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ABB INDUSTRIAL DRIVES

ACS880 primary control program (AINLX)

Firmware manual
ACS880 primary control
program (AINLX)
Firmware manual

Table of contents

3AUA0000085967 Rev X
EN
Original instructions
EFFECTIVE: 2023-10-05
 Table of contents 5

Table of contents

1 Introduction to the manual

What this chapter contains .................................................................................... 15
Applicability ............................................................................................................... 15
Safety instructions ................................................................................................... 15
Target audience ........................................................................................................ 15
Related manuals ....................................................................................................... 16
Terms and abbreviations ........................................................................................ 18
Cyber security disclaimer ....................................................................................... 20

2 Using the control panel

3 Control locations and operating modes

What this chapter contains .................................................................................... 23
Local control vs. external control .......................................................................... 23
Local control ....................................................................................................... 24
External control ................................................................................................. 25
Using the control panel as an external control source .................. 25
Operating modes of the drive ............................................................................... 26
Speed control mode ......................................................................................... 26
Torque control mode ........................................................................................ 27
Frequency control mode .................................................................................. 27
DC voltage control mode ................................................................................. 27
Special control modes ...................................................................................... 27

4 Program features
What this chapter contains .................................................................................... 29
Drive configuration and programming ................................................................ 30
Programming via parameters ........................................................................ 30
Adaptive programming .................................................................................... 31
Settings and diagnostics .................................................................... 31
Application programming ............................................................................... 31
Control interfaces .................................................................................................... 32
Programmable analog inputs ......................................................................... 32
Settings and diagnostics .................................................................... 32
Programmable analog outputs ...................................................................... 32
Settings and diagnostics .................................................................... 32
Programmable digital inputs and outputs .................................................. 32
Settings and diagnostics .................................................................... 33
6 Table of contents

Programmable relay outputs .......................................................................... 33

Settings and diagnostics .................................................................... 33
Programmable I/O extensions ....................................................................... 33
Settings and diagnostics .................................................................... 34
Fieldbus control ................................................................................................. 34
Settings and diagnostics .................................................................... 34
Master/follower functionality ........................................................................ 34
General .................................................................................................... 34
Load share function with a speed-controlled follower ................. 36
Communication ..................................................................................... 36
Construction of the master/follower link ........................................ 38
Example parameter settings .............................................................. 40
Specifications of the fiber optic master/follower link ................. 41
Settings and diagnostics .................................................................... 41
External controller interface ........................................................................... 42
General .................................................................................................... 42
Topology ................................................................................................. 42
Communication ..................................................................................... 43
Control of a supply unit (LSU) ........................................................................ 44
General .................................................................................................... 44
Communication ..................................................................................... 44
Settings and diagnostics .................................................................... 45
Motor control ............................................................................................................ 45
Direct torque control (DTC) ............................................................................ 45
Settings and diagnostics .................................................................... 45
Reference ramping ........................................................................................... 46
Special acceleration/deceleration ramps ........................................ 46
Settings and diagnostics .................................................................... 46
Constant speeds/frequencies ....................................................................... 47
Settings and diagnostics .................................................................... 47
Critical speeds/frequencies ........................................................................... 47
Example .................................................................................................. 47
Settings and diagnostics .................................................................... 48
Speed controller autotune .............................................................................. 48
Before activating the autotune routine ........................................... 49
Autotune modes ................................................................................... 50
Autotune results ................................................................................... 50
Warning indications ............................................................................. 51
Settings and diagnostics .................................................................... 51
Oscillation damping ......................................................................................... 51
Tuning procedure for oscillation damping ...................................... 52
Settings and diagnostics .................................................................... 52
Resonance frequency elimination .................................................................. 52
Settings and diagnostics .................................................................... 53
 Table of contents 7

Rush control ....................................................................................................... 53

Settings and diagnostics .................................................................... 53
Encoder support ................................................................................................ 53
Encoder echo and emulation .............................................................. 54
Load and motor feedback ................................................................... 54
Position counter .................................................................................... 55
Encoder error handling ........................................................................ 56
Reading/writing position counter values through fieldbus ........ 57
Configuration of HTL encoder motor feedback ............................. 57
Example 1: Using the same encoder for both load and motor
feedback ................................................................................................. 58
Example 2: Using two encoders ......................................................... 58
Example 3: ACS 600 / ACS800 compatibility .................................. 59
Settings and diagnostics .................................................................... 60
Jogging ............................................................................................................... 60
Settings and diagnostics .................................................................... 62
Scalar motor control ......................................................................................... 62
IR compensation for scalar motor control ...................................... 63
Settings and diagnostics .................................................................... 63
Autophasing ....................................................................................................... 63
Autophasing modes ............................................................................. 65
Settings and diagnostics .................................................................... 66
Flux braking ........................................................................................................ 66
Settings and diagnostics .................................................................... 67
DC magnetization ............................................................................................. 67
Pre-heating ............................................................................................. 67
Pre-magnetization ................................................................................ 67
DC hold .................................................................................................... 67
Post-magnetization .............................................................................. 68
Continuous magnetization ................................................................. 68
Settings and diagnostics .................................................................... 69
Motor temperature estimation ...................................................................... 69
Settings and diagnostics .................................................................... 69
Hexagonal motor flux pattern ........................................................................ 69
Settings and diagnostics .................................................................... 70
Application control ................................................................................................... 71
Application macros ........................................................................................... 71
Process PID control ........................................................................................... 71
Quick configuration of the process PID controller ........................ 71
Sleep function for process PID control ............................................. 72
Tracking .................................................................................................. 73
Settings and diagnostics .................................................................... 73
Motor potentiometer ....................................................................................... 73
Settings and diagnostics .................................................................... 74
8 Table of contents

Mechanical brake control ................................................................................ 75

Inputs of the brake control logic ....................................................... 75
Outputs of the brake control logic .................................................... 75
Brake state diagram ............................................................................. 76
Timing diagram ..................................................................................... 78
Wiring example ...................................................................................... 79
Settings and diagnostics .................................................................... 80
DC voltage control .................................................................................................... 80
Overvoltage control .......................................................................................... 80
Undervoltage control (power loss ride-through) ....................................... 80
Automatic restart ................................................................................. 81
Settings and diagnostics .................................................................... 82
Voltage control and trip limits ....................................................................... 83
Settings and diagnostics .................................................................... 83
Brake chopper .................................................................................................... 84
Settings and diagnostics .................................................................... 84
DC voltage boost .............................................................................................. 84
Description of the DC voltage boost function ................................ 84
Use case examples ............................................................................... 85
Limits ....................................................................................................... 86
DC voltage control mode ................................................................................. 88
Settings and diagnostics .................................................................... 88
Safety and protections ............................................................................................ 89
Emergency stop ................................................................................................ 89
Settings and diagnostics .................................................................... 89
Motor thermal protection ............................................................................... 90
Motor thermal protection model ....................................................... 90
Temperature monitoring using PTC sensors .................................. 90
Temperature monitoring using Pt100 or Pt1000 sensors ............ 92
Temperature monitoring using KTY84 sensors ............................. 92
Motor fan control logic (parameters 35.100…35.106) .................. 93
Ex motor support (parameter 95.15, bit 0) ...................................... 93
PTC/Pt100 relay (parameter 95.20, bit 8) ........................................ 93
Settings and diagnostics .................................................................... 94
Motor overload protection .............................................................................. 94
Settings and diagnostics .................................................................... 95
Thermal protection of motor cable ............................................................... 95
Settings and diagnostics .................................................................... 95
User load curve .................................................................................................. 95
Settings and diagnostics .................................................................... 96
Automatic fault resets ..................................................................................... 96
Settings and diagnostics .................................................................... 97
Other programmable protection functions ................................................ 97
External events (parameters 31.01…31.10) ...................................... 97
Motor phase loss detection (parameter 31.19) ............................... 97
 Table of contents 9

Earth (Ground) fault detection (parameter 31.20) ......................... 97

Safe torque off detection (parameter 31.22) .................................. 97
Swapped supply and motor cabling (parameter 31.23) ................ 97
Stall protection (parameters 31.24…31.28) ..................................... 98
Overspeed protection (parameter 31.30) ........................................ 98
Ramp stop supervision (parameters 31.32, 31.33, 31.37 and
31.38 ) ....................................................................................................... 98
Main cooling fan supervision (parameter 31.35) ............................ 98
Custom motor current fault limit (parameter 31.42) ..................... 98
Local control loss detection (parameter 49.05) ............................. 98
Diagnostics ................................................................................................................ 99
Fault and warning messages, data logging ................................................ 99
Signal supervision ............................................................................................. 99
Settings and diagnostics .................................................................... 99
Maintenance timers and counters ................................................................. 99
Settings and diagnostics .................................................................... 99
Energy saving calculators ................................................................................ 100
Settings and diagnostics .................................................................... 100
Load analyzer ..................................................................................................... 100
Peak value logger .................................................................................. 100
Amplitude loggers ................................................................................ 101
Miscellaneous ............................................................................................................ 102
User parameter sets ......................................................................................... 102
Settings and diagnostics .................................................................... 102
Parameter checksum calculation ................................................................... 102
Settings and diagnostics .................................................................... 103
User lock ............................................................................................................. 104
Settings and diagnostics .................................................................... 104
Data storage parameters ................................................................................ 105
Settings and diagnostics .................................................................... 105
Reduced run function ....................................................................................... 105
Activation of the reduced run function ............................................ 106
du/dt filter support .......................................................................................... 107
Settings and diagnostics .................................................................... 107
Sine filter support ............................................................................................. 107
Settings and diagnostics .................................................................... 107
Router mode for BCU control unit ................................................................. 108
Settings and diagnostics .................................................................... 109
Parameter ranges with option +N8200 (High speed license) .................. 109

5 Application macros
What this chapter contains .................................................................................... 113
General ........................................................................................................................ 113
Factory macro ........................................................................................................... 114
Default parameter settings for the Factory macro ................................... 114
10 Table of contents

Default control connections for the Factory macro .................................. 114

Hand/Auto macro .................................................................................................... 117
Default parameter settings for the Hand/Auto macro ............................. 117
Default control connections for the Hand/Auto macro ............................ 118
PID control macro ..................................................................................................... 120
Default parameter settings for the PID control macro ............................. 120
Default control connections for the PID control macro ............................ 122
Sensor connection examples for the PID control macro .......................... 124
Torque control macro .............................................................................................. 125
Default parameter settings for the Torque control macro ...................... 125
Default control connections for the Torque control macro ..................... 126
Sequential control macro ....................................................................................... 128
Operation diagram ........................................................................................... 128
Selection of constant speeds ......................................................................... 129
Default parameter settings for the Sequential control macro ................ 129
Default control connections for the Sequential control macro ............... 130
Fieldbus control macro ........................................................................................... 132

6 Parameters
What this chapter contains .................................................................................... 133
Terms and abbreviations ........................................................................................ 134
Parameter group summary .................................................................................... 135
 Table of contents 11

Parameter listing ...................................................................................................... 138

1 Actual values .................................................................................................... 138
3 Input references ............................................................................................. 144
4 Warnings and faults ...................................................................................... 146
5 Diagnostics ..................................................................................................... 155
6 Control and status words ............................................................................ 157
7 System info ...................................................................................................... 174
10 Standard DI, RO ............................................................................................ 178
11 Standard DIO, FI, FO .................................................................................... 185
12 Standard AI .................................................................................................... 190
13 Standard AO .................................................................................................. 196
14 I/O extension module 1 ............................................................................... 202
15 I/O extension module 2 .............................................................................. 230
16 I/O extension module 3 .............................................................................. 236
19 Operation mode ........................................................................................... 242
20 Start/stop/direction .................................................................................. 245
21 Start/stop mode .......................................................................................... 257
22 Speed reference selection .......................................................................... 268
23 Speed reference ramp ................................................................................. 278
24 Speed reference conditioning ................................................................... 285
25 Speed control ............................................................................................... 292
26 Torque reference chain ............................................................................... 304
28 Frequency reference chain ......................................................................... 313
29 Voltage reference chain .............................................................................. 323
30 Limits ............................................................................................................. 328
31 Fault functions .............................................................................................. 339
32 Supervision .................................................................................................... 351
33 Generic timer & counter .............................................................................. 355
35 Motor thermal protection .......................................................................... 363
36 Load analyzer ................................................................................................ 378
37 User load curve ............................................................................................. 383
40 Process PID set 1 .......................................................................................... 387
41 Process PID set 2 .......................................................................................... 402
43 Brake chopper .............................................................................................. 405
44 Mechanical brake control ........................................................................... 408
45 Energy efficiency ......................................................................................... 414
46 Monitoring/scaling settings ..................................................................... 418
47 Data storage ................................................................................................. 423
49 Panel port communication ........................................................................ 426
50 Fieldbus adapter (FBA) ............................................................................... 430
51 FBA A settings ............................................................................................... 439
52 FBA A data in ................................................................................................. 441
53 FBA A data out .............................................................................................. 442
54 FBA B settings .............................................................................................. 443
55 FBA B data in ................................................................................................. 445
12 Table of contents

56 FBA B data out .............................................................................................. 446

58 Embedded fieldbus ..................................................................................... 447
60 DDCS communication ................................................................................ 456
61 D2D and DDCS transmit data .................................................................... 473
62 D2D and DDCS receive data ....................................................................... 479
90 Feedback selection ..................................................................................... 489
91 Encoder module settings ........................................................................... 500
92 Encoder 1 configuration ............................................................................. 504
93 Encoder 2 configuration ............................................................................. 511
94 LSU control ................................................................................................... 513
95 HW configuration ........................................................................................ 517
96 System ........................................................................................................... 526
97 Motor control ................................................................................................ 538
98 User motor parameters .............................................................................. 544
99 Motor data .................................................................................................... 547
200 Safety ........................................................................................................... 557
206 I/O bus configuration ............................................................................... 557
207 I/O bus service ........................................................................................... 558
208 I/O bus diagnostics .................................................................................. 558
209 I/O bus fan identification ........................................................................ 558

7 Fault tracing
What this chapter contains .................................................................................... 559
Safety .......................................................................................................................... 559
Indications ................................................................................................................. 560
Warnings and faults .......................................................................................... 560
Pure events ......................................................................................................... 560
Editable messages ............................................................................................ 560
Warning/fault history and analysis ...................................................................... 561
Event logs ........................................................................................................... 561
Auxiliary codes ....................................................................................... 561
Factory data logger .............................................................................. 561
Other data loggers ........................................................................................... 561
User data logger ................................................................................... 561
PSL2 data logger ................................................................................... 562
Parameters that contain warning/fault information ................................ 562
Event word (parameters 04.40…04.72) ........................................... 562
QR Code generation for mobile service application ......................................... 562
Warning, fault and pure event messages ............................................................ 563
Auxiliary codes for line-side converter warnings ............................................... 606
Auxiliary codes for line-side converter faults ..................................................... 609

8 Fieldbus control through the embedded fieldbus interface (EFB)

What this chapter contains .................................................................................... 613
 Table of contents 13

System overview ....................................................................................................... 614

Connecting the fieldbus to the drive .................................................................... 614
Setting up the embedded fieldbus interface ..................................................... 615
Setting the drive control parameters ................................................................... 617
Basics of the embedded fieldbus interface ........................................................ 618
Control word and Status word ....................................................................... 619
References .......................................................................................................... 620
Actual values ...................................................................................................... 620
Data input/outputs .......................................................................................... 620
Control of drive outputs through EFB .............................................. 620
Sending process PID feedback and setpoint values through
EFB ........................................................................................................... 621
Register addressing ......................................................................................... 621
About the control profiles ...................................................................................... 621
The ABB Drives profile ............................................................................................. 622
Control Word ...................................................................................................... 622
Status Word ....................................................................................................... 624
State transition diagram ................................................................................. 625
References .......................................................................................................... 627
Actual values ...................................................................................................... 628
Modbus holding register addresses ............................................................. 629
The Transparent profile .......................................................................................... 629
Modbus function codes .......................................................................................... 630
Exception codes ....................................................................................................... 631
Coils (0xxxx reference set) ..................................................................................... 632
Discrete inputs (1xxxx reference set) ................................................................... 633
Error code registers (holding registers 400090…400100) ............................. 635

9 Fieldbus control through a fieldbus adapter

What this chapter contains .................................................................................... 637
System overview ....................................................................................................... 637
Basics of the fieldbus control interface ............................................................... 639
Control word and Status word ....................................................................... 640
Debugging the network words .......................................................... 640
References .......................................................................................................... 641
Debugging the network words .......................................................... 641
Scaling of references ............................................................................ 641
Actual values ...................................................................................................... 642
Debugging the network words .......................................................... 642
Scaling of actual values ....................................................................... 642
Contents of the fieldbus Control word (ABB Drives profile) .................... 643
Contents of the fieldbus Status word (ABB Drives profile) ...................... 645
The state diagram (ABB Drives profile) ........................................................ 646
Setting up the drive for fieldbus control ............................................................. 647
Parameter setting example: FPBA (PROFIBUS DP) .................................... 648
14 Table of contents

10 Control chain diagrams

What this chapter contains .................................................................................... 651
Speed reference source selection I ....................................................................... 652
Speed reference source selection II ...................................................................... 653
Speed reference ramping and shaping ................................................................ 654
Motor feedback configuration .............................................................................. 655
Load feedback and position counter configuration ......................................... 656
Speed error calculation ........................................................................................... 657
Speed controller ....................................................................................................... 658
Torque reference source selection and modification ....................................... 659
Operating mode selection ...................................................................................... 660
Reference selection for torque controller ........................................................... 661
Torque limitation ...................................................................................................... 662
Torque controller ...................................................................................................... 663
Frequency reference selection ............................................................................... 664
Frequency reference modification ........................................................................ 665
DC voltage reference selection .............................................................................. 666
DC voltage reference modification ....................................................................... 667
Process PID setpoint and feedback source selection ....................................... 668
Process PID controller ............................................................................................. 669
Master/Follower communication I (Master) ....................................................... 670
Master/Follower communication II (Follower) ................................................... 671

Further information
 Introduction to the manual 15

1
Introduction to the manual

What this chapter contains

This chapter describes the contents of the manual. It also contains information
on the compatibility, safety and intended audience.

