10 Keypad, Displays, & Drive Parameters

Drive Ready

Quantum III
Quantum III Digital DC Drive Alarm (OVLD)
Zero Speed
INSTRUCTIONS Use ▲ and ▼ keys to adjust the value. Hold Run Forward
key down to adjust rapidly.
▼
▼

Use and keys to select a menu. Each Run Reverse

PARAMETER DATA
menu is a functional group of parameters. The Press Mode key again to exit adjustment mode.
menu number appears to the left of the decimal Bridge 1
point in the Index window. Numerical parameters have ranges of 000-255,
000-1999 or ±1000 or ±1999. Bridge 2
Use ▲ and ▼ keys to select a Parameter from
the chosen menu. The parameter number Bit parameters are displayed as a single digit, At Set Speed
appears to the right of the decimal point in the 0-1. Unauthorized adjustment is prevented by Current Limit
Index window, and its value appears in the means of a Security Code which must be
data window. correctly entered in Parameter 0 before access
is permitted.
Press Mode key once to access the displayed PARAMETER INDEX
parameter for adjustment. The Data display To store parameter values, set Parameter 0 to
flashes if access is permitted. 1 and press the Reset key.

▲ ▼
▲
▲

MODE RESET

Figure 10-1.
Quantum III Decal

10.1 KEYPAD NOTE

The keypad serves two purposes: If access is not permitted, check the following:
1. You can configure the drive for specific applications 1. The parameter is “read only."
and change its performance in many ways, such as
adjusting the times of acceleration and deceleration 2. The parameter is invisible and protected by
a level of security (see paragraph 10.5).
and presetting levels of security access.
3.The parameter is assigned to a programma-
Subject to safety considerations, adjustments may ble input.
be made with the drive running or stopped. If run-
ning, the drive responds immediately to the new 4. The parameter is being driven by an appli-
setting. cation program with the serial interface.

2. You can get full information about the settings and

the operational status of the drive. Extensive diag-
nostic information is available in the event of a Use the ▲ or ▼ keys to adjust the value. To
drive fault. adjust quickly, press and hold a key.
For parameter adjustment, the keypad has five Press the MODE key again to exit from the
▲
▼

keys. Use the or keys to select a Menu (func- adjustment mode.

tional group of parameters). The menu number
appears to the left of the decimal point in the Index
window. SAVING PARAMETERS
Use the ▲ or ▼ keys to select a parameter from To store (make permanently effective) the para-
the chosen menu. The parameter number appears to meter value changes, set parameter 00 of any menu =
the right of the decimal point in the Index window, and 1 and press reset. If this sequence is not enacted, the
the value of the chosen parameter appears in the changes will be lost when the power is removed from
Data window. the drive.

Press the MODE key once to access the dis-

played parameter value for adjustment. The value
flashes if access is permitted.

65
10 Keypad, Displays, & Drive Parameters

10.2 DISPLAYS LED ILLUMINATED INFORMATION

1 Index Drive ready The drive is turned on,
not tripped.
The lower four-digit display indicates menu number Drive ready — flashing The drive is tripped.
to the left of the (permanent) decimal point, and
Alarm — flashing The drive is in an
parameter number to the right.
overload trip
2 Data condition or is
The upper four-digit display indicates the value of a integrating
selected parameter. The present value of each in the I x t region.
parameter, in turn, appears in the data display as Zero speed Motor speed < zero
parameter numbers are changed. speed threshold
(programmable).
Numerical parameters have values in ranges of 000
to 255, 000 to +1999, or 000 to ±1000. Refer to the Run forward Motor running
information starting with paragraph 10.3 for para- forward.
meter unit values, e.g volts, rpm, etc. Run reverse Motor running
in reverse.
Bit parameter values are displayed as 0 or 1, pre-
Bridge 1 Output bridge 1
ceded by a b. The first digit for integer parameters
is enabled.
(0 to 255) is a r .
Bridge 2 Output bridge 2
3 Trip Codes is enabled.
If the drive faults, the index display shows “trip”, (inactive in
and the data message will flash. The data display 1-quad drives).
shows a mnemonic to indicate the reason for the At speed Motor running at the
fault. These are explained in Section 13, “Fault speed demanded
Finding.” by the
4 Status Indicators speed reference.
Current limit Drive running and
Nine LEDs to the right of the parameter data and delivering maximum
index panels present information, continuously
permitted current.
updated, about the running condition of the drive
and enable basic information to be seen at a
glance.

Quantum III
Drive Ready

Quantum III Digital DC Drive Alarm (OVLD)

Zero Speed
INSTRUCTIONS Use ▲ and ▼ keys to adjust the value. Hold Run Forward
key down to adjust rapidly.
▼
▼

Use and keys to select a menu. Each Run Reverse

PARAMETER DATA
menu is a functional group of parameters. The Press Mode key again to exit adjustment mode.
menu number appears to the left of the decimal Bridge 1
point in the Index window. Numerical parameters have ranges of 000-255,
000-1999 or ±1000 or ±1999. Bridge 2
Use ▲ and ▼ keys to select a Parameter from
the chosen menu. The parameter number Bit parameters are displayed as a single digit, At Set Speed
appears to the right of the decimal point in the 0-1. Unauthorized adjustment is prevented by Current Limit
Index window, and its value appears in the means of a Security Code which must be
data window. correctly entered in Parameter 0 before access
is permitted.
Press Mode key once to access the displayed PARAMETER INDEX
parameter for adjustment. The Data display To store parameter values, set Parameter 0 to
flashes if access is permitted. 1 and press the Reset key.

▲ ▼
▲
▲

MODE RESET

66
 10 Keypad, Displays, & Drive Parameters

10.3 DRIVE PARAMETERS 10.4.1 Visible and Invisible Parameters

The list of menus is given in paragraph 10.6. The parameter set with which Quantum III dri-
Parameter names, ranges, default values and security ves are equipped is divided into two further groups for
are given in paragraph 10.6.2. A full description and operational convenience.
explanation, when required, is found in paragraph
Those which are ordinarily needed for setting
10.7. Block diagrams are shown for each menu in
the drive up at the installation and start-up stage can
Figures 10-4 through 10-18.
be called up whenever the drive is powered on.
Before attempting to adjust parameters, please These are called the “visible” parameters.
refer to paragraph 10.1 for details on keypad entry
The second group contains the “invisible”
and paragraph 10.5 for details on security.
parameters, so called because at Level 1 security
they do not appear in the Index display, even if called
10.4 TYPES OF PARAMETERS up. These are the parameters required for fine tuning
a drive to operate, for example, in a process system,
Real Values: usually in conjunction with one or more other drives of
A real value parameter has a numerical value and the same or different type.
can be unipolar or bipolar. Its range can be from Visible and invisible parameters are distin-
-1999 to +1999. Real values are comparable to guished in the text and in the control logic diagrams
potentiometers in analog drives, but are much more for Menus 1 to 16. Visible parameter numbers are in
precise and not subject to drift. They are used to plain typeface, e.g. 01.01, and invisible parameters in
set variables such as speed, acceleration, or cur- italics, e.g. 01.01. They are also classified in para-
rent limit. graph 10.6.2.
Bit Values: Visible Parameters
A bit value is one which can have a value of either Visible parameters, both RO and R/W, are always
1 or 0 and is therefore reserved for drive status available to read when the drive is powered on.
variables which are either true or false, enabled or Visible R/W parameters are normally protected by
disabled, etc. Bit values are used to represent one or more levels of security and cannot be
such variables as quadrant enable, ramp enable, changed until the correct codes have been entered.
drive at speed, etc. This is Level 1 security, unless and until a higher
Each parameter falls into one of two further cate- level code is set.
gories, as follows: Invisible Parameters
Read-only values: Invisible parameters always require Level 2 securi-
Read-only values are ones which are set or mea- ty code, and will require Level 3 (if set).
sured by the drive itself, either during power-up With the correct code(s), invisible RO parameters
reset or continuously during drive operation. As the are accessible to read, and invisible R/W parame-
name implies, these values may only be read, and ters are accessible to write.
allows one to MONITOR ONLY drive status and
performance.
Read/Write Values:
Read/write values are those which are set by key-
pad entry, serial interface communication or back-
ground program execution to optimize the drive
performance for a given application. Read/write
values may also be monitored by means of the key-
pad and displays or via the serial interface to verify
drive status and performance.

67
10 Keypad, Displays, & Drive Parameters

10.4.2 Default Values 10.4.3 Organization

When power is removed and then reapplied to Parameters are organized into functionally-relat-
the drive, the parameters will revert to standard ed sets, or menus, so that access to parameters relat-
power-on default values—altered by any parameter ed to a specific function is logical and quick. The
changes that have been stored. See paragraph menus are listed in paragraph 10.6.1.
10.4.7. The Quantum III defaults are listed in para-
graph 10.6.2.
10.4.4 Adjustment
The parameters have been set to standard set-
tings during manufacture of the basic world-wide Any menu and any visible parameter can be
drive. These values differ slightly from the power-on selected and will display its value to read without
defaults listed in paragraph 10.6.2. It may be desir- need for a Security Code. The procedure is the same
able to reset the Quantum III to these values. To re- if a parameter value is to be changed, except that
establish factory defaults, select parameter 00 of any entering a Security Code will normally have to be the
menu, press mode, and enter 255 for factory non- first action.
regenerative defaults or 233 for factory regenerative Any menu, and any invisible parameter can be
defaults, followed by reset. selected and its value displayed to read and write
when the correct security code has been entered.
NOTE
Drive must be in STOP condition before re- Whenever the user returns to a menu (between
establishing defaults. power-on and power-off), the software immediately
goes to the last parameter to have been selected in
that menu. This is convenient when making a series
QUANTUM III FACTORY SETTINGS of adjustments to a particular group of parameters.

After factory defaults are reset, the following

10.4.5 Access to Parameters
must be changed to enable the drive to function as a
Quantum III. Initially, when the drive is first powered on, and if
Level 3 security is not set, access to write is immedi-
Changes to Default Values:
ately available to a small group of the visible parame-
02.13=1 (Jog Ramp) ters. Refer to paragraph 10.5.1 and Figure 10-3.
03.13=1 (AVF Feedback)
03.15=500 (Max Arm Volts) If Level 3 security is set, all parameters are
05.19=1 (Standstill Mode on Stop) always protected.
06.07=1000 (Cross-over Voltage)
06.15=1 (Enable Field Economy)
06.21=815 (Field Firing Angle Endstop) 10.4.6 Procedure
07.12=119 (Analog Input #2)
07.13=120 (Analog Input #3) The procedure for selecting and changing a
07.14=408 parameter is shown in Figure 10-2 and described on
08.12=111 (F2: #22=Run Permit) the following pages. It is also described on the key-
08.13=113 (F3: #23=Inch/Jog)
08.14=112 (F4: #24=Reverse) pad of the Quantum III.
08.15=115 (F5: #25=Ref #3)
For most parameters, the drive accepts and
08.16=1034 (F6: #26=Ext Trip)
08.21=1 (Disable Logic Functions) uses the value entered, and the motor will respond to
09.24=1 (Invert Status #ST5) the new value immediately. The exception is a
11.01=304 Arm Volts DC change of Baud Rate (11.12), Serial Mode (11.13),
11.02=502 Arm Amps DC Threshold 1 Destination (12.07) and Threshold 2
11.03=303 Machine RPM
Destination (12.12). To enable the drive to act on the
11.04=102 Speed Reference
11.05=706 AC Line Voltage change in these cases, press RESET after writing the
11.06=106 Max Reference Limit new value.
11.07=105 Jog Speed
11.08=204 Accel Time Any new value is not saved however, and will be
11.09=205 Decel Time lost at power-off.
11.10=405 Current Limit
The keypad is ready to select another menu or
Then save, using procedure discussed in paragraph parameter.
8.3.3.

68
 10 Keypad, Displays, & Drive Parameters

INDEX Power On Key

display STATE

00.00 ACTION

DECISION
SELECT ?

required
menu

SELECT LevelSecurity Procedure

1 Security Procedure
required
or parameter
SET INDEX M
to xx.00
DATA (parameter)
display = PRESS MODE
parameter value

SET DATA TO 149

SET
FOR DATA
LEVEL 1, 200 M
to 149
FOR LEVEL 2—
PRESS MODE
PRESS MODE
READ READ WRITE
or
WRITE
? PRESS
MODE M

NO DATA YES Parameter is

FLASHING
accessible
unless controlled by
? programmable input
RO Parameter is RO
or R/W protected
by Security Code CHANGE
VALUE
R/W protected
New value
Follow Security is active
Procedure

PRESS
MODE M

SET INDEX
New value is LOST on power-off NO Store
new
YES
to xx.00 M
value (parameter)
? PRESS MODE

SET DATA
to 001
New value is RETAINED for next power-on PRESS
RESET

Figure 10-2.
Adjustment of Parameters and Level 1 Security

69
10 Keypad, Displays, & Drive Parameters

PROCEDURES FOR SELECTING AND 10.4.7 SAVING VALUES

CHANGING PARAMETERS
The following procedure saves the values of all
OPERATION KEYS DISPLAY parameters changed since the previous save. It will
WINDOW function in any of the 16 menus.
Select menu ▲ or Index, left of

▲
To Save the Value(s) Written
decimal point
Select parameter ▲ or ▼ Index, right of PROCEDURES FOR SAVING
decimal point WRITTEN VALUES
Read only — Data
Read/Write MODE, OPERATION KEYS DISPLAY
WINDOW
Change value then ▲ or ▼ Data
Select parameter Index, right of
only if display is
xx.00 ▼ decimal point
flashing
of any menu
—refer to 10.5
Change value MODE, Data Value
Enter new value MODE Data
to 001 then ▲ or ▼ = 001
then MODE
Store Reset

Value(s) saved
• If the parameter data flashes, the user can change
the value UNLESS the parameter has already been
configured to be controlled by a programmable
input.
• If the data does not flash, either the parameter is
RO or, if R/W, it is protected by security. The pro-
cedure for gaining access to parameters protected
by Level 1 security is given below.
If the Level 1 security code does not afford access
when applied, the parameter is protected by Level
3 security.
Visible parameters are always accessible to the
user to read only. Unless the Level 1 security code
is entered, most R/W parameters are not accessi-
ble to write.
A group of 24 parameters in Menus 1 to 6 plus
parameters 11.01 to 11.10, are immediately acces-
sible to write. These are listed in paragraph 10.5.1.

NOTE
These are not accessible if Level 3 security is
set. See paragraph 10.5.5.

70
 10 Keypad, Displays, & Drive Parameters

10.5 SECURITY 10.5.2 Level 1 Security to Access the

After selecting a parameter number and pressing Visible R/W Parameters (Figure 10-2)
MODE: • Select any menu
SECURITY PROCEDURES • ▲ or ▼ to set index to zero (xx.00)

10.5.1 Power On • Press mode M

A. The following visible parameters are immediately • ▲ or ▼ to write 149 in data

accessible, NOT protected by Level 1 or Level 2 (Level 1 security code) - PARTIAL ACCESS
security. • Press mode M
Visible R/W parameters are now accessible to
01.05 Inch reference write new values.
01.06 Maximum speed forward
01.09 Maximum speed reverse
01.11 Reference ‘ON’ 10.5.3 Level 2 Security to Access the
01.12 REVERSE selector Invisible R/W Parameters
01.13 INCH selector
(Figure 10-2)
02.04 Forward acceleration 1 • Select any menu
02.05 Forward deceleration 1
02.06 Reverse deceleration 1 • ▲ or ▼ to set index to zero (xx.00)
02.07 Reverse acceleration 1
• Press mode M
03.09 Speed loop P gain
• ▲ or ▼ to write 200 in data
(proportional)
03.10 Speed loop I gain (integral) (Level 2 security code) - FULL ACCESS
03.11 Speed loop D gain • Press mode M
(differential)
03.14 Feedback encoder scaling All R/W parameters are now accessible to
03.15 Maximum armature voltage write new values.
03.16 Maximum speed (scaling rpm)
03.17 IR compensation RO parameters can be read.

04.05 I limit Bridge 1

04.06 I limit Bridge 2 NOTE
Level 1 and Level 2 security entry is lost when
05.05 Maximum current ( scaled ) power is removed from the drive. It must be
reset after each power-up.
06.06 IR compensation 2
06.07 Back-emf set point
06.08 Maximum field current 1
06.10 Minimum field current

and 11.01 to 11.10 — User Menu 00

B. Of the rest of the parameters —

• RO - (read only) parameters are accessible
to be read.
• R/W - (read/write) parameters are read-only
until a Level 1 security code is entered.

71
10 Keypad, Displays, & Drive Parameters

10.5.4 To Enable Free Access • ▲ or ▼ to write any 3-digit number from 1 to 255
to ALL Parameters in data (excluding 149—the Level 1 security
code)
A. To remove security—
• Press mode M
• Power on
• Save (paragraph 10.4.7)
• ▲ or ▼ to set index to xx.00
There is now no access to any parameter, not even
• Press mode M to read only, until the assigned Level 3 code has
• ▲ or ▼ to write 200 in data (Level 2 security been entered.
code) B. Level 3 Security Access—

▲
plus ▲ or ▼ to set index to xx.00

▼
• Press mode M • or
plus ▲ or ▼ to set index to 11.17
▼

• or
▲

• Press mode M
• Press mode M • ▲ or ▼ to write the assigned code number in
data (Level 3 security code)
• ▼ to write 0
• Press mode M
If the parameters are now saved (paragraph
10.4.7), there is no protection for ANY parameter. The user now has access through Level 1 and 2
Security, one of which has to be entered next.

NOTE CAUTION
All parameters are accessible even after
power is removed and reapplied. When Level 3 security is set, you must
maintain access to your 3-digit assigned
code number. If you forget or lose this
B. To reinstate security—
number, the factory must be consulted for
Repeat the procedure in paragraph 10.5.4 but a means of retrieving the number.
make parameter 11.17=149, and save (paragraph
10.4.7).
See Appendix F for more details on Security.
10.5.5 Level 3 Security
An additional private security code, Level 3, is
available to the user. The code is user-programmable
from 1 to 255 except 149 (the Level 1 code). If
applied, the effect prevents access to all parameters
until the Level 3 code has been entered prior to enter-
ing the Level 1 or Level 2 code.
A. To assign a Level 3 security code number—
• Power up
• ▲ or ▼ to set index to xx.00
• Press mode M
• ▲ or ▼ to write 200 in data
(Level 2 security code)
• Press mode M
or plus ▲ or ▼ to set index to 11.17.
▼

•
Data display shows 149.
• Press mode M

72
 10 Keypad, Displays, & Drive Parameters

8.5.6 Basic Keypad/Display Operations

Parameter Value Setting

}
}

Used to move Parameter Menu Number

Used to move up or
left/right to get to MM.nn
down thru the selected
the menu number
menu
of interest. Example: 03.01 is % Set Speed x10
/ \
Menu 3 Parameter
Number 1

73
10 Keypad, Displays, & Drive Parameters

8.5.7 Changing a Parameter Value

}
}

Step 1 Step 2
Move up or down
thru a particular
Move left/right to
menu until that
get to the menu
parameter number
number of interest.
is indicated in the
INDEX

Step 3
Depress the Mode key to allow
you to MODIFY or change the
selected parameter value
shown in the DATA display -
the current VALUE should
flash*

* If DATA display does not flash either the parameter you are trying to
change is secured by a security password or is for display only. See 10.3
Drive Parameters.

74
 10 Keypad, Displays, & Drive Parameters

Step 4
Use the arrow keys to increase or
decrease to the desired value.
Note: In general, adjustments take
effect immediately.

Step 5
If done changing that parameter,
depress the MODE key to leave the
MODIFY mode. The DATA display
should now stop flashing.

