[18]
O
ut
of
feedb
. r
ange
[19]
Belo
w
feedback
, lo
w
[20]
A
bo
ve
feedback
, high
[21]
Ther
mal
w
ar
ning
[22]
Ready
, no
ther
mal
w
ar
ning
[23]
Remot
e,r
eady
,no
T
W
[24]
Ready
, no
o
ver
-/
under
v
oltage
[25]
Rev
erse
[26]
Bus
OK
[27]
Tor
que
limit
&
st
op
[28]
Br
ake
, no
br
ake
w
ar
ning
[29]
Br
ake
r
eady
, no
fault
[30]
Br
ake
fault
(IGB
T)
[31]
Relay
123
[32]
M
ech
br
ake
c
tr
l
[36]
Con
tr
ol
w
or
d
bit
11
[37]
Con
tr
ol
w
or
d
bit
12
[40]
O
ut
of
r
ef
r
ange
[41]
Belo
w
r
ef
er
enc
e,
lo
w
[42]
A
bo
ve
r
ef
, high
[45]
Bus
c
tr
l.
[46]
Bus
c
on
tr
ol
, timeout:
On
[47]
Bus
c
on
tr
ol
, timeout:
Off
[56]
Heat
sink
cleaning
w
ar
ning
, high
[60]
Compar
at
or
0
[61]
Compar
at
or
1
[62]
Compar
at
or
2
[63]
Compar
at
or
3
[64]
Compar
at
or
4
[65]
Compar
at
or
5
[70]
Log
ic
rule
0
[71]
Log
ic
rule
1
[72]
Log
ic
rule
2
[73]
Log
ic
rule
3
[74]
Log
ic
rule
4
[75]
Log
ic
rule
5
[80]
SL
dig
ital
output
A
[81]
SL
dig
ital
output
B
[82]
SL
dig
ital
output
C
[83]
SL
dig
ital
output
D
[160]
No
alar
m
[161]
Running
rev
erse
[165]
Local
r
ef
ac
tiv
e
[166]
Remot
e
ref
ac
tiv
e
[167]
Star
t
command
ac
tiv
[168]
Dr
iv
e
in
hand
mode
[169]
Dr
iv
e
in
aut
o
mode
[170]
Homing
C
omplet
ed
[171]
Tar
get
P
osition
R
eached
[172]
Position
C
on
tr
ol
F
ault
[173]
Position
M
ech
Br
ake
[174]
TLD
indicat
or
[175]
Running
on
t
ension
[176]
Ready
t
o
run
[177]
End
of
r
oll
[193]
Sleep
M
ode
[194]
Br
oken
B
elt
F
unc
tion
[198]
Dr
iv
e
Bypass
6-93
Ter
minal
42
O
utput
M
in
S
cale
0
-
200
%
*0
%
6-94
Ter
minal
42
O
utput
M
ax
S
cale
0
-
200
%
*100
%
6-96
Ter
minal
42
O
utput
Bus
C
on
tr
ol
0
-
16384
*0
7-**
Con
tr
ollers
7-0*
Speed
PID
Ctrl
.
7-00
Speed
PID
F
eedback
S
our
ce
[1]
24V
enc
oder
[2]
MCB
102
[3]
MCB
103
[6]
A
nalog
Input
53
[7]
A
nalog
Input
54
[8]
Fr
equenc
y
input
29
[9]
Fr
equenc
y
input
33
*[20]
None
7-02
Speed
PID
P
ropor
tional
G
ain
0
-
1
*0.015
7-03
Speed
PID
In
teg
ral
T
ime
2
-
20000
ms
*8
ms
7-04
Speed
PID
Differentiation
T
ime
0
-
200
ms
*30
ms
7-05
Speed
PID
Diff.
G
ain
Limit
1
-
20
*5
7-06
Speed
PID
L
owpass
F
ilt
er
T
ime
1
-
6000
ms
*10
ms
7-07
Speed
PID
F
eedback
G
ear
R
atio
0.0001
-
32
*1
7-08
Speed
PID
F
eed
F
or
w
ar
d
F
ac
tor
0
-
500
%
*0
%
7-1*
Tor
que
PID
Ctrl
.
7-12
Tor
que
PID
P
ropor
tional
G
ain
0
-
500
%
*100
%
7-13
Tor
que
PID
In
teg
ration
T
ime
0.002
-
2
s
*0.020
s
7-2*
Pr
oc
ess
Ctrl
. F
eedb
7-20
Pr
oc
ess
CL
F
eedback
1
R
esour
ce
*[0]
No
func
tion
[1]
A
nalog
Input
53
[2]
A
nalog
Input
54
[3]
Fr
equenc
y
input
29
[4]
Fr
equenc
y
input
33
7-22
Pr
oc
ess
CL
F
eedback
2
R
esour
ce
*[0]
No
func
tion
[1]
A
nalog
Input
53
[2]
A
nalog
Input
54
[3]
Fr
equenc
y
input
29
[4]
Fr
equenc
y
input
33
7-3*
Pr
oc
ess
PID
Ctrl
.
