1 and 50 31 and forced input output values ...

Page 520: ... 12 0 0 Not selected 1 1 Selected 2 Digital input DI1 10 2 DI delayed status bit 0 DI1 3 Digital input DI2 10 2 DI delayed status bit 1 DI2 4 Digital input DI3 10 2 DI delayed status bit 2 DI3 5 Digital input DI4 10 2 DI delayed status bit 3 DI4 6 Digital input DI5 10 2 DI delayed status bit 4 DI5 7 Digital input DI6 10 2 DI delayed status bit 5 DI6 10 Digital input output DIO1 11 2 DIO delayed st...

Page 521: ...ion not active Inactive 1 Clock synchronization active Active uint16 Number of full days passed since beginning of the year 1980 This parameter together with 96 25 Time in minutes within 24 h and 96 26 Time in ms within one minute makes it possible to set the date and time in the drive via the parameter interface from a fieldbus or application program This may be necessary if the fieldbus protocol...

Page 522: ...k received Tick has been received from Drive Composer PC tool through an FENA module Ethernet tool link b12 1 Tick received Tick has been set by parameters 96 24 96 26 Parameter setting b13 1 RTC time in use Time and date have been read from the real time clock RTC b14 1 Drive on time in use Time and date are displaying drive on time Drive On Time b15 1 1 0000h FFFFh 0 uint16 Specifies an ID numbe...

Page 523: ...ve reacts if the parameter checksum 96 53 Actual checksum does not match any of the active approved checksums 96 56 96 59 The active checksums are selected by 96 55 Checksum control word Checksum action 96 54 0 No action taken The checksum feature is not in use No action 1 The drive generates an event log entry B686 Checksum mismatch Pure event 2 The drive generates a warning A686 Checksum mismatc...

Page 524: ...ser data logger See section Warning fault history and analysis page 548 Note This parameter is read only User data logger status word 96 61 1 The user data logger is running The bit is cleared after the post trigger time has passed Running b0 1 The user data logger has been triggered The bit is cleared when the logger is restarted Triggered b1 1 The user data logger contains data that can be read ...

Page 525: ...e pass code close the user lock without confirming To close the lock enter an invalid pass code in parameter 96 2 Pass code activate parameter 96 8 Control board boot or cycle the power See also section User lock page 123 Change user pass code 96 100 1 1 New user pass code 10000000 99999999 uint32 Visible when user lock is open Confirms the new user pass code entered in 96 100 Change user pass cod...

Page 526: ... hidden b3 Reserved b4 5 1 Creating a backup and restoring from a backup prevented Protect AP b6 1 Bluetooth disabled on ACS AP W control panel If the drive is part of a panel bus Bluetooth is disabled on all panels Disable panel bluetooth b7 Reserved b8 10 1 OEM access level 1 disabled Disable OEM access level 1 b11 1 OEM access level 2 disabled Disable OEM access level 2 b12 1 OEM access level 3...

Page 527: ...ns full slip gain 0 Slip gain 97 3 means no slip gain The default value is 100 Other values can be used if a static speed error is detected despite having the setting at full slip gain Example with nominal load and nominal slip of 40 rpm A 1000 rpm constant speed reference is given to the drive Despite having full slip gain 100 a manual tachometer measurement from the motor axis gives a speed valu...

Page 528: ...ence select is set to User flux reference User flux reference 97 7 100 1 100 1 User defined flux reference 0 00 200 00 0 0 real32 This parameter can be used to improve the control dynamics of a synchronous reluctance motor or a salient permanent magnet synchronous motor As a rule of thumb define a level to which the output torque must rise with minimum delay This will increase the motor current an...

Page 529: ...on 97 10 0 Signal injection disabled Disabled 1 Signal injection enabled with an amplitude level of 5 Enabled 5 2 Signal injection enabled with an amplitude level of 10 Enabled 10 3 Signal injection enabled with an amplitude level of 15 Enabled 15 4 Signal injection enabled with an amplitude level of 20 Enabled 20 100 real32 Rotor time constant tuning This parameter can be used to improve torque a...

Page 530: ...tion Field weakening point 0 0 Hz Breakpoint disabled Note This parameter cannot be changed while the drive is running IR comp step up frequency 97 12 1 1 Hz 10 1 Hz IR compensation breakpoint for step up applications 0 0 50 0 Hz 0 00 real32 Defines the relative output voltage boost at zero speed IR compensation The function is useful in applications with a high break away torque where direct torq...

Page 531: ...r 97 19 Hexagonal field weakening point Note This parameter is only effective in scalar motor control mode See also section Hexagonal motor flux pattern page 95 Hexagonal field weakening 97 18 0 The rotating flux vector follows a circular pattern Off 1 The flux vector follows a circular pattern below and a hexagonal pattern above the hexagonal field weakening point 97 19 On 120 0 real32 Defines th...

Page 532: ...lux assistance improves the efficiency of the drive in high load conditions with externally excited synchronous motors The function is activated when a non zero value is set to parameter 97 78 The flux is boosted between parameters 97 7 and 97 7 97 78 when needed Maximum flux reference assistance 97 78 1 1 100 1 Maximum flux reference assistance 0 00 200 00 532 Parameters ...

Page 533: ...ed during the ID run are being used Not selected 1 The values of parameters 98 2 98 14 are used in the motor model Motor parameters 2 The value of parameter 98 15 is used as the rotor angle offset Parameters 98 2 98 14 are inactive Position offset 3 The values of parameters 98 2 98 14 are used in the motor model and the value of parameter 98 15 is used as the rotor angle offset Motor parameters po...

Page 534: ...0000 pu real32 Defines the permanent magnet flux Note This parameter is valid only for permanent magnet motors PM flux user 98 8 Permanent magnet flux in per unit 0 00000 2 00000 pu 0 00000 Ohm real32 Defines the stator resistance RS of the motor model Resistance value is given at 20 C 68 F Rs user SI 98 9 Stator resistance 0 00000 100 00000 Ohm 0 00000 Ohm real32 Defines the rotor resistance RR o...

Page 535: ... 0 0 deg real32 Defines an angle offset between the zero position of the synchronous motor and the zero position of the position sensor This value is initially set by the autophasing routine when an absolute encoder or an incremental encoder with Z pulse is used The value can be fine tuned by setting 98 1 User motor model mode to Position offset or Motor parameters position offset Note The value i...

Page 536: ...ithout permanent magnets SynRM DTC uint16 Selects the motor control mode Note This parameter cannot be changed while the drive is running Motor control mode 99 4 0 Direct torque control This mode is suitable for most applications DTC Note Instead of direct torque control scalar control is also available and should be used in the following situations with multimotor applications 1 if the load is no...