Applicability
This manual applies to ACS880 primary control program version 3.4x or later.
The firmware version of the control program is visible in parameter 7.5 Firmware
version (page 174), or the System info in the main menu on the drive control panel.

Safety instructions
Follow all safety instructions delivered with the drive.
• Read the complete safety instructions before you install, commission, or use
the drive. The complete safety instructions are delivered with the drive as
either part of the Hardware manual, or, in the case of ACS880 multidrives, as
a separate document.
• Read the firmware function-specific warnings and notes before changing
parameter values. These warnings and notes are included in the parameter
descriptions presented in chapter Parameters.

Target audience
This manual is intended for people who design, commission, or operate the drive
system.
16 Introduction to the manual

Related manuals
Note: A quick start-up sequence for a speed control application is provided by
ACS880 drives with primary control program, Quick start-up guide
(3AUA0000098062), delivered with the drive.

Name Code

Lists of hyperlinks to product manuals 1)

ACS880-01 drives 9AKK105408A7004
ACS880-04 drive modules (200 to 710 kW, 300 to 700 hp) 9AKK105713A4819
ACS880-07 drives (45 to 710 kW, 50 to 700 hp) 9AKK105408A8149
ACS880-07 drives (560 to 2800 kW) 9AKK105713A6663
ACS880-07CLC drives hardware manual 9AKK107046A0239
ACS880-07LC drives hardware manual 9AKK107680A9275
ACS880-11 drives 9AKK106930A9565
ACS880-14 drive modules (132 to 400 kW, 200 to 450 hp) 9AKK107045A8023
ACS880-17 drives (45 to 400 kW, 60 to 450 hp) 9AKK106930A3466
ACS880-17 drives (160 to 3200 kW) 9AKK106354A1499
ACS880-17LC drives 9AKK107492A4721
ACS880-31 drives 9AKK106930A9564
ACS880-34 drive modules (132 to 400 kW, 200 to 450 hp) 9AKK107045A8025
ACS880-37 drives (45 to 400 kW, 60 to 450 hp) 9AKK106930A3467
ACS880-37 drives (160 to 3200 kW) 9AKK106354A1500
ACS880-37LC drives 9AKK107492A4722
Other drive hardware manuals
ACS880-04XT drive module packages (500 to 1200 kW) hardware 3AXD50000025169
manual
ACS880-04 single drive module packages hardware manual 3AUA0000138495
ACS880-14 and -34 single drive packages hardware manual 3AXD50000022021
ACS880-104 inverter modules hardware manual 3AUA0000104271
ACS880-104LC inverter modules hardware manual 3AXD50000045610
ACS880-107 inverter units hardware manual 3AUA0000102519
ACS880-107LC inverter units hardware manual 3AXD50000196111
Drive firmware manuals and guides
ACS880 primary control program firmware manual 3AUA0000085967
 Introduction to the manual 17

Name Code

ACS880 drives with primary control program, quick startup guide 3AUA0000098062
Adaptive programming application guide 3AXD50000028574
Drive application programming manual (IEC 61131-3) 3AUA0000127808
ACS880 diode supply control program firmware manual 3AUA0000103295
ACS880 IGBT supply control program firmware manual 3AUA0000131562
CIO-01 I/O module for distributed I/O bus control user’s manual 3AXD50000126880
Option manuals and guides
ACS-AP-I, -S, -W and ACH-AP-H, -W Assistant control panels User’s 3AUA0000085685
manual
Drive Composer start-up and maintenance PC tool user’s manual 3AUA0000094606
Manuals and quick guides for I/O extension modules, fieldbus ad-
apters, encoder interfaces, etc.
1) Available in the Document library.

You can find manuals and other product documents in PDF format on the Internet.
See section Document library on the Internet on the inside of the back cover. For
manuals not available in the Document library, contact your local ABB
representative.
18 Introduction to the manual

Terms and abbreviations

Term Description

ACS-AP-I Industrial assistant non-Bluetooth control panel

ACS-AP-W Industrial assistant control panel with Bluetooth interface
AI Analog input; an interface for analog input signals.
AO Analog output; an interface for analog output signals.
BCU Type of control unit
CIO I/O module for controlling cooling fans
DC link DC circuit between
DDCS Distributed drives communication system protocol
DI Digital input
DO Digital output; an interface for digital output signals.
Drive Frequency converter for controlling AC motors
DTC Direct torque control, a motor control method
EFB Embedded fieldbus
FAIO-01 Analog I/O extension module
FBA Fieldbus adapter
FCAN Optional CANopen® adapter module
FCNA-01 Optional ControlNet™ adapter module
FDCO-01 DDCS communication module with two pairs of 10 Mbit/s DDCS
channels
FDIO-01 Optional digital I/O extension module
FDNA-01 Optional DeviceNet™ adapter module
FEA-03 Optional I/O extension adapter
FECA-01 Optional EtherCAT® adapter module
FEN-01 Optional TTL incremental encoder interface module
FEN-11 Optional TTL absolute encoder interface module
FEN-21 Optional resolver interface module
FEN-31 Optional HTL incremental encoder interface module
FENA-11 Optional Ethernet adapter module for EtherNet/IP™, Modbus TCP®
and PROFINET IO® protocols
FENA-21 Optional Ethernet adapter module for EtherNet/IP™, Modbus TCP
and PROFINET IO protocols, 2-port
FEPL-02 Optional Ethernet POWERLINK adapter module
FIO-01 Optional digital I/O extension module
FIO-11 Optional analog I/O extension module
FPBA-01 Optional PROFIBUS DP® adapter module
FPTC-01 Optional thermistor protection module
FPTC-02 Optional ATEX-certified thermistor protection module for potentially
explosive atmospheres
FSCA-01 Optional RS-485 (Modbus/RTU) adapter
 Introduction to the manual 19

Term Description

FSO-12, FSO-21 Optional functional safety modules

HTL High-threshold logic
ID run Motor identification run. During the identification run, the drive will
identify the characteristics of the motor for optimum motor control.
IGBT Insulated gate bipolar transistor
INU Inverter unit
Inverter unit Inverter module(s) under control of one control unit, and related
components. One inverter unit typically controls one motor.
ISU IGBT supply unit
Line-side converter Converts alternating voltage to direct voltage for the intermediate
DC link of the drive
ModuleBus A communication link used by, for example, ABB controllers. ACS880
drives can be connected to the optical ModuleBus link of the control-
ler.
Motor-side converter Converts intermediate DC link current to AC current for the motor
Network control With fieldbus protocols based on the Common Industrial Protocol
(CIP™), such as DeviceNet and Ethernet/IP, denotes the control of
the drive using the Control Supervisor and AC/DC drive objects of
the ODVA AC/DC Drive Profile. For more information, see
www.odva.org.
Parameter In the drive control program, user-adjustable operation instruction
to the drive, or signal measured or calculated by the drive.
In some (for example fieldbus) contexts, a value that can be accessed
as an object. For example, variable, constant, or signal.
PLC Programmable logic controller
Power module (Frame sizes R1i…R7i) Contains the power electronics and power
connections of the drive module. The control unit is connected to
the power unit.
PSL2 Protocol used in communication inside ABB inverters
PTC Positive temperature coefficient
RDCO Optical DDCS communication module
RO Relay output
STO Safe torque off (IEC/EN 61800-5-2)
Supply unit Supply module(s) under control of one control unit, and related
components.
TTL Transistor-transistor logic
UPS Uninterruptible power supply
ZCU Type of control unit
20 Introduction to the manual

Cyber security disclaimer

This product is designed to be connected to and to communicate information and
data via a network interface. It is Customer's sole responsibility to provide and
continuously ensure a secure connection between the product and Customer
network or any other network (as the case may be). Customer shall establish and
maintain any appropriate measures (such as but not limited to the installation of
firewalls, application of authentication measures, encryption of data, installation
of anti-virus programs, etc.) to protect the product, the network, its system and
the interface against any kind of security breaches, unauthorized access,
interference, intrusion, leakage and/or theft of data or information.
ABB and its affiliates are not liable for damages and/or losses related to such
security breaches, any unauthorized access, interference, intrusion, leakage and/or
theft of data or information.
 Using the control panel 21

2
Using the control panel
Refer to ACS-AP-I, -S, -W and ACH-AP-H, -W Assistant control panels user’s manual
(3AUA0000085685 [English]).
22
 Control locations and operating modes 23

3
Control locations and
operating modes

What this chapter contains

This chapter describes the control locations and operating modes supported by
the control program.

Local control vs. external control

The ACS880 has two main control locations: external and local. The control location
is selected with the Loc/Rem key on the control panel or in the PC tool.

ACS880
External control
2)
PLC
I/O1)
Local control
Fieldbus adapter (Fxxx) or
DDCS communication module

Embedded fieldbus
Control panel or Drive Composer interface (EFB) or
Control panel
PC tool (optional) master/follower link

M
3~
Encoder
24 Control locations and operating modes

1) Extra inputs/outputs can be added by installing optional I/O extension modules

(FIO-xx) in drive slots.

2) Encoder or resolver interface module(s) (FEN-xx) installed in drive slots.

￭ Local control
The control commands are given from the control panel keypad or from a PC
equipped with Drive Composer when the drive is set to local control. Speed and
torque control modes are available for local control; frequency mode is available
when scalar motor control mode is used (see parameter 19.16).
Local control is mainly used during commissioning and maintenance. The control
panel always overrides the external control signal sources when used in local
control. Changing the control location to local can be prevented by parameter
19.17.
The user can select by a parameter (49.5) how the drive reacts to a control panel
or PC tool communication break. (The parameter has no effect in external control.)
 Control locations and operating modes 25

￭ External control
When the drive is in external control, control commands are given through
• the I/O terminals (digital and analog inputs), or optional I/O extension modules
• the embedded fieldbus interface or an optional fieldbus adapter module
• the external (DDCS) controller interface
• the master/follower link, and/or
• the control panel.
Two external control locations, EXT1 and EXT2, are available. The user can select
the sources of the start and stop commands separately for each location by
parameters 20.1...20.10. The operating mode can be selected separately for each
location (in parameter group 19) which enables quick switching between different
operating modes, for example speed and torque control. Selection between EXT1
and EXT2 is done via any binary source such as a digital input or fieldbus control
word (see parameter 19.11). The source of reference is selectable for each operating
mode separately.
The control location selection is checked on a 2 ms time level.

Using the control panel as an external control source

The control panel can also be used as a source of start/stop commands and/or
reference in external control. Selections for the control panel are available in the
start/stop command source and reference source selection parameters.
Reference source selection parameters (except PID setpoint selectors) have two
selections for the control panel. The difference between the two selections is in
the initial reference value after the reference source switches to the control panel.
The panel reference is saved whenever another reference source is selected. If the
reference source selection parameter is set to Control panel (ref saved), the saved
value is used as the initial reference when control switches back to the panel. Note
that only one type of reference can be saved at a time: for example, attempting
to use the same saved reference with different operating modes (speed, torque,
etc.) causes the drive to trip on 7083. The panel reference can be separately limited
by parameters in group 49.
With the reference source selection parameter set to Control panel (ref copied),
the initial panel reference value depends on whether the operating mode changes
with the reference source. If the source switches to the panel and the operating
mode does not change, the last reference from the previous source is adopted. If
the operating mode changes, the drive actual value corresponding to the new
mode is adopted as the initial value.
26 Control locations and operating modes

The process PID setpoint selectors in parameter groups 40 and 41 only have one
setting for the control panel. Whenever the control panel is selected as the setpoint
source, operation resumes using the previous setpoint.

Operating modes of the drive

The drive can operate in several operating modes with different types of reference.
The mode is selectable for each control location (Local, EXT1 and EXT2) in parameter
group 19.
The following is a general representation of the reference types and control chains.
For detailed diagrams, see chapter Control chain diagrams.

Speed reference
Speed reference Speed reference Speed error Motor feedback
ramping and
source selection I source selection II calculation configuration
shaping

Torque reference Load feedback and

source selection Speed controller position counter
and modification configuration

DC voltage
DC voltage
reference source
reference Reference selection Operating mode
selection and
modification for torque controller selection
modification

Process PID
setpoint and
feedback source Torque
selection limitation

Torque
Process PID controller
controller

DTC motor
control mode

Frequency
Frequency Scalar motor
reference source
reference control mode
selection and
modification
modification

￭ Speed control mode

The motor follows a speed reference given to the drive. This mode can be used
either with estimated speed as feedback, or with an encoder or resolver for better
speed control accuracy.
Speed control mode is available in both local and external control. It is also available
both in DTC (Direct Torque Control) and scalar motor control modes.
 Control locations and operating modes 27

￭ Torque control mode

Motor torque follows a torque reference given to the drive. Torque control is
possible without feedback, but is much more dynamic and accurate when used in
conjunction with a feedback device such as an encoder or a resolver. It is
recommended that a feedback device is used in crane, winch or lift control
situations.
Torque control mode is available in DTC motor control mode for both local and
external control locations.

￭ Frequency control mode

The motor follows a frequency reference given to the drive. Frequency control is
only available in scalar motor control mode.

￭ DC voltage control mode

This mode is intended especially for off-grid applications where the inverter unit
is connected to a generator and the supply unit creates an AC supply network.
The inverter unit adjusts the DC voltage by controlling generator torque. Based
on the DC circuit capacitance either from an internal database or user input
parameter, and measured DC voltage, the PI controller outputs a power reference.
The power reference is then converted to a torque reference.
The settings of the DC voltage control chain are available in parameter group 29
Voltage reference chain (page 323).
DC voltage control mode is only available with drives with a BCU control unit.

￭ Special control modes

In addition to the control modes mentioned above, the following special control
modes are available:
• Process PID control. For more information, see section Process PID
control (page 71).
• Emergency stop modes Off1 and Off3: Drive stops along the defined
deceleration ramp and drive modulation stops.
• Jogging mode: Drive starts and accelerates to the defined speed when the
jogging signal is activated. For more information, see section
Jogging (page 60).
28
 Program features 29

4
Program features

What this chapter contains

The control program contains all of the parameters including actual signals. This
chapter describes some of the more important functions of the control program,
how to use them and how to program them to operate.
30 Program features

Drive configuration and programming

The drive control program is divided into two parts:
• firmware program
• application program
Drive control program

Application program Firmware

Speed control
Function block Torque control
program Frequency
Parameter control
interface Drive logic M
Standard block I/O interface
library Fieldbus interface
Protections
Feedback

The firmware program performs the main control functions, including speed and
torque control, drive logic (start/stop), I/O, feedback, communication and
protection functions. Firmware functions are configured and programmed with
parameters, and can be extended by application programming.

￭ Programming via parameters

Parameters configure all of the standard drive operations and can be set through
• the control panel, as described in chapter Using the control panel
• the Drive Composer PC tool, as described in Drive Composer start-up and
maintenance PC tool user’s manual (3AUA0000094606 [English]), or
• the fieldbus interface, as described in chapters Fieldbus control through the
embedded fieldbus interface (EFB) and Fieldbus control through a fieldbus
adapter.
All parameter settings are stored automatically to the permanent memory of the
drive. However, if an external +24 V DC power supply is used for the drive control
unit, it is highly recommended to force a save by using parameter 96.7 before
powering down the control unit after any parameter changes have been made.
If necessary, the default parameter values can be restored by parameter 96.6.
 Program features 31

￭ Adaptive programming
Conventionally, the user can control the operation of the drive by parameters.
However, the standard parameters have a fixed set of choices or a setting range.
To further customize the operation of the drive, an adaptive program can be
constructed out of a set of function blocks.
The Drive Composer PC tool has an Adaptive programming feature with a graphical
user interface for building the custom program. The function blocks include the
usual arithmetic and logical functions, as well as eg. selection, comparison and
timer blocks. The program can contain a maximum of 50 blocks. The adaptive
program is executed on a 10 ms time level.
For selecting input to the program, the user interface has pre-selections for the
physical inputs, common actual values, and other status information of the drive.
Parameter values as well as constants can also be defined as inputs. The output
of the program can be used eg. as a start signal, external event or reference, or
connected to the drive outputs. Note that connecting the output of the adaptive
program to a selection parameter will write-protect the parameter.
The status of the adaptive program is shown by parameter 7.30. The adaptive
program can be disabled by 96.70.
Please note that sequential programming is not supported.
For more information, see the Adaptive programming application guide
(3AXD50000028574 [English]).

