16-05
M
ain
A
ctual
V
alue
[%]
-200
-
200
%
*0
%
16-09
Cust
om
R
eadout
0
-
9999
C
ust
omR
eadoutUnit
*0
Cust
omR
eadoutUnit
16-1*
M
ot
or
S
tatus
16-10
Po
w
er
[kW
]
0
-
1000
kW
*0
kW
16-11
Po
w
er
[hp
]
0
-
1000
hp
*0
hp
16-12
M
ot
or
V
oltage
0
-
65535
V
*0
V
16-13
Fr
equenc
y
0
-
6553.5
H
z
*0
H
z
16-14
M
ot
or
cur
ren
t
0
-
655.35
A
*0
A
16-15
Fr
equenc
y
[%]
0
-
6553.5
%
*0
%
16-16
Tor
que
[N
m]
-30000
-
30000
N
m
*0
N
m
16-17
Speed
[RP
M]
-30000
-
30000
RP
M
*0
RP
M
16-18
M
ot
or
T
her
mal
0
-
100
%
*0
%
16-22
Tor
que
[%]
-200
-
200
%
*0
%
16-3*
D
riv
e
Status
16-30
DC
Link
V
oltage
0
-
65535
V
*0
V
16-33
Br
ake
Ener
gy
/2
min
0
-
10000
kW
*0
kW
16-34
Heatsink
T
emp
.
-128
-
127
°C
*0
°C
16-35
In
ver
ter
T
her
mal
0
-
255
%
*0
%
16-36
In
v.
Nom.
C
ur
ren
t
0
-
655.35
A
*0
A
16-37
In
v.
M
ax.
C
ur
ren
t
0
-
655.35
A
*0
A
16-38
SL
C
on
tr
oller
S
tat
e
0
-
20
*0
16-39
Con
tr
ol
C
ar
d
T
emp
.
0
-
65535
°C
*0
°C
16-5*
Ref
. &
F
eedb
.
16-50
Ex
ter
nal
R
ef
er
enc
e
-200
-
200
%
*0
%
16-52
Feedback[Unit] -4999
-
4999
P
roc
essCtr
lUnit
*0
Pr
oc
essCtr
lUnit
16-53
Dig
i P
ot
R
ef
er
enc
e
-200
-
200
*0
16-57
Feedback
[RP
M]
-30000
-
30000
RP
M
*0
RP
M
16-6*
Inputs
&
O
utputs
16-60
Dig
ital
Input
0
-
65535
*0
16-61
Ter
minal
53
S
etting
[0]
Cur
ren
t
mode
[1]
Voltage
mode
16-62
A
nalog
input
53
0
-
20
*1
16-63
Ter
minal
54
S
etting
[0]
Cur
ren
t
mode
[1]
Voltage
mode
16-64
A
nalog
input
54
0
-
20
*1
16-65
A
nalog
output
42
[mA
]
0
-
20
mA
*0
mA
16-66
Dig
ital
O
utput
0
-
15
*0
16-67
Pulse
input
29
[H
z]
0
-
130000
*0
16-68
Pulse
input
33
[H
z]
0
-
130000
*0
16-69
Pulse
output
27
[H
z]
0
-
40000
*0
16-70
Pulse
output
29
[H
z]
0
-
40000
*0
16-71
Relay
output
0
-
65535
*0
16-72
Coun
ter
A
-32768
-
32767
*0
16-73
Coun
ter
B
-32768
-
32767
*0
16-79
A
nalog
output
45
[mA
]
0
-
20
mA
*0
mA
16-8*
Fieldbus
&
FC
P
or
t
16-80
Fieldbus
C
TW
1
0
-
65535
*0
16-82
Fieldbus
REF
1
-32768
-
32767
*0
16-84
Comm.
Option
ST
W
0
-
65535
*0
16-85
FC
P
or
t
C
TW
1
0
-
65535
*1084
16-86
FC
P
or
t
REF
1
-32768
-
32767
*0
16-9*
D
iag
nosis
R
eadouts
16-90
A
lar
m
W
or
d
0
-
0xFFFFFFFFUL
*0
16-91
A
lar
m
W
or
d
2
0
-
0xFFFFFFFFUL
*0
16-92
W
ar
ning
W
or
d
0
-
0xFFFFFFFFUL
*0
16-93
W
ar
ning
W
or
d
2
0
-
0xFFFFFFFFUL
*0
16-94
Ex
t.