75
10 Keypad, Displays, & Drive Parameters

10.6 MENU INDEX 10.6.2 Parameters—Names, Range &

The menu index lists the 16 different menus Default Values
available and a description of the function of the para- References in brackets (xx.xx) in the Default col-
meters associated with each menu. For detailed umn indicate parameters which default to other para-
description of parameters, refer to paragraph 10.7. meters.
Parameters shown in bold type are those which
10.6.1 Menus List are freely accessible only immediately after power-on.
MENU DESCRIPTION
NOTE
00 User Menu—to give fast access to the
most-used parameters Parameters shown with an asterisk (*) and
01 Speed Reference—selection of source highlighted in gray must be reset to the default
and limits shown if factory defaults are enacted. Refer
02 Acceleration and Deceleration Ramps to paragraph 10.4.2.
03 Speed Feedback Selection and Speed
Loop
04 Current — selection and limits Parameters at the end of each menu list in italic
05 Current Loop type are invisible. Refer to paragraphs 10.4 and 10.5.
06 Field Control
07 Analog Inputs and Outputs
08 Logic Inputs
09 Status Outputs
10 Status Logic & Fault Information
11 Miscellaneous
12 Programmable Thresholds
13 Digital Lock
14 MD21 System Set-up
15 Applications Menu 1
16 Applications Menu 2

76
 10 Keypad, Displays, & Drive Parameters

MENU 00 USER LIBRARY — QUANTUM III SETTINGS

REFER TO MENU 11
Contains ten parameters (00.01 to 00.10). The ACCESSED PARAMETER PARAMETER
user sets parameters 11.01 to 11.10 to any para- AT DESCRIPTION NUMBER
meter numbers most often required or used.
These can then be accessed directly through the
0.01 Armature Voltage 3.04
corresponding numbers 00.01 to 00.10, avoiding
0.02 Armature Current 5.02
the need to call up different menus. The parame- 0.03 Motor RPM 3.03
ters in this menu are accessible and are not pro- 0.04 Speed Reference 1.02
tected by Level 1 or Level 2 security. 0.05 AC Line Voltage 7.06
0.06 Max Speed 1.06
0.07 Jog Speed 1.05
0.08 Forward
Acceleration 2.04
Menu 01 Speed Reference — 0.09 Forward
Deceleration 2.05
Selection of source and limits 0.10 Current Limit 4.05

Number Description Range Type Default Security Comment

01.01 Pre-offset speed reference ±1000 RO None
01.02 Post-offset speed reference ±1000 RO None
01.03 Pre-ramp reference ±1000 RO None
01.04 Offset ±1000 R/W + 000 Level 1
01.05 Inch reference ±1000 R/W + 050 None
01.06 Maximum reference forward 0 to +1000 R/W +1000 None
01.07 Minimum reference forward 0 to +1000 R/W +000 Level 1
01.08 Minimum reference reverse -1000 to 0 R/W +000 Level 1
01.09 Maximum reference reverse (4Q)-1000 to 0 R/W -1000 None
(1Q)-1000 to 0 R/W 000 None
01.10 Bipolar reference selector (4Q) 0 or 1 R/W 1 Level 1
(1Q)0 or 1 R/W 0 Level 1
01.11 Reference ‘ON’ 0 or 1 R/W 0 None
01.12 REVERSE selector 0 or 1 R/W 0 None
01.13 INCH selector 0 or 1 R/W 0 None
01.14 Reference select 1 0 or 1 R/W 0 Level 2
01.15 Reference select 2 0 or 1 R/W 0 Level 2
01.16 Zero reference interlock 0 or 1 R/W 0 Level 2
01.17 Reference 1 ±1000 R/W (07.15) Level 2 TB1-03
01.18 Reference 2 ±1000 R/W +300 Level 2
01.19 Reference 3 ±1000 R/W (07.13) Level 2 TB1-06
01.20 Reference 4 ±1000 R/W (07.14) Level 2 TB1-07

77
10 Keypad, Displays, & Drive Parameters

MENU 02 ACCELERATION AND DECELERATION RAMPS

Number Description Range Type Default Security Comment

02.01 Post-ramp reference ±1000 RO None
02.02 Ramp enable 0 or 1 R/W 1 Level 1
02.03 Ramp hold 0 or 1 R/W 0 Level 1
02.04 Forward acceleration 1 0 to 1999 R/W + 050 None Accel
02.05 Forward deceleration 1 0 to 1999 R/W + 050 None Decel
02.06 Reverse deceleration 1 (4Q)0 to 1999 R/W + 050 None
(1Q )0 to 1999 R/W 000 None
02.07 Reverse acceleration 1 (4Q )0 to 1999 R/W + 050 None
(1Q )0 to 1999 R/W 000 None
02.08 Forward acceleration 2 0 to 1999 R/W +100 Level 2
02.09 Forward deceleration 2 0 to 1999 R/W +100 Level 2
02.10 Reverse deceleration 2 (4Q)0 to 1999 R/W +100 Level 2
(1Q)0 to 1999 R/W 000 Level 2
02.11 Reverse acceleration 2 (4Q)0 to 1999 R/W +100 Level 2
(1Q)0 to 1999 R/W 000 Level 2
02.12 Inch ramp rate 0 to 1999 R/W +100 Level 2 Jog Acc/Dec
* 02.13 Enable inch ramp 0 or 1 R/W 1 Level 2
02.14 Forward acceleration selector 0 or 1 R/W 0 Level 2
02.15 Forward deceleration selector 0 or 1 R/W 0 Level 2
02.16 Reverse deceleration selector 0 or 1 R/W 0 Level 2
02.17 Reverse acceleration selector 0 or 1 R/W 0 Level 2
02.18 Common ramp selector 0 or 1 R/W 0 Level 2
02.19 RESERVED 0 or 1 R/W 0 Level 2
* Refer to paragraph 10.4.2.

78
 10 Keypad, Displays, & Drive Parameters

MENU 03 SPEED FEEDBACK SELECTION AND SPEED LOOP

Number Description Range Type Default Security Comment

03.01 Final speed demand ±1000 RO None
03.02 Speed feedback ±1000 RO None
03.03 Speed readout ±1999 RO None Scaled by 3.16
03.04 Armature voltage ±1000 RO None
03.05 IR compensation output ±1000 RO None
03.06 Speed error ±1000 RO None
03.07 Speed loop output ±1000 RO None
03.08 Speed error integral ±1000 RO None
03.09 Speed loop P gain 0 to 255 R/W 080 None
03.10 Speed loop I gain 0 to 255 R/W 040 None
03.11 Speed loop D gain 0 to 255 R/W 0 None
03.12 Digital feedback selector 0 or 1 R/W 0 Level 1
* 03.13 AV analog feedback selector 0 or 1 R/W 1 Level 1
03.14 Feedback encoder scaling 0 to 1999 R/W + 419 None
* 03.15 Maximum armature voltage 0 to 1000 R/W + 500 None
03.16 Speed readout scaler 0 to 1999 R/W +1750 None
03.17 IR compensation 0 to 255 R/W 000 None
03.18 Hard speed reference ±1000 R/W (07.11) Level 2
03.19 Hard speed reference selector 0 or 1 R/W 0 Level 2
03.20 IR droop selector 0 or 1 R/W 0 Level 2
03.21 Ramp output selector 0 or 1 R/W 1 Level 2
03.22 Speed offset fine 0 to 255 R/W 128 Level 2
03.23 Zero speed threshold 0 to 255 R/W 16 Level 2
03.24 D-term source 1 to 3 R/W 1 Level 2
03.25 Speed error filter 0 to 255 R/W 128 Level 2
03.26 Tachometer input ±1000 RO None
03.27 Speed feedback range 0 or 1 RO 0 None
03.28 Speed Loop Prop Gain Multiplier 0 or 1 R/W 0 None 1 = #3.09 x 4
03.29 Reduce PI Gains by 8 0 or 1 R/W 0 None
* Refer to paragraph 10.4.2.

79
10 Keypad, Displays, & Drive Parameters

MENU 04 CURRENT — SELECTION AND LIMITS

Number Description Range Type Default Security Comment

04.01 Current demand ±1000 RO None
04.02 Final current demand ±1000 RO None
04.03 Over-riding current limit ±1000 RO None
04.04 I limit (taper start point) 0 to 1000 R/W +1000 Level 1
04.05 I limit Bridge 1 0 to 1000 R/W +1000 None
04.06 I limit Bridge 2 0 to 1000 R/W +1000 None
04.07 I limit 2 0 to 1000 R/W +1000 Level 2
04.08 Torque reference ±1000 R/W +000 Level 2
04.09 Current offset ±1000 R/W +000 Level 2
04.10 I limit 2 selector 0 or 1 R/W 0 Level 2
04.11 Current offset selector 0 or 1 R/W 0 Level 2
04.12 Mode bit 0 0 or 1 R/W 0 Level 2
04.13 Mode bit 1 0 or 1 R/W 0 Level 2
04.14 Quadrant 1 enable 0 or 1 R/W 1 Level 2
04.15 Quadrant 2 enable Regen (4Q) 0 or 1 R/W 1 Level 2
Non Regen (1Q) 0 or 1 R/W 0 Level 2
04.16 Quadrant 3 enable Regen (4Q) 0 or 1 R/W 1 Level 2
Non Regen (1Q) 0 or 1 R/W 0 Level 2
04.17 Quadrant 4 enable Regen (4Q) 0 or 1 R/W 1 Level 2
Non Regen (1Q) 0 or 1 R/W 0 Level 2
04.18 Enable Auto-I-limit-change 0 or 1 R/W 0 Level 2
04.19 Current limit timer 0 to 255 R/W 000 Level 2
04.20 Current taper 1 threshold 0 to 1000 R/W +1000 Level 2
04.21 Current taper 2 threshold 0 to 1000 R/W +1000 Level 2
04.22 Current taper 1 slope 0 to 255 R/W 000 Level 2
04.23 Current taper 2 slope 0 to 255 R/W 000 Level 2
04.24 Taper 1 threshold exceeded 0 or 1 RO None
04.25 Taper 2 threshold exceeded 0 or 1 RO None

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 10 Keypad, Displays, & Drive Parameters

MENU 05 CURRENT LOOP

Number Description Range Type Default Security Comment

05.01 Current feedback ±1000 RO None
05.02 Current feedback (amps) ±1999 RO None
05.03 Firing angle 277 to 1023 RO None
05.04 Slew rate limit 0 to 255 R/W 040 Level 1
05.05 Current readout scaler 0 to 1999 R/W (rating) None
05.06 Overload threshold 0 to 1000 R/W + 700 Level 1
05.07 Overload time (heating) 0 to 255 R/W 030 Level 1
05.08 Overload time (cooling) 0 to 255 R/W 050 Level 1
05.09 Enable start-up auto-tune 0 or 1 R/W 0 Level 1
05.10 Reduced endstop 0 or 1 R/W 0 Level 2
05.11 Overload integrator 0 to 1999 RO None
† 05.12 Discontinuous I gain 0 to 255 R/W 16 Level 2
† 05.13 Continuous P gain 0 to 255 R/W 16 Level 2
† 05.14 Continuous I gain 0 to 255 R/W 16 Level 2
† 05.15 Motor constant 0 to 255 R/W 25 Level 2
05.16 Reserved 0 to 255 R/W 0 Level 2
05.17 Inhibit firing 0 or 1 R/W 0 Level 2
05.18 Standstill enable 0 or 1 R/W 1 Level 2
* 05.19 Standstill mode 0 or 1 R/W 1 Level 2
05.20 Direct firing-angle control 0 or 1 R/W 0 Level 2
05.21 Bridge lockout enable (4q12p) 0 or 1 R/W 0 Level 2
05.22 Disable adaptive control 0 or 1 R/W 0 Level 2
05.23 Enable (1q 12p) 0 or 1 R/W 0 Level 2
05.24 Series 12P operation 0 or 1 R/W 0 Level 2
05.25 Parallel 12P operation 0 or 1 R/W 0 Level 2
05.26 Extra-safe bridge lockout 0 or 1 R/W 0 Level 2
05.27 Continuous autotune 0 or 1 R/W 0 Level 1
05.28 Reduce hysteresis on
bridge changeover 0 or 1 R/W 0 Level 1
05.29 Burden resistor change bit 0 or 1 R/W 0 Level 1
* Refer to paragraph 10.4.2.
† Adjusted during auto tune.

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10 Keypad, Displays, & Drive Parameters

MENU 06 FIELD CONTROL

Number Description Range Type Default Security Comment

06.01 Back-emf 0 to 1000 RO None
06.02 Field-current demand 0 to 1000 RO None
06.03 Field-current feedback 0 to 1000 RO None
06.04 Firing angle 261 to 1000 RO None
06.05 IR compensation 2 output ±1000 RO None
06.06 IR compensation 2 0 to 255 R/W 000 None
* 06.07 Back emf set point 0 to 1000 R/W +1000 None
06.08 Maximum field current 0 to 1000 R/W +1000 None Full field
06.09 Maximum field current1 0 to 1000 R/W +500 None Field economy
06.10 Minimum field current 0 to 1000 R/W +500 None w/ field weakening
06.11 Field feedback scaling1 0 to 255 R/W 204 Level 1
06.12 Field economy time-out 0 to 255 R/W 030 Level 1
06.13 Enable field control 0 or 1 R/W 0 Level 1 Enables field
06.14 Maximum field 2 selector 0 or 1 R/W 0 Level 1
* 06.15 Enable field economy time-out 0 or 1 R/W 1 Level 1
06.16 Field current loop gain selector 0 or 1 R/W 1 Level 1
06.17 Voltage loop integral gain 0 or 1 R/W 0 Level 1
06.18 Enable speed gain adjustment 0 or 1 R/W 0 Level 2
06.19 Direct firing angle control 0 or 1 R/W 0 Level 2
06.20 Select alternative IR Comp. 1 0 or 1 R/W 0 Level 2
* 06.21 Firing angle front endstop 0 to 1000 R/W +815 Level 2
06.22 Full or half control 0 or 1 R/W 0 Level 2
(FXM5 field control only)
06.23 Reduce gain by 2 0 or 1 R/W 0 Level 1
06.24 Reduce gain by 4 0 or 1 R/W 0 Level 1
* Refer to paragraph 10.4.2.
1 Range values dependent on MDA-3 revision number

NOTE
This menu is for size 1 Quantums 9500-8X02 thru 9500-8X06 or for Quantums that use the FXM5 Field
Controller with ribbon control cable.

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 10 Keypad, Displays, & Drive Parameters

MENU 07 ANALOG INPUTS AND OUTPUTS

Number Description Range Type Default Security Comment

07.01 General-purpose input 1 ±1000 RO None TB1-04
07.02 General-purpose input 2 ±1000 RO None TB1-05
07.03 General-purpose input 3 ±1000 RO None TB1-06
07.04 General-purpose input 4 ±1000 RO None TB1-07
07.05 Speed reference input ±1000 RO None TB1-03
07.06 RMS input voltage 0 to 1000 RO None AC line
07.07 Heatsink temperature 0 to 1000 RO None Celsius
07.08 DAC 1 source 0 to 1999 R/W + 201 Level 1 Ramped ref.
07.09 DAC 2 source 0 to 1999 R/W + 302 Level 1 Spd F/B
07.10 DAC 3 source 0 to 1999 R/W + 304 Level 1 Arm V
@ 07.11 GP1 destination 0 to 1999 R/W +318 Level 2 Hard ref.
@ *07.12 GP2 destination 0 to 1999 R/W +408 Level 2 Torq ref.
@ *07.13 GP3 destination 0 to 1999 R/W 119 Level 2 Ref. 3
@ 07.14 GP4 destination 0 to 1999 R/W +120 Level 2 Ref. 4
07.15 Speed destination 0 to 1999 R/W +117 Level 2 Ref. 1
07.16 GP1 scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.17 GP2 scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.18 GP3 scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.19 GP4 scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.20 Speed reference scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.21 DAC1 scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.22 DAC2 scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.23 DAC3 scaling 0 to 1999 R/W +1000 Level 2 x1.000
07.24 Reference-encoder scaling 0 to 1999 R/W +419 Level 2
07.25 Encoder reference selector 0 or 1 R/W 0 Level 2
07.26 Current input selector 0 or 1 R/W 0 Level 2
07.27 Current sense inverter 0 or 1 R/W 0 Level 2
07.28 4mA offset selector 0 or 1 R/W 1 Level 2
07.29 Invert sign GP3, GP4 0 or 1 R/W 0 Level 1
@ See appendix D
* Refer to paragraph 10.4.2.

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10 Keypad, Displays, & Drive Parameters

MENU 08 PROGRAMMABLE LOGIC INPUTS

Number Description Range Type Default Security Comment

08.01 F1 input — run permit 0 or 1 RO None
08.02 F2 input — inch reverse 0 or 1 RO None
In use
08.03 F3 input — inch forward 0 or 1 RO None by
Quantum
08.04 F4 input — run reverse 0 or 1 RO None
08.05 F5 input — run forward 0 or 1 RO None
08.06 F6 input 0 or 1 RO None Ext. trip
08.07 F7 input 0 or 1 RO None
08.08 F8 input 0 or 1 RO None Free for
08.09 F9 input 0 or 1 RO None Customer use

08.10 F10 input 0 or 1 RO None

08.11 Enable input 0 or 1 RO None In use
* 08.12 F2 destination 0 to 1999 R/W +111 Level 2 Run
* 08.13 F3 destination 0 to 1999 R/W +113 Level 2 Jog
* 08.14 F4 destination 0 to 1999 R/W +112 Level 2 Fwd/Rev
* 08.15 F5 destination 0 to 1999 R/W +115 Level 2 Spd 1/Spd 3
* 08.16 F6 destination 0 to 1999 R/W +1034 Level 2 Ext. trip
08.17 F7 destination 0 to 1999 R/W +000 Level 2
08.18 F8 destination 0 to 1999 R/W +000 Level 2 Free for
08.19 F9 destination 0 to 1999 R/W +000 Level 2 Customer use

08.20 F10 destination 0 to 1999 R/W +000 Level 2

* 08.21 Disable normal logic functions 0 or 1 R/W 1 Level 2 In use
08.22 Invert F2 input 0 or 1 R/W 0 Level 2
08.23 Invert F3 input 0 or 1 R/W 0 Level 2
08.24 Invert F4 input 0 or 1 R/W 0 Level 2
08.25 Invert F5 input 0 or 1 R/W 0 Level 2
08.26 Invert F6 input 0 or 1 R/W 0 Level 2
08.27 Invert F7 input 0 or 1 R/W 0 Level 2
08.28 Invert F8 input 0 or 1 R/W 0 Level 2
08.29 Invert F9 input 0 or 1 R/W 0 Level 2
08.30 Invert F10 input 0 or 1 R/W 0 Level 2
08.31 Enable inch reverse 0 or 1 R/W 0 Level 2
08.32 Enable inch forward 0 or 1 R/W 0 Level 2
08.33 Enable run reverse 0 or 1 R/W 0 Level 2

08.34 Enable run forward 0 or 1 R/W 0 Level 2

* Refer to paragraph 10.4.2.
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 10 Keypad, Displays, & Drive Parameters

MENU 09 STATUS OUTPUTS - OPEN COLLECTOR AND RELAY OUTPUT

Number Description Range Type Default Security Comment

09.01 Status 1 output 0 or 1 RO None
09.02 Status 2 output 0 or 1 RO None
09.03 Status 3 output 0 or 1 RO None
09.04 Status 4 output 0 or 1 RO None
09.05 Status 5 output 0 or 1 RO None
09.06 Status 6 output (relay) 0 or 1 RO None
09.07 Status 1 source 1 0 to 1999 R/W +111 Level 2
09.08 Invert status 1 source 1 0 or 1 R/W 0 Level 2
09.09 Status 1 source 2 0 to 1999 R/W 000 Level 2
09.10 Invert status 1 source 2 0 or 1 R/W 0 Level 2
09.11 Invert status 1 output 0 or 1 R/W 0 Level 2
09.12 Status 1 delay 0 to 255 sec R/W 0 Level 2
09.13 Status 2 source 1 0 to 1999 R/W +1007 Level 2 At Speed
09.14 Invert status 2 source 2 0 or 1 R/W 0 Level 2
09.15 Status 2 source 2 0 to 1999 R/W 000 Level 2
09.16 Invert status 2 source 2 0 or 1 R/W 0 Level 2
09.17 Invert status 2 output 0 or 1 R/W 0 Level 2
09.18 Status 2 delay 0 or 255 sec R/W 0 Level 2
09.19 Status 3 source 0 to 1999 R/W +1013 Level 2 In overload
09.20 Invert status 3 output 0 or 1 R/W 0 Level 2
09.21 Status 4 source 0 to 1999 R/W +1003 Level 2 In current limit
09.22 Invert status 4 output 0 or 1 R/W 0 Level 2
09.23 Status 5 source 0 to 1999 R/W +1006 Level 2 Phased back
* 09.24 Invert status 5 output 0 or 1 R/W 1 Level 2
09.25 Status 6 source (relay) 0 to 1999 R/W +1009 Level 2 At zero speed
09.26 Invert status 6 output 0 or 1 R/W 0 Level 2

* Refer to paragraph 10.4.2.

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10 Keypad, Displays, & Drive Parameters

MENU 10 DRIVE STATUS, FAULT INFORMATION, FAULT MONITORS

Number Description Range Type Default Security Comment

10.01 Forward velocity 0 or 1 RO None
10.02 Reverse velocity 0 or 1 RO None
10.03 Current limit 0 or 1 RO None In current limit
10.04 Bridge 1 enabled 0 or 1 RO None
10.05 Bridge 2 enabled 0 or 1 RO None
10.06 Electrical phase-back 0 or 1 RO None
10.07 At speed 0 or 1 RO None
10.08 Overspeed 0 or 1 RO None
10.09 Zero speed 0 or 1 RO None At zero speed
10.10 Armature voltage clamp active 0 or 1 RO None
10.11 Phase rotation 0 or 1 RO None
10.12 Drive normal 0 or 1 RO None Drive OK
10.13 Alarm I x t 0 or 1 RO None In overload
10.14 Field loss 0 or 1 RO None
10.15 Feedback loss 0 or 1 RO None
10.16 Phase loss 0 or 1 RO None
10.17 Instantaneous trip 0 or 1 RO None
10.18 Sustained overload 0 or 1 RO None
10.19 Processor 1 watchdog 0 or 1 RO None
10.20 Processor 2 watchdog 0 or 1 RO None
10.21 Motor overtemperature 0 or 1 RO None
10.22 Heatsink overtemperature 0 or 1 RO None
10.23 Speed loop saturated 0 or 1 RO None
10.24 Zero current limit 0 or 1 RO None
10.25 Last trip 0 to 255 RO None
10.26 The trip before last trip (10.25) 0 to 255 RO None Fault
10.27 The trip before 10.26 0 to 255 RO None history

10.28 The trip before 10.27 0 to 255 RO None

10.29 Disable field loss 0 or 1 R/W 0 Level 2
10.30 Disable feedback loss 0 or 1 R/W 0 Level 2
10.31 Disable phase loss 0 or 1 R/W 0 Level 2
10.32 Disable motor
overtemperature trip 0 or 1 R/W 1 Level 2

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 10 Keypad, Displays, & Drive Parameters

MENU 10 DRIVE STATUS, FAULT INFORMATION, FAULT MONITORS (CONT.)