Page 537: ... current of the motor The allowable range is 1 6 2 IN nominal current of the drive 0 2 IN with scalar control mode 0 0 6400 0 A 0 0 V real32 Defines the nominal motor voltage supplied to the motor This setting must match the value on the rating plate of the motor Note With permanent magnet motors the nominal voltage is the BackEMF voltage at nominal speed of the motor If the voltage is given as vo...

Page 538: ...otors The unit is selected by parameter 96 16 Unit selection Note This parameter cannot be changed while the drive is running Motor nominal power 99 10 1 1 kW or hp 100 1 kW or hp Nominal power of the motor 0 00 10000 00 kW or hp 0 00 real32 Defines the cosphi of the motor for a more accurate motor model The value is not obligatory but is useful with an asynchronous motor especially when performin...

Page 539: ...lter is installed set the appropriate bit in parameter 95 15 Special HW settings before activating the ID run With a non ABB custom filter set also 99 18 and 99 19 Note With scalar control mode 99 4 Motor control mode Scalar the ID run is not requested automatically However an ID run can be performed for more accurate torque estimation Note Once the ID run is activated it can be canceled by stoppi...

Page 540: ...AKE SURE THAT IT IS SAFE TORUNTHEMOTORBEFOREPERFORMINGTHE ID RUN Normal 2 Reduced ID run This mode should be selected instead of the Normal or Advanced ID run if mechanical losses are higher than 20 i e the motor cannot be de coupled from the driven equipment or if flux reduction is not allowed while the motor is running i e in case of a motor with an integrated brake supplied from the motor termi...

Page 541: ...n signals Note This setting can only be used after a Normal Reduced Standstill Advanced or Advanced Standstill ID run has already been performed Note Depending on the selected autophasing mode the shaft can rotate during autophasing See parameter 21 13 Autophasing mode Autophasing 5 Requests current measurement calibration i e identification of current measurement offset and gain errors The calibr...

Page 542: ...arge motor the ID run may take up to an hour Advanced Standstill None uint16 Displays the type of ID run that was performed last For more information about the different modes see the selections of parameter 99 13 ID run requested Last ID run performed 99 14 0 No ID run has been performed None 1 Normal ID run Normal 2 Reduced ID run Reduced 3 Standstill ID run Standstill 4 Autophasing Autophasing ...

Page 543: ...be done by setting parameter 90 41 Motor feedback selection to Estimate and comparing the sign of 90 1 Motor speed for control to 90 10 Encoder 1 speed or 90 20 Encoder 2 speed If the sign of the measurement is incorrect the encoder wiring must be corrected or the sign of 90 43 Motor gear numerator reversed Note This parameter cannot be changed while the drive is running Motor phase order 99 16 0 ...

Page 544: ...t be adjusted Sine filter capacitance 99 19 100 1 uF 100 1 uF Capacitance of custom sine filter 0 00 100000 00 uF Def Type FbEq 16b 32b Description Name Range Selection No FSO xx settings This group contains parameters related to the optional FSO xx safety functions module For details refer to the documentation of the FSO xx module Safety 200 Def Type FbEq 16b 32b Description Name Range Selection ...

Page 545: ...CU control unit This group contain parameters related to the distributed I O bus which is used with some drives for monitoring the cooling fans of the cabinet system For details refer to CIO 01 I O module for distributed I O bus control user s manual 3AXD50000126880 English I O bus diagnostics 208 Def Type FbEq 16b 32b Description Name Range Selection No Distributed I O bus settings This group is ...

Page 546: ...546 ...

Page 547: ... the ABB service representative Warnings and faults are listed below in separate tables Each table is sorted by warning fault code Safety WARNING Only qualified electricians are allowed to service the drive Read the instructions in the Safety instructions chapter of the Hardware manual of the drive before working on the drive Indications Warnings and faults Warnings and faults indicate an abnormal...

Page 548: ...ons Programmable digital inputs and outputs page 64 Programmable relay outputs page 65 and Programmable I O extensions page 65 Pure events In addition to warnings and faults there are pure events that are only recorded in the event logs of the drive The codes of these events are included in the Warning fault and pure event messages table Editable messages For some warnings and faults the message t...

Page 549: ...ot be changed by the user Other data loggers User data logger A custom data logger can be configured using the Drive Composer pro PC tool This functionality enables the free selection of up to eight drive parameters to be sampled at selectable intervals The triggering conditions and the length of the monitoring period can also be defined by the user within the limit of approximately 8000 samples I...

Page 550: ...ode generation for mobile service application A QR Code or a series of QR Codes can be generated by the drive for display on the control panel The QR Code contains drive identification data information on the latest events and values of status and counter parameters The code can be read with a mobile device containing the ABB service application which then sends the data to ABB for analysis For mo...

Page 551: ...on Check there are no contactors opening and closing in motor cable Check that the start up data in parameter group 99 corresponds to the motor rating plate Check that there are no power factor correction capacitors or surge absorbers in motor cable Check encoder cable including phasing Check the auxiliary code format XXXY YYZZ With parallel connected inverter modules Y YY specifies through which ...

Page 552: ...e 4 Upper branch of V phase 8 Lower branch of V phase 10 Upper branch of W phase 20 Lower branch of W phase other combinations of the above Check auxiliary code 40h DC capacitor short circuit After correcting the cause of the fault reboot the control unit using parameter 96 8 Control board boot or by cycling power Check motor cable Excessive IGBT junction to case temperature This fault protects th...

Page 553: ...s 3130 Check for loose power cable connections Check for input power supply imbalance Contact your local ABB representative No acknowledgement received from charge relay Charge relay lost 3180 Wiring or earth fault 3181 1 Switch off the protection in parameter 31 23 1 The drive hardware is supplied from a common DC bus 2 Incorrect input power and motor cable connection i e input power 2 Check the ...

Page 554: ...lel connected inverter modules DC voltage difference 3291 the first error see YYY YYY specifies the module through which BCU control unit channel the fault was received 1 Channel 1 2 Channel 2 4 Channel 3 8 Channel 4 800 Channel 12 Connect motor cable Motor circuit fault due to missing motor connection all three phases are not connected Output phase loss 3381 For more information check the auxilia...

Page 555: ...the IGBT bridge Input phase loss 3E00 1 Phase A 2 Phase B 4 Phase C 8 Phase cannot be detected Check the AC fuses Check for input power supply imbalance Check the settings of parameters 35 61 and 35 62 Calculated motor cable temperature has exceeded warning limit Motor cable overload 4000 Check the dimensioning of the motor cable in regard to required load Check ambient temperature If it exceeds 4...

Page 556: ...asured Check the value of parameter 35 12 Temperature 1 fault limit Check the value of parameter 35 3 Measured temperature 2 Measuredtemperature2hasexceeded fault limit External temperature2 4982 Check the cooling of the motor or other equipment whose temperature is being measured Check the value of parameter 35 22 Temperature 2 fault limit Power down the control unit and make sure that the module...