Settings and diagnostics

Parameters: 7.30 Adaptive program status (page 176) and 96.70 Disable adaptive
program (page 536).
Events: 64A6 Adaptive program (page 574).

￭ Application programming
The functions of the firmware program can be extended with application
programming. Application programmability is available as option +N8010.
Application programs can be built out of function blocks based on the IEC 61131-3
standard using a PC tool available separately.
For more information, see Programming manual: Drive application programming
(IEC 61131-3) (3AUA0000127808 [English]).
32 Program features

Control interfaces
￭ Programmable analog inputs
The control unit has two programmable analog inputs. Each of the inputs can be
independently set as a voltage (0/2…10 V or -10…10 V) or current (0/4…20 mA)
input by a jumper or switch on the control unit. Each input can be filtered, inverted
and scaled.
The analog inputs on the control unit are read on a 0.5 ms time level.
The number of analog inputs can be increased by installing FIO-11 or FAIO-01 I/O
extensions (see Programmable I/O extensions below). The analog inputs on
extension modules are read on a 2 ms time level.
The drive can be set to perform an action (for example, to generate a warning or
fault) if the value of an analog input moves out of a predefined range.

Settings and diagnostics

Parameter group: 12 Standard AI (page 190).
Events: 80A0 AI Supervision (page 581) and A8A0 AI Supervised Warning (page 598).

￭ Programmable analog outputs

The control unit has two current (0…20 mA) analog outputs. Each output can be
filtered, inverted and scaled.
The analog outputs on the control unit are updated on a 0.5 ms time level.
The number of analog outputs can be increased by installing FIO-11 or FAIO-01 I/O
extensions (see Programmable I/O extensions below). The analog outputs on
extension modules are updated on a 2 ms time level.

Settings and diagnostics

Parameter group: 13 Standard AO (page 196).

￭ Programmable digital inputs and outputs

The control unit has six digital inputs, a digital start interlock input, and two digital
input/outputs (I/O that can be set as either an input or an output). The digital
inputs on the control unit are read on a 0.5 ms time level.
One digital input (DI6) doubles as a PTC thermistor input. See section Motor
thermal protection (page 90).
Digital input/output DIO1 can be used as a frequency input, DIO2 as a frequency
output.
 Program features 33

The number of digital inputs/outputs can be increased by installing FIO-01, FIO-11

or FDIO-01 I/O extensions (see Programmable I/O extensions below). The digital
inputs on extension modules are read on a 2 ms time level.

Settings and diagnostics

Parameter groups: 10 Standard DI, RO (page 178) and 11 Standard DIO, FI,
FO (page 185).

￭ Programmable relay outputs

The control unit has three relay outputs. The signal to be indicated by the outputs
can be selected by parameters.
The relay outputs on the control unit are updated on a 0.5 ms time level.
Relay outputs can be added by installing FIO-01 or FDIO-01 I/O extensions. The
relay outputs on extension modules are updated on a 2 ms time level.

Settings and diagnostics

Parameter groups: 10 Standard DI, RO (page 178).

￭ Programmable I/O extensions

Inputs and outputs can be added by using I/O extension modules. One to three
modules can be mounted on the slots of the control unit. Slots can be added by
connecting an FEA-03 I/O extension adapter.
The table below shows the number of I/O on the control unit as well as optional
I/O extension modules.

Location Digital inputs Digital I/Os Analog inputs Analog out- Relay outputs
(DI) (DIO) (AI) puts (AO) (RO)

Control unit 6 + DIIL 2 2 2 3

FIO-01 - 4 - - 2
FIO-11 - 2 3 1 -
FAIO-01 - - 2 2 -
FDIO-01 3 - - - 2

Three I/O extension modules can be activated and configured using parameter
groups 14…16.
34 Program features

Note: Each configuration parameter group contains parameters that display the
values of the inputs on that particular extension module. These parameters are
the only way of utilizing the inputs on I/O extension modules as signal sources.
To connect to an input, choose the setting Other in the source selector parameter,
then specify the appropriate value parameter (and bit, for digital signals) in group
14, 15 or 16.

Settings and diagnostics

Parameter groups: 14 I/O extension module 1 (page 202), 15 I/O extension module
2 (page 230) and 16 I/O extension module 3 (page 236).
Parameter: 60.41 Extension adapter com port (page 467).
Events: 7082 Ext I/O comm loss (page 576) and A799 ExtIO comm loss (page 592).

￭ Fieldbus control
The drive can be connected to several different automation systems through its
fieldbus interfaces. See chapters Fieldbus control through the embedded fieldbus
interface (EFB) and Fieldbus control through a fieldbus adapter.

Settings and diagnostics

Parameter groups: 50 Fieldbus adapter (FBA) (page 430), 51 FBA A settings (page 439),
52 FBA A data in (page 441), 53 FBA A data out (page 442), 54 FBA B settings (page 443),
55 FBA B data in (page 445), 56 FBA B data out (page 446) and 58 Embedded
fieldbus (page 447).
Events: 7510 FBA A communication (page 579), 7520 FBA B communication (page 580),
A7C1 FBA A communication (page 595), A7C2 FBA B communication (page 595) and
A7CE EFB comm loss (page 596).

￭ Master/follower functionality
General
The master/follower functionality can be used to link several drives together so
that the load can be evenly distributed between the drives. This is ideal in
applications where the motors are coupled to each other via gearing, chain, belt,
etc.
The external control signals are typically connected to one drive only which acts
as the master. The master controls up to 10 followers by sending broadcast
messages over an electrical cable or fiber optic link. The master can read feedback
signals from up to 3 selected followers.
 Program features 35

Speed-controlled master

M
~ Process master

Process
M
follower
(For example) ~
Control word Torque-or-speed
Speed reference controlled follower
Master Follower
Torque reference

DDCS Master/follower linkDDCS

(For example)
Status word
01.01, 01.10
Fieldbus control
External control system
(e.g. PLC)

The master drive is typically speed-controlled and the other drives follow its torque
or speed reference. In general, a follower should be
• torque-controlled when the motor shafts of the master and the follower are
rigidly coupled by gearing, chain etc. so that no speed difference between the
drives is possible.
• speed-controlled when the motor shafts of the master and the follower are
flexibly coupled so that a slight speed difference is possible. When both the
master and the follower are speed-controlled, drooping is also typically used
(see parameter 25.8). The distribution of load between the master and follower
can alternatively be adjusted as described under Load share function with a
speed-controlled follower below.

Note: With a speed-controlled follower (without load sharing), pay attention to

the acceleration and deceleration ramp times of the follower. If the ramp times
are set longer than in the master, the follower will follow its own
acceleration/deceleration ramp times rather than those from the master. In general,
it is recommended to set identical ramp times in both the master and the
follower(s). Any ramp shape settings (see parameters 23.16…23.19) should only
be applied in the master.
36 Program features

In some applications, both speed control and torque control of the follower are
required. In those cases, the operating mode can be switched by parameter (19.12
or 19.14). Another method is to set one external control location to speed control
mode, the other to torque control mode. Then, a digital input of the follower can
be used to switch between the control locations. See chapter Control locations
and operating modes.
With torque control, follower parameter 26.15 can be used to scale the incoming
torque reference for optimal load sharing between the master and the follower.
Some torque-controlled follower applications, eg. where the torque is very low, or
very low speed operation is required, may require encoder feedback.
If a drive needs to quickly switch between master and follower statuses, one user
parameter set (see page 102) can be saved with the master settings, another with
the follower settings. The suitable settings can then be activated using for example,
digital inputs.

Load share function with a speed-controlled follower

Load sharing between the master and a speed-controlled follower can be used in
various applications. The load share function is implemented by fine-tuning the
follower speed reference with an additional trim signal based on a torque reference.
The torque reference is selected by parameter 23.42 (by default, reference 2 received
from the master). Load share is adjusted by parameter 26.15 and activated by the
source selected by 23.40. Parameter 23.41 provides a gain adjustment for the speed
correction. The final correction signal added to the speed reference is shown by
23.39. See the block diagram on page 657.
Note:
• The function can be enabled only when the drive is a speed-controlled follower
in remote control mode.
• Drooping (25.8) is ignored when the load share function is active.
• The master and follower should have the same speed control tuning values.
• The speed correction term is limited by the speed error window parameters
24.44 and 24.43. An active limitation is indicated by 6.19.
• For a reliable ramp stop of a follower,
• both parameters 24.43 and 24.44 must be set smaller than parameter 21.6
(or speed error window control disabled altogether by 24.41), and
• parameter 24.11 must be set smaller than parameter 21.6.

Communication
A master/follower link can be built by connecting the drives together with fiber
optic cables (may require additional equipment depending on existing drive
hardware), or by wiring together the XD2D connectors of the drives. The medium
is selected by parameter 60.1.
 Program features 37

Parameter 60.3 defines whether the drive is the master or a follower on the
communication link. Typically, the speed-controlled process master drive is also
configured as the master in the communication.
The communication on the master/follower link is based on the DDCS protocol,
which employs data sets (specifically, data set 41). One data set contains three
16-bit words. The contents of the data set are freely configurable using parameters
61.1…61.3. The data set broadcast by the master typically contains the control
word, speed reference and torque reference, while the followers return a status
word with two actual values.
The default setting of parameter 61.1 is Follower CW. With this setting in the
master, a word consisting of bits 0…11 of 6.1 and four bits selected by parameters
6.45…6.48 is broadcast to the followers. However, bit 3 of the follower control
word is modified so that it remains on as long as the master is modulating, and
its switching to 0 causes the follower to coast to a stop. This is to synchronize the
stopping of both master and follower.
Note: When the master is ramping down to a stop, the follower observes the
decreasing reference but receives no stop command until the master stops
modulating and clears bit 3 of the follower control word. Because of this, the
maximum and minimum speed limits on the follower drive should not have the
same sign – otherwise the follower would be pushing against the limit until the
master finally stops.

Three words of additional data can optionally be read from each follower. The
followers from which data is read are selected by parameter 60.14 in the master.
In each follower drive, the data to be sent is selected by parameters 61.1…61.3.
The data is transferred in integer format over the link, and displayed by parameters
62.28…62.36 in the master. The data can then be forwarded to other parameters
using 62.4…62.12.
To indicate faults in the followers, each follower must be configured to transmit
its status word as one of the above-mentioned data words. In the master, the
corresponding target parameter must be set to Follower SW. The action to be
taken when a follower is faulted is selected by parameter 60.17. External events
(see parameter group 31 Fault functions) can be used to indicate the status of
other bits of the status word.
For block diagrams of the master/follower communication are presented on pages
670 and 671.
38 Program features

Construction of the master/follower link

The master/follower link is formed by connecting the drives together using either
• shielded twisted-pair cable between the XD2D terminals of the drives*, or
• fiber optic cables. Drives with a ZCU control unit require an additional FDCO
DDCS communication module; drives with a BCU control unit require an RDCO
module.
*This connection cannot co-exist with, and is not to be confused with, drive-to-drive
(D2D) communication implemented by application programming (detailed in Drive
application programming manual (IEC 61131-3), 3AUA0000127808 [English]).
Connection examples are shown below. Note that a star configuration using fiber
optic cables requires an NDBU-95C DDCS branching unit.

Master/follower wiring with electrical cable

XD2D

XD2D

XD2D
B 1
A 2
BGND 3
SHIELD 4

B 1
A 2
BGND 3
SHIELD 4

B 1
A 2
BGND 3

Termination ON Termination OFF Termination ON SHIELD 4

See the hardware manual of the drive for wiring and termination details.

Ring configuration with fiber optic cables

Master Follower 1 Follower 2

(ZCU) Control unit (BCU) Control unit (ZCU) Control unit

FDCO RDCO FDCO
CH2
T R T R T R

Where, T = Transmitter; R = Receiver

Star configuration with fiber optic cables (1)

 Program features 39

Master Follower 1 Follower 2

(ZCU) Control unit (ZCU) Control unit (BCU) Control unit

FDCO FDCO RDCO
CH2
T R T R T R

Follower 3

(ZCU) Control unit

T R
FDCO

R T R T R T R T
MSTR CH0 CH1 CH2
NDBU

Where, T = Transmitter; R = Receiver

40 Program features

Star configuration with fiber optic cables (2)

Master Follower 1 Follower 2

(ZCU) Control unit (ZCU) Control unit (BCU) Control unit

FDCO FDCO RDCO
CH2
T R T R T R

Follower 3

(ZCU) Control unit

T R
FDCO

R T R T R T R T
CHx CHx CHx CHx
NDBU
X13 = REGEN

Where, T = Transmitter; R = Receiver

Example parameter settings

The following is a checklist of parameters that need to be set when configuring
the master/follower link. In this example, the master broadcasts the Follower
control word, a speed reference and a torque reference. The follower returns a
status word and two actual values (this is not compulsory but is shown for clarity).

Master settings
• Master/follower link activation
• 60.1 M/F communication port (fiber optic channel or XD2D selection)
• (60.2 M/F node address = 1)
• 60.3 M/F mode = DDCS master (for both fiber optic and wire connection)
• 60.5 M/F HW connection (Ring or Star for fiber optic, Star for wire)
• Data to be broadcast to the followers
• 61.1 M/F data 1 selection = Follower CW (Follower control word)
• 61.2 M/F data 2 selection = Used speed reference
• 61.3 M/F data 3 selection = Torque reference act 5
• Data to be read from the followers (optional)
• 60.14 M/F follower selection (selection of followers that data is read from)
 Program features 41

• 62.4 Follower node 2 data 1 sel … 62.12 Follower node 4 data 3 sel (mapping
of data received from followers)

Follower settings
• Master/follower link activation
• 60.1 M/F communication port (fiber optic channel or XD2D selection)
• 60.2 M/F node address = 2…60
• 60.3 M/F mode = DDCS master (for both fiber optic and wire connection)
• 60.5 M/F HW connection (Ring or Star for fiber optic, Star for wire)
• Mapping of data received from master
• 62.1 M/F data 1 selection = CW 16bit
• 62.2 M/F data 2 selection = Ref1 16bit
• 62.3 M/F data 3 selection = Ref2 16bit
• Selection of operating mode and control location
• 19.12 Ext1 control mode = Speed or Torque
• 20.1 Ext1 commands = M/F link
• 20.2 Ext1 start trigger type = Level
• Selection of reference sources
• 22.11 Speed ref1 source = M/F reference 1
• 26.11 Torque ref1 source = M/F reference 2
• Selection of data to be sent to master (optional)
• 61.1 M/F data 1 selection = SW 16bit
• 61.2 M/F data 2 selection = Act1 16bit
• 61.3 M/F data 3 selection = Act2 16bit

Specifications of the fiber optic master/follower link

• Maximum fiber optic cable length:
• FDCO-01/02 or RDCO-04 with POF (Plastic Optic Fiber): 30 m
• For distances up to 1000 m, use two NOCR-01 optical converter/repeaters
with glass optic cable (GOF, 62.5 micrometers, Multi-Mode)
• Maximum shielded twisted-pair cable length: 50 m
• Transmission rate: 4 Mbit/s
• Total performance of the link: < 5 ms to transfer references between the master
and followers.
• Protocol: DDCS (Distributed Drives Communication System)

Settings and diagnostics

Parameter groups: 60 DDCS communication (page 456), 61 D2D and DDCS transmit
data (page 473) and 62 D2D and DDCS receive data (page 479).
Events: 7582 M/F comm loss (page 580) and A7CB M/F comm loss (page 596).
42 Program features

￭ External controller interface

General
The drive can be connected to an external controller (such as the ABB AC 800M)
using either fiber optic or twisted-pair cable. The ACS880 is compatible with both
the ModuleBus and DriveBus connections. Note that some features of DriveBus
(such as BusManager) are not supported.

Topology
An example connection with either a ZCU-based or BCU-based drive using fiber
optic cables is shown below.
Drives with a ZCU control unit require an additional FDCO DDCS communication
module; drives with a BCU control unit require an RDCO or FDCO module. The BCU
has a dedicated slot for the RDCO – an FDCO module can also be used with a BCU
control unit but it will reserve one of the three universal option module slots. Ring
and star configurations are also possible much in the same way as with the
master/follower link (see section Master/follower functionality (page 34)); the
notable difference is that the external controller connects to channel CH0 on the
RDCO module instead of CH2. The channel on the FDCO communication module
can be freely selected.