Number Description Range Type Default Security Comment

10.33 Disable heatsink
overtemperature trip 0 or 1 R/W 0 Level 2
1 (For 9500-8X02,8X03)
10.34 External trip 0 or 1 R/W 0 Level 2
10.35 Processor 2 trip 0 to 255 R/W 0 Level 2
10.36 Disable current loop
loss trip 0 or 1 R/W 0 Level 2
10.37 Disable armature
open circuit trip 0 or 1 R/W 0 Level 2

MENU 11 MISCELLANEOUS
Number Description Range Type Default Security Comment
* 11.01 Parameter 00.01 0 to 1999 R/W Param. 3.04 None Arm voltage
* 11.02 Parameter 00.02 0 to 1999 R/W Param. 5.02 None Arm amps
* 11.03 Parameter 00.03 0 to 1999 R/W Param. 3.03 None Speed readout
* 11.04 Parameter 00.04 0 to 1999 R/W Param. 1.02 None Speed reference
* 11.05 Parameter 00.05 0 to 1999 R/W Param. 7.06 None AC line voltage
* 11.06 Parameter 00.06 0 to 1999 R/W Param. 1.06 None Speed limit
* 11.07 Parameter 00.07 0 to 1999 R/W Param. 1.05 None Jog speed
* 11.08 Parameter 00.08 0 to 1999 R/W Param. 2.04 None Accel time
* 11.09 Parameter 00.09 0 to 1999 R/W Param. 2.05 None Decel time
* 11.10 Parameter 00.10 0 to 1999 R/W Param. 4.05 None Bridge 1 I-limit
11.11 Serial address 0 to 99 R/W 001 Level 1
11.12 Baud rate 0 to 1 R/W 0 Level 1
11.13 Serial Mode 1 to 3 R/W 001 Level 1
11.15 Processor 1 version 0 to 255 RO None
11.16 Processor 2 version 0 to 255 RO None
11.17 Security code 3 0 to 255 R/W 149 Level 2 Default 149
11.18 Boot -up parameter 0 to 1999 R/W +000 Level 2
11.19 Serial programmable source 0 to 1999 R/W +000 Level 2
11.20 Serial scaling 0 to 1999 R/W +1000 Level 2 x1.000
11.21 LEDs byte 0 to 255 R/W Level 2
11.22 Disable normal LED functions 0 or 1 R/W 0 Level 2
11.23 Permissive for MDA6, Rev. 3 0 or 1 R/W 0 Level 2
11.24 Enable AC line dip ride through 0 or 1 R/W 0
* Refer to paragraph 10.4.2.

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10 Keypad, Displays, & Drive Parameters

MENU 12 PROGRAMMABLE THRESHOLDS

Number Description Range Type Default Security Comment

12.01 Threshold 1 exceeded 0 or 1 RO None
12.02 Threshold 2 exceeded 0 or 1 RO None
12.03 Threshold 1 source 0 to 1999 R/W + 302 Level 1 Speed feedback
12.04 Threshold 1 level 0 to 1000 R/W + 000 Level 1
12.05 Threshold 1 hysteresis 0 to 255 R/W 002 Level 1
12.06 Invert threshold 1 output 0 or 1 R/W 0 Level 1
12.07 Threshold 1 destination 0 to 1999 R/W + 000 Level 1
12.08 Threshold 2 source 0 to 1999 R/W + 501 Level 1 Arm current
12.09 Threshold 2 level 0 to 1000 R/W + 000 Level 1
12.10 Threshold 2 hysteresis 0 to 255 R/W 002 Level 1
12.11 Invert threshold 2 output 0 or 1 R/W 0 Level 1
12.12 Threshold 2 destination 0 to 1999 R/W + 000 Level 1

MENU 13 DIGITAL LOCK

Number Description Range Type Default Security Comment
13.01 Master counter value 0 to 1023 RO None
13.02 Slave counter value 0 to 1023 RO None
13.03 Master counter increment ±1000 RO None
13.04 Slave counter increment ±1000 RO None
13.05 Position error 0 to 255 RO None
13.06 Precision reference, lsb 0 to 255 R/W 000 Level 1
13.07 Precision reference, msb 0 to 255 R/W 000 Level 1
13.08 Position loop gain 0 to 255 R/W 025 Level 1
13.09 Position loop correction limit 0 to 1000 R/W + 010 Level 1
13.10 Enable digital lock 0 or 1 R/W 0 Level 1
13.11 Rigid lock selector 0 or 1 R/W 1 Level 1
13.12 Precision reference selector 0 or 1 R/W 0 Level 1
13.13 Precision reference latch 0 to 1 R/W 1 Level 1
13.14 Precision speed reference
(16 bit) 0 to 255 R/W 0 Level 1

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 10 Keypad, Displays, & Drive Parameters

MENU 14 OPTIONAL MD29 SET-UP PARAMETERS

Listed below are a group of parameters governing the operation of the MD-29 and MD-29AN
Co-Processors. Specific details about these parameters can be found in the MD29 Manual.

MD29 MD29AN (CT-Net Version)

General Purpose CT-Remote RS-232 Port General Purpose CTNet RS-232 Port
RS-485 Port Dedicated Programming RS-485 Port LAN Programming

Number Description Range Type Default Security Comment

14.01 ANSI Serial Address 1
14.02 RS485 Mode 1
14.03 RS485 Baud Rate 48 For modes 1, 5-9
14.04 Clock task time-base-mSec 0
14.05 CTNet Node ID (MD29AN only) 0
14.06 Auto-Run on Power-up Enable 1
14.07 Global Run-time Trip Enable 1
14.08 CT Remote I/O Trip Link Enable-RS-485 0 For CT Remote I/O Module
14.09 Enable Watchdog Trip 0
14.10 Enable Trip on Parameter Write Overrange 1 Recommend Enable
14.11 Disable Toolkit Communications 0 For DPL Toolkit Comms
14.12 Internal Advanced Position Controller Enable 0 Not Menu 13
14.13 I/O Link Synchronization 0 For CT Remote I/O Module
14.14 Encoder Timebase Select 0
14.16 Flash Memory Store Request 0
14.17 Drive —
> Drive Communications RS232 0

Note: These parameters take effect only after an For additional details on these parameters,
MD29 or Drive Reset or thru DPL code with the consult the MD29 Manual (Part # 0400-0027) or within
REINIT command. the help sections of the DPL toolkit.

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10 Keypad, Displays, & Drive Parameters

MENU 15 OPTIONAL APPLICATIONS MENU 1

Number Description Range Type Default Security Comment

15.01 RO variable 1 ±1999 RO None
15.02 RO variable 2 ±1999 RO None
15.03 RO variable 3 ±1999 RO None
15.04 RO variable 4 ±1999 RO None
15.05 RO variable 5 ±1999 RO None
15.06 Real R/W variable 1 ±1999 R/W + 000 Level 1
15.07 Real R/W variable 2 ±1999 R/W + 000 Level 1
15.08 Real R/W variable 3 ±1999 R/W + 000 Level 1
15.09 Real R/W variable 4 ±1999 R/W + 000 Level 1
15.10 Real R/W variable 5 ±1999 R/W + 000 Level 1
15.11 Integer R/W variable 1 0 to 255 R/W 000 Level 1
15.12 Integer R/W variable 2 0 to 255 R/W 000 Level 1
15.13 Integer R/W variable 3 0 to 255 R/W 000 Level 1
15.14 Integer R/W variable 4 0 to 255 R/W 000 Level 1
15.15 Integer R/W variable 5 0 to 255 R/W 000 Level 1
15.16 Integer R/W variable 6 0 to 255 R/W 000 Level 1
15.17 Integer R/W variable 7 0 to 255 R/W 000 Level 1
15.18 Integer R/W variable 8 0 to 255 R/W 000 Level 1
15.19 Integer R/W variable 9 0 to 255 R/W 000 Level 1
15.20 Integer R/W variable 10 0 to 255 R/W 000 Level 1
15.21 Bit variable 1 0 or 1 R/W 0 Level 1
15.22 Bit variable 2 0 or 1 R/W 0 Level 1
15.23 Bit variable 3 0 or 1 R/W 0 Level 1
15.24 Bit variable 4 0 or 1 R/W 0 Level 1
15.25 Bit variable 5 0 or 1 R/W 0 Level 1
15.26 Bit variable 6 0 or 1 R/W 0 Level 1
15.27 Bit variable 7 0 or 1 R/W 0 Level 1
15.28 Bit variable 8 0 or 1 R/W 0 Level 1
15.29 Bit variable 9 0 or 1 R/W 0 Level 1
15.30 Bit variable 10 0 or 1 R/W 0 Level 1
15.31 Bit variable 11 0 or 1 R/W 0 Level 1
15.32 Bit variable 12 0 or 1 R/W 0 Level 1
15.33 Bit variable 13 0 or 1 R/W 0 Level 1
15.34 Bit variable 14 0 or 1 R/W 0 Level 1

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 10 Keypad, Displays, & Drive Parameters

MENU 15 OPTIONAL APPLICATIONS MENU 1 (CONT.)

Number Description Range Type Default Security Comment

15.35 Bit variable 15 0 or 1 R/W 0 Level 1
15.36 Bit variable 16 0 or 1 R/W 0 Level 1
15.60 Ratio 1 wide integer
= 15.16 & 15.17 0 to 255 R/W 000 Level 1
15.61 Ratio 2 wide integer
= 15.16 & 15.17 0 to 255 R/W 000 Level 1
15.62 Serial mode 4 input data RO Level 1
15.63 Serial mode 4 output data RO Level 1

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10 Keypad, Displays, & Drive Parameters

MENU 16 OPTIONAL APPLICATIONS MENU 2

Number Description Range Type Default Security Comment

16.01 RO variable 1 ±1999 RO None
16.02 RO variable 2 ±1999 RO None
16.03 RO variable 3 ±1999 RO None
16.04 RO variable 4 ±1999 RO None
16.05 RO variable 5 ±1999 RO None
16.06 Real R/W variable 1 ±1999 R/W + 000 Level 1
16.07 Real R/W variable 2 ±1999 R/W + 000 Level 1
16.08 Real R/W variable 3 ±1999 R/W + 000 Level 1
16.09 Real R/W variable 4 ±1999 R/W + 000 Level 1
16.10 Real R/W variable 5 ±1999 R/W + 000 Level 1
16.11 Integer R/W variable 1 0 to 255 R/W 000 Level 1
16.12 Integer R/W variable 2 0 to 255 R/W 000 Level 1
16.13 Integer R/W variable 3 0 to 255 R/W 000 Level 1
16.14 Integer R/W variable 4 0 to 255 R/W 000 Level 1
16.15 Integer R/W variable 5 0 to 255 R/W 000 Level 1
16.16 Integer R/W variable 6 0 to 255 R/W 000 Level 1
16.17 Integer R/W variable 7 0 to 255 R/W 000 Level 1
16.18 Integer R/W variable 8 0 to 255 R/W 000 Level 1
16.19 Integer R/W variable 9 0 to 255 R/W 000 Level 1
16.20 Integer R/W variable 10 0 to 255 R/W 000 Level 1
16.21 Bit variable 1 0 or 1 R/W 0 Level 1
16.22 Bit variable 2 0 or 1 R/W 0 Level 1
16.23 Bit variable 3 0 or 1 R/W 0 Level 1
16.24 Bit variable 4 0 or 1 R/W 0 Level 1
16.25 Bit variable 5 0 or 1 R/W 0 Level 1
16.26 Bit variable 6 0 or 1 R/W 0 Level 1
16.27 Bit variable 7 0 or 1 R/W 0 Level 1
16.28 Bit variable 8 0 or 1 R/W 0 Level 1
16.29 Bit variable 9 0 or 1 R/W 0 Level 1
16.30 Bit variable 10 0 or 1 R/W 0 Level 1
16.31 Bit variable 11 0 or 1 R/W 0 Level 1
16.32 Bit variable 12 0 or 1 R/W 0 Level 1
16.33 Bit variable 13 0 or 1 R/W 0 Level 1
16.34 Bit variable 14 0 or 1 R/W 0 Level 1
16.35 Bit variable 15 0 or 1 R/W 0 Level 1
16.36 Bit variable 16 0 or 1 R/W 0 Level 1

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 10 Keypad, Displays, & Drive Parameters

10.7 DESCRIPTION OF PARAMETERS At this point in the control logic, the external
speed demand is compared with the chosen “actual”
Please refer to the parameter logic diagram, speed parameter to produce the speed error parame-
Figure 10-3, and the individual menu diagrams, ter. The source of the actual speed feedback can be
Figures 10-4 through 10-18. selected from one of two external sources, encoder or
A drive, as supplied from the factory, has a stan- tachometer, or from the internally-computed armature
dard setting for every parameter; this is its “default” voltage parameter 03.04.
value. The system of control is shown in its default The proportional, integral, and derivative (PID)
condition in Figure 10-3 before any control or configu- gains are then applied, followed by the four current-
ration changes have been applied. limiting parameters. Note that the default values of
In the default state and without altering any para- the PID parameters are values which are likely to be
meter, the drive operates a motor under speed and good for average loads, but that the default current
torque control. Minimum essential inputs are— limits are set at maximum. The rate of change of the
amplified speed error is finally limited if necessary by
• a speed reference (demand) at the slew rate parameter. By this stage, the speed
terminal TB1-3; demand has become a current demand, and is now
• a speed feedback—refer to parameters 03.12 summed algebraically with current feedback to gener-
and 03.13 to select type; ate the reference that controls the SCR bridge firing
angle. From the ramp to the firing angle there are
• a “drive enable” signal at terminal TB4-31; four interposed RO parameters for interrogation and
• a “run permit” signal at terminal TB3-21; to assist with precise modeling of the control system.

• a “drive run” signal at terminal TB3-25. In addition, the most significant factors of drive
condition are available from status bits (refer to Menu
The final output of the logic is to define the firing 10, paragraph 10.7.10).
angle, upon which depends the output voltage to the
armature. External inputs (extreme left), parameter The purpose and application of the different
values, and selectors contribute to the final value of menus and of each individual parameter is explained
the firing angle parameter. in Paragraphs 10.7.0 through 10.7.16.

The most significant value in normal operation is

the speed reference. The figure shows that the exter-
nal speed demand finally controls the firing angle, but
that it may be modified several times and in different
ways by other factors.
The first selectable setting enables the speed
reference input signal to be configured as a bipolar
signal if required (#1.10). This is followed by a selector
option which controls the dynamics of the speed refer-
ence signal, and enables the operator rapidly to com-
municate “run”, “inch/jog”, “forward”, “reverse”, and
“stop” signals.
Control of reversal of direction should follow, and
after that a selector which provides a “stop” signal by
imposing a “zero speed” demand. Up to this stage
there are also three read-only (RO) parameters,
01.01, 01.02, and 01.03, enabling the input signal
state at each point to be displayed.

93
10 Keypad, Displays, & Drive Parameters

Parameter Logic Overview

Figure 10-3.

94
 10 Keypad, Displays, & Drive Parameters

NOTE
10.7.1 MENU 01—Speed Reference
In the following descriptions, parameters There are four speed reference inputs—parame-
shown with an asterisk (*) must be reset to the ters 01.17, 01.18, 01.19, and 01.20. Each of the four
default shown if factory defaults are enacted. can be set from +1000 forward to -1000 reverse with
They are not affected when power on defaults 1000 representing full speed. Parameter 01.17 is
are selected. Refer to paragraph 10.4.2. defaulted to TB1-3 through a 12-bit D/A. This is the
normal analog speed reference input. The other
three inputs can be set digitally through the keypad or
10.7.0 MENU 00—User Menu serial communication, or they will accept analog
inputs that are scaled and converted through 10-bit
This menu allows any 10 parameters from any D/A converters. Refer to menu 8, analog inputs.
menu to be combined in menu 00. They can be moni- Parameters 01.14 and 01.15 control the selection of
tored, written to, and are not protected by security. the four references as the source speed reference.
These parameters are defined in menu 11. The selected reference can then be modified by
adding offset (01.04), selecting bipolar operation
The following parameters have been pro-
(01.10), and setting minimum and maximum limits for
grammed to this menu at the factory. They may be
both forward and reverse operation (01.06 through
changed at any time:
01.09).

ACCESSED PARAMETER PARAMETER Reversing for regenerative drives is achieved by

AT DESCRIPTION NUMBER switching parameter 01.12. Inch or jog speed is acti-
vated by 01.13 and set by 01.05. The speed refer-
ence at source 01.01 is the input to the zero
0.01 Armature Voltage 3.04 reference interlock 01.16, which (when selected,
0.02 Armature Current 5.02 01.16=1) inhibits the drive starting until the speed ref-
0.03 Motor RPM 3.03 erence is close to zero. This, in effect, simulates a
0.04 Speed Reference 1.02 speed potentiometer with a zero speed interlock.
0.05 AC Line Voltage 7.06
0.06 Max Speed 1.06 The availability of four selective speed refer-
0.07 Jog Speed 1.05 ences offers great flexibility when interfacing with
0.08 Forward other drives or process equipment.
Acceleration 2.04
0.09 Forward See Figure 10-4 for details of menu 01.
Deceleration 2.05
0.10 Current Limit 4.05
01.01 RO Pre-offset speed reference
Range ±1000
Monitors the value of the speed reference continuous-
ly. Parameter 01.01 is also used to initiate the zero
speed reference interlock, 01.16. This is the value
applied at TB1-3--the speed reference input.

01.02 RO Post-offset speed reference

Range ±1000
Monitors the value of the speed reference after the
offset, 01.04, has been added.

01.03 RO Pre-ramp reference

Range ±1000
The final speed reference before any ramp rates are
applied (refer to Menu 02).

95
 SPEED PRE-RAMP
REF. REF.

RUN PERMIT
08.01
TB3-21
Zero ref.
interlock Ref.
01.16 01.11
‘ON’
SPEED Ref. Ref. Bipolar
REFERENCE select select select
1 2 01.10 REFERENCE
01.14 01.15 LIMITS

01.06 Max. fwd.

Offset Inch Rev.
REF 1 01.17 01.07 Min. fwd.
01.04 01.13 01.12 01.08 Min. rev.
0 Pre-offset Post-offset
speed speed 01.09 Max. rev.
1 reference reference
REF 2 01.18

96
0 0 PRE-RAMP
01.01 01.02 REFERENCE
REF 3 01.19 1 1 0 0
0 1 1 1
x (-1) 01.03
1
0
REF 4 01.20
Inch
ref.
01.05
10 Keypad, Displays, & Drive Parameters

KEY

R/W logic

R/O logic

Internal logic

Invisible parameters are in italics, eg 01.14.

Figure 10-4.
Menu 01—Speed Reference Selection & Limits
 10 Keypad, Displays, & Drive Parameters

01.04 R/W Offset 01.10 R/W Bipolar selector

Range ±1000 In its normal state (= 1) allows the drive to respond to
The analog reference offset is a programmable speed a bipolar analog speed reference (01.02) in which
demand term added to the speed reference value case the direction of rotation is determined by the
01.01. It is a speed trim input, for example, from a bipolar signal. Positive polarity causes forward rota-
dancer arm in tension control, or can be used to set a tion; negative polarity, reverse. Reversal of direction
‘creep’ or minimum speed. is then possible by 01.12 (in a four-quadrant drive).
Default + 000 When 01.10 = 0 the drive responds in a unipolar
mode, negative-polarity signals being treated as a
zero speed demand.
01.05 R/W Inch/Jog reference Default — 4Q 1, bipolar mode
Range ±1000 Default — 1Q 0, unipolar mode
Becomes the source of speed reference when select-
ed by 01.13 (controlled in default by terminals TB3-22
and TB3-23). It provides the means to set a speed 01.11 R/W Reference ‘ON’
demand different from (and usually less than) the ordi- Applies the speed reference to 01.03, pre-ramp refer-
nary speed reference. Must be less than the limit set ence. Defaults to zero if terminal TB3-21 (Run permit)
by 01.06 and 01.09. Used for internal jog speed refer- is de-activated. Cannot be set to 1 unless terminal
ence. TB3-21 is activated. Is also subject to the status of
Default + 050 the normal logic functions — refer to Menu
08. Controlled in default by terminals TB3-22, TB3-23,
TB3-24, TB3-25
01.06 R/W Max. Speed Forward Limit Default 0, no speed reference
Range 0 to +1000
Sets the upper limit of speed in the forward direction
of rotation. 01.12 R/W Run/Jog Reverse selector
Default +1000 Reverse select inverts the polarity of the run speed
reference signal and the inch/jog signal. It has the
effect (in a four-quadrant drive) of reversing the sense
01.07 R/W Min. Speed Forward of the speed signal without regard to the nominal
Range 0 to +1000 direction of motor rotation. Default value 01.12 = 0,
Sets the lower limit of speed in the forward direction of inversion not applied. Controlled in default by termi-
rotation. This parameter is disabled if bipolar opera- nals TB3-22, TB3-23, TB3-24, and TB3-25.
tion is selected (01.10=1) to prevent oscillation Default 0, reverse not selected
between the forward and reverse minimum speeds
when the input speed reference is zero.
Default +000 01.13 R/W Inch/Jog selector
Inch/Jog select replaces all other speed demand ref-
erences with the inch/jog reference 01.05. Default
01.08 R/W Min. Speed Reverse value 01.13=0, normal speed reference
Range -1000 to 0 applied. Controlled in default by terminals TB3-22,
Sets the lower limit of speed in the reverse direction of TB3-23.
rotation. This parameter is disabled if bipolar opera- Default 0, inch not selected
tion is selected (01.10=1) to prevent oscillation
between the forward and reverse minimum speeds
when the input speed reference is zero. 01.14 R/W Reference selector 1
Default -000 Selects references 1 and 3 or references 2 and 4.
The two reference selectors 01.14 and 01.15 in com-
bination enable any one of the four speed references
01.09 R/W Max. Speed Reverse 01.17 to 01.20 to be selected.
Range -1000 to 0 Default 0
Sets the upper limit of speed in the reverse direction
of rotation.
Default -1000 (4Q)
000 (1Q)

97
10 Keypad, Displays, & Drive Parameters

01.15 R/W Reference selector 2

Selects references 1 and 2 or references 3 and 4.
The two reference selectors 01.14 and 01.15 in com-
bination enable any one of the four internal speed ref-
erences 01.17 to 01.20 to be selected.
Default 0

01.16 R/W Zero reference interlock

Inhibits the starting of the drive until the analog speed
reference, external or internal, is near to zero—
(≈1.5% of full speed). This capability is convenient in Not applicable to Quantum III, see Application
applications where, for safety or process reasons, the Notes Section at the end of this manual.
operator determines speed by observations of the
process—for example, extrusion, or traction drives.
This function simulates a potentiometer with a zero
speed interlock—except the drive will run after the pot
has been returned to zero, then given a ± reference.
Default 0, inhibit not applied

CAUTION

As soon as the reference becomes zero the

drive will become enabled. A preferred
method of accomplishing this function is
described in the rear of this manual in the
application note section.