Page 557: ...ter modules 26 STO_ACT state of control unit 25 STO1 of control unit 24 STO2 of control unit 23 12 STO1 of inverter modules 12 1 Bits of non existing modules set to 1 11 0 STO2 of inverter modules 12 1 Bits of non existing modules set to 1 Check safe torque off circuit connections Safe torque off function is active i e safety circuit signal s connected to Safe torque off 5091 For more information ...

Page 558: ...surement of the drive Measurement circuit temperature 5094 Check setting of 95 4 Control board supply The way the control unit is powered does not correspond to parameter setting PU communication 5681 Check the connection between the control unit and the power unit Communication errors detected between the drive control unit and the power unit Check the auxiliary code format XXXY YYZZ With paralle...

Page 559: ...ol unit using parameter 96 8 Control board boot or by cycling its power If the problem persists contact your local ABB representative Check that the value of 95 13 Reduced run mode corresponds to the number Number of inverter modules detected does not match the value of parameter 95 13 Reduced run mode Reduced run 5695 of inverter modules present Check that the modules present are powered from the...

Page 560: ...ncompatible 6181 Reboot the control unit using parameter 96 8 Control board Firmware and FPGA file version in the power unit are incompatible boot or by cycling power If the problem persists contact your local ABB representative Update of power unit logic failed Retry Check the auxiliary code to identify FPGA version compatibility format XXYYZZ XX 8 cannot recognize power unit logic FPGA logic not...

Page 561: ...The application contains the wrong system library version 8007 See the drive specific log generated by Automation Builder In Automation Builder give a Clean command and reload the application The application is empty 8008 In Automation Builder check application task configuration give The application contains invalid tasks 8009 a Clean all command and reload the application Update the system libra...

Page 562: ...t was detached when the control unit was powered Memory unit detached 64B0 In case the memory unit was not actually removed when the fault occurred check that the memory unit is properly inserted into its connector and its mounting screw is tight Reboot the control unit using parameter 96 8 Control board boot or by cycling power If the problem persists contact your local ABB representative Reboot ...

Page 563: ...n the control unit Contact your local ABB representative Embedded fieldbus EFB configuration file could not be read EFB configuration file 6682 Check the settings in parameter group 58 Embedded fieldbus Embedded fieldbus EFB parameter settings inconsistent or not compatible with selected protocol EFB invalid parameterization 6683 Contact your local ABB representative EFB load fault 6684 Embedded f...

Page 564: ...Option module not supported For example type Fxxx xx M fieldbus adapter modules are not supported Incompatible option module 7085 1 Fieldbus interface A 2 Fieldbus interface B Replace the module with a supported type A FSO xx module is not supported by the control board Remove FSO xx module to clear the fault Connect FSO xx module to the supported control board Check motor load and drive ratings M...

Page 565: ...on settings parameter group 43 Brake chopper Check that braking cycle meets allowed limits Check that drive supply AC voltage is not excessive Check mechanical brake connection Mechanical brake control fault Mech brake closing failed 71A2 Check mechanical brake settings in parameter group 44 Mechanical brake control Activated eg if brake acknowledgement is not as expected during brake closing Chec...

Page 566: ...torque control Incorrect estimated speed Check need for brake chopper and resistor s Check the status of motor current measurement Perform a Normal Advanced or Advanced Standstill ID run instead of for example a Reduced or Standstill See parameter 99 13 ID run requested page 539 Contact your local ABB representative Internal fault Encoder internal 7380 See A7E1 Encoder page 584 Encoder feedback fa...

Page 567: ...munication between drive and fieldbus adapter module A or FBA A communication 7510 See user documentation of fieldbus interface between PLC and fieldbus adapter module A is lost Check settings of parameter groups 50 Fieldbus adapter FBA 51 FBA A settings 52 FBA A data in and 53 FBA A data out Check cable connections Check if communication master is able to communicate Check communication connectio...

Page 568: ...tween drive and external controller is lost DDCS controller comm loss 7581 Check settings of parameter group 60 DDCS communication Check cable connections If necessary replace cables See A7CB M F comm loss page 584 Master follower communication is lost M F comm loss 7582 The auxiliary code specifies the original fault code in the supply unit The supply unit or other converter connected to the inve...

Page 569: ...I5 Fault related to miniature circuit breaker Some of the bits of the MCB status word are 0 CIO MCB monitoring 8E14 Check fuses and digital input DI6 Fault related to fuses Some of the bits of the fuse status word are 0 CIO fuse monitoring 8E15 Check digital input DI8 Fault related to digital input DI8 CIO DI8 monitoring 8E17 Check the external device Fault in external device 1 External fault 1 90...

Page 570: ...the wrong setting of the parameter may cause the motor to rush uncontrollably or may overload the brake chopper or resistor Check the supply voltage If the problem persists contact your local ABB representative Check the supply voltage setting parameter 95 1 Supply voltage Note Intermediate circuit DC voltage too low when the drive is stopped DC link undervoltage A3A2 that the wrong setting of the...

Page 571: ... is connected to an encoder interface Check the sensor and its wiring Check the value of parameter 35 2 Measured temperature 1 Measured temperature 1 has exceeded warning limit External temperature 1 A491 Check the cooling of the motor or other equipment whose temperature is being measured Check the value of 35 13 Temperature 1 warning limit Check the value of parameter 35 3 Measured temperature 2...

Page 572: ...g A4A9 load current does not exceed derated load capacity of drive See appropriate Hardware manual Check drive module cooling air flow and fan operation Check inside of cabinet and heatsink of drive module for dust pick up Clean whenever necessary Check ambient conditions Power unit temperature is excessive Excess temperature A4B0 Check air flow and fan operation Check the setting of 31 36 Aux fan...

Page 573: ...nsmission error direction and detailed warning code 0 Rx communication error 1 Tx Reed Solomon symbol error 2 Tx no synchronization error 3 Tx Reed Solomon decoder failures 4 Tx Manchester coding errors Read the PSL2 data log In Drive Composer pro check the time stamp of the A580 fault Load the log with the same date and time When the file opens click Show fault log Check the power unit hardware C...

Page 574: ...phase IGBT 2 V phase IGBT 3 W phase IGBT 4 Power supply board 5 Power unit xINT board 6 Brake chopper 7 Air inlet TEMP3 X10 8 du dt filter TEMP2 X7 9 TEMP1 X6 With control program version up to and including 2 7x 1 U phase IGBT 2 V phase IGBT 3 W phase IGBT 4 Power unit INT board 5 Brake chopper 6 Air inlet 7 Power supply board 8 du dt filter FAh Air in temp Contact your local ABB representative P...