7-30
Pr
oc
ess
PID
Nor
mal/
In
verse
C
on
tr
ol
*[0]
Nor
mal
[1]
In
verse
7-31
Pr
oc
ess
PID
A
nti
W
indup
[0]
Off
*[1]
On
7-32
Pr
oc
ess
PID
S
tar
t
Speed
0
-
6000
RP
M
*0
RP
M
7-33
Pr
oc
ess
PID
P
ropor
tional
G
ain
0
-
10
*0.01
7-34
Pr
oc
ess
PID
In
teg
ral
T
ime
0.10
-
9999
s
*9999
s
7-35
Pr
oc
ess
PID
Differentiation
T
ime
0
-
20
s
*0
s
7-36
Pr
oc
ess
PID
Diff.
G
ain
Limit
1
-
50
*5
7-38
Pr
oc
ess
PID
F
eed
F
or
w
ar
d
F
ac
tor
0
-
200
%
*0
%
7-39
On
R
ef
er
enc
e
Bandwidth
0
-
200
%
*5
%
7-4*
A
dv
. P
roc
ess
PID
I
7-40
Pr
oc
ess
PID
I-par
t
Reset
*[0]
No
[1]
Yes
7-41
Pr
oc
ess
PID
O
utput
Neg
. Clamp
-100
-
100
%
*-100
%
7-42
Pr
oc
ess
PID
O
utput
P
os
. Clamp
-100
-
100
%
*100
%
7-43
Pr
oc
ess
PID
G
ain
S
cale
at
M
in.
R
ef
.
0
-
100
%
*100
%
7-44
Pr
oc
ess
PID
G
ain
S
cale
at
M
ax.
R
ef
.
0
-
100
%
*100
%
7-45
Pr
oc
ess
PID
F
eed
F
w
d
R
esour
ce
*[0]
No
func
tion
[1]
A
nalog
Input
53
[2]
A
nalog
Input
54
[7]
Fr
equenc
y
input
29
[8]
Fr
equenc
y
input
33
[11]
Local
bus
r
ef
er
enc
e
[32]
Bus
PCD
7-46
Pr
oc
ess
PID
F
eed
F
w
d
Nor
mal/
In
v.
Ctr
l.
*[0]
Nor
mal
[1]
In
verse
7-48
PCD
F
eed
F
or
w
ar
d
0
-
65535
*0
7-49
Pr
oc
ess
PID
O
utput
Nor
mal/
In
v.
Ctr
l.
*[0]
Nor
mal
[1]
In
verse
7-5*
A
dv
. P
roc
ess
PID
II
7-50
Pr
oc
ess
PID
Ex
tended
PID
[0]
Disabled
*[1]
Enabled
7-51
Pr
oc
ess
PID
F
eed
F
w
d
G
ain
0
-
100
*1
7-52
Pr
oc
ess
PID
F
eed
F
w
d
R
amp
up
0.01
-
100
s
*0.01
s
7-53
Pr
oc
ess
PID
F
eed
F
w
d
R
amp
do
wn
0.01
-
100
s
*0.01
s
7-56
Pr
oc
ess
PID
R
ef
. F
ilt
er
T
ime
0.001
-
1
s
*0.001
s
7-57
Pr
oc
ess
PID
F
b.
F
ilt
er
T
ime
0.001
-
1
s
*0.001
s
7-6*
Feedback
C
on
version
7-60
Feedback
1
C
on
version
*[0]
Linear
[1]
Squar
e
root
7-62
Feedback
2
C
on
version
*[0]
Linear
[1]
Squar
e
root
8-**
Comm.
and
O
ptions
8-0*
G
ener
al
S
ettings
8-01
Con
tr
ol
Sit
e
*[0]
Dig
ital
and
c
tr
l.w
or
d
[1]
Dig
ital
only
[2]
Con
tr
olw
or
d
only
8-02
Con
tr
ol
S
our
ce
[0]
None
[1]
FC
P
or
t
[3]
Option
A
8-03
Con
tr
ol
T
imeout
T
ime
0.1
-
6000
s
*1
s
8-04
Con
tr
ol
T
imeout
F
unc
tion
*[0]
Off
[1]
Fr
eez
e
output
[2]
St
op
[3]
Jogg
ing
[4]
M
ax.
speed
[5]
St
op
and
tr
ip
8-07
Diag
nosis
T
rigger
*[0]
Disable
[1]
Tr
igger
on
alar
ms
[2]
Tr
igger
alar
m/w
ar
n.