01.17 R/W Ref #1

Defaulted to TB1-3, the external speed potentiometer
input, by parameter 07.15. Encoder reference can be
selected by parameter 7.25=1.

01.18 R/W Ref #2

Default to internal speed reference.
Default +300

01.19 R/W Ref #3

Defaulted to TB1-5, analog input, by parameter 07.12.

01.20 R/W Ref #4

Defaulted to TB1-6, analog input, by parameter 07.13.

98
 10 Keypad, Displays, & Drive Parameters

10.7.2 MENU 02—Ramps 02.04 02.05 02.06 02.07 R/W

GROUP 1 Fwd. Accel & Decel., Rev. Decel & Accel
Refer to Figure 10-5. Range 0 to 1999 tenths of seconds
Defines the time taken to accelerate from zero speed
The options available for setting ramps are:
to maximum speed, or to decelerate from maximum
1. No ramps at all, bypassing the ramp functions. speed to zero speed as appropriate (01.03=1000).
Each parameter is individually settable.
2. A selection of forward and reverse ramps for nor- Default +050 = 5 sec
mal run conditions and an optional separate ramp
for inching.
02.08 02.09 02.10 02.11 R/W
The arrangement for selecting running ramps GROUP 2 Fwd. Accel & Decel., Rev. Decel & Accel
gives the maximum flexibility. There are two possible Range 0 to 1999 tenths of seconds
ramp values available for each mode of operation, Defines the time taken to accelerate from zero speed
e.g., forward accelerations 1 and 2, forward decelera- to maximum speed, or to decelerate from maximum
tions 1 and 2, and so on. A common ramp selector speed to zero speed as appropriate (01.03=1000).
enables switching between the two groups (all the 1s Each parameter is individually settable.
or all the 2s). Also, it is possible to change ramps 1 Default +100 = 10 sec
and 2 of any quadrant within the common selection. See Appendix E
Ramp selectors may be controlled by any of the logic
programmable inputs. 02.12 R/W Inch/Jog Ramp Rate
Range 0 to 1999 tenths of seconds
To activate the inch ramp, a “select” signal is To select, 02.13=1. Defines the rate of acceleration
required from 01.13 in addition to the “enable” function and deceleration when the Inch/Jog reference is
02.13. The time of all the selected ramps can be selected (01.13=1).
increased by a factor of 10 by parameter 02.19. Default +100=10 sec

The ramp operation can be interrupted by the

ramp hold parameter, which holds the ramp output at *02.13 R/W Enable Inch/Jog Ramp
its present value when set to 1. Ramp disable over- Selects a dedicated ramp rate (defined by 02.12)
rides this feature. when inching or jogging. If not selected, the normal
ramps 02.04 through to 02.11 are used for inching
The value of the speed reference signal after the and jogging as well as running.
ramp is monitored by the post-ramp reference. Default 1, enable = Quantum III factory setting
0 (factory default)

02.01 RO Post-ramp Reference

Range ±1000rpm 02.14 02.15 02.16 02.17 R/W
Monitors the value of the speed reference after it has Fwd. Accel & Decel., Rev. Decel & Accel—Select
bypassed or been modified by the ramps selected. from Group 1 or 2
These selectors enable ramps to be chosen from
either of the two groups at will. This permits individual
02.02 R/W Ramp Enable acceleration and/or deceleration rates to be changed
Activates ramp functions. If set to disable, makes the on receipt of an appropriate command.
post-ramp speed reference 02.01 equal to the pre- Default 0, Ramp 1
ramp speed reference 01.03, effectively bypassing all
ramp functions.
Default 1, enabled 02.18 R/W Common Ramp Select
Enables selection between all ramps of Group 1 (if
02.14 to 02.17 = 0), or all of Group 2.
02.03 R/W Ramp Hold Default 0, Group 1
Holds the ramp output at its present value when set to
1. By using a programmable input to control this para-
meter, the speed of the drive may be controlled from 02.19 R/W Ramp Scaling
‘increase’ and ‘decrease’ pushbuttons instead of a When set to 1, all ramps are multiplied by 10.
potentiometer or other continuously-variable reference Default 0
source, thus simulating a “MOP” function.
Default 0
*Refer to paragraph 10.4.2.

99
 PRE-RAMP POST-RAMP
SPEED REF. SPEED REF.
Common ramp selector 02.18

Fwd. accel. select 02.14

Default accel Fwd. accel. 1 02.04
0
FORWARD ACCELERATION 1 0
1
Fwd. accel. 2 02.08
Fwd. decel. select 02.15
Default decel Fwd. decel. 1 02.05
0
FORWARD DECELERATION 1 0
1
Fwd. decel. 2 02.09
Rev. decel. select 02.16
Rev. decel. 1 02.06
0
REVERSE DECELERATION 1 0
1 Enable
Rev. decel. 2 † 02.10 inch KEY

100
ramp Ramp Ramp
Rev accel. select 02.17 x 10 enable R/W logic
02.13
Rev. accel. 1 02.07 & 02.19 02.02
0 01.13 R/O logic
Inch
REVERSE ACCELERATION 1 0 select Internal logic
1
Rev. accel. 2 † 02.11 & Logic ‘and’
x 10
PRE-RAMP 0 1
REFERENCE Jog ramp rate
10 Keypad, Displays, & Drive Parameters

* 1 0
Inch ramp rate 02.12
Ramp 02.03 POST-RAMP
hold REFERENCE
01.03
1
Standstill enable 5.18 02.01
0
Spd >= 0.8% 10.09

Invisible parameters are in italics, eg 02.08.

* See appendix E Figure 10-5.

Menu 02—Ramp Selection
 10 Keypad, Displays, & Drive Parameters

10.7.3 MENU 03 — 03.02 RO Speed Feedback

Feedback Selection and Range ±1000
Monitors the value of the speed feedback, derived
Speed Loop from one of the following three sources — encoder,
tachometer, or armature voltage. The selection of
Refer to Figure 10-6.
feedback is controlled by 03.12 and 03.13.
The primary inputs are the post-ramp reference
02.01 and the hard speed reference (03.18). Final
speed demand (03.01) can be either of these inputs or 03.03 RO Displayed Speed Feedback
a summation of both. The selected input can be modi- Range ±1999rpm
Scaled value of motor speed feedback for external
fied by the addition of an offset, which may be zero.
information. Requires correct setting of 03.16, maxi-
The result of this summation is the final speed mum speed scaler.
demand (03.01) which is added algebraically to the
speed feedback to become the speed error
(03.06). The speed error is finally proportioned by the 03.04 RO Armature Voltage
PID function to become the speed loop output (03.07). Range ±1000 (direct reading in Volts)
Monitors the value of armature volts.
Speed feedback is derived from one of three
possible sources— encoder, tachometer, or armature
voltage. Whichever source is selected becomes the 03.05 RO IR Compensation Output
speed feedback (03.02). The selection is controlled Range ±1000
by 03.12 and 03.13. The value is used for the closed- The result of selected value of IR compensation
loop speed control of the motor. Scaling of the (03.17) acting on the speed loop integral output.
encoder signal is set by 03.14, and of the armature
voltage feedback is controlled by the setting of maxi-
mum armature voltage 03.15. A potentiometer is pro- 03.06 RO Speed Error
vided for scaling the tachometer feedback signal. The Range ±1000
The result of the summation of the final speed
speed feedback 03.02 is summed with the final speed
demand and the speed feedback, after filtering.
demand 03.01 at the speed loop summation point. If
the armature voltage is selected, it is first summed
with the IR compensation (03.05) which is derived 03.07 RO Speed Loop Output
from the integral function of the speed error and the IR Range ±1000
compensation factor. It is then either added to or sub- Speed demand forward to become current demand
tracted from the scaled armature voltage feedback (menu 04).
according to whether IR compensation or IR droop is
selected.
03.08 RO Speed Error Integral
The armature voltage feedback is passed to a Range ±1000
comparator to provide a voltage clamp, used internally The integrated value of the speed error 03.06. Used
to prevent armature overvoltage. This clamp is used as input to the IR compensation calculation when
only if the armature voltage has NOT been selected using armature voltage feedback (AVF).
as the feedback. Parameter 03.15 becomes the
clamp level.
The speed feedback value is used for two further
purposes — to supply a speed indication in rpm, and
to indicate zero speed.

03.01 RO Final Speed Demand

Range ±1000
Monitors the value of the speed reference after it has
bypassed or been modified by the ramps and/or by
the hard speed reference (03.18) and speed offset
fine (03.22). It is the speed reference which is sent to
the speed loop summation point.

101
10 Keypad, Displays, & Drive Parameters

03.09 R/W Speed Loop Proportional Gain 03.12 R/W Digital feedback selector
Range 0 to 255 Set to 1 to select encoder feedback. Set to 0 to select
The factor by which the speed error is multiplied to analog feedback.
produce the correction term. Default 0, analog feedback selected
value of 03.09
Factor =
8 * 03.13 R/W Armature Voltage / External Analog
Increasing this value increases both the system damp- Feedback Selector
ing and the transient speed response, and if made too Determines the type of analog speed feedback when
high for a given load the system will become unstable. 03.12 is set to 0. Set to 1 to select armature voltage
The optimum setting is the highest value possible feedback. Default setting selects analog feedback
before instability starts to occur. Optimum speed loop from a tachometer or equivalent external source con-
performance is achieved by judicious combination of nected to terminal TB1-09.
all three gains of the PID algorithm. Default 1, AVF selected = factory setting
Default 080 0 (drive default)

03.10 R/W Speed Loop Integral Gain 03.14 R/W Encoder Feedback Scaling
Range 0 to 255 Range 0 to 1999
The factor by which the speed error is multiplied to The value should be set to correspond with the maxi-
produce the correction term. mum speed of the motor and with the number of
lines-per-revolution of the encoder. To calculate the
6f x (03.10) scale factor —
Factor = 256 750 x 106
Scale factor = Nxn
where f = supply frequency where N = number of lines-per-revolu-
tion (encoder)
This term ensures zero speed error during steady and n = max speed of motor in rpm.
state load conditions Increasing the value increases The default value is determined on the basis of a
the rate of recovery after a disturbance. If the term is 1024-line encoder, and a maximum speed of
made too high, speed tends to oscillate instead of set- 1750rpm.
tling quickly. The optimum setting is the highest value Default + 419
possible before oscillation starts to occur. Optimum
speed loop performance is achieved by judicious com-
bination of all three gains of the PID algorithm. *03.15 R/W Maximum Armature Volts
Default 040 Range 0 to 1000
Defines the maximum voltage permitted to be applied
to the armature. When armature voltage is the select-
03.11 R/W Speed Loop Derivative Gain ed feedback (03.12 = 0 and 03.13 = 1), the max.
Range 0 to 255 armature voltage value is used for scaling the arma-
The factor by which the speed error is multiplied to ture voltage measurement so that speed feedback is
produce the correction term. There are three possible full scale at maximum voltage. An automatic scale
sources of input to this term—either final speed factor of 1.2 is applied to clamp the armature voltage
demand 03.01, speed feedback 03.02, or speed error feedback to 20% above maximum to allow for over-
03.06. The selector is 03.24. The derivative term is a shoot.
function of the rate of change of value of the input.
If the speed feedback is derived from an encoder or
If the input is the speed error 03.06, output is negative tachometer, the armature voltage is continuously
if speed error is increasing. This has a damping monitored, and a clamp is applied when the voltage
effect. exceeds that set in 03.15. This can be used to pre-
vent the voltage rising above a set level.
If the input is the final speed demand 03.01, output is
positive when the final speed demand is increasing. Default +500 = Quantum III factory setting
This is called "velocity feed forward”. +600 (drive default)
If the input is the speed feedback 03.02, output is neg-
ative if speed feedback is increasing. This also has a
damping effect, but dependent on the changing value
of the speed feedback only,not the speed reference. *Refer to paragraph 10.4.2.
Default 0

102
 10 Keypad, Displays, & Drive Parameters

03.16 R/W Speed Readout Scaler 03.20 R/W IR Droop Selector

If 03.20=1 when using armature voltage as the speed
Range 0 to 1999 feedback, speed will decrease as load increases.
Used only to scale the speed feedback so that the A typical application, for example, is a mechanical
value displayed in 03.03 is actual speed in rpm. The blanking press with a heavy flywheel. Applying IR
value applied to 03.16 should be the max. speed in droop prevents the drive from delivering a sudden
rpm (divided by ten if the maximum speed is increase of current at the moment of impact (sudden
>1999rpm); speed displayed in 03.03 is then rpm / 10. increase of torque demand). It is better that the
This does not affect motor speed. drive deliver energy to the flywheel during the whole
operating cycle rather than mostly at the moment of
If desired 3.03 could be scaled to readout machine impact.
speeds. Example: At 100% motor speed machine puts Default 0
out 250 bottles/min. Place 250 into #3.16.

Default + 1750 03.21 R/W Ramp Output Selector

When 03.21=1, Ramp output is added at the speed
loop summation point.
03.17 R/W IR Compensation Default 1
Range 0 to 255

Value of 03.05 = (03.08) x (03.17) 03.22 R/W Speed Offset Fine

2048
Range 0 to 255
This value is used to calculate the compensation Used as a fine trim on the speed reference signal to
needed for the resistive voltage-drop of the armature correct, or introduce, a small offset.
to improve speed control with varying loads when the 0 = maximum negative offset
selected speed feedback is the armature voltage. 256 = maximum positive offset
Default 128
IR compensation is a positive feedback, and may give
rise to instability if set too high. Furthermore, modern
laminated-frame motors have typically a rising load- 03.23 R/W Zero Speed Threshold
speed characteristic unsuited to armature voltage
feedback with IR compensation. IR compensation is Range 0 to 255
more suited to compound-wound motors with a flat The threshold may be adjusted to any value up to
(not rising) load-speed characteristic. 25.5% of maximum speed. Refer also to 10.09.
Default 16
The integral of the speed error is used as the input to
IR compensation rather than current feedback
because it has the least amount of ripple of the vari- 03.24 R/W Derivative Term Source
ables; in speed control, the value of the speed error Range 1,2, or 3
integral is the steady-state value of current demand. The derivative term of the PID in the speed loop may
Default 000 use one of three sources—

1=Speed error of 03.06

03.18 R/W Hard Speed Reference Damping changes in speed demand and feedback
Range ±1000
Speed reference fed into the speed loop without pass- 2=Speed reference 03.01
ing through the ramps. Velocity feed forward
Default (07.11)
3=Speed feedback 03.02
Damping on feedback only (“feedback forcing”).
03.19 R/W Hard Speed Reference Selector Default 1
If 03.19 is set to 1, and Ref “ON” (01.11) =1, the Hard
Speed reference (3.18) is added at the speed loop
summation point. For hard reference only, 03.21 must
= 0.
Default 0

103
 SPEED REF. SPEED LOOP
& FEEDBACK Ramp output OUTPUT
select
03.21
POST-RAMP
SPEED REF. 0 SPEED LOOP
Final OUTPUT
1 P.I.D.
02.01 Speed speed Speed
offset demand error 03.09
fine Filter 03.07
Hard Ref. 03.22 03.01 03.25 03.06 03.10
speed ‘ON’
ref. 01.11 03.11
select 1
03.19 2
0
Hard 1
0
speed 3
ref. 1 Differential
03.18 Digital term source 03.24
feedback Speed
select readout
Encoder 03.12 scaler
ENCODER scaling 03.16 Speed
Speed readout
03.14 feedback
1
03.02 Scaling 03.03
Armature voltage 0

104
analogue feedback
TACHO select 03.13 Zero speed
threshold
Zero
03.23 10.09 speed
03.26
0
1 KEY
IR droop
ARMATURE select R/W logic
VOLTAGE Speed
03.20 R/O logic
IR comp. error
10 Keypad, Displays, & Drive Parameters

03.04 Scaling output integral

IR comp. Internal logic
Max. arm. 1
03.05 03.17 03.08
voltage Comparator
0
03.15
Summation
Absolute x 1.2 Armature
value Invisible parameters are in italics, eg 03.18.
10.10 voltage
clamp active

Figure 10-6.
Menu 03—Feedback Selection & Speed Loop
 10 Keypad, Displays, & Drive Parameters

03.25 R/W Speed Error Filter 3.27 RO Speed Feedback Range

Range 0 to 255
03.27 = 0 03.16 set up in rpm
Filter time constant = 256
6f x (03.25) 03.27 = 1 03.16 is (rpm+10) ie 03.16 = 600 for 600 rpm
Similar to 05.15, this parameter indicates to the option-
where, f = supply frequency al LCD pod the speed feedback range in which para-
meter 03.16 has been set up.
A low-pass filter to reduce the effect of interference on
the speed error signal (03.04) —from a noisy
tachometer, for example. 3.28 R/W Increase P Gain by 4
Default 128 Range 0 or 1

Setting this parameter at 1 will increase the speed

03.26 RO Tachometer Input loop proportional gain by a factor of 4.
Range ±1000 Proportional Gain x 4.
Monitors the tachometer input measurement. The Default 0
tachometer potentiometer scales the feedback signal
such that at full motor speed, 03.26 = 1000. Units dis-
played = 0.1% of full speed per increment.
03.29 R/W Reduce P and I Gain by 8
Range 0 or 1

Enables the user to increase the burden resistors by a

factor of 1.6. Reduce P and I gain by 8 if set to 1.
Default 0

105
10 Keypad, Displays, & Drive Parameters

10.7.4 MENU 04 —
M M
Current Selection and Limits
04.08 04.08 Refer to Figure 10-10.
n n The main input is the speed loop output (03.07).
03.06 +ve 03.06 -ve 03.06 +ve 03.06 -ve The torque reference (04.08) can be selected for pure
03.01 03.01 torque control of the motor, or it can be combined with
a b
the speed loop output by 04.12 and 04.13. These
inputs become the current demand to which an offset
a Q1 — Forward drive. or trim may be added (04.09). The result is then sub-
b Q2 — Reverse braking. ject to an overriding limitation derived from several
Positive torque, forward drive and reverse braking, is applied at
the value of 03.01 when the speed error 03.06 is positive. When sources including speed. Current limit is set by 04.03
the speed error is negative, torque is zero.
for single quadrant drives. For regenerative drives,
the current limit in both bridges can be individually set
Figure 10-7. by 04.05 and 04.06 and each of the four quadrants
Torque Control With Speed Override. enabled or disabled by 04.14 through 04.17.
Positive Torque Reference.
A feature in this menu is the ability to set a sec-
ond current limit (04.07) automatically—refer to 04.10,
M M 04.18 and 04.19—which enable current limit 2 to be
a b
applied after a chosen time delay. This is appropriate
to applications where the initial load torque on start-up
is high, but after some period becomes less. An
n n
example would be some mechanical mixing process-
04.08 04.08 es. Current can also be tapered as a function of
03.06 +ve 03.06 -ve 03.06 +ve 03.06 -ve
speed. Refer to 04.20 through 04.25.
03.01 03.01

a Q4 — Forward braking. 04.01 RO Current Demand

b Q3 — Reverse drive.
Negative torque, forward braking and reverse drive, is applied at
the value of 03.01 when the speed error 03.06 is negative. When Range ±1000
the speed error is positive, torque is zero. The current demand signal is the controlling input to
the current loop when the drive is being operated in
Figure 10-8. speed-control mode. The signal is subject to limitation
Torque Control With Speed Override. by 04.03, 04.05, and 04.06 before being passed to the
Negative Torque Reference. current loop.

M M
04.02 RO Final Current Demand
Range ±1000
03.01
Current demand final output, to the current loop
04.08 04.08
(Menu 05) after limits have been applied.
03.06 +ve 03.06 -ve Accelerating 03.06 +ve 03.06 -ve
torque
Decelerating n n
torque 04.03 RO Over-riding Current Limit
03.01 Normal
running Range ±1000
Uncoiler accelerating. This is the limiting value of current demand and is the
Coiler decelerating. -ve torque
+ve torque demand, 03.01 is
at set value. -ve torque
result of the speed-dependent current taper calcula-
demand. 03.01 → 0, the speed demand (at-speed), 03.01 → tion or I-limit 2 (if selected), whichever is less. Refer
0 automatically, to maintain
feedback being +ve. tension. to parameters shown in Figure 10-10.

Figure 10-9.
Coiler Decelerating and Uncoiler Accelerating

106
 10 Keypad, Displays, & Drive Parameters

04.04 R/W Current-limit 1 (taper start point) 04.10 R/W Current -limit 2 Selector
Range 0 to 1000 = 150% of drive rating Set 04.10 = 1 to select I-limit 2, or can be pro-
This parameter provides symmetrical current-limitation grammed to change automatically—refer to 04.18 and
for bridges 1 and 2 and is the level from which the cur- 04.19.
rent taper functions operate—refer to 04.20 and Default 0
04.21. I-limit 1 can be used in applications where the 04.11 R/W Current Offset Selector
motor kW rating is somewhat less than that of the Selects the value in 04.09 as a current offset.
drive, as an alternative to changing the fixed current- Default 0
burden resistors.
Default +1000
04.12 R/W Mode bit 0
Operates in conjunction with 04.13 to configure the
04.05 R/W Current-limit Bridge 1 drive for speed control or any of three modes of
Range 0 to 1000 torque control. Refer to 04.13 .
Determines the maximum limit of current demand Default 0, not selected
when bridge 1, the ‘positive’ bridge, is conducting. It
causes any demand for current in excess of the limit
set point to be clamped. 04.13 R/W Mode bit 1
Default +1000 = 150% of drive rating Operates in conjunction with 04.12 to configure the
drive for speed control or any of three modes of
torque control, as follows—
04.06 R/W Current-limit Bridge 2
Range 0 to 1000 04.12 = 0 and 04.13 = 0 Speed mode control
Determines the maximum limit of current demand (normal configuration)
when bridge 2, the ‘negative’ bridge, is conducting. It 04.12 = 1 and 04.13 = 0 Basic current- or
causes any demand for current in excess of the limit torque-control mode.
set point to be clamped.
Default +1000 = 150% of drive rating In this mode, the torque reference 04.08 is the input
to the current loop and is subject to the limitations of
the over-riding current limit 04.03, the Bridge 1 and
04.07 R/W Current-limit 2 Bridge 2 limits 04.05 and 04.06, and to the current
Range 0 to 1000 slew rate 05.04.
Available as an additional current limit. Applies to
both bridges. The drive can be programmed, if 04.12 = 0 and 04.13 = 1 Torque-control mode
desired, to select 04.05 automatically at a pro- with speed override.
grammed time interval after a RUN signal. Refer to Refer to Figures 10-7
04.10, 04.18 and 04.19. and 10-8.
Default +1000 = 150% of drive rating
In this mode, the output of the speed loop is clamped
either to the value of the torque reference 04.08 , or to
04.08 R/W Torque Reference 0—depending on whether the speed error 03.06 is
Range ±1000 positive or negative, and on whether the torque refer-
This value is an input to the current loop and can be ence is positive or negative, i.e., dependent on rela-
selected for use in applications requiring direct control tive polarities.
of current (motor torque).
Default +000 In the two motoring quadrants, speed is limited to the
value of the final speed demand 03.01, preventing
uncontrolled increase of speed when load is removed.
04.09 R/W Current Offset The drive should be adjusted to run at a slight over-
Range ±1000 speed when off load to insure adequate current
Current offset is used to apply a trim to the current demand at all speeds.
demand 04.01.
Default +000 In the two regenerative quadrants, the current
demand set by torque reference 04.08 is disabled
when speed is less than that set by the final speed
demand 03.01. This prevents the reducing load
torque resulting in reversal of rotation. The 03.01
value should be 0.