ACS880 ACS880

Controller (ZCU) Control unit (BCU) Control unit

FDCO RDCO
CH0
T R T R T R

T = Transmitter, R = Receiver

The external controller can also be wired to the D2D (RS-485) connector using
shielded, twisted-pair cable. The selection of the connection is made by parameter
60.51.
The transfer rate can be selected by parameter 60.56.
 Program features 43

Communication
The communication between the controller and the drive consists of data sets of
three 16-bit words each. The controller sends a data set to the drive, which returns
the next data set to the controller.
The communication uses data sets 10…33. The contents of the data sets are freely
configurable, but data set 10 typically contains the control word and one or two
references, while data set 11 returns the status word and selected actual values.
For ModuleBus communication, the ACS880 can be set up as a “standard drive”
or an “engineered drive” by parameter 60.50. ModuleBus communication uses
data sets 1…4 with a “standard drive” and data sets 10…33 with an “engineered
drive”.
The word that is defined as the control word is internally connected to the drive
logic; the coding of the bits is as presented in section Contents of the fieldbus
Control word (ABB Drives profile) (page 643). Likewise, the coding of the status
word is as shown in section Contents of the fieldbus Status word (ABB Drives
profile) (page 645).
By default, data sets 32 and 33 are dedicated for the mailbox service, which enables
the setting or inquiry of parameter values as follows:
Controller ACS880

Parameter write to drive

Transmit address Data set Par. Value

Value = 4865* 32.1
Transmit data Data set 19.01 1234
Value = 1234 32.2
Transmit addrss 1
Data set
feedback .
33.1 .
Value = 4865* . .

Parameter read from drive

Inquire address Data set
Value = 6147** 32.3 24.03 4300
Inquire data Data set
. .
Value = 4300 33.2 . .

Inquire address Data set

feedback 33.3
Value = 6147**

*19.01 → 13h.01h → 1301h = 4865

**24.03 → 18h.03h → 1803h = 6147
44 Program features

By parameter 60.64, data sets 24 and 25 can be selected instead of data sets 32
and 33.
The update intervals of the data sets are as follows:
• Data sets 10…11: 2 ms
• Data sets 12…13: 4 ms
• Data sets 14…17: 10 ms
• Data sets 18…25, 32, 33: 100 ms.
Settings and diagnostics
Parameter groups: 60 DDCS communication (page 456), 61 D2D and DDCS transmit
data (page 473) and 62 D2D and DDCS receive data (page 479).
Events: 7581 DDCS controller comm loss (page 580) and A7CA DDCS controller comm
loss (page 596).

￭ Control of a supply unit (LSU)

General
If the drive has separately-controlled supply and inverter units (also known as
lineside and motor-side converters), the supply unit can be controlled through the
inverter unit. For example, the inverter unit can send a control word and references
to the supply unit, enabling the control of both units from the interfaces of one
control program.
With ACS880 single drives, the two control units are connected at the factory. In
ACS880 multidrives (drive systems with one supply unit and multiple inverter
units), the feature is not typically used.

Communication
The communication between the converters and the drive consists of data sets
of three 16-bit words each. The inverter unit sends a data set to the supply unit,
which returns the next data set to the inverter unit.
The communication uses data sets 10 and 11, updated at 2 ms intervals. Data sets
10 is sent by the inverter unit to the supply unit, while data set 11 is sent by the
supply unit to the inverter unit. The contents of the data sets are freely configurable,
but data set 10 typically contains the control word, while data set 11 returns the
status word.
The basic communication is initialized by parameter 95.20. This will make several
parameters visible (see below).
If the supply unit is regenerative (such as an IGBT supply unit), it is possible to
send a DC voltage and/or reactive power reference to it from inverter parameter
 Program features 45

group 94 LSU control. A regenerative supply unit will also send actual signals to
the inverter unit which are visible in parameter group 1 Actual values.

Settings and diagnostics

Parameters: 1.102 Line current (page 142)…1.164 LSU nominal power, 5.111 Line
converter temperature…5.121 MCB closing counter, 6.36 LSU Status Word…6.43
LSU CW user bit 3 selection, 6.116 LSU drive status word 1…6.118 LSU start inhibit
status word, 7.106 LSU loading package name…7.107 LSU loading package version,
30.101 LSU limit word 1…30.149 LSU maximum power limit, 31.120 LSU earth
fault…31.121 LSU supply phase loss, 95.20 HW options word 1 (page 523) and 96.108
LSU control board boot (page 537).
Parameter groups: 60 DDCS communication (page 456), 61 D2D and DDCS transmit
data (page 473), 62 D2D and DDCS receive data (page 479) and 94 LSU
control (page 513).
Events: 7580 INU-LSU comm loss (page 580), 7584 LSU charge failed (page 580),
AF80 INU-LSU comm loss (page 600) and AF85 Line side unit warning (page 600).

Motor control
￭ Direct torque control (DTC)
The motor control of the ACS880 is based on direct torque control (DTC), the ABB
premium motor control platform. The switching of the output semiconductors is
controlled to achieve the required stator flux and motor torque. The reference
value for the torque controller comes from the speed controller, DC voltage
controller or directly from an external torque reference source.
Motor control requires measurement of the DC voltage and two motor phase
currents. Stator flux is calculated by integrating the motor voltage in vector space.
Motor torque is calculated as a cross product of the stator flux and the rotor
current. By utilizing the identified motor model, the stator flux estimate is
improved. Actual motor shaft speed is not needed for the motor control.
The main difference between traditional control and DTC is that torque control
operates on the same time level as the power switch control. There is no separate
voltage and frequency controlled PWM modulator; the output stage switching is
wholly based on the electromagnetic state of the motor.
The best motor control accuracy is achieved by activating a separate motor
identification run (ID run).
See also section Scalar motor control (page 62).

Settings and diagnostics

Parameters: 99.4 Motor control mode (page 547) and 99.13 ID run
requested (page 551).
46 Program features

￭ Reference ramping
Acceleration and deceleration ramping times can be set individually for speed,
frequency and torque reference.
With a speed or frequency reference, the ramps are defined as the time it takes
for the drive to accelerate or decelerate between zero speed or frequency and the
value defined by parameter 46.1 or 46.2. The user can switch between two preset
ramp sets using a binary source such as a digital input. For speed reference, also
the shape of the ramp can be controlled.
With a torque reference, the ramps are defined as the time it takes for the reference
to change between zero and nominal motor torque (parameter 1.30).

Special acceleration/deceleration ramps

The acceleration/deceleration times for the jogging function can be defined
separately; see section Jogging (page 60).
The change rate of the motor potentiometer function (page 73) is adjustable. The
same rate applies in both directions.
A deceleration ramp can be defined for emergency stop (“Off3” mode).

Settings and diagnostics

Parameters:
• Speed reference ramping: 23.11 Ramp set selection…23.19 Shape time dec 2
and 46.1 Speed scaling (page 418).
• Torque reference ramping: 1.30 Nominal torque scale (page 140), 26.18 Torque
ramp up time (page 306) and 26.19 Torque ramp down time (page 306).
• Frequency reference ramping: 28.71 Freq ramp set selection…28.75 Freq
deceleration time 2 and 46.2 Frequency scaling (page 418).
• Jogging: 23.20 Acc time jogging (page 281) and 23.21 Dec time jogging (page 281).
• Motor potentiometer: 22.75 Motor potentiometer ramp time (page 275).
• Emergency stop (“Off3” mode): 23.23 Emergency stop time (page 281).
 Program features 47

￭ Constant speeds/frequencies
Constant speeds and frequencies are predefined references that can be quickly
activated, for example, through digital inputs. It is possible to define up to 7
constant speeds for speed control and 7 constant frequencies for frequency control.

WARNING!
Constant speeds and frequencies override the normal reference irrespective
of where the reference is coming from.

The constant speeds/frequencies function operates on a 2 ms time level.

Settings and diagnostics

Parameter groups: 22 Speed reference selection (page 268) and 28 Frequency
reference chain (page 313).

￭ Critical speeds/frequencies
Critical speeds (sometimes called “skip speeds”) can be predefined for applications
where it is necessary to avoid certain motor speeds or speed ranges because of,
for example, mechanical resonance problems.
The critical speeds function prevents the reference from dwelling within a critical
band for extended times. When a changing reference (22.87) enters a critical range,
the output of the function (22.1) freezes until the reference exits the range. Any
instant change in the output is smoothed out by the ramping function further in
the reference chain.
The function is also available for scalar motor control with a frequency reference.
The input of the function is shown by parameter 28.96 Frequency ref act 7, the
output by parameter 28.97 Frequency ref unlimited.

Example
A fan has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm. To make
the drive avoid these speed ranges,
• enable the critical speeds function by turning on bit 0 of parameter 22.51, and
• set the critical speed ranges as in the figure below.
48 Program features

22.01 (rpm)
(output of function)

1560

1380

690

540

1 2 3 4 22.87 (rpm)
(input of function)
1 Parameter 22.52 = 540 rpm
2 Parameter 22.53 = 690 rpm
3 Parameter 22.54 = 1380 rpm
4 Parameter 22.55 = 1560 rpm

Settings and diagnostics

Parameters:
• Critical speeds: 22.51 Critical speed function…22.57 Critical speed 3
high (page 274)
• Critical frequencies: 28.51 Critical frequency function…28.57 Critical frequency
3 high.

￭ Speed controller autotune

The speed controller of the drive can be automatically adjusted using the autotune
function. Autotuning is based on an estimation of the mechanical time constant
(inertia) of the motor and machine.
The autotune routine will run the motor through a series of
acceleration/deceleration cycles, the number of which can be adjusted by
parameter 25.40. Higher values will produce more accurate results, especially if
the difference between initial and maximum speeds is small.
The maximum torque reference used during autotuning will be the initial torque
(ie. torque when the routine is activated) plus 25.38, unless limited by the maximum
torque limit (parameter group 30 Limits) or the nominal motor torque (parameter
group 99 Motor data). The calculated maximum speed during the routine is the
initial speed (ie. speed when the routine is activated) + 25.39, unless limited by
parameter 30.12 or 99.9.
 Program features 49

The diagram below shows the behavior of speed and torque during the autotune
routine. In this example, 25.40 is set to 2.

Initial torque +
[25.38]

Initial torque

t
Initial speed +
[25.39]

Initial speed

Note:
• If the drive cannot produce the requested braking power during the routine,
the results will be based on the acceleration stages only, and not as accurate
as with full braking power.
• The motor will exceed the calculated maximum speed slightly at the end of
each acceleration stage.

Before activating the autotune routine

The prerequisites for performing the autotune routine are:
• The motor identification run (ID run) has been successfully completed
• Speed and torque limits (parameter group 30 Limits) have been set
• The speed feedback has been monitored for noise, vibrations and other
disturbances caused by the mechanics of the system, and
• speed feedback filtering (parameter group 90 Feedback selection)
• speed error filtering (parameter group 24 Speed reference conditioning)
and
50 Program features

• zero speed (parameters 21.6 and 21.7) have been set to eliminate these
disturbances.
• The drive has been started and is running in speed control mode.
After these conditions have been fulfilled, autotuning can be activated by parameter
25.33 (or the signal source selected by it).

Autotune modes
Autotuning can be performed in three different ways depending on the setting of
parameter 25.34. The selections Smooth, Normal and Tight define how the drive
torque reference should react to a speed reference step after tuning. The selection
Smooth will produce a slow but robust response; Tight will produce a fast response
but possibly too high gain values for some applications. The figure below shows
speed responses at a speed reference step (typically 1…20%).

[n/n N ] %

A B C D

t
A Undercompensated
B Normally tuned (autotuning)
C Normally tuned (manually). Better dynamic performance than with B
D Overcompensated speed controller

Autotune results
At the end of a successful autotune routine, its results are automatically transferred
into parameters
• 25.2 (proportional gain of the speed controller)
• 25.3 (integration time of the speed controller)
 Program features 51

• 25.37 (mechanical time constant of the motor and machine).

Nevertheless, it is still possible to manually adjust the controller gain, integration
time and derivation time.
The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller.

Derivative
acceleration
compensation

Proportional,
+ Torque
Speed + Error value integral + reference
reference
- +

Derivative

Actual speed

Warning indications
A warning message, AF90 will be generated if the autotune routine does not
complete successfully.
For further information, see chapter Fault tracing.

Settings and diagnostics

Parameters: 25.33 Speed controller autotune (page 301)…25.40 Autotune repeat
times (page 302).
Events: AF90 Speed controller autotuning (page 600).

￭ Oscillation damping
The oscillation damping function can be used to cancel out oscillations caused by
mechanics or an oscillating DC voltage. The input – a signal reflecting the oscillation
– is selected by parameter 26.53. The oscillation damping function outputs a sine
wave (26.58) which can be summed with the torque reference with a suitable gain
(26.57) and phase shift (26.56).
52 Program features

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

Tuning procedure for oscillation damping

Select the input by26.53

Activate algorithm by26.51
Set 26.57 to 0

Calculate the oscillation frequency from the signal (use

the Drive Composer PC tool) and set 26.55
Set 26.561)

Increase 26.57 gradually so that the algorithm starts to

take effect

Oscillation amplitude decreases Oscillation amplitude increases

Increase 26.57 and adjust26.56 if necessary Try other values for26.56

Increase 26.57 to suppress the oscillation

totally

1)If
the phasing of a DC oscillation cannot be determined by measuring, the value
of 0 degrees is usually a suitable initial value.
Note: Changing the speed error low-pass filter time constant or the integration
time of the speed controller can affect the tuning of the oscillation damping
algorithm. It is recommended to tune the speed controller before the oscillation
damping algorithm. (The speed controller gain can be adjusted after the tuning
of this algorithm.)

Settings and diagnostics

Parameters: 26.51 Oscillation damping (page 309)…26.58 Oscillation damping
output (page 311).

￭ Resonance frequency elimination

The control program contains a notch filter function for removing the resonance
frequencies from the speed error signal.
 Program features 53

Settings and diagnostics

Parameters: 24.13 RFE speed filter (page 286)…24.17 Damping of pole (page 288).

￭ Rush control
In torque control, the motor could potentially rush if the load were suddenly lost.
The control program has a rush control function that decreases the torque
reference whenever the motor speed (90.1) exceeds parameter 30.11 or 30.12.

Motor speed

Overspeed trip level

31.30

30.12

0 Time

Rush control active

30.11

31.30

Overspeed trip level

The function is based on a PI controller. The proportional gain and integration

time can be defined by parameters. Setting these to zero disables rush control.

Settings and diagnostics

Parameter groups: 30 Limits (page 328), 31 Fault functions (page 339) and 90
Feedback selection (page 489).
Parameters: 26.81 Rush control gain (page 312) and 26.82 Rush control integration
time (page 312).

￭ Encoder support
The program supports two single-turn or multiturn encoders (or resolvers). The
following optional interface modules are available:
• TTL encoder interface FEN-01: two TTL inputs, TTL output (for encoder
emulation and echo) and two digital inputs
54 Program features

• Absolute encoder interface FEN-11: absolute encoder input, TTL input, TTL
output (for encoder emulation and echo) and two digital inputs
• Resolver interface FEN-21: resolver input, TTL input, TTL output (for encoder
emulation and echo) and two digital inputs
• HTL encoder interface FEN-31: HTL encoder input, TTL output (for encoder
emulation and echo) and two digital inputs
• HTL/TTL encoder interface FSE-31 (for use with an FSO-xx safety functions
module): Two HTL/TTL encoder inputs (one HTL input supported at the time
of publication).
The interface module is to be installed onto one of the option slots on the drive
control unit. The module (except the FSE-31) can also be installed onto an FEA-03
extension adapter.

Encoder echo and emulation

Both encoder echo and emulation are supported by the above-mentioned FEN-xx
interfaces.
Encoder echo is available with TTL, TTL+ and HTL encoders. The signal received
from the encoder is relayed to the TTL output unchanged. This enables the
connection of one encoder to several drives.
Encoder emulation also relays the encoder signal to the output, but the signal is
either scaled, or position data converted to pulses. Emulation can be used when
absolute encoder or resolver position needs to be converted to TTL pulses, or
when the signal must be converted to a different pulse number than the original.

Load and motor feedback

Three different sources can be used as speed and position feedback: encoder 1,
encoder 2, or motor position estimate. Any of these can be used for load position
calculation or motor control. The load position calculation makes it possible, for
example, to determine the position of a conveyor belt or the height of the load on
a crane. The feedback sources are selected by parameters 90.41 and 90.51.
For detailed parameter connections of the motor and load feedback functions,
see the block diagrams on pages 655 and 656. For more information on load position
calculation, see section Position counter (page 55).
Any mechanical gear ratios between the components (motor, motor encoder, load,
load encoder) are specified using the gear parameters shown in the diagram below.
 Program features 55

Load encoder to load Motor to load Motor encoder to

scaling scaling motor scaling

90.53 90.61 90.43

1
X X X X
e Load M e
Y Y Y Y
Load encoder Motor
90.62 90.44 encoder
90.54

Any gear ratio between the load encoder and the load is defined by 90.53 and
90.54. Similarly, any gear ratio between the motor encoder and the motor is defined
by 90.43 and 90.44. In case the internal estimated position is chosen as load
feedback, the gear ratio between the motor and load can be defined by 90.61 and
90.62. By default, all of the ratios mentioned above are 1:1. The ratios can only be
changed with the drive stopped; new settings require validation by 91.10.