Page 575: ...ntrol board boot or by cycling its power If the problem persists contact your local ABB representative Cycle the power to the drive If the control unit is externally powered Write error 2 also reboot the control unit using parameter 96 8 Control board boot or by cycling its power If the problem persists contact your local ABB representative Check the auxiliary code See actions for each code below ...

Page 576: ...ectly Motor nominal value A6A4 Check the settings of the motor configuration parameters in groups 98 and 99 Slip frequency is too small 1 Check that the drive is sized correctly for the motor Check the settings of the motor configuration parameters in groups 98 and 99 Synchronous and nominal speeds differ too much 2 Check that the drive is sized correctly for the motor Check the settings of the mo...

Page 577: ...ed FBA A parameter conflict A6D1 Check settings of parameter groups 50 Fieldbus adapter FBA and 51 FBA A settings Check PLC programming The drive does not have a functionality requested by a PLC or requested functionality has not been activated FBA B Parameter conflict A6D2 Check settings of parameter groups 50 Fieldbus adapter FBA and 54 FBA B settings Check the reference source selection paramet...

Page 578: ...ature measurement when KTY sensor corresponding module is connected to encoder interface FEN 01 is used activated in parameters 91 11 91 14 Use parameter 91 10 Encoder parameter refresh to validate any changes in the settings FEN 01 does not support temperature measurement with KTY sensor Use PTC sensor or other encoder interface module Check for overloaded motor Motor current is too high Motor ov...

Page 579: ...3 Contact your local ABB representative Software version too old 0004 Check module type 91 11 or 91 13 against encoder type 92 1 or 93 1 Encoder type incompatible with interface module type 0006 Check module location 91 12 or 91 14 Adapter not configured 0007 Use parameter 91 10 Encoder parameter refresh to validate any changes in the settings Speed feedback configuration has changed 0008 Configur...

Page 580: ... I O extension module types specified by parameters do not match the detected configuration Ext I O comm loss A799 the I O extension module 01 parameter group 14 I O extension module 1 02 15 I O extension module 2 2 03 16 I O extension module 3 YY YYYY indicates the problem see actions for each code below Check that the module is properly seated in its slot Communication with module failed 00 0001...

Page 581: ...ck mechanical brake connection Status of mechanical brake acknowledgement is not as expected during brake close Mechanical brake closing failed A7A1 Check mechanical brake settings in parameter group 44 Mechanical brake control Check that acknowledgement signal matches actual status of brake Check mechanical brake connection Status of mechanical brake acknowledgement is not as expected during brak...

Page 582: ...the auxiliary code See Drive application programming manual IEC 61131 3 3AUA0000127808 English Check the auxiliary code format XXYY ZZZZ XX specifies the number of No motor speed feedback is received Motor speed feedback A7B0 the encoder interface module 01 91 11 91 12 02 91 13 91 14 YY specifies the encoder 01 92 Encoder 1 configuration 02 93 Encoder 2 configuration ZZZZ indicates the problem see...

Page 583: ...tween adapter and PLC or parameters 0003 using parameter 51 27 FBA A par refresh to refresh parameters refreshed using the parameter 51 27 FBA A par refresh Check fieldbus communication adapter Lost communication with fieldbus communication adapter 0004 Contact your local ABB representative Unknown internal issues Other aux code value Check status of fieldbus communication Cyclical communication b...

Page 584: ...to the XD2D connector on the control unit Check the auxiliary code format XXYY ZZZZ XX specifies the number of Encoder error Encoder A7E1 the encoder interface module 01 91 11 91 12 02 91 13 91 14 YY specifies the encoder 01 92 Encoder 1 configuration 02 93 Encoder 2 configuration ZZZZ indicates the problem see actions for each code below Check the conductor order at both ends of the encoder cable...

Page 585: ...23 On time 2 source 4 33 53 Value counter 1 source 5 33 63 Value counter 2 source Check the auxiliary code Check the source of the warning corresponding to the code Warning generated by an edge counter Programmable warnings Output relay A881 2 33 33 Edge counter 1 source 33 35 Edge counter 1 warn message 3 33 43 Edge counter 2 source 33 45 Edge counter 2 warn message Check the auxiliary code Check...

Page 586: ...rammable warnings Device clean A88C 0 33 13 On time 1 source 33 14 On time 1 warn message 1 33 23 On time 2 source 33 24 On time 2 warn message 10 5 4 Main fan on time counter Check the auxiliary code Check the source of the warning corresponding to the code Warning generated by an ontime timer Programmable warnings DC capacitor A88D 0 33 13 On time 1 source 33 14 On time 1 warn message 1 33 23 On...

Page 587: ...de The code indicates which fan is to be replaced A cooling fan has reached the end of its estimated lifetime Fan service counter A8C0 0 Main cooling fan See parameters 5 41 and 5 42 1 Auxiliary cooling fan 2 Auxiliary cooling fan 2 3 Cabinet cooling fan 4 PCB compartment fan Refer to the hardware manual of the drive for fan replacement instructions Check the external device Fault in external devi...

Page 588: ...re 0 CIO fuse monitoring AE95 Check digital input DI8 Warning related to digital input DI8 CIO DI8 monitoring AE97 Check status of other converter parameters 6 36 and 6 39 Internal state machine LSU CW DDCS fiber optic communication between converters for example the inverter unit and the supply unit is lost INU LSU comm loss AF80 Check settings of parameter group 60 DDCS communication Check the N...

Page 589: ...he source Drive has received a stop command from the master of the stop signal for example 21 5 Emergency stop source or control word received from an external control system Informative warning After stopping on a ramp stop Off1 or Off3 command the master sends a short 10 millisecond coast stop Off2 command to the follower s The Off2 stop is stored in the event log of the follower Check that it i...

Page 590: ...ed up Power up B5A2 Informative event Control unit rebooted unexpectedly SW internal diagnostics B5A4 Informative event ID run completed ID run done B5F6 The auxiliary code specifies the type of ID run 0 None 1 Normal 2 Reduced 3 Standstill 4 Autophasing 5 Current measurement calibration 6 Advanced 7 Advanced standstill Contact your local ABB representative quoting the auxiliary code If the Drive ...

Page 591: ...nd target is outside of window Alarm Following Error Exceeded E201 Check setting of 88 10 Check configuration of speed controller in group 25 Speed control Check setting of 88 30 Check that the motor ID run was performed properly according to instructions Informative warning Timeout for communication with a remote control source exceeded Watchdog SignalMissing E202 Check the auxiliary code One of ...

Page 592: ...wed by actual axis velocity position Gearing not possible because of incorrect profile data Profile calculation Axis overshoot and no adaption Profile calculation Travel target is in opposite direction to initial speed Check the auxiliary code Problem with configuration of stop values Fast Stop configuration E205 75 14 75 14 1 75 15 0 or 2 75 32 is not 0 but is not smaller than 75 15 Check setting...