107
 SPEED LOOP FINAL CURRENT
OUTPUT DEMAND

SPEED
FEEDBACK 04.04 I-limit 1
04.07 I-limit 2
03.02 04.10 Select I-limit 2
04.18 Enable auto I-limit change
04.19 I-limit timer
Threshold 1 04.22 Taper 1 slope
exceeded 04.23 Taper 2 slope

04.24
Over-riding
Taper 1 threshold 04.20 current limit
Taper 2 threshold 04.21
04.25 04.03

Threshold 2 I-limit B1 04.05 FINAL CURRENT

Current DEMAND
exceeded demand I-limit B2 04.06

04.01 04.02

Mode bit 0 04.12

108
Mode bit 1 04.13

Quadrant 1 enable 04.14

Quadrant 2 enable 04.15
Quadrant 3 enable 04.16 KEY
Quadrant 4 enable 04.17
SPEED LOOP R/W logic
OUTPUT
R/O logic
03.07 Internal logic
Offset
10 Keypad, Displays, & Drive Parameters

External select
Torque 04.11 Summation
04.08
Reference
0 Limits
Current
offset 04.09
1
Invisible parameters are in italics, eg 04.07.

Figure 10-10.
Menu 04—Current Selection & Limits
 10 Keypad, Displays, & Drive Parameters

I 04.22 For coiler/uncoiler applications, line speed reference

corresponds to reel speed at minimum diameter.
∆I 1 04.23 Default 0, not selected
∆I 2
04.14 R/W Quadrant 1 enable
∆n 1 ∆n 2
04.20 04.21
n Quadrant 1 operation is defined as motoring in the
forward direction, speed and torque both having posi-
23 Calculation of current taper gradients 1 & 2. tive values.
Refer to text, parameters 04.22 and 04.23.
Default 1, enabled

Figure 10-11. 04.15 R/W Quadrant 2 enable

Calculation of Current Taper Gradients 1 & 2.
Quadrant 2 operation is defined as regenerating
(braking torque) in the reverse direction, speed being
A disadvantage of this mode is that it cannot provide negative and torque positive.
torque at a particular speed both accelerating and Default 1, enabled for 4Q drive
decelerating. Parameter 04.08 behaves as a control- Default 0, disabled for 1Q drive
lable current limit in this mode.

04.12 = 1 and 04.13 = 1 Coiler/uncoiler control 04.16 R/W Quadrant 3 enable

mode. Refer to Figure
10-9. Quadrant 3 operation is defined as motoring in the
reverse direction, speed and torque negative.
This mode allows torque to be applied in either Default 1, enabled for 4Q drive
sense, for acceleration or deceleration, while pre- Default 0, disabled for 1Q drive
venting uncontrolled increase in speed or reversal if
the load becomes 0. When the torque demand is in
the sense opposite to that of speed feedback, this 04.17 R/W Quadrant 4 enable
mode automatically selects zero speed reference.
Quadrant 4 operation is defined as regenerating
For a coiler, the offset 01.04 should be set just slight- (braking torque) in the forward direction, speed being
ly positive so that 03.01 is greater than the line speed positive and torque negative.
reference. When a full reel (of a coiler) is decelerat- Default 1, enabled for 4Q drive
ing, the torque demand may be negative. Since the Default 0, disabled for 1Q drive
speed feedback is positive, the speed reference is
automatically made 0 so that the speed error
becomes negative. Both torque demand and speed 04.18 R/W Enable automatic current-limit 2 change
error being negative, decelerating torque is applied.
When this bit is enabled, the I-limit 2 selector is auto-
For an uncoiler, the offset 01.04 should be set just matically changed to 1 after a time interval set by
slightly negative so that there is a negative speed 04.19. The drive can be programmed to select 04.07
error at zero speed. (Negative speed error is needed automatically at a programmed time interval (04.19)
to produce a negative torque to maintain tension at after a RUN signal.
zero speed.) As the line speed reference increases, Default 0, disabled
03.01 becomes positive. A suitable scaling of the

input should be applied such at 03.01 is always

greater than the speed feedback, thus maintaining a
positive speed error 03.06. Since the speed feed-
back is positive, zero speed is automatically selected
whenever the torque demand is negative—normal
operation—but if the torque demand becomes posi-
tive, then the 03.01 value becomes the speed
demand. Accelerating torque is allowed if the reel
speed is not greater than 03.01.

109
10 Keypad, Displays, & Drive Parameters

04.19 R/W Current -limit timer 04.23 R/W Current taper 2 slope
Range 0 to 255 Range 0 to 255
A time interval up to 255 seconds can be pro- Sets the rate of change of armature I-limit with
grammed. If 04.18=1, I-limit 2 is automatically select- respect to speed in either direction of rotation, above
ed when the set time elapses after a RUN command. the threshold set by 04.21.
This feature is appropriate to applications WHERE
THE MOTOR IS SHORT-TIME RATED, such as mix- Scaling factor (refer to Figure 10-11):
ing machinery, where the starting load is high and ∆I2
falls to a lower, constant value only after the machine 04.23 = 128 X
has run for some time. ∆n2
Default 000 Default 000

04.24 RO Taper threshold 1 exceeded

04.20 R/W Current taper 1 threshold Set to 1 when the threshold set point of 04.20 is
Range 0 to 1000 exceeded.
Sets a threshold value of speed feedback, beyond
which 04.24 changes to 1 to indicate that the thresh- 04.25 RO Taper threshold 2 exceeded
old has been exceeded, and is the starting point for Set to 1 when the threshold set point of 04.21 is
taper 1 (if implemented). Armature current reduces, exceeded.
as a function of speed, at a rate defined by 04.22.
This parameter can also be used as a general pur-
pose speed threshold.
If only one taper is used, it must be taper 1. If both
are used, taper 1 must be the first.
Default +1000

04.21 R/W Current taper 2 threshold

Range 0 to 1000
Sets a threshold value of speed feedback, beyond
which 04.25 changes to 1 to indicate that the thresh-
old has been exceeded, and is the starting point for
taper 2 (if implemented). Armature current reduces,
as a function of speed, at a rate defined by 04.23.
This parameter can also be used as a general pur-
pose speed threshold.
Default +1000

04.22 R/W Current taper 1 slope

Range 0 to 255
Sets the rate of change of armature I-limit with
respect to speed in either direction of rotation, above
the threshold set by 04.20.

Scaling factor (refer to Figure 10-11):

∆I1
04.22 = 128 X
∆n1
Default 000

110
 10 Keypad, Displays, & Drive Parameters

10.7.5 MENU 05 — Current Loop 05.04 R/W Slew Rate Limit

Range 0 to 255
Refer to Figure 10-12. This parameter limits the maximum rate of change of
This is the final stage in the processing of the speed current demand. Older types of motors, especially if of
and torque references and feedbacks to determine the non-laminated construction, may have a tendency to
final firing angle signal. The primary inputs are the final flash over if the rate of change of current is too high
current demand, which is subject to the slew rate limit, for the inherent lag of the interpole windings.
and the current feedback which are summed alge- Defined as —
braically and further modified by whatever settings may 05.04
S = Imax x 6f x
have been applied to the group of Current Loop para- 256
meters. Included in these parameters is the enable
=1.4 (Imax) x 5.04 @ 60Hz.
auto tune (05.09) which automatically sets the gains of
the current loop parameters (05.12 through 05.15).
Where, S = slew rate in amps s-1
Current feedback, after scaling, delivers a readable f = frequency of the power
signal to display actual current in amps. Current feed- supply in Hz
back also is an important function in the protection of Imax = max. current (A)
the drive. The feedback signal is monitored in relation Default 40
to the selected overload threshold, and modified
according to preprogrammed values for overload
time. The provision of two parameters for overload tim- 05.05 R/W Current Readout Scaler
ing enables settings to be applied so as to take Range 0 to 1999
account of the fact that the cooling time of a motor can The maximum output current, in amps, is scaled by
be longer than its heating time. The current and speed this parameter. This does not have any effect on the
loops can be bypassed during start-up by (05.20), motor protection. The setting for 05.05 is calculated
direct firing angle control. as follows— See paragraph 8.7 current limit set-up.
I
05.05 = max if Imax > 1999A
05.01 RO Current Feedback 10
Range ±1000
The current feedback signal is derived from internal
current transformers. It is used for closed-loop control 05.05 = Imax if 200A < Imax < 1999A
and indication of the armature current, and to initiate
motor protection. Default Drive current rating

05.06 R/W Overload Threshold

05.02 RO Current —Displayed Feedback Amps
Range 0 to 1000
Range ±1999
Sets the threshold of armature current feedback
The current feedback signal, modified by the scaling
beyond which the current-time overload protection
factor, becomes available as an indication in
begins to integrate.
amps. Refer also to 05.05. This does not affect motor
Default + 700 = 105% of drive rating
current.

05.07 R/W Overload Integrating Time (heating)

05.03 RO Firing Angle
Range 0 to 255
Range 277 to 1023
Integrating time for 05.06. For use in conjunction with
This is the output of the current loop algorithm, and the
05.08, such that 05.07 < 05.08.
input reference to the ASIC, which generates the firing
pulses. 05.03 = 1023 indicates fully ‘phased forward’.
Time t to trip is —
1000 - (05.06)
t = (05.07) x (05.01) - (05.06)
Refer also to Menu 10, parameter 10.18.
Default 030 sec

111
 FINAL CURRENT FIRING
DEMAND ANGLE
Inhibit firing 05.17
Standstill enable 05.18

Current vs.
Figure 10-13
Standstill mode 05.19
Enable 12p bridge lockout 05.21
Disable adaptive control 05.22
Enable 1Q series 12p 05.23
Series 12p operation 05.24

Time Overload Curve

Parallel 12p operation 05.25
Safe bridge change 05.26 Post-ramp
reference

02.01
CURRENT LOOP PARAMETERS Direct firing-
Enable commissioning autotune 05.09 angle control
Reduced Endstop 05.10 05.20
Duration Before Trip - seconds Actual overload 05.11 FIRING
Discontinuous I gain

0
10
20
30
40
50
60
70
80
90
100
FINAL CURRENT 05.12 ANGLE
DEMAND Continuous P gain 05.13

120
Slew rate Continuous I gain 05.14 1
05.03
limit Motor constant 05.15
0
04.02 05.04
Current

125
readout
scaler

112
05.05 Armature
CURRENT 05.16
FEEDBACK current
readout

130
05.01 Scaling 05.02 KEY

R/W logic
Overload integrator
R/O logic

135
Overload threshold 05.06
Overload time - heating 05.07 05.11
Internal logic
10 Keypad, Displays, & Drive Parameters

Overload time - cooling 05.08 Alarm (overload pending)

% Armature Current
Summation
10.13

140
Invisible parameters are in italics, eg 05.10.

145
150
Figure 10-12.
Menu 05—Current Loop
 10 Keypad, Displays, & Drive Parameters

05.12 R/W Discontinuous I-gain

05.08 R/W Overload Integrating Time (cooling) Range 0 to 255
Range 0 to 255 Set by the Start-up Autotune parameter 05.09.
Integrating time for 05.06. For use in conjunction with This parameter is set to correct any errors in the pre-
05.07, such that 05.08 > 05.07. diction of firing angle in the discontinuous current
region. If 05.15 is set correctly, 05.12 has little effect;
Time t to trip is — but if set too high, instability can occur.
1000 - (05.06)
t = (05.08) x
(05.06) - (05.01)
Gain applied = value of 05.12
Refer also to Menu 10, parameter 10.18. 512
Default 050 sec Default 65 (ver. < 4.10); 16 (ver. > 4.10)

05.09 R/W Enable Autotune

To autotune the current loop during start-up—
• Disconnect the field of the motor if a fixed field 05.13 R/W Continuous P-gain
is being used. Models 9500-8X01 through Range 0 to 255
9500-8X06 are standard with field control. Set by the Start-up Autotune parameter 05.09.
This will disconnect the field automatically. This parameter enables the current loop to follow very
Observe approved safety procedures! closely a step-change in current. If set too high, there
• Enable autotune — set 05.09 =1. will be an overshoot. If set too low, the new current
• Depress Start pushbutton to enable the drive. value will be achieved very slowly.
When the autotune process is complete, the drive
ready relay will open for 50ms after which the auto- Gain applied = value of 05.13
tune parameter will be automatically set to disable 512
(05.09 = 0). This process allows the autotune Default 33 (ver. < 4.10); 16 (ver. > 4.10)
sequence to be started when a ‘run permit’ is present
but returns the drive to a safe condition when the
autotune is complete. It may be necessary to clamp 05.14 R/W Continuous I-gain
the motor shaft if it tends to rotate during this proce- Range 0 to 255
dure. Set by the Start-up Autotune parameter 05.09.
Default 0, disabled Its value will depend on the motor time-constant.
Increasing the value of 05.14 improves the response
of the current loop, but at the risk of instability.
05.10 R/W Reduced Endstop
The endstop allows the armature voltage to rise, dur- Gain applied = value of 05.14
ing regeneration, to 1.16 x supply voltage. On very 1024
“soft” supplies the endstop may be too close to the Default 33 (ver. < 4.10); 16 (ver. > 4.10)
crossover point. Setting 05.10=1 increases the safety
margin but reduces the maximum regenerated arma-
ture voltage to 1.05 x supply voltage. 05.15 R/W Motor Constant
Default 0, disabled Range 0 to 255
This parameter is used to scale the current demand
such that the control loop correctly predicts the firing
05.11 RO Actual overload angle in the discontinuous current region. It is set
Range 0 to 1999 automatically by the Start-up Autotune parameter
Monitors the value of the integrating current-time over- 05.09.
load. When the value reaches the trip point deter- Default 50 (ver. < 4.10); 25 (ver. > 4.10)
mined by 05.06, 05.07, and 05.08, an overload trip
occurs. The overload trip operates when 05.11 reach-
es the value given by: 05.16 R/W RESERVED
Range 0 to 255
[1000-{05.06}] x 10 Default 0
16
The rate at which 05.11 increases or decreases is
controlled by the values of 05.07 and 05.08, respec- 05.17 R/W Inhibit Firing
tively. If set to 1, disables SCR firing (both bridges), and
resets acceleration and deceleration ramps.
Default 0, enabled

113
10 Keypad, Displays, & Drive Parameters

05.18 R/W Enable Standstill Logic 05.22 R/W Disable Adaptive Control
When enabled, causes the firing angle to be fully Setting 05.22=1 disables adaptive control.
phased back when the drive has received a STOP When adaptive control is enabled (default status), the
command and when the speed falls below 0.8% of current loop employs two different algorithms, one of
maximum speed. After a short time delay, the SCRs which applies high gain in the discontinuous-current
are inhibited also. This prevents “creep” and is used region. This is unsuitable for some applications, such
in applications in which there is no requirement to as non-motor loads, for which adaptive control should
maintain motor torque at standstill. Refer also to be disabled.
05.19. Default 0, enabled
Default 1, enable

05.23 R/W Enable Single-quadrant Series 12-pulse

*05.19 R/W Standstill Mode Enabling this function configures the drive to deliver
05.19=0—standstill logic is enabled after STOP normal and delayed firing pulses to a single 12-chan-
command or zero reference. nel power board. Cannot be enabled if either of the
Bridge 2 quadrants 04.16 and 04.17 are enabled.
05.19=1—standstill logic enabled after STOP In 6-pulse SCR drives, the current drawn from each
command only. phase of the supply is not continuous. Out of each
180° of the AC supply cycle, full load current is drawn
Setting 05.19=1 has the effect of not enabling the for 120° and none for the remaining 60°. This impos-
standstill logic when the stopping signal is given by es a degree of harmonic distortion on the supply.
the reference alone. This condition, therefore, allows Twelve-pulse SCR drives draw current for the full
creep speeds, shaft orientation, and other functions 360° of the AC supply cycle, and the current wave-
which occur close to zero speed, while preventing any form approximates very closely to a sine wave, with
“creep” after a STOP command. much reduced distortion as a result.
Default 1 A further advantage is the much smoother DC out-
0 (factory default) put from 12-pulse drives, which is a benefit in many
applications.
05.20 R/W Enable Direct Firing Angle Control Two 12-channel Power Boards are driven by pcb
When enabled, the firing angle 05.03 is controlled by MDA1 for 4Q series 12 pulse.
the value of the post-ramp reference 02.01. This Default 0, disabled
mode is valuable for system diagnosis, particularly
where instability is present. It allows the drive to oper- 05.24 R/W Series 12-pulse operation
ate without the influence of either the speed loop or This parameter should be set for operation in either
the current loop, eliminating their effect upon the sys- single- or four-quadrant 12-pulse mode. Parameter
tem. 05.23 (see above) is read by the software only at
Default 0, disabled power-on and during a cyclic reset. (This is a reset
when the drive is disabled.) If either of the Bridge 2
quadrants is enabled when 05.23 is read, the outputs
CAUTION are not diverted within the ASIC and 05.23 is set to 0.
Default 0, disabled
This function must be used cautiously.
When the reference is 02.01, there is no
protection against excessive acceleration, NOTE
output voltage or current other than the Series 12-pulse mode is phase-sensitive. The
instantaneous overcurrent trip. Also, be rotation on the SCRs must be in the sequence
sure to reset 05.20=0 after completion of
L1, L2, L3 (10.11=1).
tests.

05.25 R/W Parallel 12-pulse operation

05.21 R/W Enable Bridge 2 Lockout This parameter instructs the drive to operate in paral-
Requires to be set only for parallel 12-pulse 4Q sys- lel 12-pulse mode and should be set for operation in
tem installations comprising two (2) drives which are either single- or four-quadrant mode. For 4-quadrant
to share load, to prevent one drive changing bridges operation, parameter 05.21 (see above) must be set
while the other is still conducting. to 1. The F10 input of each drive must be connected
Default 0, disabled to the ST5 output of the other. Also, the control 0V
terminals of both drives must be connected.
Default 0, disabled
*Refer to paragraph 10.4.2.

