6-23
Ter
minal
54
H
igh
C
ur
ren
t
6-24
Ter
minal
54
L
ow
R
ef
./F
eedb
. V
alue
6-25
Ter
minal
54
H
igh
R
ef
./F
eedb
. V
alue
6-26
Ter
minal
54
F
ilt
er
T
ime
C
onstan
t
6-29
Ter
minal
54
mode
[0]
>C
ur
ren
t
mode<
*[1]
>V
oltage
mode<
6-9*
A
nalog/D
ig
ital
O
utput
42
6-90
Ter
minal
42
M
ode
6-91
Ter
minal
42
A
nalog
O
utput
6-92
Ter
minal
42
Dig
ital
O
utput
6-93
Ter
minal
42
O
utput
M
in
S
cale
6-94
Ter
minal
42
O
utput
M
ax
S
cale
6-96
Ter
minal
42
O
utput
Bus
C
on
tr
ol
6-98
Dr
iv
e
Type
7-**
Con
tr
ollers
7-0*
Speed
PID
Ctrl
.
7-00
Speed
PID
F
eedback
S
our
ce
[1]
>24V
enc
oder<
[6]
>A
nalog
Input
53<
[7]
>A
nalog
Input
54<
[8]
>F
requenc
y
input
29<
[9]
>F
requenc
y
input
33<
*[20]
>None<
7-02
Speed
PID
P
ropor
tional
G
ain
>0.000-1.000<
*0.015
7-03
Speed
PID
In
teg
ral
T
ime
>2.0-20000.0
ms<
*8.0
ms
7-04
Speed
PID
Differentiation
T
ime
>0.0-200.0
ms<
*30.0
ms
7-05
Speed
PID
Diff.
G
ain
Limit
>1.0-20.0<
*5.0
7-06
Speed
PID
L
owpass
F
ilt
er
T
ime
>1.0-100.0
ms<
*10.0
ms
7-07
Speed
PID
F
eedback
G
ear
R
atio
7-08
Speed
PID
F
eed
F
or
w
ar
d
F
ac
tor
7-1*
Tor
que
PID
Ctrl
.
7-12
Tor
que
PID
P
ropor
tional
G
ain
7-13
Tor
que
PID
In
teg
ration
T
ime
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]
>F
requenc
y
input
29<
[4]
>F
requenc
y
input
33<
7-22
Pr
oc
ess
CL
F
eedback
2
R
esour
ce
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]
>I
nv
erse<
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
r
pm<
*0
r
pm
7-33
Pr
oc
ess
PID
P
ropor
tional
G
ain
>0.00
-
10.00<
*0.01
7-34
Pr
oc
ess
PID
In
teg
ral
T
ime
>0.10-9999.00
s<
*9999.00
s
7-35
Pr
oc
ess
PID
Differentiation
T
ime
>0.00-20.00
s<
*0.00
s
7-36
Pr
oc
ess
PID
Diff.
G
ain
Limit
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
7-4*
A
dv
. P
roc
ess
PID
I
7-40
Pr
oc
ess
PID
I-par
t
Reset
7-41
Pr
oc
ess
PID
O
utput
Neg
. Clamp
7-42
Pr
oc
ess
PID
O
utput
P
os
. Clamp
7-43
Pr
oc
ess
PID
G
ain
S
cale
at
M
in.
R
ef
.
7-44
Pr
oc
ess
PID
G
ain
S
cale
at
M
ax.
R
ef
.
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]
>F
requenc
y
input
29<
[8]
>F
requenc
y
input
33<
[11]
>L
ocal
bus
ref
er
enc
e<
[32]
>Bus
PCD<
7-46
Pr
oc
ess
PID
F
eed
F
w
d
Nor
mal/
In
v.
Ctr
l.
7-48
PCD
F
eed
F
or
w
ar
d
7-49
Pr
oc
ess
PID
O
utput
Nor
mal/
In
v.
Ctr
l.
7-5*
A
dv
. P
roc
ess
PID
II
7-50
Pr
oc
ess
PID
Ex
tended
PID
7-51
Pr
oc
ess
PID
F
eed
F
w
d
G
ain
7-52
Pr
oc
ess
PID
F
eed
F
w
d
R
amp
up
7-53
Pr
oc
ess
PID
F
eed
F
w
d
R
amp
do
wn
7-56
Pr
oc
ess
PID
R
ef
. F
ilt
er
T
ime
7-57
Pr
oc
ess
PID
F
b.