Position counter
The control program contains a position counter feature that can be used to
indicate the position of the load. The output of the counter function, parameter
90.7, indicates the scaled number of revolutions read from the selected source
(see section Load and motor feedback (page 54)).
The relation between revolutions of the motor shaft and the translatory movement
of the load (in any given unit of distance) is defined by parameters 90.63 and 90.64.
This gear function can be changed without the need of a parameter refresh or
position counter reinitialization – however, the counter output is only updated
after new position input data is received.
For detailed parameter connections of the load feedback function, see the block
diagram on page 656.
56 Program features

(Proximity switch) Source set by 90.67 1

0
90.68 1
(Initialization inhibit) Source set by
0
90.35 1
bit 4, Pos counter init ready 0
90.35 1
bit 5, Position counter re-init disabled 0

(Re-init request), Source set by90.69 0

Drive fault 1
0
+2147483647

90.07

(initial value) Source set by90.59

(by default,90.58

-2147483648

The position counter is initialized by setting a known physical position of the load
into the control program. The initial position (for example, the home/zero position,
or the distance from it) can be entered manually in a parameter (90.58), or taken
from another parameter. This position is set as the value of the position counter
(90.7) when the source selected by 90.67, such as a proximity switch connected
to a digital input, is activated. A successful initialization is indicated by bit 4 of
90.35.
Any subsequent initialization of the counter must first be enabled by 90.69. To
define a time window for initializations, 90.68 can be used to inhibit the signal
from the proximity switch. An active fault in the drive will also prevent counter
initialization.

Encoder error handling

When an encoder is used for load feedback, the action taken in case of an encoder
error is specified by 90.55. If the parameter is set to Warning, the calculation will
continue smoothly using estimated motor position. If the encoder recovers from
the error, the calculation will smoothly switch back to encoder feedback. The load
position signals (90.4, 90.5 and 90.7) will continue to be updated all the time, but
bit 6 of 90.35 will be set to indicate potentially inaccurate position data. In addition,
bit 4 of 90.35 will be cleared upon the next stop as a recommendation to reinitialize
the position counter.
Parameter 90.60 defines whether position calculation resumes from the previous
value over an encoder error or control unit reboot. By default, bit 4 of 90.35 is
cleared after an error, indicating that reinitialization is needed. With 90.60 set to
 Program features 57

Continue from previous value, the position values are retained over an error or
reboot; bit 6 of 90.35 is set however to indicate that an error occurred.
Note: With a multiturn absolute encoder, bit 6 of 90.35 is cleared at the next stop
of the drive if the encoder has recovered from the error; bit 4 is not cleared. The
status of the position counter is retained over a control unit reboot, after which
position calculation resumes from the absolute position given by the encoder,
taking into account the initial position specified by 90.58.

WARNING!
If the drive is in stopped state when an encoder error occurs, or if the drive
is not powered, parameters 90.4, 90.5, 90.7 and 90.35 are not updated
because no movement of the load can be detected. When using previous
position values (90.60 is set to Continue from previous value), be aware that
the position data is unreliable if the load is able to move.

Reading/writing position counter values through fieldbus

The parameters of the position counter function, such as 90.7 and 90.58, can be
accessed from an upper-level control system in the following formats:
• 16-bit integer (if 16 bits are sufficient for the application)
• 32-bit integer (can be accessed as two consequent 16-bit words).
For example, to read parameter 90.7 through fieldbus, set the selection parameter
of the desired dataset (in group 52) to Other – 90.7, and select the format. If you
select a 32-bit format, the subsequent data word is also automatically reserved.

Configuration of HTL encoder motor feedback

1. Specify the type of the encoder interface module (parameter 91.11 = FEN-31)
and the slot the module is installed into (91.12).
2. Specify the type of the encoder (92.1 = HTL). The parameter listing will be
re-read from the drive after the value is changed.
3. Specify the interface module that the encoder is connected to (92.2 = Module
1).
4. Set the number of pulses according to encoder nameplate (92.10).
5. If the encoder rotates at a different speed to the motor (ie. is not mounted
directly on the motor shaft), enter the gear ratio in 90.43 and 90.44.
6. Set parameter 91.10 to Refresh to apply the new parameter settings. The
parameter will automatically revert to Done.
7. Check that 91.2 is showing the correct interface module type (FEN-31). Also
check the status of the module; both LEDs should be glowing green.
8. Start the motor with a reference of eg. 400 rpm.
58 Program features

9. Compare the estimated speed (1.2) with the measured speed (1.4). If the values
are the same, set the encoder as the feedback source (90.41 = Encoder 1).
10. Specify the action taken in case the feedback signal is lost (90.45).

Example 1: Using the same encoder for both load and motor feedback
The drive controls a motor used for lifting a load in a crane. An encoder attached
to the motor shaft is used as feedback for motor control. The same encoder is
also used for calculating the height of the load in the desired unit. A gear exists
between the motor shaft and the cable drum. The encoder is configured as Encoder
1 as shown in Configuration of HTL encoder motor feedback above. In addition,
the following settings are made:
• 90.43 = 1
• 90.44 = 1
(No gear is needed as the encoder is mounted directly on the motor shaft.)
• 90.51 = Encoder 1
• 90.53 = 1
• 90.54 = 50
The cable drum turns one revolution per 50 revolutions of the motor shaft.
• 90.61 = 1
• 90.62 = 1
(These parameters need not be changed as position estimate is not being
used for feedback.)
• 90.63 = 7
• 90.64 = 10
The load moves 70 centimeters, ie. 7/10 of a meter, per one revolution of the
cable drum.
The load height in meters can be read from 90.7, while 90.3 displays the rotational
speed of the cable drum.

Example 2: Using two encoders

One encoder (encoder 1) is used for motor feedback. The encoder is connected to
the motor shaft through a gear. Another encoder (encoder 2) measures the line
speed elsewhere in the machine. Each encoder is configured as shown in
Configuration of HTL encoder motor feedback above. In addition, the following
settings are made:
• 90.41 = Encoder 1
• 90.43 = 1
• 90.44 = 3
 Program features 59

The encoder turns three revolutions per one revolution of the motor shaft.
• 90.51 = Encoder 2
The line speed measured by encoder 2 can be read from 90.3. This value is given
in rpm which can be converted into another unit by using 90.53 and 90.54. Note
that the feed constant gear cannot be used in this conversion because it does not
affect 90.3.

Example 3: ACS 600 / ACS800 compatibility

With ACS 600 and ACS800 drives, both the rising and falling edges from encoder
channels A and B are typically counted to achieve best possible accuracy. Thus the
received pulse number per revolution equals four times the nominal pulse number
of the encoder.
In this example, an HTL-type 2048-pulse encoder is fitted directly on the motor
shaft. The desired initial position to correspond the proximity switch is 66770.
In the ACS880, the following settings are made:
• 92.1 = HTL
• 92.2 = Module 1
• 92.10 = 2048
• 92.13 = Enable
• 90.51 = Encoder 1
• 90.63 = 8192 (ie. 4 × value of 92.10, as the received number of pulses is 4 times
nominal. See also parameter 92.12)
• The desired “data out” parameter is set to Other – 90.58 (32-bit format). Only
the high word needs to be specified – the subsequent data word is reserved
for the low word automatically.
• The desired sources (such as digital inputs or user bits of the control word)
are selected in 90.67 and 90.69.
In the PLC, if the initial value is set in 32-bit format using low and high words
(corresponding to ACS800 parameters POS COUNT INIT LO and POS COUNT INIT
HI), enter the value 66770 into these words as follows:
• Eg. PROFIBUS:
• FBA data out x = POS COUNT INIT HI = 1 (as bit 16 equals 65536)
• FBA data out (x + 1) = POS COUNT INIT LO = 1234.
• ABB Automation using DDCS communication, eg.:
• Data set 12.1 = POS COUNT INIT HI
• Data set 12.2 = POS COUNT INIT LO
To test the configuration of the PLC, initialize the position counter with the encoder
connected. The initial value sent from the PLC should immediately be reflected by
60 Program features

90.7 in the drive. The same value should then appear in the PLC after having been
read from the drive.

Settings and diagnostics

Parameter groups 90 Feedback selection (page 489), 91 Encoder module
settings (page 500), 92 Encoder 1 configuration (page 504) and 93 Encoder 2
configuration (page 511).

￭ Jogging
The jogging function enables the use of a momentary switch to briefly rotate the
motor. The jogging function is typically used during servicing or commissioning
to control the machinery locally.
Two jogging functions (1 and 2) are available, each with their own activation sources
and references. The signal sources are selected by parameters 20.26 and 20.27.
When jogging is activated, the drive starts and accelerates to the defined jogging
speed (22.42 or 22.43) along the defined jogging acceleration ramp (23.20). After
the activation signal switches off, the drive decelerates to a stop along the defined
jogging deceleration ramp (23.21).
The figure and table below provide an example of how the drive operates during
jogging. In the example, the ramp stop mode is used (see parameter 21.3).
• Jog cmd = State of source set by parameter 20.26 or 20.27
• Jog enable = State of source set by parameter 20.25
• Start cmd = State of drive start command.

Jog cmd

Jog enable

Start cmd

Speed

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 t

Phase Jog Jog Start Description

cmd en- cmd
able
 Program features 61

1-2 1 1 0 Drive accelerates to the jogging speed along the accel-

eration ramp of the jogging function.
2-3 1 1 0 Drive follows the jog reference.
3-4 0 1 0 Drive decelerates to zero speed along the deceleration
ramp of the jogging function.
4-5 0 1 0 Drive is stopped.
5-6 1 1 0 Drive accelerates to the jogging speed along the accel-
eration ramp of the jogging function.
6-7 1 1 0 Drive follows the jog reference.
7-8 0 1 0 Drive decelerates to zero speed along the deceleration
ramp of the jogging function.
8-9 0 1→0 0 Drive is stopped. As long as the jog enable signal is on,
start commands are ignored. After jog enable switches
off, a fresh start command is required.
9-10 x 0 1 Drive accelerates to the speed reference along the selec-
ted acceleration ramp (parameters 23.11…23.19 ).
10-11 x 0 1 Drive follows the speed reference.
11-12 x 0 0 Drive decelerates to zero speed along the selected decel-
eration ramp (parameters 23.11…23.19 ).
12-13 x 0 0 Drive is stopped.
13-14 x 0 1 Drive accelerates to the speed reference along the selec-
ted acceleration ramp (parameters 23.11…23.19 ).
14-15 x 0→1 1 Drive follows the speed reference. As long as the start
command is on, the jog enable signal is ignored. If the
jog enable signal is on when the start command switches
off, jogging is enabled immediately.
15-16 0→1 1 0 Start command switches off. The drive starts to deceler-
ate along the selected deceleration ramp (parameters
23.11…23.19 ).
When the jog command switches on, the decelerating
drive adopts the deceleration ramp of the jogging func-
tion.
16-17 1 1 0 Drive follows the jog reference.
17-18 0 1→0 0 Drive decelerates along the deceleration ramp of the
jogging function.
18-19 0 0 0 Drive decelerates to zero speed along the selected decel-
eration ramp (parameters 23.11…23.19).

See also the block diagram on page 654.

The jogging function operates on a 2 ms time level.
62 Program features

Note:
• Jogging is not available when the drive is in local control.
• Jogging cannot be enabled when the drive start command is on, or the drive
started when jogging is enabled. Starting the drive after the jog enable switches
off requires a fresh start command.

WARNING!
If jogging is enabled and activated while the start command is on, jogging
will activate as soon as the start command switches off.

• If both jogging functions are activated, the one that was activated first has
priority.
• Jogging uses the speed control mode.
• Ramp shape times (parameters 23.16…23.19) do not apply to jogging
acceleration/deceleration ramps.
• The inching functions activated through fieldbus (see parameter 6.1, bits 8…9)
use the references and ramp times defined for jogging, but do not require the
jog enable signal.

Settings and diagnostics

Parameters: 20.25 Jogging enable (page 254), 20.26 Jogging 1 start source (page 255),
20.27 Jogging 2 start source (page 255), 22.42 Jogging 1 ref (page 273), 22.43 Jogging
2 ref (page 273), 23.20 Acc time jogging (page 281) and 23.21 Dec time
jogging (page 281).

￭ Scalar motor control

It is possible to select scalar control as the motor control method instead of DTC
(Direct Torque Control). In scalar control mode, the drive is controlled with a speed
or frequency reference. However, the outstanding performance of DTC is not
achieved in scalar control.
It is recommended to activate scalar motor control mode
• if the nominal current of the motor is less than 1/6 of the nominal output
current of the drive
• if the drive is used without a motor connected (for example, for test purposes)
• if the drive runs a medium-voltage motor through a step-up transformer, or
• in multimotor drives, if
• the load is not equally shared between the motors,
• the motors are of different sizes, or
• the motors are going to be changed after motor identification (ID run)
 Program features 63

In scalar control, some standard features are not available.

See also section Operating modes of the drive (page 26).

IR compensation for scalar motor control

IR compensation (also known as voltage boost) is available only when the motor
control mode is scalar. When IR compensation is activated, the drive gives an extra
voltage boost to the motor at low speeds. IR compensation is useful in applications
that require a high breakaway torque. In step-up applications, voltage cannot be
fed through the transformer at 0 Hz, so an additional breakpoint is available for
defining the compensation near zero frequency.
In Direct Torque Control (DTC), no IR compensation is possible or needed as it is
applied automatically.

Motor voltage

IR compensation

No compensation

f(Hz)

Settings and diagnostics

Parameters: 19.20 Scalar control reference unit (page 244), 97.12 IR comp step-up
frequency (page 541), 97.13 IR compensation (page 541) and 99.4 Motor control
mode (page 547).
Parameter group: 28 Frequency reference chain (page 313).

￭ Autophasing
Autophasing is an automatic measurement routine to determine the angular
position of the magnetic flux of a permanent magnet synchronous motor or the
magnetic axis of a synchronous reluctance motor. The motor control requires the
absolute position of the rotor flux in order to control motor torque accurately.
Sensors like absolute encoders and resolvers indicate the rotor position at all times
after the offset between the zero angle of rotor and that of the sensor has been
established. On the other hand, a standard pulse encoder determines the rotor
position when it rotates but the initial position is not known. However, a pulse
encoder can be used as an absolute encoder if it is equipped with Hall sensors,
albeit with coarse initial position accuracy. Hall sensors generate so-called
64 Program features

commutation pulses that change their state six times during one revolution, so it
is only known within which 60° sector of a complete revolution the initial position
is.
Many encoders give a zero pulse (also called Z-pulse) once during each rotation.
The position of the zero pulse is fixed. If this position is known with respect to
zero position used by motor control, the rotor position at the instant of the zero
pulse is also known.
Using the zero pulse improves the robustness of the rotor position measurement.
The rotor position must be determined during starting because the initial value
given by the encoder is zero. The autophasing routine determines the position,
but there is a risk of some position error. If the zero pulse position is known in
advance, the position found by autophasing can be corrected as soon as the zero
pulse is detected for the first time after starting.

Rotor
ș

Absolute encoder/resolver

The autophasing routine is performed with permanent magnet synchronous motors

and synchronous reluctance motors in the following cases:
1. One-time measurement of the rotor and encoder position difference when an
absolute encoder, a resolver, or an encoder with commutation signals is used
2. At every power-up when an incremental encoder is used
3. With open-loop motor control, repetitive measurement of the rotor position
at every start
4. When the position of the zero pulse must be measured before the first start
after power-up.

Note: In closed-loop control, autophasing is performed automatically after the

motor identification run (ID run). Autophasing is also performed automatically
before starting when necessary.
 Program features 65

In open-loop control, the zero angle of the rotor is determined before starting. In
closed-loop control, the actual angle of the rotor is determined with autophasing
when the sensor indicates zero angle. The offset of the angle must be determined
because the actual zero angles of the sensor and the rotor do not usually match.
The autophasing mode determines how this operation is done both in open-loop
and closed-loop control.
The rotor position offset used in motor control can also be given by the user – see
parameter 98.15. Note that the autophasing routine also writes its result into this
parameter. The results are updated even if user settings are not enabled by 98.1.
Note: In open-loop control, the motor always turns when it is started as the shaft
is turned towards the remanence flux.