114
 10 Keypad, Displays, & Drive Parameters

05.26 R/W Extra-safe Bridge Lockout

When enabled (=1), parameter 05.26 applies an addi-
tional safety margin to the bridge lockout logic. This
may be required for highly inductive loads, such as a
motor field winding.
Default 0, disabled

05.27 RWB Continuous autotune (For firmware revi-

sions > 4.09.00) When enabled, an additional auto-
tune routine continually monitors current during
conduction and adjusts the current loop gains accord-
ing to the amount of current ripple measured.
Default 0

05.28 RWB Reduce Hysteresis or bridge changeover

(For firmware revisions > 4.09.00) Used to reduce
hysteresis or bridge changeover in applications when
fine control of current is required. When set, reduces
the hysteresis to 0.2% of drive maximum current.
Default 0

05.29 R/W Burden Resistor Increase selection

Range 0 or 1

This parameter when set allows the user to increase

the HP scaling (burden) resistors by a factor of 1.6.
The software scales the current feedback differently to
compensate for the change in burden values.
When parameter #05.29 is set and the burdens have
been changed, the minimum ripple of 0.6V on terminal
11 occurs at a feedback value of 38 in parameter
#05.01 or 5.7% of drive rating.
Setting parameter #05.29 also changes the range of
parameter #05.15 such that it does not have to be set
close to its maximum value of 255 when continuous
conduction occurs at such low currents.
Default 0

115
 Field
economy
Economy timeout 06.12 Max. field 2
Enable economy timeout 06.15 select
DRIVE
ENABLE 08.11 06.14

Field economy Max. field

amount current 2 06.09
KEY 1
R/W logic Full field Max. field 0
amount current 1 06.08
R/O logic

Internal logic Enable speed

loop gain 06.18
adjustment Speed loop
Summation gain adjustment
0 03.09
• Division 03.10
• 1
•
•
P
+I P + I loop
Firing
Field Direct firing angle front
Field current Current angle control endstop
Limitation feedback feedback loop
I-Gain scaling 06.19 06.21
gain
06.17 06.11 06.03 FIRING
06.16
Field ANGLE

116
current
demand 1
Scaling 06.04
Back- emf x1 0
P P
set point 06.07 03.02 x 06.07 06.02
+I +I
Back
emf
ARMATURE
VOLTAGE 03.04 06.01
06.22
IR comp. 2 Absolute 06.10 Full
source selector value Min. field control
current
10 Keypad, Displays, & Drive Parameters

06.20 IR comp. 2 06.13

06.05 output
Enable field
SPEED control
IR Speed
ERROR 03.08 feedback 03.02
INTEGRAL 0 comp. 2
06.06 Back emf
FINAL set point 06.07 Invisible parameters are in italics, eg 06.18.
1
CURRENT 04.02
DEMAND

Figure 10-14.
Menu 06—Field Control
 10 Keypad, Displays, & Drive Parameters

10.7.6 MENU 06 — Field Control 06.01 RO Back EMF

Range 0 to 1000
Refer to Figure 10-14.
The calculated motor back emf based on armature
The Quantum III has an 8 amp field regulator voltage minus IR compensation value 2,
standard on all units from 9500-8X02 through 9500- 06.05. Feedback to the emf loop in spillover mode.
8X06. For higher HP units or fields requiring up to 20
amps, the FXM5 Field Control should be used. If a
motor is being used with a ”fixed’ field supply, 06.02 RO Field Current Demand
Range 0 to 1000
this menu does not apply.
The current demand from the emf loop, subject to the
Provision is made for programming two selec- limits of 06.08, 06.09 and 06.10.
table values of maximum field current. The higher
value (06.08) is used to set base speed current when
used as a field current regulator. The lower value of 06.03 RO Field Current Feedback
maximum field current (6.09) can be configured by a Range 0 to 1000
programmable timer (06.12/06.15) so that, when the Feedback to the field current loop.
drive is not running, the field can be switched auto-
matically into the field economy mode. 06.04 RO Firing Angle
The resulting field current demand is summed Range 261 to 1000
algebraically with the field current feedback to produce Scaling —
a current error which is the input to the field current 06.04 = 1000 corresponds to ‘fully phased
loop. The output of the field current loop is the firing forward’
angle, subject to the front endstop limit (06.21). The
front endstop is defaulted to 815 to prevent field over- 06.05 RO IR Compensation 2 Output
current and roast-out. Range ±1000
The field current can alternatively be controlled The value resulting from the application of 06.06 to
directly by either of the maximum field parameters the speed error integral input.
06.08 and 06.09 via a programmable input or by appli-
cation software. There is a facility (06.19) for direct
06.06 R/W IR Compensation 2
control of the firing angle, useful for diagnosis.
Range 0 to 255
The principal inputs in spillover mode are, from A programmable factor used for calculation of the
the internal logic, the armature voltage and a set point armature IR-drop as correction to measured armature
for back-emf. voltage, to enable the back emf to be computed.
Field current demand is the output of the back- (03.08) x (06.06)
06.05 =
emf voltage loop, subject to programmed maximum 2048
(06.08 or 06.09) and minimum (06.10) field current Default 000
values. The voltage loop compares the calculated
back-emf value with a programmed set point which is
used as factor in determining field current *06.07 R/W Back EMF Set Point
demand. The voltage loop output, and consequently Range 0 to 1000
the field current demand, is maximum when the calcu- The programmable value of the armature back emf in
lated back-emf is less than the setpoint value. When volts, at which the field begins to weaken. Defined as
the voltage at which base speed is reached.
the calculated value exceeds the set point value (at
Default 1000 (Quantum factory default)
base speed) the voltage loop reduces the field current
demand to regulate the calculated back-emf to the set
point value.
Alternatively, the user may wish not to use the
voltage loop, but to enter a current demand
directly. The user can set two maximum field current
parameter values. In this mode, the value of the back-
emf set point should be set to maximum, such that
the voltage loop always demands maximum field cur-
rent. The current demand is then the selected maxi-
mum field current parameter. *Refer to paragraph 10.4.2.
117
10 Keypad, Displays, & Drive Parameters

06.08 R/W Maximum Field Current 1

Range 0 to 1000 For FXM5 Issue 1 and Drive Software > 4.0.0
Programmable value of the maximum current demand For FXM5 Issue 2 and Drive Software > 4.2.0
of the emf loop. If the field control is to be used in cur-
rent mode, this parameter would become the current MAXIMUM PRIMARY LK1 POSITION PARAM.
reference of the field control loop, and the back emf CURRENT TURNS 20 15 6.11
set point should normally be set to maximum to pre- (A) Np Np Np
vent spillover occurring; alternatively, if motor over-
voltage protection by spillover is required, the back 1 10 • 1
2 10 • 2
emf set point should be set to maximum armature 3 5 • 3
voltage. 4 5 • 4
Default +1000 100% of 6.11 setting 5 4 • 5

06.09 R/W Maximum Field Current 2 6 3 • 6

Range 0 to 1000 7 2 • 7
Alternative to 06.07, for use as an economy 8 2 • 8
9 2 • 9
setting. Refer to 06.12, 06.14 and 06.15. 10 2 • 10
Default + 500 50% of 6.11 setting
11 1 • 11
06.10 R/W Minimum Field Current 12 1 • 12
Range 0 to 1000 13 1 • 13
The minimum value of current demand, to prevent 14 1 • 14
excessive field weakening, for example with overhaul- 15 1 • 15
ing loads.
Default + 500 50% of 6.11 setting 16 1 • 16
17 1 • 17
18 1 • 18
06.11 R/W Field Feedback Scaling 19 1 • 19
Range 0 to 255 20 1 • 20
The MDA3 card has a fixed scaling resistor.
Parameter 06.11 permits the user to apply a scaling See FXM5 User Guide for more details.
factor to the current feedback. Output is the value of
06.03. The Quantum III can also be used with an
Default +204 2 Amps
external FXM5 field regulator capable of a maximum
current of 20 amps. Refer to the FXM5 Instruction
06.11 J1 MDA3 Manual for DC current transformer scaling and LK1
SETTING POSITION MAX. AMPS position.

201 2A 0.5 NOTE

202 2A 1 Software revision 4.2 or greater requires an
203 2A 1.5 FXM5 Revision 2 or greater. LK1 on the
204 2A 2 Quantum III power board must be cut when
205 8A 2.5 using the FXM5.
206 8A 3
207 8A 3.5 06.12 R/W Field Economy Timeout
208 8A 4 Range 0 to 255
209 8A 4.5 Permits the drive to be configured to select maximum
210 8A 5 field 2 (a reduced setting) automatically after the drive
211 8A 5.5 has been disabled for a period (in seconds) defined
212 8A 6 by the value chosen for this parameter. Provided so
213 8A 6.5 that the windings do not overheat if the drive is
214 8A 7 stopped and the motor ventilation is switched off, or to
215 8A 7.5 maintain a reduced level of field current to prevent
216 8A 8 condensation when the motor is not in use.
This table is applicable for Size 1 Quantum III’s only.
Default 030 Seconds

118
 10 Keypad, Displays, & Drive Parameters

06.13 R/W Enable Field Control CAUTION

Enables internal software control of the field current
regulator. In this mode, there is no protection against
Default 0, disabled excessive field voltage and current.

06.14 R/W Maximum Field 2 Selector

Set to 1 to engage maximum field 2. Controlled auto-
matically by field economy timeout function if 06.15 is 06.20 R/W Alternative IR Comp. 2 Selector
set to 1. Maximum field 2 is selected after a time delay Determines the source of the IR Compensation 2.
(refer to 06.12) when a drive disable signal is given. The source selection may be either the Speed Error
Default 0, disabled Integral (03.08) or the Hard Speed Reference, REF 4
(01.20).
Default 0, 03.08 1=01.20 (Ref. 4)
*06.15 R/W Enable Field Economy Timeout
When enabled (=1), parameter 06.14 is automatically
controlled by the field economy timeout function when *06.21 R/W Firing Angle Front Endstop
a drive enable signal is removed. When the timeout is Range 0 to 1000
disabled, parameter 06.14 becomes user R/W. Restricts the advance of the firing angle in cases
Default 1, enable (Quantum factory setting) where 180° advance would result in overvoltage being
0, disabled (Drive default) applied to the field windings.
Default 815 (Quantum factory setting)
1000 (Drive default)
06.16 R/W Field Time-Constant Selector
set 06.16=1 for time constant > 0.3 sec.
set 06.16=0 for time constant < 0.3 sec. 06.22 R/W Full or Half Control Selector
(default) Provides the option of full or half control. Available
Default 1, disabled only with the FXM5 Field Controller. Please refer to
the FXM5 Manual for complete details.
Default 0, half control
06.17 R/W Voltage Loop Integral Gain Full control only for fast field weakening
Set 06.17 = 1 to double the integral gain if less over-
shoot is desired.
Default 0, disabled 06.23 RWB Reduce Gain by Factor 2
When enabled, reduces field loop current gain by a
factor of 2. Can be used with 6.24 to reduce gains by
06.18 R/W Enable Speed Gain Adjustment a factor of 8.
This parameter adjusts the speed loop gains (menu Default 0
03) to compensate for the weakening of the field flux in
field control mode so that the torque response remains
substantially constant throughout the whole speed 06.24 RWB Reduce Gain by Factor 4
range. Defined as— When enabled, reduces field loop current gain by a
factor of 4. Can be used with 6.23 to reduce gains by
G = 06.08 a factor of 8.
06.02 Default 0
Where G = Speed loop gain adjustment factor
Default 0, disabled

06.19 R/W Direct Firing Angle Control

Enables 06.09 to control the firing angle directly, sub-
ject only to the front endstop. Permits operation with-
out the voltage or the current loop, for the purpose of
setup and troubleshooting.

Default 0, disabled

119
10 Keypad, Displays, & Drive Parameters

10.7.7 MENU 07 — 07.03 RO General Purpose Input 3

Analog Inputs & Outputs Range ±1000
Displays the value of the analog signal applied to ter-
Refer to Figure 10-14. minal TB1-06. Can be used as a general-purpose
input for monitoring, or for Processor 2 special appli-
Scaling parameters have a multiplying range cations.
from 0.001 to 1.999 (a multiplier of 0 would give the 10-bit bipolar
parameter a zero value).
07.04 RO General Purpose Input 4
Source and Destination parameters define a Range ±1000
parameter to be used as either input or output, thereby Displays the value of the analog signal applied to ter-
defining the function of the programmable input and minal TB1-07. Can be used as a general-purpose
output terminals. input for monitoring, or for Processor 2 special appli-
cations.
Menu 07 contains three analog-input/output 10-bit bipolar
groupings. There are two separate groups of analog
input. The first is a 12-bit analog input which is normal- 07.05 RO Speed Reference Input
ly used as the speed reference input and assigned to Range ±1000
TB1-3 (see Figure 10-3), but can alternatively be pro- Displays the value of the analog speed demand at ter-
grammed to any real R/W destination. minal TB1-03, or master encoder reference via PL4,
and after scaling by 07.24; dependent on reference
High accuracy is achieved by voltage-to-frequen- mode being selected by 07.25.
cy conversion. The terminal can be programmed as a 12-bit bipolar
voltage input or as a current loop input, with options 0-
20mA, 20-0mA, 4-20mA, or 20-4mA. A reference 07.06 RO RMS Input Voltage
encoder can also be selected as the speed reference Range 0 to 1000
input. This reference is scaled by 07.20 and sent to its Monitors the value of the voltage applied to line input
destination by 07.15. The default is 01.17 which is the terminals L1, L2, L3 (the SCR supply).
speed reference for the drive.
The second group provides a flexible means for 07.07 RO Heatsink Temperature
scaling and assigning destinations to the four general Range 0 to 1000
purpose inputs GP1, GP2, GP3 and GP4, all of which Monitors the temperature of the SCR heatsink on
are 10-bit resolution. those drives with installed thermistors. Readout is in
degrees celsius.
The third group consists of three analog outputs,
via digital-to-analog (DAC) converters, featuring pro-
grammable-source parameters and scaling. 07.08 R/W DAC 1 Source
Range 0 to 1999
Finally, read only parameters are available for Selects the source of analog output 1 via terminal
heatsink temperature (07.02) and RMS input voltage TB2-12. Default value 201 = 02.01, ramp output.
(07.06). Default 201

07.01 RO General Purpose Input 1

Range ±1000 07.09 R/W DAC 2 Source
Displays the value of the analog signal applied to ter- Range 0 to 1999
minal TB1-04. Can be used as a general-purpose Selects the source of analog output 2 via terminal
input for monitoring, or for Processor 2 special appli- TB2-13. Default value 302 = 03.02, speed feedback.
cations. Default 302
10-bit bipolar

07.02 RO General Purpose Input 2 07.10 R/W DAC 3 Source

Range ±1000 Range 0 to 1999
Displays the value of the analog signal applied to ter- Selects the source of analog output 3 via terminal
minal TB1-05. Can be used as a general-purpose TB2-14. Default value 304 = 03.04, armature voltage.
input for monitoring, or for Processor 2 special appli- Default 304
cations.
10-bit bipolar

120
 10 Keypad, Displays, & Drive Parameters

07.15 R/W Speed Reference Destination

NOTE Range 0 to 1999
Concerning the following “invisible” parame- Selects the destination of speed reference 07.05.
ters, scaling parameters have a multiplying Default value 117=01.17, speed reference 1.
range from 0.000 to 1.999. Source and
Destination parameters define a parameter A changed value becomes effective only when the
to be used as either input or output, thereby RESET pushbutton is pressed.
defining the function of the programmable Default 117
input and output terminals.
07.16 R/W GP 1 Scaling
07.11 R/W GP 1 Destination Range 0 to 1999
Range 0 to 1999 (see appendix D) Sets the scaling for the signal from source GP1 via
Selects the destination of analog input 1 via terminal terminal TB1-04.
TB1-04. Default value 318=03.18, hard speed refer-
ence. Scaling factor = 07.16
A changed value becomes effective only when the 1000
RESET pushbutton is pressed. Default +1000 x 1.000
Default 318

07.17 R/W GP 2 Scaling

*07.12 R/W GP 2 Destination Range 0 to 1999
Range 0 to 1999 (see appendix D) Sets the scaling for the signal from source GP2 via
Selects the destination of analog input 2 via terminal terminal TB1-05.
TB1-05. Default value 408=4.08, speed reference 3.
A changed value becomes effective only when the Scaling factor = 07.17
1000
RESET pushbutton is pressed.
Default 119 (factory default) Default +1000 x 1.000

*07.13 R/W GP 3 Destination 07.18 R/W GP 3 Scaling

Range 0 to 1999 (see appendix D) Range 0 to 1999
Selects the destination of analog input 3 via terminal Sets the scaling for the signal from source GP3 via
TB1-06. Default value 119=01.19, speed reference terminal TB1-06.
4.
A changed value becomes effective only when the Scaling factor = 07.18
1000
RESET pushbutton is pressed.
Default 120 (factory default) Default +1000 x 1.000

07.14 R/W GP 4 Destination 07.19 R/W GP 4 Scaling

Range 0 to 1999 (see appendix D) Range 0 to 1999
Selects the destination of analog input 4 via terminal Sets the scaling for the signal from source GP4 via
TB1-07. Default value 120=1.20, torque reference. terminal TB1-07.

A changed value becomes effective only when the Scaling factor = 07.19
1000
RESET pushbutton is pressed.
Default 408 Default +1000 x 1.000

07.20 R/W Speed Reference Scaling

Range 0 to 1999
The factor by which 07.05 is multiplied to produce the
speed reference. Used to set maximum speed under
defaults after feedback has been scaled.

Scaling factor = 07.20

1000
Default +1000 x 1.000
*Refer to paragraph 10.4.2.
121
10 Keypad, Displays, & Drive Parameters

07.21 R/W DAC 1 Scaling 07.27 R/W 20mA Current Loop Mode Selector 1
Range 0 to 1999 In conjunction with 07.28, configures 20mA current
Sets the scaling for the signal output to DAC1 TB2- loop input. Refer to table on 07.28.
12. Default 0

Scaling factor = 07.21

1000 07.28 R/W 20mA Current Loop Mode Selector 2—
Default +1000 x 1.000 Offset Selector
In conjunction with 07.27, configures 20mA current
loop input. Refer to table. When a 4mA offset is
07.22 R/W DAC 2 Scaling used, the drive trips if it senses that the current is
Range 0 to 1999 <3.5mA—indicating “loop open”.
Sets the scaling for the signal output to DAC2 TB2- Default 1
13.

Scaling factor = 07.22 CURRENT LOOP INPUT SELECTION

1000
Default +1000 x 1.000 INPUT 07.28 07.27

0-20mA 0 0
07.23 R/W DAC 3 Scaling 20-0mA 0 1
Range 0 to 1999 4-20mA 1 0
Sets the scaling for the signal output to DAC3 TB2- 20-4mA 1 1
14.
07.29 Invert Sign GP3, GP4 (for firmware revisions >
Scaling factor = 07.23 4.05.0
1000 The R/O parameters (07.03 & 07.04) are not affected
Default +1000 x 1.000 by the setting of the parameter
However, the destinations programmed by the 07.13
and 07.14 will have an opposite sign to the analogue
07.24 R/W Reference Encoder Scaling input if the destination parameter range allows this.
Range 0 to 1999 Default 0
Sets the scaling for signals from the reference
encoder connected to terminal socket PL4. The value
should be set to correspond with the maximum speed 07.13
of the motor and with the number of lines-per-revolu- 07.18 0
tion of the encoder. To calculate the scale factor— TB1.6 1
07.03 x
6
Scaling factor = 750 x 10 [GP3] 07.29
Nxn
where N = number of lines-per-revolution (encoder)
n = max speed of motor in rpm. 07.14
07.19 0
Default value is determined on the basis of a 1024-line TB1.7 1
encoder, and a maximum speed of 1750 rpm. 07.03 x
Default +419 [GP4] 07.29

07.25 R/W Reference Encoder Selector

Selects either the analog signal at terminal TB1-03 or
the encoder input via PL4 as the source of speed ref-
erence signal.
Default 0, analog reference selected

07.26 R/W Voltage /Current loop selector

Configures the speed input terminal (TB1-03) to
accept either a voltage or a current input signal.
Default 0, voltage input selected

122
 CURRENT Thermistor Input Disable
LOOP INPUT 3300Ω
Current Loop / Encoder Inputs o/temp.
SELECTION trip 1800Ω
10.32
Input 07.28 07.27
Current Encoder 0-20mA 0 0 8
loop select Current ref. select TRIP
loop mode 20-0mA 0 1 0
07.26 07.25 4-20mA 1 0 10.21
select Voltage-
20-4mA 1 1 1
07.27 to-frequ.
converter Speed ref. Default 20 Motor
07.28 1.17 temp.
TB1-03 1 destination
V/f Speed
0 Ref. Speed ref. 07.15
Input scaling Tacho Input
0 07.20
07.05 8 1H 60 to
1 9 300V
Encoder T
scaling 10
PL4 1G
07.24 7 50 to
KEY 200V
R/W logic
6 1F 10 to
Hard speed ref. 07.11 50V
Default 03.18 R/O logic
Switches
Scaling ** SW1F, G, H,
Internal logic refer to Fig. 14. RV1
07.01 07.16
Analogue Outputs
Analogue Inputs

123
Torque ref. 3 07.12 07.08 Final speed demand
4.08 Default 02.01
Scaling 4.4V = 100%
Scaling 0 to +6.6V Drive Amps
07.02 07.17 07.21 corresp. to
0 to ±10V GP-1 0 to 150% I
4 11
Free 0 to ±10V GP-2 DAC-1 0 to ±10V
5 Speed ref. 3 07.13 07.09 Actual speed 12 Free
for 0 to ±10V GP-3 Default 03.02 DAC-2 0 to ±10V
6 1.19 13 for
Customer 0 to ±10V GP-4 Scaling Scaling DAC-3 0 to ±10V
Customer
7 ✳ 14
use 07.03 07.18 07.22 Imotor use
20 20
Speed ref. 4 07.14 07.10 Armature voltage
Common 1.20 Default 03.04
Scaling Scaling Max. loading 5mA
✳
07.04 07.19 07.23

NOTE: GP2 becomes dedicated as AC lines normal input when parameter 11.02 = 1. Invisible parameters are in italics, eg 07.11.
Input impedance 100kΩ.

✳ The polarity of GP3 and GP4 can be inverted by setting parameter 7.29 to 1. Both inputs
are inverted. This applies only to version 4.4 software. See parameter 11.15 on drive for
software revision.

** See appendix D Figure 10-15.

Menu 07—Analog Inputs & Outputs
10 Keypad, Displays, & Drive Parameters
10 Keypad, Displays, & Drive Parameters

10.7.8 MENU 08—Logic Inputs 08.01 RO F1 Input — Run Permit

0 = stop drive
Refer to Figure 10-15. 1 = start enabled
Scaling parameters have a multiplying range from Monitors the drive start-permit control input from ter-
minal TB3-21 and indicates status. This input per-
0.001 to 1.999 (a multiplier of 0 would give the
forms an over-riding drive stop function in speed
parameter a zero value). control mode as follows —
Source and Destination parameters define a para- The input must be active to permit a drive start
meter to be used as either input or output, thereby If the input becomes inactive, 08.01 causes the
defining the function of the programmable input and pre-ramp reference 01.03 to be set to zero.
The drive will stop unless 02.03, ramp hold, is
output terminals.
active.
Menu 8 contains three (3) separate input groups.

The first group is dedicated to normal drive sequenc- 08.02 RO F2 Input — Reference On
ing and cannot be reassigned. It consists of: 0 = input not active 1 = input active
Monitors the control input from terminal TB3-22 and
LOCATION PARAMETER FUNCTION indicates status. TB2-22 is tied to TB2-21.
TB3-21 08.01 Run Permit
TB3-22 08.02 Run Permit
08.03 RO F3 Input — Default Jog/ Inch Forward
TB3-23 08.03 Jog
0 = input not active 1 = input active
TB3-31 08.11 Enable
Monitors the control input from terminal TB3-23 and
indicates status.
The second group is not assigned and is freely user
programmable. It consists of:
08.04 RO F4 Input — Default Reverse
LOCATION PARAMETER FUNCTION
0 = input not active 1 = input active
TB3-27 08.07 Unassigned Monitors the control input from terminal TB3-24 and
TB3-28 08.08 Unassigned indicates status.
TB3-29 08.09 Unassigned
TB3-30 08.10 Unassigned
08.05 RO F5 Input — Default Reference #3
The third group is used for common drive functions 0 = input not active 1 = input active
and is driven by relay contacts from the 9500-4025 AC Monitors the control input from terminal TB3-25 and
interface board. Their function may be reprogrammed indicates status.
to other functions via the jumpers on the 9500-4030
board.
08.06 RO F6 Input — External Trip
LOCATION PARAMETER ASSIGNED 0 = input not active 1 = input active
(9500-4025) FUNCTION Monitors the control input from terminal TB3-26 and
indicates status.
TB1-11 08.04 Fwd/Rev
TB1-12 Dedicated Drive Reset
TB3-1 on 08.07 RO F7 Input — User-Programmable—
MDA2 08.06 External Trip Unassigned
0 = input not active 1 = input active
Monitors the control input from terminal TB3-27 and
NOTE indicates status.
Refer to Section 9 on control logic interface for
a complete description of F1 through F6 input.