F
ilt
er
T
ime
7-6*
Feedback
C
on
version
7-60
Feedback
1
C
on
version
*[0]
>Linear<
[1]
>S
quar
e
root<
7-62
Feedback
2
C
on
version
8-**
Comm.
and
O
ptions
8-0*
G
ener
al
S
ettings
8-01
Con
tr
ol
Sit
e
8-02
Con
tr
ol
S
our
ce
8-03
Con
tr
ol
T
imeout
T
ime
8-04
Con
tr
ol
T
imeout
F
unc
tion
8-07
Diag
nosis
T
rigger
8-1*
Ctrl
. W
or
d
S
ettings
8-10
Con
tr
ol
W
or
d
Profile
8-14
Configurable
C
on
tr
ol
W
or
d
C
TW
8-19
Pr
oduc
t
Code
8-3*
FC
P
or
t
Settings
8-30
Pr
ot
oc
ol
*[0]
>FC<
[2]
>M
odbus
R
TU<
8-31
Addr
ess
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]
>E
ven
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
8-36
M
aximum
R
esponse
D
elay
8-37
M
aximum
In
ter
-char
delay
8-4*
FC
MC
pr
ot
oc
ol
set
8-42
PCD
W
rit
e
Configuration
8-43
PCD
R
ead
Configuration
8-5*
D
ig
ital/Bus
8-50
Coasting
S
elec
t
8-51
Q
uick
S
top
S
elec
t
8-52
DC
Br
ake
S
elec
t
8-53
Star
t
Selec
t
8-54
Rev
ersing
S
elec
t
8-55
Set
-up
S
elec
t
8-56
Pr
eset
R
ef
er
enc
e
Selec
t
8-57
Profidrive
OFF2
S
elec
t
8-58
Profidrive
OFF3
S
elec
t
8-7*
BA
Cnet
8-79
Pr
ot
oc
ol
F
irm
w
ar
e
Version
8-8*
FC
P
or
t
D
iag
nostics
8-80
Bus
M
essage
C
oun
t
8-81
Bus
Er
ror
C
oun
t
8-82
Slav
e
M
essages
R
cv
d
8-83
Slav
e
Er
ror
C
oun
t
8-84
Slav
e
M
essages
S
en
t
8-85
Slav
e
Timeout
Er
rors
8-88
Reset
FC
por
t
Diag
nostics
8-9*
Bus
F
eedback
8-90
Bus
Jog
1
Speed
8-91
Bus
Jog
2
Speed
9-**
PROFIdriv
e
9-00
Setpoin
t
9-07
Ac
tual
V
alue
9-15
PCD
W
rit
e
Configuration
9-16
PCD
R
ead
Configurariont
9-18
Node
A
ddr
ess
9-19
Dr
iv
e
Unit
S
yst
em
Number
9-22
Teleg
ram
S
elec
tion
9-23
Par
amet
ers
for
Sig
nals
9-27
Par
amet
er
E
dit
9-28
Pr
oc
ess
C
on
tr
ol
9-44
Fault
M
essage
C
oun
ter
9-45
Fault
C
ode
9-47
Fault
Number
9-52
Fault
Situation
C
oun
ter
9-53
Profibus
W
ar
ning
W
or
d
9-63
Ac
tual
Baud
R
at
e
9-64
D
evic
e
Identification
9-65
Profile
Number
9-67
Con
tr
ol
W
or
d
1
9-68
Status
W
or
d
1
9-70
Pr
og
ramming
S
et
-up
9-71
Profibus
S
av
e
Data
V
alues
9-72
ProfibusDriveReset
9-75
DO
Identification
9-80
Defined
P
ar
amet
ers
(1)
9-81
Defined
P
ar
amet
ers
(2)
9-82
Defined
P
ar
amet
ers
(3)
9-83
Defined
P
ar
amet
ers
(4)
9-84
Defined
P
ar
amet
ers
(5)
9-90
Changed
P
ar
amet
ers
(1)
9-91
Changed
P
ar
amet
ers
(2)
9-92
Changed
P
ar
amet
ers
(3)
9-93
Changed
P
ar
amet
ers
(4)
9-94
Changed
P
ar
amet
ers
(5)
9-99
Profibus
R
evision
C
oun
ter
10-**
CAN
F
ieldbus
10-0*
Common
S
ettings
10-01
Baud
R
at
e
Selec
t
10-02
Node
ID
10-05
Readout
T
ransmit
Er
ror
C
oun
ter
10-06