Bit 4 of 6.21 indicates if the rotor position has already been determined

Autophasing modes
Several autophasing modes are available (see parameter 21.13).
The turning mode (Turning) is recommended especially with case 1 (see the list
above) as it is the most robust and accurate method. In turning mode, the motor
shaft is turned back and forward (±360/polepairs)° in order to determine the rotor
position. In case 3 (open-loop control), the shaft is turned only in one direction
and the angle is smaller.
Another turning mode, Turning with Z-pulse, can be used if there is difficulty using
the normal turning mode, for example, because of significant friction. With this
mode, the rotor is turned slowly until a zero pulse is detected from the encoder.
When the zero pulse is detected for the first time, its position is stored into
parameter 98.15, which can be edited for fine-tuning. Note that it is not mandatory
to use this mode with a zero pulse encoder. In open-loop control, the two turning
modes are identical.
The standstill modes (Standstill 1, Standstill 2) can be used if the motor cannot be
turned (for example, when the load is connected). As the characteristics of motors
and loads differ, testing must be done to find out the most suitable standstill
mode.
The drive is capable of determining the rotor position when started into a running
motor in open-loop or closed-loop control. In this situation, the setting of 21.13
has no effect.
The autophasing routine can fail and therefore it is recommended to perform the
routine several times and check the value of parameter 98.15.
An autophasing fault (3385) can occur with a running motor if the estimated angle
of the motor differs too much from the measured angle. This could be caused by,
for example, the following:
• The encoder is slipping on the motor shaft
66 Program features

• An incorrect value has been entered into 98.15

• The motor is already turning before the autophasing routine is started
• Turning mode is selected in 21.13 but the motor shaft is locked
• Turning with Z-pulse mode is selected in 21.13 but no zero pulse is detected
within a revolution of the motor
• The wrong motor type is selected in 99.3
• Motor ID run has failed.

Settings and diagnostics

Parameters: 6.21 Drive status word 3 (page 162), 21.13 Autophasing mode (page 263),
98.15 Position offset user (page 546) and 99.13 ID run requested (page 551).

￭ Flux braking
WARNING!
The motor needs to be rated to absorb the thermal energy generated by flux
braking.

The drive can provide greater deceleration by raising the level of magnetization
in the motor. By increasing the motor flux, the energy generated by the motor
during braking can be converted to motor thermal energy.

Motor speed
TBr/TN (%)
TBr = Braking torque
TN = 100 Nm
No flux braking 60

40 Flux braking

20
Flux braking No flux braking
t (s) f (Hz)

The drive monitors the motor status continuously, also during flux braking.
Therefore, flux braking can be used both for stopping the motor and for changing
the speed. The other benefits of flux braking are:
• The braking starts immediately after a stop command is given. The function
does not need to wait for the flux reduction before it can start the braking.
• The cooling of the induction motor is efficient. The stator current of the motor
increases during flux braking, not the rotor current. The stator cools much
more efficiently than the rotor.
 Program features 67

• Flux braking can be used with induction motors and permanent magnet
synchronous motors.
Two braking power levels are available:
• Moderate braking provides faster deceleration compared to a situation where
flux braking is disabled. The flux level of the motor is limited to prevent
excessive heating of the motor.
• Full braking exploits almost all available current to convert the mechanical
braking energy to motor thermal energy. Braking time is shorter compared to
moderate braking. In cyclic use, motor heating may be significant.

Settings and diagnostics

Parameter: 97.5 Flux braking (page 539).

￭ DC magnetization
DC magnetization can be applied to the motor to
• heat the motor to remove or prevent condensation, or
• to lock the rotor at, or near, zero speed.

Pre-heating
A motor pre-heating function is available to prevent condensation in a stopped
motor, or to remove condensation from the motor before start. Pre-heating involves
feeding a DC current into the motor to heat up the windings.
Pre-heating is deactivated at start, or when one of the other DC magnetization
functions is activated. With the drive stopped, pre-heating is disabled by the safe
torque off function, a drive fault state, or the process PID sleep function.
Pre-heating can only start after one minute has elapsed from stopping the drive.
A digital source to control pre-heating is selected by parameter 21.14. The heating
current is set by 21.16.

Pre-magnetization
Pre-magnetization refers to DC magnetization of the motor before start. Depending
on the selected start mode (21.1 or 21.19), premagnetization can be applied to
guarantee the highest possible breakaway torque, up to 200% of the nominal
torque of the motor. By adjusting the pre-magnetization time (21.2), it is possible
to synchronize the motor start and, for example, the release of a mechanical brake.

DC hold
The function makes it possible to lock the rotor at (near) zero speed in the middle
of normal operation. DC hold is activated by parameter 21.8. When both the
reference and motor speed drop below a certain level (parameter 21.9), the drive
will stop generating sinusoidal current and start to inject DC into the motor. The
68 Program features

current is set by parameter 21.10. When the reference exceeds parameter 21.9,
normal drive operation continues.

Motor speed DC hold

Reference

21.09

Note:
• DC hold is only available in speed control in DTC motor control mode (see page
26).
• The function applies the DC current to one phase only, depending on the
position of the rotor. The return current will be shared between the other
phases.

Post-magnetization
This feature keeps the motor magnetized for a certain period (parameter 21.11)
after stopping. This is to prevent the machinery from moving under load, for
example before a mechanical brake can be applied. Postmagnetization is activated
by parameter 21.8. The magnetization current and time are set by parameters 21.10
and 21.11.
Note: Post-magnetization is only available when ramping is the selected stop
mode (see parameter 21.3).

Continuous magnetization
A digital signal, such as a user bit in the fieldbus control word, can be selected to
activate continuous magnetization. This can be especially useful in processes
 Program features 69

requiring motors to be stopped (for example, to stand by until new material is

processed), then quickly started without magnetizing them first.
Note:
• Continuous magnetization is only available in DTC motor control mode (see
page 26). If parameter 21.12 is on, the motor will be kept magnetized after a
ramp stop. To enable continuous magnetization after a coast stop, the
command (21.12) must be cycled (on, off, on). Furthermore, if the Run enable
signal has been off, a new rising edge is required before continuous
magnetization starts.
• Continuous magnetization should not be enabled while the motor is rotating.

WARNING!
The motor must be designed to absorb or dissipate the thermal energy
generated by continuous magnetization, for example by forced ventilation.

Settings and diagnostics

Parameters: 6.21 Drive status word 3 (page 162), 21.1 Start mode (page 257), 21.2
Magnetization time (page 258), 21.8 DC current control…21.12 Continuous
magnetization command (page 263), 21.14 Pre-heating input source (page 264) and
21.16 Pre-heating current (page 264).

￭ Motor temperature estimation

The Motor temperature estimation function identifies the stator resistance and
estimates the initial temperature of the motor. The estimated temperature of the
motor can be used when the ambient temperature drops below zero celsius.
The temperature is estimated by feeding a DC current (25% of the motor nominal
current) into the motor for a time period of 4 seconds (default). The function uses
the resistance value at room temperature obtained during an ID run.
The function can be activated with parameter 21.37. The estimation time can be
defined with parameter 21.38. The function can be activated using either of the
two ways: With Drive start command or at Drive power-up (after control board
boot).

Settings and diagnostics

Parameters: 21.37 Motor temperature estimation (page 266) and 21.38 Motor
temperature estimation time (page 267).

￭ Hexagonal motor flux pattern

Note: This feature is only available in scalar motor control mode (see page 26).
70 Program features

Typically, the drive controls the motor flux so that the rotating flux vector follows
a circular pattern. This is ideal for most applications. However, when operating
above the field weakening point (FWP), it is not possible to reach 100% of the
output voltage. This reduces the peak load capacity of the drive.
Using a hexagonal motor flux vector pattern, the maximum output voltage can be
reached above the field weakening point. This increases the peak load capacity
compared to the circular pattern, but the continuous load capacity in the range
of FWP … 1.6 × FWP is reduced because of increasing losses. With hexagonal motor
flux active, the pattern changes from circular to hexagonal gradually as the
frequency rises from 100% to 120% of the FWP.

Settings and diagnostics

Parameters: 97.18 Hexagonal field weakening (page 542) and 97.19 Hexagonal field
weakening point (page 542).
 Program features 71

Application control
￭ Application macros
Application macros are predefined application parameter edits and I/O
configurations. See chapter Application macros.

￭ Process PID control

There is a built-in process PID controller in the drive. The controller can be used
to control process variables such as pressure, flow or fluid level.
In process PID control, a process reference (setpoint) is connected to the drive
instead of a speed reference. An actual value (process feedback) is also brought
back to the drive. The process PID control adjusts the drive speed in order to keep
the measured process quantity (actual value) at the desired level (setpoint).
Process PID control operates on a 2 ms time level.
The simplified block diagram below illustrates the process PID control. For a more
detailed block diagram, see page 668.

Setpoint

Limitation
Speed, torque or
Process
Filter frequency
AI1 PID
reference chain
AI2
Process
. . . actual
values
D2D

FBA

The control program contains two complete sets of process PID controller settings
that can be alternated whenever necessary; see parameter 40.57.
Note: Process PID control is only available in external control; see section Local
control vs. external control (page 23).

Quick configuration of the process PID controller

1. Activate the process PID controller (parameter 40.7).
2. Select a feedback source (parameters 40.8…40.11).
3. Select a setpoint source (parameters 40.16…40.25).
72 Program features

4. Set the gain, integration time, derivation time, and the PID output levels (40.32,
40.33, 40.34, 40.36 and 40.37).
5. The PID controller output is shown by parameter 40.1. Select it as the source
of, for example, 22.11.

Sleep function for process PID control

The sleep function can be used in PID control applications that involve relatively
long periods of low demand (for example, a tank is at level), During such periods,
the sleep function saves energy by stopping the motor completely, instead of
running the motor slowly below the efficient operating range of the system. When
the feedback changes, the PID controller wakes the drive up.
Note: The sleep function is disabled when mechanical brake control (see page 75)
is active.

Example: The drive controls a pressure boost pump. The water consumption falls
at night. As a consequence, the process PID controller decreases the motor speed.
However, due to natural losses in the pipes and the low efficiency of the centrifugal
pump at low speeds, the motor would never stop rotating. The sleep function
detects the slow rotation and stops unnecessary pumping after the sleep delay
has passed. The drive shifts into sleep mode, still monitoring the pressure. The
pumping resumes when the pressure falls under the wake-up level (setpoint -
wake-up deviation) and the wake-up delay has passed.
 Program features 73

Setpoint
Sleep boost time (40.45)

Sleep boost step (40.46)

Time
Actual value Wake-up delay
(40.48)
Non-inverted
(40.31 = Not inverted (Ref-Fbk))
Wake-up level
Setpoint - 40.47
Time
Actual value
Wake-up level
Setpoint + 40.47
40.31 = Inverted (Fbk-Ref)
Time
PID controller output

tsd = Sleep delay (40.44) Sleep mode

t < tsd tsd

Sleep level
40.43
Time
STOP START

Tracking
In tracking mode, the PID block output is set directly to the value of parameter
40.50 (or 41.50). The internal I term of the PID controller is set so that no transient
is allowed to pass on to the output, so when the tracking mode is left, normal
process control operation can be resumed without a significant bump.

Settings and diagnostics

Parameter 96.4 Macro select (page 527) (macro selection).
Parameter groups 40 Process PID set 1 (page 387) and 41 Process PID set 2 (page 402).

￭ Motor potentiometer
The motor potentiometer is, in effect, a counter whose value can be adjusted up
and down using two digital signals selected by parameters 22.73 and 22.74. Note
that these signals have no effect when the drive is stopped.
74 Program features

When enabled by 22.71, the motor potentiometer assumes the value set by 22.72.
Depending on the mode selected in 22.71, the motor potentiometer value is either
retained or reset over a stop or a power cycle.
The change rate is defined in 22.75 as the time it would take for the value to change
from the minimum (22.76) to the maximum (22.77) or vice versa. If the up and down
signals are simultaneously on, the motor potentiometer value does not change.
The output of the function is shown by 22.80, which can directly be set as the
source of any selector parameter such as 22.11.
The following example shows the behavior of the motor potentiometer value.

1
22.73
0
1
22.74
0

22.77

22.80
0

22.76
22.75

Settings and diagnostics

Parameters 22.71 Motor potentiometer function (page 274)…22.80 Motor
potentiometer ref act (page 275).
 Program features 75

￭ Mechanical brake control

A mechanical brake can be used for holding the motor and driven machinery at
zero speed when the drive is stopped, or not powered. The brake control logic
observes the settings of parameter group 44 Mechanical brake control as well as
several external signals, and moves between the states presented in the Brake
state diagram on page 76. The tables below the state diagram detail the states
and transitions. The timing diagram on page 78 shows an example of a
close-open-close sequence.
The mechanical brake control logic operates on a 10 ms time level.

Inputs of the brake control logic

The start command of the drive (bit 5 of 6.16) is the main control source of the
brake control logic. An optional external open/close signal can be selected by
44.12. The two signals interact as follows:
• Start command = 1 AND signal selected by parameter 44.12 = 0 → Request
brake to open
• Start command = 0 OR signal selected by parameter 44.12 = 1 → Request brake
to close
Another external signal – for example, from a higher-level control system – can be
connected via parameter 44.11 to prevent the brake from opening.
Other signals that affect the state of the control logic are
• brake status acknowledgement (optional, defined by 44.7),
• bit 2 of 6.11 (indicates whether the drive is ready to follow the given reference
or not),
• bit 6 of 6.16 (indicates whether the drive is modulating or not),
• optional FSO-xx safety functions module.

Outputs of the brake control logic

The mechanical brake is to be controlled by bit 0 of parameter 44.1. This bit should
be selected as the source of a relay output (or a digital input/output in output
mode) which is then wired to the brake actuator through a relay. See the wiring
example on page 79.
The brake control logic, in various states, will request the drive control logic to
hold the motor, increase the torque, or ramp down the speed. These requests are
visible in parameter 44.1.
76 Program features

Brake state diagram

(from any state) (from any state)

1 2

BRAKE DISABLED BRAKE CLOSED BRAKE OPENING

3
BRAKE OPENING WAIT
6

10
4

BRAKE OPENING
DELAY
3
8 5

6
BRAKE CLOSING BRAKE OPEN

BRAKE CLOSING
DELAY

6
BRAKE CLOSING WAIT
9

BRAKE DISABLED Brake control is disabled (parameter 44.6 = 0, and 44.1 b4 = 0).
The brake is closed (44.1 b0 = 0).
BRAKE OPENING:
BRAKE OPENING WAIT Brake has been requested to open. The drive logic is requested
to increase the torque up to opening torque to hold the load in
place (44.1 b1 = 1 and b2 = 1). The state of 44.11 is checked; if it
is not 0 within a reasonable time, the drive trips on a 71A5
fault 1) .
BRAKE OPENING DELAY Opening conditions have been met and open signal activated
(44.1 b0 is set). The opening torque request is removed (44.1
b1 → 0). The load is held in place by the speed control of the
drive until 44.8 elapses.
At this point, if 44.7 is set to No acknowledge, the logic proceeds
to BRAKE OPEN state. If an acknowledgement signal source has
been selected, its state is checked; if1)the state is not “brake
open”, the drive trips on a 71A3 fault .
BRAKE OPEN The brake is open (44.1 b0 = 1). Hold request is removed (44.1
b2 = 0), and the drive is allowed to follow the reference.
BRAKE CLOSING:
 Program features 77

BRAKE CLOSING WAIT Brake has been requested to close. The drive logic is requested
to ramp down the speed to a stop (44.1 b3 = 1). The open signal
is kept active (44.1, b0 = 1). The brake logic will remain in this
state until the motor speed has remained below 44.14 for the
time defined by 44.15.
BRAKE CLOSING DELAY Closing conditions have been met. The open signal is deactiv-
ated (44.1 b0 → 0) and the closing torque written into 44.2. The
ramp-down request is maintained (44.1 b3 = 1). The brake logic
will remain in this state until 44.13 has elapsed.
At this point, if 44.7 is set to No acknowledge, the logic proceeds
to BRAKE CLOSED state. If an acknowledgement signal source
has been selected, its state is checked; if the state is not “brake
closed”, the drive generates an A7A1 warning. If 44.17 = Fault,
the drive will trip on a 71A2 fault after 44.18.
BRAKE CLOSED The brake is closed (44.1, b0 = 0). The drive is not necessarily
modulating.
Note concerning open-loop (encoderless) applications: If the
brake is kept closed by a brake close request (either from
parameter 44.12 or an FSO-xx safety functions module) against
a modulating drive for longer than 5 seconds, the brake is forced
to closed state and the drive trips on a fault, 71A5.
1) A warning can alternatively be selected by 44.17; if so, the drive will keep modulating and remain in
this state.

State change conditions:

1 Brake control disabled (parameter 44.6 → 0).

2 6.11, bit 2 = 0 or brake is forced to close by optional FSO-xx safety functions module.

3 Brake has been requested to open and 44.16 has expired.

4 Brake open conditions (such as 44.10) fulfilled and 44.11 = 0.

5 44.8 has elapsed and brake open acknowledgement (if chosen by 44.7) has been re-
ceived.

6 Brake has been requested to close.

7 Motor speed has remained below closing speed 44.14 for the duration of 44.15.

8 44.13 has elapsed and brake close acknowledgement (if chosen by 44.7) has been re-
ceived.

9 Brake has been requested to open.

10 Brake control enabled (parameter 44.6 → 1).

78 Program features

Timing diagram
The simplified timing diagram below illustrates the operation of the brake control
function. Refer to the state diagram above.