S
tatus
W
or
d
0
-
0xFFFFFFFFUL
*0
16-95
Ex
t.
S
tatus
W
or
d
2
0
-
0xFFFFFFFFUL
*0
16-97
A
lar
m
W
or
d
3
0
-
0xFFFFFFFFUL
*0
17-**
Feedback
O
ptions
17-1*
Inc
.Enc
.In
ter
fac
e
17-10
Sig
nal
T
ype
[0]
None
*[1]
RS422
(5V
T
TL)
[2]
Sinusoidal
1V
pp
17-11
Resolution
(PPR)
10
-
10000
*1024
17-5*
Resolv
er
In
ter
fac
e
17-50
Poles 2
-
2
*2
17-51
Input
V
oltage
2
-
8
V
*7
V
17-52
Input
F
requenc
y
2
-
15
kH
z
*10
kH
z
17-53
Tr
ansf
or
mation
R
atio
0.1
-
1.1
*0.5
17-56
Enc
oder
Sim.
R
esolution
*[0]
Disabled
[1]
512
[2]
1024
[3]
2048
[4]
4096
17-59
Resolv
er
In
ter
fac
e
*[0]
Disabled
[1]
Enabled
17-6*
M
onit
oring
and
A
pp
.
17-60
Feedback
Dir
ec
tion
*[0]
Clock
wise
[1]
Coun
ter
clock
wise
17-61
Feedback
Sig
nal
M
onit
or
ing
[0]
Disabled
*[1]
W
ar
ning
[2]
Tr
ip
[3]
Jog
[4]
Fr
eez
e
O
utput
[5]
M
ax
Speed
[6]
Swit
ch
t
o
Open
L
oop
18-**
Data
R
eadouts
2
18-8*
Cen
ter
W
inder
R
eadout
18-81
Tension
PID
O
utput
-5000
-
5000
H
z
*0
H
z
18-82
Cen
ter
W
inder
O
utput
-5000
-
5000
H
z
*0
H
z
18-83
Line
Speed
-5000
-
5000
H
z
*0
H
z
18-84
Diamet
er
0
-
100
%
*0
%
18-85
Taper
ed
T
ension
S
et
P
oin
t
0
-
100
%
*0
%
18-86
Tension
F
eedback
0
-
100
%
*0
%
18-9*
PID
R
eadouts
18-90
Pr
oc
ess
PID
Er
ror
-200
-
200
%
*0
%
18-91
Pr
oc
ess
PID
O
utput
-200
-
200
%
*0
%
18-92
Pr
oc
ess
PID
Clamped
O
utput
-200
-
200
%
*0
%
18-93
Pr
oc
ess
PID
G
ain
S
caled
O
utput
-200
-
200
%
*0
%
21-**
Ex
t.
C
losed
L
oop
21-0*
Ex
t.
CL
A
ut
otuning
21-09
Ex
tended
PID
Enable
*[0]
Disabled
[1]
Enabled
Ex
t
CL1
PID
21-1*
Ex
t.
CL
1
R
ef
./F
b.
21-11
Ex
t.
1
M
inimum
R
ef
er
enc
e
-999999.999
-
999999.999
Ex
tPID1Unit
*0
Ex
tPID1Unit
21-12
Ex
t.
1
M
aximum
R
ef
er
enc
e
-999999.999
-
999999.999
Ex
tPID1Unit
*100
Ex
tPID1Unit
21-13
Ex
t.
1
R
ef
er
enc
e
Sour
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
21-14
Ex
t.
1
F
eedback
S
our
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
21-15
Ex
t.
1
S
etpoin
t
-999999.999
-
999999.999
Ex
tPID1Unit
*0
Ex
tPID1Unit
21-17
Ex
t.
1
R
ef
er
enc
e
[Unit]
-999999.999
-
999999.999
Ex
tPID1Unit
*0
Ex
tPID1Unit
21-18
Ex
t.