Readout
R
ec
eiv
e
Er
ror
C
oun
ter
10-3*
Par
amet
er
A
cc
ess
10-31
St
or
e
Data
V
alues
10-33
St
or
e
A
lw
ay
s
12-**
Ethernet
12-0*
IP
S
ettings
12-00
IP
A
ddr
ess
A
ssig
nmen
t
12-01
IP
A
ddr
ess
12-02
Subnet
M
ask
12-03
D
efault
G
at
ew
ay
12-04
DHCP
S
er
ver
12-05
Lease
Expir
es
12-06
Name
S
er
vers
12-07
D
omain
Name
12-08
Host
Name
12-09
Ph
ysical
A
ddr
ess
12-1*
Ethernet
Link
P
ar
amet
ers
12-10
Link
S
tatus
12-11
Link
D
ur
ation
12-12
Aut
o
Negotiation
12-13
Link
Speed
12-14
Link
D
uple
x
12-8*
O
ther
E
thernet
S
er
vic
es
12-80
FTP
S
er
ver
12-81
HT
TP
S
er
ver
12-82
SM
TP
S
er
vic
e
12-89
Tr
anspar
en
t
Socket
Channel
P
or
t
12-9*
A
dv
anc
ed
E
thernet
S
er
vic
es
12-90
Cable
Diag
nostics
12-91
Aut
o
C
ross
O
ver
12-92
IGMP
Snooping
12-93
Cable
Er
ror
L
ength
12-94
Br
oadcast
S
tor
m
F
ilt
er
12-96
Por
t
Config
12-98
In
ter
fac
e
Coun
ters
12-99
M
edia
C
oun
ters
13-**
Smar
t
Log
ic
13-0*
SL
C
S
ettings
13-00
SL
C
on
tr
oller
M
ode
*[0]
>Off<
[1]
>On<
13-01
Star
t
Ev
en
t
[0]
>F
alse<
[1]
>T
rue<
[2]
>Running<
[3]
>I
n
r
ange<
[4]
>On
r
ef
er
enc
e<
[7]
>O
ut
of
cur
ren
t
range<
[8]
>B
elo
w
I
lo
w<
[9]
>A
bo
ve
I
high<
[16]
>T
her
mal
w
ar
ning<
[17]
>M
ains
out
of
r
ange<
[18]
>R
ev
ersing<
[19]
>W
ar
ning<
[20]
>A
lar
m
(tr
ip
)<
[21]
>A
lar
m
(tr
ip
lock)<
[22]
>C
ompar
at
or
0<
[23]
>C
ompar
at
or
1<
[24]
>C
ompar
at
or
2<
[25]
>C
ompar
at
or
3<
[26]
>L
og
ic
rule
0<
[27]
>L
og
ic
rule
1<
[28]
>L
og
ic
rule
2<
[29]
>L
og
ic
rule
3<
[33]
>Dig
ital
input
DI18<
[34]
>Dig
ital
input
DI19<
[35]
>Dig
ital
input
DI27<
[36]
>Dig
ital
input
DI29<
*[39]
>S
tar
t
command<
[40]
>Dr
iv
e
st
opped<
[42]
>A
ut
o
R
eset
T
rip<
[50]
>C
ompar
at
or
4<
[51]
>C
ompar
at
or
5<
[60]
>L
og
ic
rule
4<
[61]
>L
og
ic
rule
5<
[83]
>Br
oken
B
elt<
13-02
St
op
E
ven
t
*[40]
>Dr
iv
e
st
opped<
13-03
Reset
SL
C
*[0]
>D
o
not
reset
SL
C<
[1]
>R
eset
SL
C<
13-1*
Compar
at
ors
13-10
Compar
at
or
Oper
and
13-11
Compar
at
or
Oper
at
or
13-12
Compar
at
or
V
alue
13-2*
Timers
13-20
SL
C
on
tr
oller
T
imer
13-4*
Log
ic
Rules
13-40
Log
ic
Rule
B
oolean
1
13-41
Log
ic
Rule
Oper
at
or
1
13-42
Log
ic
Rule
B
oolean
2
13-43
Log
ic
Rule
Oper
at
or
2
13-44
Log
ic
Rule
B
oolean
3
13-5*
Stat
es
13-51
SL
C
on
tr
oller
E
ven
t
13-52
SL
C
on
tr
oller
A
ction
14-**
Special
F
unc
tions
14-0*
In
ver
ter
S
wit
ching
14-01
Swit
ching
F
requenc
y
Appendix
Operating Instructions
MG07A102
Danfoss A/S © 11/2015 All rights reserved.
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