Start command06.16
( b5)

Modulating 06.16
( b6)
tmd
Ready ref (06.11 b2)

Torque reference
Ts Tmem

Speed reference
ncs

Brake control trod

signal (44.01 b0) tod tccd
Opening torque tcd tcfd
request (44.01 b1)
Hold stopped
request (44.01 b2)

Ramp to stopped
request (44.01 b3)

BRAKE BOW BOD BCW BCD BRAKE

State BRAKE OPEN
CLOSED BRAKE OPENING BRAKE CLOSING CLOSED

1 2 3 4 5 6 7 8 9

Ts Start torque at brake open (parameter 44.3)

Tmem Stored torque value at brake close (44.2)
tmd Motor magnetization delay
tod Brake open delay (parameter 44.8)
ncs Brake close speed (parameter 44.14)
tccd Brake close command delay (parameter 44.15)
tcd Brake close delay (parameter 44.13)
tcfd Brake close fault delay (parameter 44.18)
trod Brake reopen delay (parameter 44.16)
BOW BRAKE OPENING WAIT
BOD BRAKE OPENING DELAY
BCW BRAKE CLOSING WAIT
BCD BRAKE CLOSING DELAY
 Program features 79

Wiring example

WARNING!
Make sure that the machinery into which the drive with brake control function
is integrated fulfils the personnel safety regulations. Note that the frequency
converter (a Complete Drive Module or a Basic Drive Module, as defined in
IEC 61800-2), is not considered as a safety device mentioned in the European
Machinery Directive and related harmonised standards. Thus, the personnel
safety of the complete machinery must not be based on a specific frequency
converter feature (such as the brake control function), but it has to be
implemented as defined in the application specific regulations.

The figure below shows a brake control wiring example. The brake control hardware
and wiring is to be sourced and installed by the customer.
The brake is controlled by bit 0 of parameter 44.1. The source of brake acknowledge
(status supervision) is selected by parameter 44.7. In this example,
• parameter 10.24 is set to Open brake command (ie. bit 0 of 44.1), and
• parameter 44.7 is set to DI5.

Brake control Drive control unit

hardware
XRO1
115/230 VAC
1 NC
2 COM
3 NO

Emergency
brake XD24
4 +24VD

XDIO
5 DI5

Motor Mechanical brake

80 Program features

Settings and diagnostics

Parameter group: 44 Mechanical brake control (page 408).
Events: 71A2 Mech brake closing failed (page 577), 71A3 Mech brake opening
failed (page 577), 71A5 Mech brk opening not allowed (page 578) and A7A1 Mechanical
brake closing failed (page 593).

DC voltage control
￭ Overvoltage control
Overvoltage control of the intermediate DC link is typically needed when the motor
is in generating mode. The motor can generate when it decelerates or when the
load overhauls the motor shaft, causing the shaft to turn faster than the applied
speed or frequency. To prevent the DC voltage from exceeding the overvoltage
control limit, the overvoltage controller automatically decreases the generating
torque when the limit is reached. The overvoltage controller also increases any
programmed deceleration times if the limit is reached; to achieve shorter
deceleration times, a brake chopper and resistor may be required.

￭ Undervoltage control (power loss ride-through)

If the incoming supply voltage is cut off, the drive will continue to operate by
utilizing the kinetic energy of the rotating motor. The drive will be fully operational
as long as the motor rotates and generates energy to the drive. The drive can
continue operation after the break if the main contactor (if present) remained
closed.
Note: Units equipped with a main contactor must be equipped with a hold circuit
(e.g. UPS) to keep the contactor control circuit closed during a short supply break.
 Program features 81

Umains
TM fout UDC
(Nm) (Hz) (V DC)
UDC
160 80 520

120 60 390

fout
80 40 260

TM
40 20 130

t (s)
1.6 4.8 8 11.2 14.4

UDC= intermediate circuit voltage of the drive, fout = output frequency of the drive,
TM = motor torque Loss of supply voltage at nominal load (fout = 40 Hz). The
intermediate circuit DC voltage drops to the minimum limit. The controller keeps
the voltage steady as long as the mains is switched off. The drive runs the motor
in generator mode. The motor speed falls but the drive is operational as long as
the motor has enough kinetic energy.

Automatic restart

WARNING!
Before you activate the function, make sure that no dangerous situations
can occur. The function restarts the drive automatically and continues
operation after a supply break.

It is possible to restart the drive automatically after a short power supply failure
by using the Automatic restart function provided that the drive is allowed to run
for a time defined by parameter 21.18 to restart time without the cooling fans
operating.
When enabled, the function takes the following actions upon a supply failure to
enable a successful restart:
• The undervoltage fault is suppressed (but a warning is generated)
• Modulation and cooling is stopped to conserve any remaining energy
• DC circuit pre-charging is enabled.
82 Program features

If the DC voltage is restored before the expiration of the period defined by

parameter 21.18 and the start signal is still on, normal operation will continue.
However, if the DC voltage remains too low at that point, the drive trips on a fault,
3280.

Settings and diagnostics

Parameter: 21.18 Auto restart time (page 265).
Event: 3280 Standby timeout (page 566).
 Program features 83

￭ Voltage control and trip limits

The control and trip limits of the intermediate DC voltage regulator are relative to
the supply voltage as well as drive/inverter type. The DC voltage is approximately
1.35 times the line-to-line supply voltage, and is displayed by parameter 1.11.
All levels are relative to the supply voltage range selected in parameter 95.1. The
following table shows the values of selected DC voltage levels in volts and in percent
of UDCmax (the DC voltage at the upper bound of the supply voltage range).

Supply voltage range [V AC] (see 95.1)

Level [V DC (% of UDCmax)] 208...240 380...415 440...480 500 525...600 660...690

Overvoltage fault limit 489/4401) 800 878 880 1113 1218

Overvoltage control limit 405 700 810 810 1013 1167

(125) (125) (125) (120) (125) (125)
Internal brake chopper at 100% 403 697 806 806 1008 1159
pulse width (124) (124) (124) (119) (124) (124)
Internal brake chopper at 0% pulse 375 648 749 780 936 1077
width (116) (116) (116) (116) (116) (116)
Overvoltage warning limit 373 644 745 776 932 1071
(115) (115) (115) (115) (115) (115)
UDCmax = DC voltage at upper 324 560 648 675 810 932
bound of supply voltage range (100) (100) (100) (100) (100) (100)
DC voltage at lower bound of supply 281 513 594 675 709 891
voltage range
Undervoltage control and warning 239 (85) 436 (85) 505 574 (85) 602 (85) 757 (85)
limit (85)
Charging activation/standby limit 225 (80) 410 (80) 475 (80) 540 567 (80) 713 (80)
(80)
Undervoltage fault limit 168 (60) 308 356 (60) 405 425 (60) 535 (60)
(60) (60)
1) 489 V with frames R1…R3, 440 V with frames R4…R8.

Settings and diagnostics

Parameters: 1.11 DC voltage (page 139), 30.30 Overvoltage control (page 336), 30.31
Undervoltage control (page 336), 95.1 Supply voltage (page 517), and 95.2 Adaptive
voltage limits (page 517).
84 Program features

￭ Brake chopper
A brake chopper can be used to handle the energy generated by a decelerating
motor. When the DC voltage rises high enough, the chopper connects the DC circuit
to an external brake resistor. The chopper operates on the pulse width modulation
principle.
The brake chopper (43.6) can be enabled with the overvoltage controller (30.30)
still active. In such case, make sure the overvoltage controller limits are set high
enough not to limit before the full braking power is reached. This function in certain
applications avoids unnecessary overvoltage trip and implements a simpler control
logic if the resistor cannot absorb enough energy or when the resistor breaks
during breaking.
Some ACS880 drives have an internal brake chopper as standard, some have a
brake chopper available as an internal or external option. See the appropriate
hardware manual or sales catalog.
The internal brake choppers of ACS880 drives start conducting when the DC link
voltage reaches 1.156 × UDCmax. 100% pulse width is reached at approximately 1.2
× UDCmax, depending on supply voltage range – see table under Voltage control
and trip limits above. (UDCmax is the DC voltage corresponding to the maximum
of the AC supply voltage range.) For information on external brake choppers, refer
to their documentation.
Note: For runtime braking, overvoltage control (parameter 30.30) needs to be
disabled for the chopper to operate.

Settings and diagnostics

Parameters: 1.11 DC voltage (page 139) and 30.30 Overvoltage control (page 336).
Parameter group: 43 Brake chopper (page 405).

￭ DC voltage boost
This section describes the use of the DC voltage boost function for the drives
which has separate IGBT supply unit control.
The DC voltage boost require drive derating. See hardware manual of the drive for
derating factors.

Description of the DC voltage boost function

The regenerative and ultra low harmonic drives can boost their DC link voltage. In
other words, they can increase the operating voltage of the DC link from its default
value.
The user can take the DC voltage boost function in use by:
1. Adjusting the user-defined DC voltage reference value (94.22) and
 Program features 85

2. Selecting the user-defined reference (94.22) as the source for the drive DC
voltage reference (94.21).
Benefits of the DC voltage boost function are:
• Possibility to supply nominal voltage to the motor even when the supply voltage
of the drive is below the motor nominal voltage. Example: A drive that is
connected to 415 V can supply 460 V to a 460 V motor.
• Compensation of a voltage drop due to an output filter, motor cable or input
supply cables.
• Increased motor torque in the field weakening area (that is, when the drive
operates the motor in the speed range above the motor nominal speed).

Use case examples

Example 1: Full motor voltage regardless of supply voltage fluctuations

Supply voltage is 380 V, motor nominal voltage is 400 V. To get motor nominal
voltage at nominal speed regardless of the supply voltage fluctuations:
1. Calculate the required user DC voltage reference: 400 V × √2 = 567 V DC.
2. Set the value of parameter 94.22 to 567 V.
3. Make sure that the value of parameter 99.7 is set to 400 V.

Example 2: Sine filter at the output of the drive

The drive is equipped with a sine filter at the output. Motor cable length is 300 m
(984 ft). Estimated voltage loss across the filter and cable is 40 V. Motor nominal
voltage is 400 V.
To compensate for the 40 V voltage loss at the nominal speed:
1. Calculate the required voltage at the drive output before the sine filter to
compensate for the voltage drop: 400 V + 40 V = 440 V.
2. Calculate the required user DC voltage reference: 440 V × √2 = 622 V.
3. Set the value of parameter 94.22 to 622 V.
If the drive is configured to operate in DTC motor control mode and the ID run is
performed with the output filter and motor cable connected, no other configuration
is needed. The DTC motor control will take care of the estimated losses and boost
drive output voltage without getting limited by parameter 99.7.
If the drive is configured to operate in the scalar motor control mode, change the
value of parameter 99.7 to 440 V to allow the motor control to go up to 440 V at
the drive output at nominal speed.
86 Program features

Note: In scalar motor control mode, the output voltage can alternatively be
increased by adjusting the U/f curve: by setting parameter 97.7. The value of 97.7,
can be calculated as the ratio of the desired voltage and the nominal voltage. In
this example, the ratio is 440 V / 400 V = 110%. Set the value of 97.7 to 110% and
leave motor nominal voltage as 400 V.

Limits
There are two types of limitations that you must take into account when you use
the DC voltage boost function: limitations to the DC voltage reference and the
limitation to the drive output voltage.
The drive calculates the minimum and maximum limits for the User DC voltage
reference (94.22). The calculation is based on the actual supply voltage and the
upper limit of the largest supply voltage range selection available for the drive
(95.1). Limits are:
1. Minimum limit: Internal DC voltage reference (Udc,int).
2. Maximum limit: Maximum DC voltage reference (Udc,max).
For more information, see the table below and sections Internal DC voltage
reference (Udc,int) and Maximum DC voltage reference (Udc,max).
This table summarizes the limits to the user-defined DC voltage reference and to
the drive output voltage.

Drive 95.1 selection Internal DC voltage Maximum DC Maximum drive

type reference (Udc,int) voltage reference output voltage
1) (Udc,max) with parameter
97.4 default value

xxxA-3 380…415 V 553 V 663 V 479 V

xxxA-5 380…415 V 553 V 799 V 576 V

440…480 V 641 V

500 V 728 V

xxxA-7 525…600 V 764 V 1102 V 795 V

660…690 V 981 V

1) See section Internal DC voltage reference (Udc,int).

 Program features 87

Internal DC voltage reference (Udc,int)

Udc,int = Uac,rms × √2 × 1.03

where

Udc,int Internal DC voltage reference

Uac,rms Actual input supply voltage.

If the user-defined reference (94.22 is less than the internal reference value (Udc,int),
the control program uses the internal reference as the drive DC voltage reference.

Maximum DC voltage reference (Udc,max)

Udc,max = Ucat,hi × √2 × 1.13

where

Udc,max Maximum DC voltage reference

Ucat,hi Upper limit of the largest supply voltage range selection available
for the drive (95.1)

If the user-defined reference (94.22) is more than the maximum DC voltage

reference (Udc,max), the control program uses the maximum value as the drive DC
voltage reference.

Maximum drive output voltage

Uac,out = (Udc /√2) × (1 - Ures)

where

Uac,out Maximum output voltage of the drive

Udc Actual DC voltage

Ures Value of parameter 97.4

The voltage reserve setting (97.4) limits the maximum drive output voltage.

Limit calculation examples

Example 1: Calculating the internal DC voltage reference and maximum DC voltage

reference
The voltage category is 380 … 415 V and the power line voltage is 400 V.
88 Program features

Internal DC voltage reference Udc,int = 400 V × √2 × 1.03 = 583 V.

Maximum DC voltage reference Udc,max = 415 V × √2 × 1.13 = 663 V.

Example 2: Calculating the maximum output voltage of the drive

DC voltage is 650 V DC, and the voltage reserve setting (97.04) is -2%.
The maximum output voltage of the drive is Uac,out = (650 / √2) × (1 + 0.02) = 469 V.
Settings and diagnostics
Parameters: 97.7 User flux reference, 94.20 DC voltage reference (page 514), 94.21
DC voltage ref source (page 514), 94.22 User DC voltage reference (page 515) and
99.7 Motor nominal voltage.

￭ DC voltage control mode

A special mode for controlling the voltage of a common DC bus is available
especially for off-grid applications where the inverter unit is connected to a
generator and the supply unit creates an AC supply network. See section DC voltage
control mode.

Settings and diagnostics

Parameter group: 29 Voltage reference chain (page 323).
 Program features 89

Safety and protections

￭ Emergency stop
The emergency stop signal is connected to the input selected by parameter 21.5.
An emergency stop can also be generated through fieldbus (parameter 6.1, bits
0…2).
The mode of the emergency stop is selected by parameter 21.4. The following
modes are available:
• Off1: Stop along the standard deceleration ramp defined for the particular
reference type in use
• Off2: Stop by coasting
• Off3: Stop by the emergency stop ramp defined by parameter 23.23.
With Off1 or Off3 emergency stop modes, the ramp-down of the motor speed can
be supervised by parameters 31.32 and 31.33.
Note:
• For SIL 3 / PL e-level emergency stop functions, the drive can be fitted with a
TÜV-certified FSO-xx safety options module. The module can then be
incorporated into certified safety systems.
• The installer of the equipment is responsible for installing the emergency stop
devices and all additional devices needed for the emergency stop function to
fulfill the required emergency stop categories. For more information, contact
your local ABB representative.
• After an emergency stop signal is detected, the emergency stop function
cannot be canceled even though the signal is canceled.
• If the minimum (or maximum) torque limit is set to 0%, the emergency stop
function may not be able to stop the drive.
• Speed and torque reference additives (parameters 22.15, 22.17, 26.16, 26.25
and 26.41) and reference ramp shapes (23.16…23.19) are ignored in case of
emergency ramp stops.

Settings and diagnostics

Parameters: 6.17 Drive status word 2 (page 159), 6.18 Start inhibit status
word (page 160), 21.4 Emergency stop mode (page 259), 21.5 Emergency stop
source (page 260), 23.23 Emergency stop time (page 281), 25.13 Min torq sp ctrl em
stop (page 297), 25.14 Max torq sp ctrl em stop (page 297), 25.15 Proportional gain
em stop (page 297), 31.32 Emergency ramp supervision (page 347) and 31.33
Emergency ramp supervision delay (page 348).
90 Program features

￭ Motor thermal protection

The control program features two separate motor temperature monitoring
functions. The temperature data sources and warning/trip limits can be set up
independently for each function.
The motor temperature can be monitored using
• the motor thermal protection model (estimated temperature derived internally
inside the drive), or
• Sensors connected through optional modules that provide reinforced/double
insulation.
In addition to temperature monitoring, a protection function is available for ‘Ex’
motors installed in a potentially explosive atmosphere.

Motor thermal protection model

The drive calculates the temperature of the motor on the basis of the following
assumptions:
1. When power is applied to the drive for the first time, the motor is assumed to
be at ambient temperature (defined by parameter 35.50). After this, when
power is applied to the drive, the motor is assumed to be at the estimated
temperature.
2. Motor temperature is calculated using the user-adjustable motor thermal time
and motor load curve. The load curve should be adjusted in case the ambient
temperature exceeds 30 °C.
The motor thermal protection model fulfills standard IEC/EN 61800-5-1 ed. 2.1
requirements for thermal memory retention and speed sensitivity. The estimated
temperature is retained over power down. Speed dependency is set by parameters
35.51, 35.52 and 35.53.
Note: The motor thermal model can be used when only one motor is connected
to the drive.