124
 10 Keypad, Displays, & Drive Parameters

08.08 RO F8 Input — User-Programmable— *08.15 R/W F5 Destination

Unassigned Range 0 to 1999
0 = input not active 1 = input active Defines the destination of external logic input at termi-
Monitors the control input from terminal TB3-28 and nal TB3-25. Effective only after RESET.
indicates status. Default 115 (Quantum factory setting)
+000 (drive default)

08.09 RO F9 Input — User-Programmable—

Unassigned *08.16 R/W F6 Destination
0 = input not active 1 = input active Range 0 to 1999
Monitors the control input from terminal TB3-29 and Defines the destination of external logic input at termi-
indicates status. nal TB3-26. Effective only after RESET.
Default 1034 (Quantum factory setting)
+000 (drive default)
08.10 RO F10 Input — User-Programmable—
Unassigned
0 = input not active 1 = input active 08.17 R/W F7 Destination
Monitors the control input from terminal TB3-30 and Range 0 to 1999
indicates status. Defines the destination of external logic input at termi-
nal TB3-27. Effective only after RESET.
Default +000
08.11 RO Drive Enable Input—Dedicated
0 = disable 1 = enable
Monitors the drive enable input from terminal TB4-31 08.18 R/W F8 Destination
and indicates status. Input must be active for the drive Range 0 to 1999
to operate. When the drive is disabled by disconnect- Defines the destination of external logic input at termi-
ing the input, all firing pulses are switched off after a nal TB3-28. Effective only after RESET.
30s delay. If the drive is running when this occurs, the Default +000
result is a coast-stop and ramps reset.
08.19 R/W F9 Destination
*08.12 R/W F2 Destination Range 0 to 1999
Range 0 to 1999 Defines the destination of external logic input at termi-
Defines the destination of external logic input at termi- nal TB3-29. Effective only after RESET.
nal TB3-22. Effective only after RESET. Default +000
Default 111 (Quantum factory setting)
+000 (drive default)
08.20 R/W F10 Destination
Range 0 to 1999
*08.13 R/W F3 Destination Defines the destination of external logic input at termi-
nal TB3-30. Effective only after RESET.
Range 0 to 1999
Default +000
Defines the destination of external logic input at termi-
nal TB3-23. Effective only after RESET.
Default 113 (Quantum factory setting) *08.21 R/W Disable Normal Logic Functions
+000 (drive default)
If set to enable (=0), this parameter configures logic
inputs as follows—
*08.14 R/W F4 Destination F2 TB3-22 Inch Reverse
F3 TB3-23 Inch Forward
Range 0 to 1999
F4 TB3-24 Run Reverse
Defines the destination of external logic input at termi-
F5 TB3-25 Run Forward
nal TB3-24. Effective only after RESET.
Default 112 (Quantum factory setting)
If set to disable (=1), the logic inputs must be pro-
+000 (drive default)
grammed by the user. Refer to 08.31 through 08.34.

If 08.21 = 0, F2/3/4/5 still perform their programmed

functions.
Default 1 = disable normal logic functions
*Refer to paragraph 10.4.2. 0 (factory default)

125
 08.12
RUN PERMIT 08.22 08.13
F1 08.01 08.23 08.14
TB3-21 08.24 08.15
08.25 08.2x
08.2x
08.02
08.03
08.04 0
F2 (IR) 08.05 1
F3 (IF) 08.0x
Used by F4 (RR) TB3-22
Quantum F5 (RF) TB3.23
TB3.24 KEY
TB3.25 08.26 08.16 DESTINATIONS
CAN BE R/W BITS R/W logic
08.27 08.17
08.28 08.18 ONLY
Internal logic
08.29 08.19
08.30 08.20 Inversion
08.06
08.xx 08.xx
08.07
External 08.08
trip F6 08.09 0
F7 08.10 1
Free for
Customer F8 08.xx
Ref

126
use F9 TB3-26 ON
F10 TB3.27 08.31
01.11
TB3.28 0
TB3.29 F2
1 08.32
TB3-30
NOTE 0
F10 becomes dedicated as F3
1 08.33
Bridge Selected input when
parameter 05.21 = 1
(12-pulse bridge lockout) 0 Disable normal
F4 logic functions Reverse
10 Keypad, Displays, & Drive Parameters

1 08.34
08.21 select
0 01.12
F5 Inch
1 1
select
Enable NORMAL
input 0 01.13
LOGIC
ENABLE 08.11 FUNCTIONS
TB4-31 Invisible parameters are in italics, eg 08.12.
In use

Figure 10-16.
Menu 08—Logic Inputs
 10 Keypad, Displays, & Drive Parameters

08.22 R/W Invert Logic Function of F2 *08.32 R/W Enable Inch Forward
0 = non-invert 1 = invert 0 = not enable 1 = Enable inch forward
Default 0 When 08.21 = 1, normal logic functions disabled,
08.32 can enable inch forward.
Default 0
08.23 R/W Invert Logic Function of F3
0 = non-invert 1 = invert
Default 0 *08.33 R/W Enable Run Reverse
0 = not enable 1 = Enable run reverse
When 08.21 = 1, normal logic functions disabled,
08.24 R/W Invert Logic Function of F4 08.33 can enable run reverse.
0 = non-invert 1 = invert Default 0
Default 0

*08.34 R/W Enable Run Forward

08.25 R/W Invert Logic Function of F5 0 = not enable 1 = Enable run forward
0 = non-invert 1 = invert When 08.21 = 1, normal logic functions disabled,
Default 0 08.34 can enable run forward.
Default 0

08.26 R/W Invert Logic Function of F6 * Not applicable to Quantum III

0 = non-invert 1 = invert
Default 0

08.27 R/W Invert Logic Function of F7

0 = non-invert 1 = invert
Default 0

08.28 R/W Invert Logic Function of F8

0 = non-invert 1 = invert
Default 0

08.29 R/W Invert Logic Function of F9

0 = non-invert 1 = invert
Default 0

08.30 R/W Invert Logic Function of F10

0 = non-invert 1 = invert
Default 0

*08.31 R/W Enable Inch Reverse

0 = not enable 1 = Enable inch reverse
When 08.21 = 1, normal logic functions disabled,
08.31 can enable inch reverse.
Default 0

127
10 Keypad, Displays, & Drive Parameters

10.7.9 MENU 09—Status Outputs 09.07 R/W Status 1 Source 1

Range 0 to 1999
Refer to Figure 10-16. Selects the status source to be combined with 9.09
Status outputs will switch five open collector and displayed on TB2-15.
Default +111
transistors, each user programmable, and two relays.
The drive ready is dedicated and cannot be changed.
The other relay is defaulted to zero speed, but is user 09.08 R/W Invert Status 1 Source 1
programmable to any other parameter. Range 0 to 1
Menu 9 contains three status source groups and Selects inversion of input on 9.07.
Default 0 (non-invert)
each is invertible.
The first group allows the status 1 inputs from
source 1 and source 2 to be combined into logic gates 09.09 R/W Status 1 Source 2
(OR, NOR, AND, NAND) to form PC logic. The result Range 0 to 1999
can be subjected to a time delay that is, in effect, in 0- Selects the status source to be combined with 9.07
and displayed on TB2-15.
1 transactions but immediate without delay in 1-0
Default 000
transactions. An output is available at TB2-15. The
process is duplicated with status 2 inputs and the out-
put is at TB2-16. See Appendix C Logic Gates. 09.10 R/W Invert Status 1 Source 2
The second group selects parameters from Range 0 to 1
Selects inversion of input on 9.09.
sources ST2, ST3, and ST4 for output at terminals
Default 0 (non-invert)
TB2-17, -18, and -19.
The third group selects parameters from sources
ST6 and drives the form C relay at terminals TB3-35, 09.11 R/W Invert Status 1 Output
36, and 37. Range 0 to 1
Selects inversion of combination of 9.07 and 9.09.
Default 0 (non-invert)
09.01 RO Status 1 Output
Range 0 to 1
Status 1 output ST1 to TB2-15. 09.12 R/W Status 1 Delay
Range 0 to 255 (sec.)
Sets delay time for status 1 output.
09.02 RO Status 2 Output Default 0
Range 0 to 1
Status 2 output ST2 to TB2-16
09.13 R/W Status 2 Source 1
Range 0 to 1999
09.03 RO Status 3 Output Selects the status source to be combined with 9.15
Range 0 to 1 and displayed on TB2-16.
Status 3 output ST3 to TB2-17. Default 1007

09.04 RO Status 4 Output 09.14 R/W Invert Status 2 Source 2

Range 0 to 1 Range 0 to 1
Status 4 output ST4 to TB2-18. Selects inversion of input on 9.13.
Default 0 (non-invert)

09.05 RO Status 5 Output

Range 0 to 1 09.15 R/W Status 2 Source 2
Status 5 output ST5 to TB2-19. Range 0 to 1999
Selects the status source to be combined with 9.13
and displayed on TB2-16.
09.06 RO Status 6 Relay Output Default 000
Range 0 to 1
Output to form C relay at terminals TB4-34,35,36
1 = Relay on

128
 If the status source is not a bit NOTE
Source 1 Source 1 F10 becomes dedicated as KEY
select invert parameter, the input to the ‘&’ gate
is taken as 1 so long as the other Bridge Selected input when
ST1 09.07 ST1 09.08 parameter 05.21 = 1 R/W logic
ST2 09.13 ST2 09.14 source is a bit parameter.
(12-pulse bridge lockout)
Status Inversion
input 09.xx 09.xx
Invert
output & Logic ‘&’
0 ST1 09.11
ST2 09.17 Status
1 output
09.xx Delay
ST1 09.01
ST1 09.12 ST2 09.02
ST2 09.18
0 09.xx 09.xx 15 ST1
1
Source 2 Source 2 &
select invert 16 ST2
ST1 09.09 ST1 09.10
ST2 09.15 ST2 09.16 Status ST3 09.19 Invert ST3 09.20
Status Free for
09.xx 09.xx source ST4 09.21 status ST4 09.22 Open Collector Customer
input selector ST5 09.23 output ST5 09.24 Status Transistor Outputs
output use
Status 09.xx 09.xx ST3 09.03
0 input ST4 09.04
1 ST5 09.05 17 ST3
0
09.xx
18 ST4
1

129
Used by
19 ST5 Quantum

Status outputs 1 and 2 can be any of Invert

the following functions of any two bits: status Relay Outputs
OR A + B output
ST6 ST6 34
NOR A + B User
Status 09.25 09.26 35 Default
AND A x B Status programmable
input Zero speed
NAND A x B output 36
ST6 37
For example: 0 38 Default
09.06
09.07 = 1003 I lim 39 Drive ready
1
09.08 = no invert Controlled by Contact loading
09.09 = 1009 Z speed parameter 5A, 240V AC
09.10 = no invert 10.12 (RO)
09.11 = no invert
Invisible parameters are in italics, eg 09.07.
ST1 = I lim x Z speed = Stall

Figure 10-17.
Menu 09—Status Outputs
10 Keypad, Displays, & Drive Parameters
10 Keypad, Displays, & Drive Parameters

09.16 R/W Invert Status 2 Source 2 09.22 R/W Invert Status 4 Output
Range 0 to 1 Range 0 to 1
Selects inversion of input on 9.15. Default 0 (non-invert)
Default 0 (non-invert)

09.23 R/W Status 5 Source

09.17 R/W Invert Status 2 Output Range 0 to 1999
Range 0 to 1 Selects the status source to be displayed on TB3-19.
Selects inversion of combination of 9.13 and 9.15. Default 1006 Phase back
Default 0 (non-invert) In use by Quantum

09.18 R/W Status 2 Delay *09.24 R/W Invert Status 5 Output

Range 0 to 255 (sec.) Range 0 to 1
Sets delay time for status 2 output. Default 1 (invert)
Default 0 0 (factory default)

09.19 R/W Status 3 Source 09.25 R/W Status 6 Source—Relay Output

Range 0 to 1999 Range 0 to 1999
Selects the status source to be displayed on TB2-17. Selects the status to activate relay to TB4-34,35,36
Default 1013 Overload alarm Default 1009 (Zero Speed)
User programmable User programmable

09.20 R/W Invert Status 3 Output 09.26 R/W Invert Status 6 Output
Range 0 to 1 Range 0 to 1
Default 0 (non-invert) Default 0 (non-invert)

09.21 R/W Status 4 Source

Range 0 to 1999
Selects the status source to be displayed on TB3-18.
Default 1003 In current limit
User programmable

130
 10 Keypad, Displays, & Drive Parameters

10.7.10 MENU 10 — 10.04 RO Bridge 1 Enabled

Status Logic & 0 = disabled 1 = enabled
Indicates that SCR bridge 1 (the forward or positive
Diagnostic Information bridge) is being fired. Does not necessarily indicate
that the bridge is conducting, since conduction
All real (not bit) RO parameters are frozen at the
depends on firing angle and operating conditions.
instant of tripping as an aid to diagnosis of the
fault. They remain in this condition until the drive is
reset. The last four faults are stored in 10.25 through 10.05 RO Bridge 2 Enabled
10.28 to form a fault history. 0 = disabled 1 = enabled
Indicates that SCR bridge 2 (the reverse or negative
bridge) is being fired. Does not necessarily indicate
that the bridge is conducting, since conduction
10.01 RO Forward Velocity depends on firing angle and operating conditions.
0 = drive stationary or running in reverse
1 = drive running forward at >zero speed threshold
Forward direction defined as — 10.06 RO Electrical Phase-Back
When tach feedback selected, terminal TB1-09 0 = firing pulses not phased back
negative with respect to terminal TB1-10. 1 = firing pulses phased back (at standstill)
When armature voltage feedback selected, termi- Indicates that the firing pulses are being phased back
nal A1 positive with respect to terminal A2. by the action of the standstill function. Refer to 05.18
When encoder feedback selected, A-channel and 05.19.
leads B-channel.
10.07 RO At Speed
0 = drive not at speed 1 = drive at speed
10.02 RO Reverse Velocity Indicates that the drive has attained set speed, post-
0 = drive stationary or running forward ramp reference 02.01 = pre-ramp reference 01.03,
1 = drive running in reverse at >zero speed threshold and that comparison of final speed demand 03.01
Reverse direction defined as follows — with speed feedback 03.02 results in a speed error of
When tach feedback selected, terminal TB1-09 <1.5% of maximum speed. External signal also pro-
positive with respect to terminal TB1-10. vided through open collector output ST2 to terminal
When armature voltage feedback selected, termi- TB2-16 if source parameter 09.13 is at default setting.
nal A1 negative with respect to terminal A2.
When encoder feedback selected, A-channel lags
B-channel. 10.08 RO Overspeed
0 = motor not overspeeding
1 = motor over speed
Indicates that the speed feedback 03.02 > ±1000, that
NOTE is, the speed is out of range, suggesting that the
If 10.01 = 10.02 = 0, the motor is either sta- motor is being mechanically driven faster than the
tionary or running at <zero speed threshold. In maximum speed of the drive. This function is a moni-
this condition, 10.09 = 1 and the Zero Speed tor only, and does not initiate a trip signal.
LED lights on the keypad (and RL2 is turned
on, if programmed to show zero speed).
10.09 RO Zero Speed
0 = speed not zero 1 = zero speed
10.03 RO Current Limit Set if speed feedback 03.02 < zero speed threshold
0 = drive not in current limit 03.23. Refer to 10.01 and 10.02.
1 = drive in current limit
Indicates that the sum of the current demand 04.01
and the offset 04.09 is being limited by the current 10.10 RO Armature Voltage Clamp Active
limit over-ride 04.03 or by one of the bridge limits. 0 = clamp not active 1 = clamp active
Set when the armature voltage clamp is
activated. Prevents the voltage from increasing fur-
ther. Refer to 03.15.

131
10 Keypad, Displays, & Drive Parameters

10.11 RO Phase Rotation 10.17 RO Instantaneous Trip

0 = L1 L3 L2 1 = L1 L2 L3 0 = no overcurrent peak detected
Rotation is detected from L1, L2, L3. 1 = overcurrent peak detected
NOTE that connection to E1 and E3 must also be cor- Indicates that a current peak >2 x (max. current
rect — refer to the drawings shown in Figures A-1 according to the burden resistor installed) has
through A-4 in Appendix A. occurred. Firing pulses are immediately suppressed,
shutting the drive down.

10.12 RO Drive Normal

10.18 RO Sustained Overload
1 = drive is powered-up and has not tripped.
0 = sustained overload not detected
1 = sustained overload detected
Indicates that current feedback 05.01 has exceeded
10.13 RO Alarm
the overload threshold 05.06 for a length of time
0 = no alarm condition present
determined by the overload time values 05.07 and
1 = alarm condition present, impending sustained-
05.08 integrated with the magnitude of the overload
overload trip
(the conventional I x t function).
Indicates that the drive is in an overload condition and
will eventually trip on sustained overload 10.18 if the When the current exceeds the overload threshold, the
overload condition is not removed. The time taken to excess integrates with time causing the value of the
trip is dependent on the settings of 05.06 and 05.07 actual overload 05.11 to increase.
and on the magnitude of overload. Conversely, if the current falls below the threshold
Visual indication that the alarm has been actuated is during integration, the value of 05.11 falls towards
given by the Alarm LED (flashing). External signal also zero. The rate of integration is set by 05.07 when the
provided through status logic output ST3 to terminal current is > threshold, and by 05.08 when the current
TB2-17—provided that source parameter 09.19 is its is < threshold. The rate of integration is the trip time
default value. with full scale overload (05.01 = 1000). This function
imitates the behavior of a thermal relay and simulates
the thermal characteristic of a motor.
10.14 RO Field Loss
0 = field normal 1 = field failed
Indicates that no current is being drawn from the inter- 10.19 RO Processor 1 Watchdog
nal field supply (or the FXM5 optional external field 0 = normal 1 = trip
control unit if installed). In normal operation of the drive, the watchdog timer is
reset periodically by Processor 1 as a check that the
processor and drive program are functioning normal-
10.15 RO Feedback Loss ly. If a reset does not occur before the timer has timed
0 = speed feedback present out, the conclusion is either that the processor has
1 = speed feedback absent or polarity reversed failed or that the drive program has crashed. The
Indicates no feedback signal, or reversed result is immediate controlled shutdown of the drive,
polarity. Applies to tachometer or encoder feedback, accompanied by a watchdog fault trip signal.
whichever is selected. Loss of feedback is not detect-
ed until the firing angle has advanced to the point
where the value of 05.03 (firing angle) >767. This 10.20 RO Processor 2 Watchdog
condition can be prevented from tripping the drive by 0 = normal 1 = trip
disabling feedback loss detection 10.30.

10.21 RO Motor Overtemperature

10.16 RO Supply or Phase Loss 0 = normal 1 = trip
0 = normal 10.21 = 1 indicates trip detected at the motor thermis-
1 = supply/phase loss tor input terminal.
Indicates loss of one or more input phases connected trip level 3kΩ
to L1, L2, L3. Can be disabled with 10.31. detector reset level 1.8kΩ

132
 10 Keypad, Displays, & Drive Parameters

10.22 RO Heatsink Overtemperature 10.29 R/W Disable Field Loss Trip

0 = normal 1 = trip Prevents the drive from tripping when field loss is
10.22 = 1 indicates SCR heatsink overtemperature, detected; for example, in applications where the inter-
>100°C (on drives installed with an SCR heatsink nal field supply is not used (as with permanent mag-
thermistor). net motors) or is switched off when the drive is not
running.
Default 0, field loss trip enabled
10.23 RO Speed Loop Saturated
0 = speed loop not saturated 10.30 R/W Disable Feedback Loss Trip
1 = speed loop saturated Prevents the drive from tripping when speed feedback
Indicates that the output of the speed loop algorithm, loss is detected, for example, in certain load-sharing
from which the current demand 04.01 is derived, is at applications and in applications which do not involve
a limit. This may be due to the application of a current motors, such as battery charging and other electrolyt-
limit or a zero-current clamp, and may occur if the ic processes.
motor is mechanically stalled. Default 0, feedback loss enabled

10.31 R/W Disable Supply or Phase Loss Trip

10.24 RO Zero Current Demand Prevents the drive from tripping when supply or sup-
0 = current demand > 0 ply phase loss is detected, allowing the drive to ride
1 = current demand = 0 through brief supply interruptions.
Indicates that the current demand signal is being limit- Default 0, supply/phase loss enabled
ed to zero. This could occur, for example, as a result
of a sudden loss of load, the drive being in torque con-
trol mode with speed over-ride. The speed could 10.32 R/W Disable Motor Overtemperature Trip
reach the set speed threshold as a consequence, Prevents the drive from tripping when motor tempera-
causing the speed loop to reduce the current demand ture sensor input changes to high resistance, for
to zero. example when motor overtemperature protection is
used in the alarm mode, or to achieve a line normal
stop.
10.25 RO Last Trip Default 1, motor overtemperature trip disabled
Range 0 to 255
Record of the last-trip code, forming the basis of a trip
history. 10.33 R/W Disable Heatsink Overtemperature Trip
Prevents the drive from tripping when heatsink tem-
perature sensor detects a temperature greater than
10.26 RO The Trip Before the Last Trip (10.25) 100°C, for example, when heatsink overtemperature
Range 0 to 255 protection is used in the alarm mode, or to achieve a
Record of the trip before that which is saved in 10.25. system normal stop.
Default 0, heatsink overtemperature trip enabled
1, for models 9500-8X02,8X03
10.27 RO The Trip Before 10.26
Range 0 to 255
Record of the trip before that which is saved in 10.26. 10.34 R/W External Trip
If 10.34 = 1, the drive trips. If an external trip is
required, the user can program any logic input to con-
10.28 RO The Trip Before 10.27 trol this bit (refer to Menu 08). Alternatively, it can be
Range 0 to 255 controlled by application software or through the serial
Record of the trip before that which is saved in 10.27. interface.
The four parameters 10.25 to 10.28 provide a perma- Default 0
nent memory of the last four trips. They are updated
only by a new trip occurring.