8-1*
Ctrl
. W
or
d
S
ettings
8-10
Con
tr
ol
W
or
d
Profile
*[0]
FC
profile
[1]
PR
OFIdr
iv
e
profile
8-14
Configurable
C
on
tr
ol
W
or
d
C
TW
[0]
None
*[1]
Profile
default
[2]
C
TW
V
alid
, ac
tiv
e
lo
w
[4]
PID
er
ror
in
verse
[5]
PID
r
eset
I
par
t
[6]
PID
enable
8-19
Pr
oduc
t
Code
0
-
2147483647
*Siz
e
relat
ed
8-3*
FC
P
or
t
Settings
8-30
Pr
ot
oc
ol
*[0]
FC
[2]
M
odbus
R
TU
8-31
Addr
ess
0.0
-
247
*1
8-32
Baud
R
at
e
[0]
2400
Baud
[1]
4800
Baud
[2]
9600
Baud
[3]
19200
Baud
[4]
38400
Baud
[5]
57600
Baud
[6]
76800
Baud
[7]
115200
Baud
8-33
Par
ity
/
S
top
Bits
[0]
Ev
en
P
ar
ity
, 1
S
top
Bit
[1]
O
dd
P
ar
ity
, 1
S
top
Bit
[2]
No
P
ar
ity
, 1
S
top
Bit
[3]
No
P
ar
ity
, 2
S
top
Bits
8-35
M
inimum
R
esponse
D
elay
0.0010
-
0.5
s
*0.01
s
8-36
M
aximum
R
esponse
D
elay
0.1
-
10.0
s
*Siz
e
relat
ed
8-4*
FC
MC
pr
ot
oc
ol
set
8-42
PCD
W
rit
e
Configuration
[0]
None
[1]
[302]
M
inimum
R
ef
er
enc
e
[2]
[303]
M
aximum
R
ef
er
enc
e
[3]
[341]
R
amp
1
R
amp
up
time
[4]
[342]
R
amp
1
R
amp
do
wn
time
[5]
[351]
R
amp
2
R
amp
up
time
[6]
[352]
R
amp
2
R
amp
do
wn
time
[7]
[380]
Jog
R
amp
T
ime
[8]
[381]
Q
uick
S
top
T
ime
[9]
[412]
M
ot
or
Speed
L
ow
Limit
[H
z]
[10]
[414]
M
ot
or
Speed
H
igh
Limit
[H
z]
[11]
[590]
Dig
ital
&
R
elay
Bus
C
on
tr
ol
[12]
[676]
T
er
minal45
O
utput
Bus
C
on
tr
ol
[13]
[696]
T
er
minal
42
O
utput
Bus
C
on
tr
ol
[15]
FC
P
or
t
C
TW
[16]
FC
P
or
t
REF
[18]
[311]
Jog
Speed
[H
z]
8-43
PCD
R
ead
Configuration
[0]
None
[1]
[1500]
Oper
ation
Hours
[2]
[1501]
Running
Hours
[3]
[1502]
kW
h
C
oun
ter
[4]
[1600]
C
on
tr
ol
W
or
d
[5]
[1601]
R
ef
er
enc
e
[Unit]
[6]
[1602]
R
ef
er
enc
e
%
[7]
[1603]
S
tatus
W
or
d
[8]
[1605]
M
ain
A
ctual
V
alue
[%]
[9]
[1609]
C
ust
om
R
eadout
[10]
[1610]
P
ow
er
[kW
]
[11]
[1611]
P
ow
er
[hp
]
[12]
[1612]
M
ot
or
V
oltage
[13]
[1613]
F
requenc
y
[14]
[1614]
M
ot
or
C
ur
ren
t
[15]
[1615]
F
requenc
y
[%]
[16]
[1616]
T
or
que
[N
m]
[17]
[1618]
M
ot
or
T
her
mal
[18]
[1630]
DC
Link
V
oltage
[19]
[1634]
Heatsink
T
emp
.
[20]
[1635]
In
ver
ter
T
her
mal
[21]
[1638]
SL
C
on
tr
oller
S
tat
e
[22]
[1650]
Ex
ter
nal
R
ef
er
enc
e
[23]
[1652]
F
eedback
[Unit]
[24]
[1660]
Dig
ital
Input
18,19,27,33
[25]
[1661]
T
er
minal
53
S
wit
ch
S
etting
[26]
[1662]
A
nalog
input
53
[27]
[1663]
T
er
minal
54
S
wit
ch
S
etting
[28]
[1664]
A
nalog
input
54
[29]
[1665]
A
nalog
output
42
[mA
]
[30]
[1671]
R
elay
output
[31]
[1672]
C
oun
ter
A
[32]
[1673]
C
oun
ter
B
[33]
[1690]
A
lar
m
W
or
d
[34]
[1692]
W
ar
ning
W
or
d
[35]
[1694]
Ex
t.
S
tatus
W
or
d
[38]
[1622]
T
or
que
[%]
Appendix
Quick Guide
MG06A702
Danfoss A/S © 03/2017 All rights reserved.
67
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