Page 593: ...ardware manual and description of parameter 31 22 STO indication run stop page 320 Check the auxiliary code The code contains location information especially with parallel connected inverter modules When converted into a 32 bit binary number the bits of the code indicate the following 31 28 Number of faulty inverter module 0 11 decimal 1111 STO_ACT states of control unit and inverter modules in co...

Page 594: ...ls Recover drive If the problem persists replace the memory unit Check the nominal motor values in parameter group 99 Motor data Motor ID run was not completed successfully ID run FF61 Check that no external control system is connected to the drive Cycle the power to the drive and its control unit if powered separately Check that the motor shaft is not locked Check the auxiliary code The second nu...

Page 595: ... representative Asynchronous motors only Speed dropped to zero during ID run 000B Contact your local ABB representative Permanent magnet motors only First acceleration did not finish within reasonable time 000C Contact your local ABB representative Permanent magnet motors only Second acceleration did not finish within reasonable time 000D Contact your local ABB representative Internal error 000E 0...

Page 596: ...ult information provided by the PLC A fault trip command has been received through fieldbus adapter A FB A force trip FF81 Check the fault information provided by the PLC A fault trip command has been received through fieldbus adapter B FB B force trip FF82 Check the fault information provided by the Modbus controller A fault trip command has been received through the embedded fieldbus interface E...

Page 597: ... Check converter fuses Current difference detected by the branching unit BU BU current difference AE05 Check converter s Check inverter s Check LCL filter Check AC fuses Earth leakage detected by the branching unit sum of all currents exceeds the level BU earth leakage AE06 Check for earth leakages Check supply cabling Check power modules Check there are no power factor correction capacitors or su...

Page 598: ...tions Check air flow and fan operation Check heatsink fins for dust pick up Check motor power against IGBT supply unit power IGBT temperature is excessive IGBT temperature AE16 Define the supply voltage range parameter 95 1 Supply voltage The supply voltage range has not been defined Voltage category unselected AE24 Check that it is safe to continue operation Return emergency stop push button to n...

Page 599: ...t to do Cause Event name Aux code Code hex Two attempts in five minutes is allowed to prevent charging circuit overheating There are too many DC link charging attempts Charging count AE85 Fault tracing 599 ...

Page 600: ...r local ABB representative Check supply cable IGBT supply unit has detected short circuit Short circuit 2E02 Check there are no power factor correction capacitors or surge absorbers in supply cable After correcting the cause of the fault reboot the control unit using parameter 96 8 Control board boot or by cycling power Check the load Excessive IGBT junction to case temperature IGBT overload 2E04 ...

Page 601: ... supply network connections Check the AC fuses If the problem persists contact your local ABB representative Difference in main voltages between parallel connected supply modules BU voltage difference 3E07 Check parameter 95 1 Supply voltage Check supply voltage and fuses Check the connection from the relay output to the charging contactor Check that the DC voltage measuring circuit is working cor...

Page 602: ...program has closed the contactor control circuit with relay output Main contactor main breaker is not functioning properly or there is a loose bad connection Main contactor Fault 5E06 Monitor possible network transients Synchronization to supply network has failed Synchronization fault 6E19 Contact your local ABB representative Rating ID load error Rating ID fault 6E1A Check the line converter con...

Page 603: ...What to do Cause Event name Aux code Code hex Resynchronize the IGBT supply unit to the grid after net lost Net lost is detected Duration of net lost is too long Net lost 8E07 Fault tracing 603 ...

Page 604: ...604 ...

Page 605: ...terface EFB What this chapter contains The chapter describes how the drive can be controlled by external devices over a communication network fieldbus using the embedded fieldbus interface Fieldbus control through the embedded fieldbus interface EFB 605 ...

Page 606: ...us interface or the control can be distributed between the embedded fieldbus interface and other available sources for example digital and analog inputs Fieldbus controller Fieldbus Process I O cyclic Service messages acyclic Control Word CW Reference Status Word SW Actual values Parameter R W requests responses XD2D XD2D XD2D ACS880 ACS880 ACS880 Termination OFF Termination ON Termination OFF Con...

Page 607: ...5 Parity Defines the action taken when a communication loss is detected Fault default 58 14 Communication loss action Enables disables communication loss monitoring and defines the means for resetting the counter of the communication loss delay Cw Ref1 Ref2 default 58 15 Communication loss mode Defines the time out limit for the communication monitoring 3 0 s default 58 16 Communication loss time ...

Page 608: ...rite through the Modbus I O words These settings write the incoming data into storage parameters 10 99 RO DIO control word 13 91 AO1 data storage 13 92 AO2 data stor age RO DIO control word AO1 data storage AO2 data storage Validates the settings of the config uration parameters Refresh settings 58 6 Communication con trol The new settings will take effect when the drive is powered up the next tim...

Page 609: ...then either 3 9 EFB reference 1 or 3 10 EFB reference 2 CONTROL OF RELAY OUTPUTS ANALOG OUTPUTS AND DIGITAL INPUT OUTPUTS Connects bit 0 of storage parameter 10 99 RO DIO control word to relay out put RO1 RO DIO control word bit0 10 24 RO1 source Connects bit 1 of storage parameter 10 99 RO DIO control word to relay out put RO2 RO DIO control word bit1 10 27 RO2 source Connects bit 2 of storage pa...

Page 610: ... fieldbus interface The signals transferred in the cyclic communication are explained further below the diagram EFB profile Fieldbus network Cyclic communication CW REF1 REF2 2 SEL 0 2 EFB CW 3 03 09 EFB reference 1 03 10 EFB reference 2 EFB SW 3 Actual 1 3 Actual 2 3 1 EXT1 2 Start commands 0 2 58 25 SW ACT1 ACT2 Data I O selection Acyclic communication Parameter table Groups 22 26 28 40 etc Refe...

Page 611: ...an word It contains status information from the drive to the fieldbus controller The drive SW is either written to the fieldbus SW as it is or the data is converted See section About the control profiles page 612 References EFB references 1 and 2 are 16 bit or 32 bit signed integers The contents of each reference word can be used as the source of virtually any signal such as the speed frequency to...

Page 612: ...s master devices typically provide a means to access the full range of 65536 Modbus holding registers One of these methods is to use 6 digit decimal addresses from 400001 to 465536 This manual uses 6 digit decimal addressing to represent Modbus holding register addresses Modbus master devices that are limited to the 5 digit decimal addressing may still access registers 400001 to 409999 by using 5 ...

Page 613: ...e ABB Drives control profile The embedded fieldbus interface converts this word to the form in which it is used in the drive The upper case boldface text refers to the states shown in State transition diagram page 616 STATE Description Value Name Bit Proceed to READY TO OPERATE 1 OFF1_ CONTROL 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unle...