1
F
eedback
[Unit]
-999999.999
-
999999.999
Ex
tPID1Unit
*0
Ex
tPID1Unit
21-19
Ex
t.
1
O
utput
[%]
0
-
100
%
*0
%
21-2*
Ex
t.
CL
1
PID
21-20
Ex
t.
1
Nor
mal/I
nv
erse
C
on
tr
ol
*[0]
Nor
mal
[1]
In
verse
21-21
Ex
t.
1
P
ropor
tional
G
ain
0
-
10
*0.01
21-22
Ex
t.
1
In
teg
ral
T
ime
0.01
-
10000
s
*10000
s
21-23
Ex
t.
1
Differentation
T
ime
0
-
10
s
*0
s
21-24
Ex
t.
1
Dif
. G
ain
Limit
1
-
50
*5
22-**
A
ppl
. F
unc
tions
22-0*
M
isc
ellaneous
22-02
Sleepmode
CL
C
on
tr
ol
M
ode
*[0]
Nor
mal
[1]
Simplified
22-4*
Sleep
M
ode
22-40
M
inimum
Run
T
ime
0
-
600
s
*10
s
22-41
M
inimum
Sleep
T
ime
0
-
600
s
*10
s
22-43
W
ake
-Up
Speed
[H
z]
0
-
400.0
*10
22-44
W
ake
-Up
R
ef
./FB
Diff
0
-
100
%
*10
%
22-45
Setpoin
t
Boost
-100
-
100
%
*0
%
22-46
M
aximum
B
oost
T
ime
0
-
600
s
*60
s
22-47
Sleep
Speed
[H
z]
0
-
400.0
*0
22-48
Sleep
D
elay
T
ime
0
-
3600
s
*0
s
22-49
W
ake
-Up
D
elay
T
ime
0
-
3600
s
*0
s
22-6*
Br
ok
en
B
elt
Det
ec
tion
22-60
Br
oken
B
elt
F
unc
tion
*[0]
Off
[1]
W
ar
ning
[2]
Tr
ip
22-61
Br
oken
B
elt
T
or
que
5
-
100
%
*10
%
22-62
Br
oken
B
elt
D
elay
0
-
600
s
*10
s
30-**
Special
F
eatur
es
30-2*
A
dv
. S
tar
t
A
djust
30-20
H
igh
S
tar
ting
T
or
que
T
ime
[s]
0
-
60
s
*Siz
e
relat
ed
30-21
H
igh
S
tar
ting
T
or
que
C
ur
ren
t
[%]
0
-
200.0
%
*Siz
e
relat
ed
30-22
Locked
R
ot
or
P
rot
ec
tion
*[0]
Off
[1]
On
30-23
Locked
R
ot
or
D
et
ec
tion
T
ime
[s]
0.05
-
1
s
*0.10
s
32-**
M
otion
C
on
tr
ol
B
asic
S
ettings
32-1*
U
ser
Unit
32-11
U
ser
Unit
D
enominat
or
1
-
65535
*1
32-12
U
ser
Unit
Numer
at
or
1
-
65535
*1
32-5*
Feadback
S
our
ce
32-50
Sour
ce
Slav
e
*[0]
24V
-Enc
oder
[1]
MCB102
[2]
MCB103
32-52
Sour
ce
M
ast
er
[0]
24V
-Enc
oder
*[1]
MCB102
[2]
MCB103
[3]
VM
32-6*
PID
32-60
Pr
opor
tional
fac
tor
0.000
-
1000.000
*1.000
32-61
D
er
iv
ativ
e
fac
tor
0.000
-
1000.000
*0.000
32-62
In
teg
ral
fac
tor
0.0000
-
100.0000
*0.0000
32-63
Limit
V
alue
for
In
teg
ral
Sum[%]
0.0
-
100.0
%
*100.0
%
32-64
PID
Bandwidth[%]
0.0
-
100.0
%
*100.0
%
32-65
Velocit
y
Feed-F
or
w
ar
d
0.000
-
100.000
*1.000
32-66
Ac
celer
ation
F
eed-F
or
w
ar
d
0.000
-
100.000
*0.000
Appendix
Quick Guide
MG06A702
Danfoss A/S © 03/2017 All rights reserved.
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