133
10 Keypad, Displays, & Drive Parameters

10.35 R/W Processor 2 Trip 10.7.11 MENU 11— Miscellaneous

Range 0 to 255 *User-Defined Menu
If the drive is normal, the data display for 10.35 is 0.
The value of 10.35 is continuously monitored by the Parameters 11.01 through to 11.10 define the
processor. The drive trips immediately if a non-zero parameters in the user-defined Menu 00. For exam-
value (other than 255) appears via the serial commu- ple, if the user wishes parameter 00.01 to display
nications interface, or Processor 2 software. speed in rpm (03.03), parameter 11.01 (correspond-
ing to 00.01) should be set to 303. Other miscella-
If 10.35 = 255, this is the equivalent of a RESET.
neous parameters are also defined.
Default 0
The following parameters are programmed in
the menu and can be changed at any time.
10.36 R/W Disable Current Loop Loss Trip
When 10.36 = 1, the trip which normally follows cur-
rent loop loss is disabled.
QUANTUM FACTORY SETTINGS
Default 0

ACCESSED PARAMETER PARAMETER

10.37 R/W Disable Armature Open Circuit Trip AT DESCRIPTION NUMBER
(For firmware revisions > 4.02.00)
When 10.37 = 1, the trip which normally follows arma-
ture open circuit is disabled. This is used for non- 0.01 Armature Voltage 3.04
motor applications such as the drive being used as a 0.02 Armature Current 5.02
front end bridge to an inverter. 0.03 Motor RPM 3.03
Default 0 0.04 Speed Reference 1.02
0.05 AC Line Voltage 7.06
0.06 Max Speed 1.06
0.07 Jog Speed 1.05
0.08 Forward
Acceleration 2.04
0.09 Forward
Deceleration 2.05
0.10 Current Limit 4.05

11.11 R/W Serial Address

Range 0 to 99
Defines the unique address of a drive when several
are connected to common serial bus in a multidrop
application. If set ≥ 100, the value is taken as 99.
Default 001

11.12 R/W Baud Rate

Range 0 to 1
Two Baud rates are available for the communications
interface with the standard drives. Enter the ‘setting’
number appropriate to the required Baud rate as
shown —
Baud Setting
4800 0
9600 1
Default 0

*Refer to paragraph 10.4.2.

134
 10 Keypad, Displays, & Drive Parameters

11.13 R/W Serial Mode 11.18 R/W Boot-up Parameter

Range 1 to 4 Range 0 to 1999
Defines the mode of operation of the serial port. There Used for setting the parameter displayed at the key-
are four modes. Enter the ‘setting’ number appropriate pad at power-on.
to the required mode as shown — Default +000
Mode Setting
ANSI protocol 1 11.19 R/W Serial Programmable Source
Output variable defined by 11.19 2 Range 0 to 1999
Input variable into parameter defined Defines an output or input parameter when serial
by 11.19 3 mode 2 or 3 is selected. Refer to 11.13.
Wide integer (16-bit) driver 4 Default +000
Mode 1 is for communication between the drive and
another serial device (terminal, plc, computer). 11.20 R/W Serial Scaling
Range 0 to 1999
Mode settings 2 and 3 are for rapid transfer of infor- Scales the input data in serial mode 3. Refer to
mation between two drives, avoiding the need for ana- 11.13.
log signals to pass between them. For example, mode Default +1000
settings 2 and 3 could be used in a load-sharing appli-
cation to output the current demand from one drive in 11.21 R/W LEDs Byte
Mode 2 and input a current demand to another in Range 0 to 255
Mode 3.
Designations—
In Mode 4 the drive will output the wide integer 15.63 Bit 7 Alarm
to the transmit lines, and put any received data into Bit 6 Zero speed
15.62. This permits a digital reference to be transmit- Bit 5 Run forward
ted down a line of drives, and offers the possibility of
Bit 4 Run reverse
setting ratios at each stage. Data must be transferred
Bit 3 Bridge 1
from 15.62 to 15.63 by a BASIC program. If a Wide
Integer is read from the serial comms interface, the Bit 2 Bridge 2
data is sent as five ASCII characters with no sign. Bit 1 At speed
(The full range of parameters can be written by five Bit 0 Current limit
ASCII characters if no sign is included.) Data is trans- The displayed value is the decimal equivalent of the
ferred by mode 4 at the rate of 3X mains frequency. bit-pattern.
Default 001
11.22 R/W Disable Normal LED Functions
11.15 RO Processor 1 Software Version Disables the normal functions of the keypad LED indi-
Range 0 to 255 cators (with the exception of Drive Ready ) and ren-
Displays the revision number of the software installed ders them programmable. By setting 11.22 = 1,
in Processor 1. For example, version 1.0.0 is dis- normal LED functions (with the exception of Drive
played as 10 (data window). Ready ) can be controlled via the serial interface or
processor 2 special application software. The LEDs
11.16 RO Processor 2 Software Version display the binary equivalent of the value in 11.21.
Range 0 to 255
Default 0, enabled
Reserved for processor 2 special application software
(MD21 option PCB). 11.23 R/W Permissive for MDA210 Rev. 3
If the MDA210 Rev. 3 power board is used for a high
11.17 R/W Level 3 Security Code voltage Quantum III, this parameter must be set to 1.
Range 0 to 255 Default 0 1 = MDA210 Rev. 3
If this parameter is changed (to any value other than 0
or 149) and stored, the value set must be entered into 11.24
parameter 0 to return the drive to its “as-delivered" Deals with line dip ride-through.
state. Level 1 or 2 security must then be used in the Leave Default as a 0. Consult your Drive Center or
normal way. If 11.17 is set = 0, all parameters are Technical Support for more information if necessary.
freely read-write, accessible without the need to enter Default 0
a security code. To store, set parameter 00 = 1 and
press RESET.
Default 149

135
10 Keypad, Displays, & Drive Parameters

10.7.12 MENU 12 — 10.7.13 MENU 13 — Digital Lock

Programmable Thresholds Refer to Figure 10-19.
Refer to Figure 10-18. When the Digital Lock feature of the Quantum
This menu allows parameters to be selected and III is required, a small change in the programmable
compared to a settable threshold level. Hysteresis logic inputs must be made. Since the drive in its stan-
can be added and the result inverted, if required, and dard configuration uses logic input F2 (terminal #22)
sent to an internal destination or to the status menu for “Reference On," it imposes a conflict with the F2
09.
input, “Inch Reverse” (parameter #8.02) of this menu.
12.01 RO Threshold 1 Exceeded To eliminate this conflict, the following changes
0 = normal 1 = threshold exceeded should be made:
1. Move the wire connection to terminal #22 (MDA1
12.02 RO Threshold 2 Exceeded board) to terminal #27.
0 = normal 1 = threshold exceeded
2. Reprogram the logic input F2 (set parameter #8.12
to 000).
12.03 R/W Threshold 1 Source
Range 0 to 1999 3. Program the logic input F7 destination to
Default + 302 Reference On (set parameter #8.17 to 111).
To program these parameters, enter the security
12.04 R/W Threshold 1 Level
code (200) into any X.00 menu; then make the
Range 0 to 1000
Default + 000 changes in Steps 2 and 3 above. When this is done,
press drive reset; then perform a store sequence
(menu X.00 to 1 and then reset). This completes the
12.05 R/W Threshold 1 Hysteresis setup.
Range 0 to 255
Default 002
13.01 RO Master Encoder (Reference Encoder)
12.06 R/W Invert Threshold 1 Output Value
0 = default 1 = signal inverted Range 0 to 1023

12.07 R/W Threshold 1 Destination 13.02 RO Slave Encoder (Feedback Encoder) Value
Range 0 to 1999 Range 0 to 1023
Default + 000

12.08 R/W Threshold 2 Source 13.03 RO Master Counter Increment

Range 0 to 1999 Range ±1000
Default + 501
13.04 RO Slave Counter Increment
12.09 R/W Threshold 2 Level Range ±1000
Range 0 to 1000
Default + 000
13.05 RO Position Error
12.10 R/W Threshold 2 Hysteresis Range 0 to 255
Range 0 to 255 Indicates the difference between the positions of the
Default 002 motor shaft and the slave shaft.

12.11 R/W Invert Threshold 2 Output 13.06 R/W Precision Reference

0 = default 1 = signal inverted Range 0 to 255
See also 13.07,13.12, and 13.13.
12.12 R/W Threshold 2 Destination
Range 0 to 1999
Default + 000

136
 Threshold
destination
12.07
12.12
Threshold Output
source Hysteresis
12.05 invert 12.xx
12.03 12.06
12.08 12.10
12.11
Threshold
level 12.xx
12.xx 12.xx
12.04 Threshold
12.09 exceeded
12.01
12.02 0
12.xx
1
∫∫ 12.xx

137
Examples of the use of
Programmable Thresholds:

1 To control parameter 02.18, the

Common Ramp Selector, to change KEY
ramp rates at a certain speed.
R/W logic
2 Torque-proving (hoists and strip Internal logic
handling).
Inversion

Hysteresis
∫∫ loop

Figure 10-18.
Menu 12—Programmable Thresholds (Qty-2)
10 Keypad, Displays, & Drive Parameters
10 Keypad, Displays, & Drive Parameters

13.07 R/W Precision Reference 13.13 R/W Precision Reference Latch

Range 0 to 255 0 = use last values 1 = use updated values
See also 13.06,13.12, and 13.13. The two Precision Reference values, 13.06 and
Parameters 13.06 and 13.07 are used, in conjunction 13.07, cannot be changed simultaneously. To pre-
with each other, to define a 16-bit velocity reference vent the Position Loop reading inconsistent values
when parameter 13.12 = 0. during the change, parameter 13.13 = 0 (default)
Parameter 13.06 is the least-significant component. enables the Position Loop to continue to use the last
values while the change is occurring. When a change
Parameter 13.07 is the most-significant compo- of both 13.06 and 13.07 has been completed, setting
nent. 13.13 = 0 causes the updated values to be applied.
Each unit of 13.07 represents 256 increments 13.13 should then be reset to 0, ready for the next
of 13.06. update.

13.08 R/W Precision Loop Gain 13.14 R/W Precision Speed Reference (16-bit)
Range 000 to 65,535
Range 0 to 255 This parameter is a “wide integer” equivalent to the
Determines the amount of velocity correction per unit Precision Reference 13.06 and 13.07. It allows the
of position error. The setting thus determines how precision reference to be written as a single state-
quickly the loop responds to a disturbance, and thus ment, removing the need for the latch, parameter
affects the motor output shaft position. 13.13.
This parameter must be adjusted in conjunction with Parameter 13.14 is intended mainly for use
the Speed Loop PID Gains 03.09, 03.10 and 03.11 to through serial communications.
attain the best balance between stability and quick
response.

13.09 R/W Position Loop Correction Limit

Range 0 to 1000
Limits the amount of the velocity-correction resulting
from a position error.

13.10 R/W Position Loop Software Enable

0 = disabled 1 = enabled
Enables the Position Loop software.

13.11 R/W Rigid Lock Enable

0 = disabled 1 = enabled
When 13.11 = 1, the position error, relative to the time
the position loop is closed, is always absolute.
Therefore, if the slave output shaft is slowed down by
an overload, position is regained by an automatic
speed increase when the load reduces to or below
maximum.
When 13.11 = 0 (default), the Position Loop is closed
only when the “At Speed” condition is reached. This
allows the accelerating ramps to be used without
overspeeding the slave output shaft.

13.12 R/W Reference Source

1 = master encoder 0 = precision reference
Determines the source of the digital loop reference, as
between the master encoder (13.01) or the precision
references (13.06 and 13.07).

138
 Reference
encoder Reference Position
selector source software
Speed enable
07.25 13.12
Master reference 13.10
counter input
Master Encoder increment 1 1 0
(Reference) Scaling 07.05 Speed
+ feed fwd
13.01 13.03 07.24
0 + 01.18
0 Reference ON 01.11 1
Precision INCH selector 01.13
reference 13.13 x 64 Hard speed ref. selector 03.19
latch
Ramp output ref. selector 03.21 &
1
(13.07 x 256) + 13.06 Position software enable 13.10
Precision OR x (-1)
13.14 At speed 10.07
references &
0 Reverse Rigid lock enable 13.11
selector
F3 input F2 input 0 1
inch fwd. 08.03 inch rev. 08.02 01.12
Disable normal Correction
logic functions 08.21 limit
1
Position 13.09
Inch reference 0 1 + Position
- 1 error 0
01.05 gain Speed
0 + EPOS 13.05 13.08 correction

139
x (-1) 0 03.18
1 0 1
Digital feedback
selector
03.12
Encoder
Slave Encoder Position
Scaling 0
(Feedback) gain
0
13.02 13.04
13.05 03.14 Speed
feedback
1 03.02
1
KEY

R/W logic

R/O logic
Internal logic

Figure 10-19.
Menu 13—Digital Lock
10 Keypad, Displays, & Drive Parameters
10 Keypad, Displays, & Drive Parameters

10.7.14 Menu 14 Optional MD29 Set-Up Parameters

Listed below are a group of parameters governing the operation of the MD-29 and MD-29AN
Co-Processors. Specific details about these parameters can be found in the MD29 Manual.

MD29 MD29AN (CT-Net Version)

General Purpose CT-Remote RS-232 Port General Purpose CTNet RS-232 Port
RS-485 Port Dedicated Programming RS-485 Port LAN Programming

Number Description Range Type Default Security Comment

14.01 ANSI Serial Address 1
14.02 RS485 Mode 1
14.03 RS485 Baud Rate 48 For modes 1, 5-9
14.04 Clock task time-base-mSec 0
14.05 CTNet Node ID (MD29AN only) 0
14.06 Auto-Run on Power-up Enable 1
14.07 Global Run-time Trip Enable 1
14.08 CT Remote I/O Trip Link Enable-RS-485 0 For CT Remote I/O Module
14.09 Enable Watchdog Trip 0
14.10 Enable Trip on Parameter Write Overrange 1 Recommend Enable
14.11 Disable Toolkit Communications 0 For SyPT Toolkit Comms
14.12 Internal Advanced Position Controller Enable 0 Not Menu 13
14.13 I/O Link Synchronization 0 For CT Remote I/O Module
14.14 Encoder Timebase Select 0
14.16 Flash Memory Store Request 0
14.17 Drive —
> Drive Communications RS232 0

Note: These parameters take effect only after an For additional details on these parameters,
MD29 or Drive Reset or thru DPL code with the consult the MD29 Manual (Part # 0400-0027) or within
REINIT command. the help sections of the SyPT toolkit.

140
 10 Keypad, Displays, & Drive Parameters

10.7.15 MENU 15 — Optional Application Menu 1

For parameter values, please refer to the following list.

Number Description Range Type Default Security Comment

15.01 RO variable 1 ±1999 RO None
15.02 RO variable 2 ±1999 RO None
15.03 RO variable 3 ±1999 RO None
15.04 RO variable 4 ±1999 RO None
15.05 RO variable 5 ±1999 RO None
15.06 Real R/W variable 1 ±1999 R/W + 000 Level 1
15.07 Real R/W variable 2 ±1999 R/W + 000 Level 1
15.08 Real R/W variable 3 ±1999 R/W + 000 Level 1
15.09 Real R/W variable 4 ±1999 R/W + 000 Level 1
15.10 Real R/W variable 5 ±1999 R/W + 000 Level 1
15.11 Integer R/W variable 1 0 to 255 R/W 000 Level 1
15.12 Integer R/W variable 2 0 to 255 R/W 000 Level 1
15.13 Integer R/W variable 3 0 to 255 R/W 000 Level 1
15.14 Integer R/W variable 4 0 to 255 R/W 000 Level 1
15.15 Integer R/W variable 5 0 to 255 R/W 000 Level 1
15.16 Integer R/W variable 6 0 to 255 R/W 000 Level 1
15.17 Integer R/W variable 7 0 to 255 R/W 000 Level 1 See 15.60
15.18 Integer R/W variable 8 0 to 255 R/W 000 Level 1 and 15.61

15.19 Integer R/W variable 9 0 to 255 R/W 000 Level 1

15.20 Integer R/W variable 10 0 to 255 R/W 000 Level 1
15.21 Bit variable 1 0 or 1 R/W 0 Level 1
15.22 Bit variable 2 0 or 1 R/W 0 Level 1
15.23 Bit variable 3 0 or 1 R/W 0 Level 1
15.24 Bit variable 4 0 or 1 R/W 0 Level 1
15.25 Bit variable 5 0 or 1 R/W 0 Level 1
15.26 Bit variable 6 0 or 1 R/W 0 Level 1
15.27 Bit variable 7 0 or 1 R/W 0 Level 1
15.28 Bit variable 8 0 or 1 R/W 0 Level 1
15.29 Bit variable 9 0 or 1 R/W 0 Level 1
15.30 Bit variable 10 0 or 1 R/W 0 Level 1
15.31 Bit variable 11 0 or 1 R/W 0 Level 1
15.32 Bit variable 12 0 or 1 R/W 0 Level 1
15.33 Bit variable 13 0 or 1 R/W 0 Level 1

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Menu 15 — Optional Applications Menu 1 (Cont.)

Number Description Range Type Default Security Comment

15.34 Bit variable 14 0 or 1 R/W 0 Level 1
15.35 Bit variable 15 0 or 1 R/W 0 Level 1
15.36 Bit variable 16 0 or 1 R/W 0 Level 1
15.60 Ratio 1 wide integer Used w/
= 15.16 & 15.17 0 to 255 R/W 000 Level 1 digital lock
MD29
15.61 Ratio 2 wide integer program
= 15.18 & 15.19 0 to 255 R/W 000 Level 1
15.62 Serial mode 4 input data RO Level 1
15.63 Serial mode 4 output data RO Level 1

15.60 Ratio 1
This parameter is the equivalent of parameters 15.16
and 15.17, such that Ratio 1 in the Digital Lock soft-
ware can be written simultaneously, removing the
need for the latch, 15.31.

15.61 Ratio 2
This parameter is the equivalent of parameters 15.18
and 15.19, such that Ratio 2 in the Digital Lock soft-
ware can be written simultaneously, removing the
need for the latch, 15.31.

15.62 Serial ‘Mode 4’ Input Data

When serial (interface) Mode 4 is selected, this para-
meter is loaded with a variable input from the serial
(interface) port. Refer also to parameter 11.13.

15.63 Serial ‘Mode 4’ Output Data

When serial (interface) Mode 4 is selected, this para-
meter is transmitted to the next drive down the line.

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10.7.16 MENU 16 — Optional Application Menu 2

For parameter values, please refer to the following list.

Number Description Range Type Default Security Comment

16.01 RO variable 1 ±1999 RO None
16.02 RO variable 2 ±1999 RO None
16.03 RO variable 3 ±1999 RO None
16.04 RO variable 4 ±1999 RO None
16.05 RO variable 5 ±1999 RO None
16.06 Real R/W variable 1 ±1999 R/W + 000 Level 1
16.07 Real R/W variable 2 ±1999 R/W + 000 Level 1
16.08 Real R/W variable 3 ±1999 R/W + 000 Level 1
16.09 Real R/W variable 4 ±1999 R/W + 000 Level 1
16.10 Real R/W variable 5 ±1999 R/W + 000 Level 1
16.11 Integer R/W variable 1 0 to 255 R/W 000 Level 1
16.12 Integer R/W variable 2 0 to 255 R/W 000 Level 1
16.13 Integer R/W variable 3 0 to 255 R/W 000 Level 1
16.14 Integer R/W variable 4 0 to 255 R/W 000 Level 1
16.15 Integer R/W variable 5 0 to 255 R/W 000 Level 1
16.16 Integer R/W variable 6 0 to 255 R/W 000 Level 1
16.17 Integer R/W variable 7 0 to 255 R/W 000 Level 1
16.18 Integer R/W variable 8 0 to 255 R/W 000 Level 1
16.19 Integer R/W variable 9 0 to 255 R/W 000 Level 1
16.20 Integer R/W variable 10 0 to 255 R/W 000 Level 1
16.21 Bit variable 1 0 or 1 R/W 0 Level 1
16.22 Bit variable 2 0 or 1 R/W 0 Level 1
16.23 Bit variable 3 0 or 1 R/W 0 Level 1
16.24 Bit variable 4 0 or 1 R/W 0 Level 1
16.25 Bit variable 5 0 or 1 R/W 0 Level 1
16.26 Bit variable 6 0 or 1 R/W 0 Level 1
16.27 Bit variable 7 0 or 1 R/W 0 Level 1
16.28 Bit variable 8 0 or 1 R/W 0 Level 1
16.29 Bit variable 9 0 or 1 R/W 0 Level 1
16.30 Bit variable 10 0 or 1 R/W 0 Level 1
16.31 Bit variable 11 0 or 1 R/W 0 Level 1
16.32 Bit variable 12 0 or 1 R/W 0 Level 1
16.33 Bit variable 13 0 or 1 R/W 0 Level 1
16.34 Bit variable 14 0 or 1 R/W 0 Level 1
16.35 Bit variable 15 0 or 1 R/W 0 Level 1
16.36 Bit variable 16 0 or 1 R/W 0 Level 1

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144