Page 614: ...on Generator output to zero Drive ramps to stop current and DC voltage limits in force 0 Enable ramp function 1 RAMP_HOLD 5 ProceedtoRAMPFUNCTIONGENERATOR ACCEL ERATOR ENABLED Halt ramping Ramp Function Generator output held 0 Normal operation Proceed to OPERATING 1 RAMP_IN_ ZERO 6 Note This bit is effective only if the fieldbus inter face is set as the source for this signal by drive parameters F...

Page 615: ...rved 12 15 Status Word The table below shows the fieldbus Status Word for the ABB Drives control profile The embedded fieldbus interface converts the drive Status Word into this form for the fieldbus The upper case boldface text refers to the states shown in State transition diagram page 616 STATE Description Value Name Bit READY TO SWITCH ON 1 RDY_ON 0 NOT READY TO SWITCH ON 0 READY TO OPERATE 1 ...

Page 616: ...OVE_ LIMIT 10 Actual frequency or speed within supervision limit 0 S USER_0 11 External Run enable signal received 1 EXT_RUN_ ENABLE 12 No external Run enable signal received 0 Reserved 13 15 State transition diagram The diagram below shows the state transitions in the drive when the drive is using the ABB Drives profile and configured to follow the commands of the control word from the embedded f...

Page 617: ...1 CW xxxx x1xx xx11 1111 CW xxxx x1xx xxx1 1111 SW Bit2 1 STATE condition rising edge CW Bit6 0 CW Bit5 0 C D D D C B A READY TO SWITCH ON READY TO OPERATE OPERATION INHIBITED OFF1 ACTIVE CW Bit3 0 SW Bit2 0 operation inhibited CW Bit4 0 n f 0 I 0 SW Bit1 0 from any state CW Bit0 0 B C D OFF1 SW Bit1 1 CW xxxx x1xx xxxx 1111 and SW Bit12 1 from any state Emergency stop OFF2 CW Bit1 0 Emergency sto...

Page 618: ...nds on the setting of 58 26 EFB ref1 type and 58 27 EFB ref2 type page 400 Fieldbus Drive 20000 10000 0 10000 20000 46 01 with speed reference 46 02 with frequency reference 46 03 with torque reference 46 04 with power reference 0 with torque or power reference 46 06 with speed reference 46 07 with frequency reference 46 03 with torque reference 46 04 with power reference 46 01 with speed referenc...

Page 619: ...ues are scaled as defined by parameters 46 01 46 04 which scaling is in use depends on the setting of parameters 58 28 EFB act1 type and 58 29 EFB act2 type page 401 Fieldbus Drive 20000 10000 0 10000 20000 46 01 with speed reference 46 02 with frequency reference 46 03 with torque reference 46 04 with power reference 46 03 with torque reference 46 04 with power reference 46 01 with speed referenc...

Page 620: ...rror code access See section Error code registers holding registers 400090 400100 page 625 400090 400100 Parameter read write Parameters are mapped to register addresses according to parameter 58 33 Addressing mode 400101 465536 The Transparent profile The Transparent profile enables a customizable access to the drive The contents of the control word are user definable The control word received fr...

Page 621: ...turn Query Data Echo loopback test 01h Restart Comm Option Restarts and initializes the EFB clears communications event counters 04h Force Listen Only Mode 0Ah Clear Counters and Diagnostic Re gister 0Bh Return Bus Message Count 0Ch Return Bus Comm Error Count 0Dh Return Bus Exception Error Count 0Eh Return Slave Message Count 0Fh Return Slave No Response Count 10h Return Slave NAK negative acknow...

Page 622: ...he table below shows the Modbus exception codes supported by the embedded fieldbus interface Description Name Code The function code received in the query is not an allowable action for the server ILLEGAL FUNCTION 01h The data address received in the query is not an allowable address for the server ILLEGAL DATA ADDRESS 02h The requested Quantity of Registers is larger than the drive can handle ILL...

Page 623: ...Control Word bit 18 Reserved 00019 Control Word bit 19 Reserved 00020 Control Word bit 20 Reserved 00021 Control Word bit 21 Reserved 00022 Control Word bit 22 Reserved 00023 Control Word bit 23 Reserved 00024 Control Word bit 24 Reserved 00025 Control Word bit 25 Reserved 00026 Control Word bit 26 Reserved 00027 Control Word bit 27 Reserved 00028 Control Word bit 28 Reserved 00029 Control Word bi...

Page 624: ...Word bit 8 AT_SETPOINT 10009 Status Word bit 9 REMOTE 10010 Status Word bit 10 ABOVE_LIMIT 10011 Status Word bit 11 User defined 0 10012 Status Word bit 12 User defined 1 10013 Status Word bit 13 User defined 2 10014 Status Word bit 14 User defined 3 10015 Status Word bit 15 Reserved 10016 Status Word bit 16 Reserved 10017 Status Word bit 17 Reserved 10018 Status Word bit 18 Reserved 10019 Status ...

Page 625: ...served 10048 Error code registers holding registers 400090 400100 These registers contain information about the last query The error register is cleared when a query has finished successfully Description Name Reference 1 Reset internal error registers 91 95 Reset Error Registers 90 Function code of the failed query Error Function Code 91 Set when exception code 04h is generated see table above Err...

Page 626: ...626 ...

Page 627: ...s adapter B FBA B The drive can be configured to receive all of its control information through the fieldbus interface s or the control can be distributed between the fieldbus interface s and other available sources such as digital and analog inputs depending on how control locations EXT1 and EXT2 are configured Note The text and examples in this chapter describe the configuration of one fieldbus ...

Page 628: ...adapter PROFINET IO FENA 11 or FENA 21 adapter Note Fieldbus adapters with the suffix M eg FPBA 01 M are not supported Drive Fieldbus controller Fieldbus Other devices Type Fxxx fieldbus adapter installed onto drive control unit slot 1 2 or 3 Data Flow Process I O cyclic Process I O cyclic or Service messages acyclic Control word CW References Status word SW Actual values Parameter R W requests re...

Page 629: ...ction 22 11 26 11 26 12 1 EXT1 2 Speed Torque REF1 sel 20 01 20 06 Parameter table Fieldbus adapter Speed Torque REF2 sel 22 12 26 11 26 12 Par 01 01 99 99 FBA ACT2 FBA ACT1 FBA MAIN SW Par 10 01 99 99 FBA REF2 FBA REF1 FBA MAIN CW 4 DATA OUT selection Group 52 DATA IN selection Group 53 5 Acyclic communication See the manual of the fieldbus adapter module 3 Profile selection 3 DATA OUT 2 12 DATA ...

Page 630: ...ate diagram page 575 When a transparent communication profile is selected eg by parameter group 51 FBA A settings the control word received from the PLC is available in 6 3 FBA A transparent control word The individual bits of the word can then be used for drive control through bit pointer parameters The source of the status word for example 6 50 User status word 1 can be selected in 50 9 FBA A SW...

Page 631: ...s set to Fast the references received from the fieldbus are displayed by 50 14 FBA A reference 1 and 50 15 FBA A reference 2 Scaling of references Note The scalings described below are for the ABB Drives communication profile Fieldbus specific communication profiles may use different scalings For more information see the manual of the fieldbus adapter The references are scaled as defined by parame...

Page 632: ...ual values Note The scalings described below are for the ABB Drives communication profile Fieldbus specific communication profiles may use different scalings For more information see the manual of the fieldbus adapter The actual values are scaled as defined by parameters 46 01 46 04 which scaling is in use depends on the setting of parameters 50 7 FBA A actual 1 type and 50 8 FBA A actual 2 type F...

Page 633: ...p mode Proceed to OPERATION ENABLED 1 Run 3 Note Run enable signal must be active If the drive is set to receive the Run enable signal from the fieldbus this bit activates the signal See also parameters 6 18 Start inhibit status word and 6 25 Drive inhibit status word 2 Inhibit operation Proceed to OPERATION INHIBITED 0 Normal operation Proceed to RAMP FUNCTION GEN ERATOR OUTPUT ENABLED 1 Ramp out...

Page 634: ... 85 Inching jogging 1 disabled 0 Accelerate to inching jogging setpoint 2 1 Inching 2 9 See notes at bit 8 Inching jogging 2 disabled 0 Fieldbus control enabled 1 Remote cmd 10 Control word and reference not getting through to the drive except for bits 0 2 0 Select External Control Location EXT2 Effective if control location is parameterized to be selected from fieldbus 1 Ext ctrl loc 11 Select Ex...

Page 635: ... OFF2 ACTIVE 0 OFF3 inactive 1 Off 3 inactive 5 OFF3 ACTIVE 0 SWITCH ON INHIBITED 1 Switch on inhibited 6 0 Warning active 1 Warning 7 No warning active 0 OPERATING Actual value equals reference is within tolerance limits see parameters 46 21 46 23 1 At setpoint 8 Actual value differs from reference is outside toler ance limits 0 Drive control location REMOTE EXT1 or EXT2 1 Remote 9 Drive control ...

Page 636: ...ate Emergency stop OFF3 CW b2 0 SW b5 0 n f 0 I 0 condition rising edge of bit Power ON SW b6 1 CW b0 0 SW b0 0 CW xxxx x1xx xxxx x110 CW b3 0 A B C D SW b2 0 operation inhibited SW b8 1 CW xxxx x1xx x111 1111 CW xxxx x1xx xx11 1111 CW xxxx x1xx xxx1 1111 SW b2 1 CW b6 0 CW b5 0 CW b4 0 n f 0 I 0 SW b1 0 SW b1 1 CW xxxx x1xx xxxx 1111 from any state OFF1 CW b0 0 B C D C D D CW Control word SW Stat...

Page 637: ...ter FBA starting from 50 04 Examples of appropriate values are shown in the tables below 7 Set the fieldbus adapter module configuration parameters in group 51 FBA A settings As a minimum set the required node address and the control profile 8 Define the process data transferred to and from the drive in parameter groups 52 FBA A data in and 53 FBA A data out Note Depending on the communication pro...

Page 638: ...nd the fieldbus adapter module 1 3 slot number 50 1 FBA A enable Selects the fieldbus A reference 1 type and scaling 4 Speed 50 4 FBA A ref1 type Selects the actual value type source and scaling according to the currently active 0 Auto 50 7 FBA A actual 1 type control mode as displayed by parameter 19 01 Displays the type of the fieldbus adapter module 1 FPBA1 51 1 FBA A type Defines the PROFIBUS ...

Page 639: ...control location EXT1 12 Fieldbus A 20 1 Ext1 commands Selects a level triggered start signal for ex ternal control location EXT1 1 Level 20 2 Ext1 start trigger type Selects fieldbus A reference 1 as the source for speed reference 1 4 FB A ref1 22 11 Speed ref1 source 1 Read only or automatically detected set 2 Example The start sequence for the parameter example above is given below Control word...

Page 640: ...640 ...

Page 641: ...he reference chains of the drive The control chain diagrams can be used to trace how parameters interact and where parameters have an effect within the drive parameter system For a more general diagram see section Operating modes of the drive page 26 Control chain diagrams 641 ...

Page 642: ...Selection 76 02 Position index functions Value 76 03 Preset position index Selection 75 32 Stop jerk Value Value 75 31 Stop deceleration 75 15 Jerk 75 13 Acceleration 75 14 Deceleration 75 12 Target velocity Value Value Value Value Value 75 11 Target position 75 16 End velocity Value 75 67 Local jerk 75 65 Local acceleration 75 66 Local deceleration 75 64 Local target velocity Value Value Value Va...

Page 643: ...eration Value 75 54 Phasing jerk Value 87 14 Master axis feed constant denominator X Y Value 87 14 Master axis feed constant numerator Value 86 19 Modulo range denominator Value 86 18 Modulo range numerator Value 87 16 Master axis modulo denominator Value 87 15 Master axis modulo numerator Value 87 17 Force linear master Selection d dt 87 31 External sync ratio Selection 87 30 External sync veloci...

Page 644: ...tion 85 01 PI control output Value Selection 85 11 PI ref source 85 16 PI limit max Value Value Selection 85 12 PI act source X 85 13 PI proportional gain Value 85 14 PI integration time Value 85 15 PI limit min 644 Control chain diagrams ...

Page 645: ...osed 88 61 Pos ref profile Value Value 88 01 Position reference used Value Z 88 07 Estimated acceleration Value X X X Value 88 10 Position control gain 1 X Y 88 66 Velocity ref sync 88 65 Pos ref sync Value Value Selection 88 11 Position control feed gain 88 12 Reference delaying Value Value Value Value Value 86 17 Feed constant denominator 86 21 Load encoder scale numerator 60 Z 1 86 14 Load gear...

Page 646: ... Encoder 2 revolution extension Value Value 86 22 Load encoder scale denominator Value 86 21 Load encoder scale numerator Value X Y 86 16 Feed constant numerator Value Value 86 17 Feed constant denominator 86 02 Actual position 86 15 Load gear denominator 86 04 Enc 1 position 86 05 Enc 2 position X 86 12 Enc2 increments per revolution X X Y 86 14 Load gear numerator Value 86 08 Actual position raw...

Page 647: ...ction 22 11 Speed ref1 source 22 14 Speed ref1 2 selection 22 13 Speed ref1 function 22 16 Speed share MUL ADD SUB MIN MAX Selection Selection 22 81 Speed reference act 1 22 82 Speed reference act 2 22 85 Speed reference act 5 22 86 Speed reference act 6 22 83 Speed reference act 3 22 84 Speed reference act 4 Value Value Selection Value x Value Value Value Selection Selection Selection 22 15 Speed...

Page 648: ... 22 22 Constant speed sel1 22 27 Constant speed 2 22 26 Constant speed 1 AND AND BIN TO INT SEL b0 b1 b2 0 1 2 3 4 5 6 7 22 28 Constant speed 3 0 22 87 Speed reference act 7 Fieldbus ODVA CIP AND AND OR 49 05 Communication loss action Speed ref safe Panel comm loss active Panel as local control device 50 02 FBA A comm loss func Speed ref safe Fieldbus comm loss active Control from Fieldbus active ...

Page 649: ... Value Value Selection 30 12 Maximum speed OR 06 01 bit 6 Ramp in zero Selection 22 42 Jogging 1 ref 22 43 Jogging 2 ref RAMP 23 20 Acc time jogging 23 21 Dec time jogging 23 02 Speed ref ramp output Value AND AND AND 06 01 bit 4 Ramp out zero 06 01 bit 6 Ramp in zero 06 01 bit 9 Inching 2 06 01 bit 8 Inching 1 06 01 bit 5 Ramp hold OR AND OR 20 26 Jogging 1 start source 20 27 Jogging 2 start sour...

Page 650: ... gear numerator 46 11 Filter time motor speed Value X Y 90 10 Encoder 1 speed Value 90 21 Encoder 2 position Value 90 22 Encoder 2 multiturn revolutions Value Selection 90 41 Motor feedback selection 90 43 Motor gear numerator Value 90 44 Motor gear denominator Value X Y 90 02 Motor position 01 05 Encoder 2 speed filtered 01 04 Encoder 1 speed filtered Value Value Value Value Value Value 46 11 Fil...

Page 651: ...back Value Value Value 30 12 Maximum speed 30 11 Minimum speed LOAD SHARE FUNCTION OF SPEED CONTROLLED FOLLOWER 24 43 Speed error window high Value 24 44 Speed error window low Value 26 15 Load share Value 25 53 Torque prop reference 25 54 Torque integral reference 0 23 41 Follower speed correction gain Value 23 39 Follower speed correction out 06 19 bit 8 Follower speed corr min lim 06 19 bit 9 F...

Page 652: ...alue 25 18 Speed adapt min limit 25 19 Speed adapt max limit Value Value 25 25 Torque adapt max limit 25 26 Torque adapt filt time 25 30 Flux adaption enable Value Value 90 01 Motor speed for control 26 01 Torq ref to TC 01 24 Flux actual x 25 21 Kp adapt coef at min speed 25 22 Ti coef at min speed 25 18 25 19 25 21 1 25 27 1 25 25 25 18 25 19 1 25 22 0 0 0 0 25 27 Kp adapt coef at min torque Val...

Page 653: ...MUL ADD SUB MIN MAX Ref 1 26 72 Torque reference act 3 Selection Value Value 26 16 Torque additive 1 source Selection MAX 26 08 Minimum torque ref Value Value Internal torque lim min MIN 26 09 Maximum torque ref Value 26 73 Torque reference act 4 03 01 Panel reference 1 Value Value Value 26 74 Torque ref ramp out Value Value Network ref Value 26 15 Load share x Value Internal torque lim max Value ...

Page 654: ...tor control mode Value Safety function active 19 01 Actual operation mode Value To torque selector Selection Fieldbus ODVA CIP Selection Value 19 16 Local control mode SPEED AND SPEED 06 17 bit 6 AND 6 01 bit 0 Off1 control 6 01 bit 2 Off3 control Value Value 60 03 M F mode M F follower or D2D follower Value OR 21 20 Follower force ramp stop Value Value 6 01 bit 3 Run Value Value 654 Control chain...

Page 655: ...speed control Value 0 19 01 Actual operation mode Value Torque selector Value Value 26 75 Torque reference act 5 0 Oscillation damping 26 58 Oscillation damping output Value Value Value Value 26 51 Oscillation damping 26 53 Oscillation compensation input 26 55 Oscillation damping frequency 26 56 Oscillation damping phase 26 57 Oscillation damping gain Value 26 52 Oscillation damping out enable Sel...

Page 656: ...rque limit status To DTC core Value Selection Value Value Value Value 30 18 Minimum torque sel Selection Power to torque limits Value Value 30 23 Minimum torque 2 30 24 Maximum torque 2 30 22 Maximum torque 2 source 30 21 Minimum torque 2 source MAX MIN 30 25 Maximum torque sel Internal torque lim min Internal torque lim max 30 02 Torque limit status Bit Name 0 Undervoltage 1 Overvoltage 2 Minimum...

Page 657: ...ref ramp output 23 02 Speed ref ramp output Value 97 13 IR compensation 97 06 Flux reference select Selection 1 24 Flux actual 97 07 User flux reference 97 11 TR tuning 26 02 Torq ref used 97 04 Voltage reserve Selection 97 05 Flux braking Selection 97 10 Signal injection Selection 1 10 Motor torque 1 11 DC voltage Value Value Value Control chain diagrams 657 ...

Page 658: ...35 Follower node 4 data 2 value 62 36 Follower node 4 data 3 value Selection 62 04 Follower node 2 data 1 sel Selection 62 05 Follower node 2 data 2 sel Selection 62 06 Follower node 2 data 3 sel Selection 62 07 Follower node 3 data 1 sel Selection 62 08 Follower node 3 data 2 sel Selection 62 09 Follower node 3 data 3 sel Selection 62 10 Follower node 4 data 1 sel Selection 62 11 Follower node 4 ...

Page 659: ...lection Selection Follower setup config MF link Group 60 61 02 M F data 2 selection 61 03 M F data 3 selection Selection 62 01 M F data 1 selection CW 16 bit Selection 62 02 M F data 2 selection Ref 1 16bit Selection 62 03 M F data 3 selection Ref 2 16bit Drive Control logic 46 01 Speed scaling 46 02 Frequency scaling 46 03 Torque scaling 46 04 Power scaling x 3 14 M F or D2D ref2 60 11 M F ref2 t...

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Page 661: ... by navigating to www abb com searchchannels Product training For information on ABB product training navigate to new abb com service training Providing feedback on ABB manuals Your comments on our manuals are welcome Navigate to new abb com drives manuals feedback form Document library on the Internet You can find manuals and other product documents in PDF format on the Internet at www abb com dr...

Page 662: ...www abb com drives 3AXD50000453573B Copyright 2022 ABB All rights reserved Specifications subject to change without notice 3AXD50000453573 Rev B EN 2022 04 20 ...

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