Temperature monitoring using PTC sensors

WARNING!
Double or reinforced insulation is required between the live parts of the
motor and the drive control unit. Sensors without reinforced or double
insulation must be connected to option module FPTC-xx or FAIO-01. With
basic-insulated motor temperature sensors, FAIO-01 forms double insulation.
FPTC-xx forms itself a double insulation. See the hardware manual for more
information.

One PTC sensor can be connected to digital input DI6.

 Program features 91

+24VD

DI6

The resistance of the PTC sensor increases when its temperature rises. The
increasing resistance of the sensor decreases the voltage at the input, and
eventually its state switches from 1 to 0, indicating overtemperature.
1…3 PTC sensors can also be connected in series to an analog input and an analog
output. The analog output feeds a constant excitation current of 1.6 mA through
the sensor. The sensor resistance increases as the motor temperature rises, as
does the voltage over the sensor. The temperature measurement function calculates
the resistance of the sensor and generates an indication if overtemperature is
detected.
For wiring of the sensor, refer to the Hardware Manual of the drive.
The figure below shows typical PTC sensor resistance values as a function of
temperature.

Ohm

4000

1330

550

100

T
92 Program features

In addition to the above, optional FEN-xx encoder interfaces, and FPTC-xx modules
have connections for PTC sensors. Refer to the module-specific documentation
for more information.

Temperature monitoring using Pt100 or Pt1000 sensors

WARNING!
Double or reinforced insulation is required between the live parts of the
motor and the drive control unit. Sensors without reinforced or double
insulation must be connected to option module FAIO-01. With basic-insulated
motor temperature sensors, FAIO-01 forms double insulation. See the
hardware manual for more information.

1…3 Pt100 or Pt1000 sensors can be connected in series to an analog input and
an analog output.
The analog output feeds a constant excitation current of 9.1 mA (Pt100) or 1 mA
(Pt1000) through the sensor. The sensor resistance increases as the motor
temperature rises, as does the voltage over the sensor. The temperature
measurement function reads the voltage through the analog input and converts
it into degrees Celsius.
The warning and fault limits can be adjusted by parameters.
For the wiring of the sensor, refer to the Hardware Manual of the drive.
Note: If excitation current is too high for the sensor, use some other means to
measure the temperature.

Temperature monitoring using KTY84 sensors

WARNING!
Double or reinforced insulation is required between the live parts of the
motor and the drive control unit. Sensors without reinforced or double
insulation must be connected to option module FAIO-01. With basic-insulated
motor temperature sensors, FAIO-01 forms double insulation. See the
hardware manual for more information.

One KTY84 sensor can be connected to an analog input and an analog output on
the control unit.
The analog output feeds a constant excitation current of 2.0 mA through the
sensor. The sensor resistance increases as the motor temperature rises, as does
the voltage over the sensor. The temperature measurement function reads the
voltage through the analog input and converts it into degrees Celsius.
FEN-xx encoder interfaces (optional) also have a connection for one KTY84 sensor.
 Program features 93

The figure and table below show typical KTY84 sensor resistance values as a
function of the motor operating temperature.

Ohm KTY84 scaling

3000 90 °C = 936 ohm
110 °C = 1063 ohm
130 °C = 1197 ohm
150 °C = 1340 ohm
2000

1000

0 T oC
-100 0 100 200 300

The warning and fault limits can be adjusted by parameters.

For the wiring of the sensor, refer to the Hardware Manual of the drive.

Motor fan control logic (parameters 35.100…35.106)

If the motor has an external cooling fan, it is possible to use a drive signal (for
example, running/stopped) to control the starter of the fan via a relay or digital
output. A digital input can be selected for fan feedback. A loss of the feedback
signal will optionally cause a warning or a fault.
Start and stop delays can be defined for the fan. In addition, a feedback delay can
be set to define the time within which feedback must be received after the fan
starts.

Ex motor support (parameter 95.15, bit 0)

The control program has a temperature protection function for Ex motors located
in a potentially explosive atmosphere. The protection is enabled by setting bit 0
of parameter 95.15.

PTC/Pt100 relay (parameter 95.20, bit 8)

Activating parameter 95.20, bit 8 changes the source of external event 1 to DI6. It
also changes the external event 1 type to a fault.
94 Program features

Settings and diagnostics

Parameter groups: 35 Motor thermal protection (page 363) and 91 Encoder module
settings (page 500).
Parameters: 95.15 Special HW settings (page 521) and 95.20 HW options word
1 (page 523).

￭ Motor overload protection

This section describes motor overload protection without using motor thermal
protection model, either with estimated or measured temperature. For protection
with the motor thermal protection model, see section Motor thermal
protection (page 90).
Motor overload protection is required and specified by multiple standards including
the US National Electric Code (NEC), UL 508C and the common UL\IEC 61800-5-1
standard in conjunction with IEC 60947-4-1. The standards allow for motor overload
protection without external temperature sensors.
The Motor overload protection fulfills standard IEC/EN 61800-5-1 ed. 2.1
requirements for thermal memory retention and speed sensitivity. The estimated
temperature is retained over power down. Speed dependency is set by parameters.
The protection feature allows the user to specify the class of operation in the same
manner as the overload relays are specified in standards IEC 60947-4-1 and NEMA
ICS 2.
Motor overload protection requires that you specify a motor current tripping level.
This is defined by a curve using parameters 35.51, 35.52 and 35.53. The tripping
level is the motor current at which the overload protection will ultimately trip if
the motor current remains at this level continuously.
The motor overload class (class of operation), parameter 35.57, is given as the
time required for the overload relay to trip when operating at 7.2 times the tripping
level in the case of IEC 60947-4-1 and 6 times the tripping level in the case of NEMA
ICS 2. The standards also specify the time to trip for current levels between the
tripping level and the 6 times tripping level. The drive satisfies the IEC standard
and NEMA standard trip times.
Using class 20 satisfies the UL 508C requirements.
The motor overload algorithm monitors the squared ratio (motor current / tripping
level)2 and accumulates this over time. This is sometimes referred to as I2t
protection. The accumulated value is shown in parameter 35.5.
You can define with parameter 35.56 that when 35.5 reaches 88%, a motor overload
warning will be generated, and when it reaches 100%, the drive will trip on the
motor overload fault. The rate at which this internal value is increased depends
on the actual current, tripping level current and overload class selected.
 Program features 95

Parameters 35.51, 35.52 and 35.53 serve a dual purpose. They determine the load
curve for temperature estimate as well as specify the overload tripping level.

Settings and diagnostics

Parameters common to motor thermal protection and motor overload protection:
35.51 Motor load curve … 35.53 Break point (page 372).
Parameters specific to motor overload protection: 35.5 Motor overload
level (page 364), 35.56 Motor overload action … 35.57 Motor overload class (page 374).

￭ Thermal protection of motor cable

The control program contains a thermal protection function for the motor cable.
This function should be used, for example, when the nominal current of the drive
exceeds the current-carrying capacity of the motor cable.
The program calculates the temperature of the cable on the basis of the following
data:
• Measured output current (parameter 1.7)
• Nominal continuous current rating of the cable, specified by 35.61, and
• Thermal time constant of the cable, specified by 35.62.
When the calculated temperature of the cable reaches 102% of the rated maximum,
a warning (A480) is given. The drive trips on a fault (4000) when 106% is reached.

Settings and diagnostics

Parameters: 35.60 Cable temperature...35.62 Cable thermal rise time (page 375).
Events: A480 Motor cable overload (page 582) and 4000 Motor cable
overload (page 567).

￭ User load curve

The user load curve provides a function that monitors an input signal (eg. motor
torque or motor current) as a function of drive output speed or frequency. The
function includes both high limit (overload) and low limit (underload) monitoring.
Overload monitoring can, for example, be used to detect a pump becoming clogged
or a saw blade hitting a knot. Underload monitoring can detect the load being lost,
for example because of the snapping of a transmission belt.
The monitoring is effective within a motor speed and/or frequency range. The
frequency range is used with a frequency reference in scalar motor control mode;
otherwise, the speed range is used. The range is defined by five speed (parameters
37.11…37.15) or frequency (37.16…37.20) values. The values are positive, but the
monitoring is symmetrically active in the negative direction as the sign of the
monitored signal is ignored. Outside the speed/frequency range, the monitoring
is disabled.
96 Program features

An underload (37.21…37.25) and overload (37.31…37.35) limit is set for each of the
five speed or frequency points. Between these points, the limits are interpolated
linearly to form overload and underload curves.

Monitored signal (37.02)

OVERLOAD

37.31 (%)

37.35 (%)

ALLOWED 37.25 (%)

OPERATION

37.21 (%)

UNDERLOAD Speed
37.11 (rpm) 37.12 37.13 37.14 37.15 Frequency
37.16 (Hz) 37.17 37.18 37.19 37.20

The action (none, warning or fault) taken when the signal exits the allowed
operation area can be selected separately for overload and underload conditions
(parameters 37.3 and 37.4 respectively). Each condition also has an optional timer
to delay the selected action (37.41 and 37.42).

Settings and diagnostics

Parameter group: 37 User load curve (page 383).
Events: A6E6 ULC configuration (page 590), A8BE ULC overload (page 599), A8BF
ULC underload (page 599), 8001 ULC underload (page 580) and 8002 ULC
overload (page 581).

￭ Automatic fault resets

WARNING!
Before you activate the function, make sure that no dangerous situations
can occur. The function resets the drive automatically and continues
operation after a fault.
 Program features 97

The drive can automatically reset itself after overcurrent, overvoltage, undervoltage
and external faults. The user can also specify a fault (excluding Safe torque off
related faults) to be reset automatically.
By default, automatic resets are off and must be specifically activated by the user.

Settings and diagnostics

Parameters: 31.12 Autoreset selection…31.16 Delay time (page 342).

￭ Other programmable protection functions

External events (parameters 31.01…31.10)
Five different event signals from the process can be connected to selectable inputs
to generate trips and warnings for the driven equipment. When the signal is lost,
an external event (fault, warning, or a mere log entry) is generated. The contents
of the messages can be edited on the control panel by selecting Menu - Settings
- Edit texts.

Motor phase loss detection (parameter 31.19)

The parameter selects how the drive reacts whenever a motor phase loss is
detected.

Earth (Ground) fault detection (parameter 31.20)

The earth fault detection function is based on sum current measurement. Note
that
• an earth fault in the supply cable does not activate the protection
• in a grounded supply, the protection activates within 2 milliseconds
• in an ungrounded supply, the supply capacitance must be 1 microfarad or more
• the capacitive currents caused by shielded motor cables up to 300 meters will
not activate the protection
• the protection is deactivated when the drive is stopped.

Safe torque off detection (parameter 31.22)

The drive monitors the status of the Safe torque off input, and this parameter
selects which indications are given when the signals are lost. (The parameter does
not affect the operation of the Safe torque off function itself). For more information
on the Safe torque off function, see the Hardware manual.

Swapped supply and motor cabling (parameter 31.23)

The drive can detect if the supply and motor cables have accidentally been swapped
(for example, if the supply is connected to the motor connection of the drive). The
98 Program features

parameter selects if a fault is generated or not. Note that the protection should
be disabled in drive/inverter hardware supplied from a common DC bus.

Stall protection (parameters 31.24…31.28)

The drive protects the motor in a stall situation. It is possible to adjust the
supervision limits (current, frequency and time) and choose how the drive reacts
to a motor stall condition.

Overspeed protection (parameter 31.30)

The user can set overspeed limits by specifying a margin that is added to the
currently-used maximum and minimum speed limits.

Ramp stop supervision (parameters 31.32, 31.33, 31.37 and 31.38)

The control program has a supervision function for both the normal and emergency
stop ramps. The user can either define a maximum time for stopping, or a maximum
deviation from the expected deceleration rate. If the drive fails to stop in the
expected manner, a fault is generated and the drive coasts to a stop.

Main cooling fan supervision (parameter 31.35)

The parameter selects how the drive reacts to a loss of the main cooling fan.
With an inverter unit consisting of frame R8i inverter modules, it may be possible
to continue operation even if a cooling fan of an inverter module stops. See the
description of the parameter.

Custom motor current fault limit (parameter 31.42)

The control program sets a motor current limit based on drive hardware. In most
cases, the default value is appropriate. However, a lower limit can be manually set
by the user, for example, to protect a permanent magnet motor from
demagnetization.

Local control loss detection (parameter 49.05)

The parameter selects how the drive reacts to a control panel or PC tool
communication break.
 Program features 99

Diagnostics
￭ Fault and warning messages, data logging
See chapter Fault tracing.

￭ Signal supervision
Three signals can be selected to be supervised by this function. Whenever a
supervised signal exceeds or falls below predefined limits, a bit in 32.1 is activated,
and a warning or fault generated. The contents of the message can be edited on
the control panel by selecting Menu - Settings - Edit texts.
The supervised signal is low-pass filtered. The supervision operates on a 2 ms time
level. The configuration parameters are scanned for changes on a 10 ms time level.

Settings and diagnostics

Parameter group: 32 Supervision (page 351).
Events: A8B0 Signal supervision (page 599), A8B1 Signal supervision 2 (page 599),
A8B2 Signal supervision 3 (page 599), 80B0 Signal supervision (page 581), 80B1 Signal
supervision 2 (page 581) and 80B2 Signal supervision 3 (page 581).

￭ Maintenance timers and counters

The program has six different maintenance timers or counters that can be
configured to generate a warning when a pre-defined limit is reached. The contents
of the message can be edited on the control panel by selecting Menu - Settings -
Edit texts.
The timer/counter can be set to monitor any parameter. This feature is especially
useful as a service reminder.
There are three types of counters:
• On-time timers. Measures the time a binary source (for example, a bit in a
status word) is on.
• Signal edge counters. The counter is incremented whenever the monitored
binary source changes state.
• Value counters. The counter measures, by integration, the monitored
parameter. A warning is given when the calculated area below the signal peak
exceeds a user-defined limit.

Settings and diagnostics

Parameter group: 33 Generic timer & counter (page 355).
100 Program features

￭ Energy saving calculators

This feature consists of the following functionalities:
• An energy optimizer that adjusts the motor flux in such a way that the total
system efficiency is maximized
• A counter that monitors used and saved energy by the motor and displays
them in kWh, currency or volume of CO2 emissions, and
• A load analyzer showing the load profile of the drive (see separate section on
page 100.

Note: The accuracy of the energy savings calculation is directly dependent on the
accuracy of the reference motor power given in parameter 45.19 Comparison
power.

Settings and diagnostics

Parameter group: 45 Energy efficiency (page 414).

￭ Load analyzer
Peak value logger
The user can select a signal to be monitored by a peak value logger. The logger
records the peak value of the signal along with the time the peak occurred, as well
as motor current, DC voltage and motor speed at the time of the peak. The peak
value is sampled at 2 ms intervals.
 Program features 101

Amplitude loggers
The control program has two amplitude loggers. Depending on the setting of
parameter 36.8, the loggers are active continuously or only when the drive is
modulating.
For amplitude logger 2, the user can select a signal to be sampled at 200 ms
intervals, and specify a value that corresponds to 100%. The collected samples are
sorted into 10 read-only parameters according to their amplitude. Each parameter
represents an amplitude range 10 percentage points wide, and displays the
percentage of the collected samples that have fallen within that range. Note that
the lowest range also contains the negative values (if any), while the highest range
also contains the values above 100%.

Percentage
of samples
50…60%

>90%
40…50%

60…70%

70…80%

80…90%
20…30%

30…40%
10…20%
<10%

Amplitude ranges
(parameters 36.40...36.49)

Amplitude logger 1 is fixed to monitor motor current, and cannot be reset. With
amplitude logger 1, 100% corresponds to the maximum output current of the drive
(Imax, as given in the hardware manual). The distribution of collected samples is
shown by parameters 36.20…36.29.
Settings and diagnostics
Parameter group: 36 Load analyzer (page 378).
102 Program features

Miscellaneous
￭ User parameter sets
The drive supports four user parameter sets that can be saved to the permanent
memory and recalled using drive parameters. It is also possible to use digital inputs
to switch between user parameter sets.
A user parameter set contains all editable values in parameter groups 10…99
except
• forced I/O values such as parameters 10.3 and 10.4
• I/O extension module settings (groups 14…16)
• fieldbus communication enable parameters (50.1 and 50.31)
• other fieldbus communication settings (groups 51…56 and 58)
• encoder configuration settings (groups 92…93),
• some hardware settings in parameter group 95, and
• user set selection parameters 96.11…96.13
As the motor settings are included in the user parameter sets, make sure the
settings correspond to the motor used in the application before recalling a user
set. In an application where different motors are used with the drive, the motor
ID run needs to be performed with each motor and the results saved to different
user sets. The appropriate set can then be recalled when the motor is switched.
If no parameter sets have been saved, attempting to load a set will create all sets
from the currently active parameter settings.
Switching between user parameter sets is only possible with the drive stopped.

Settings and diagnostics

Parameters: 10.3 DI force selection (page 178), 10.4 DI force data (page 178), 50.1
FBA A enable (page 430), 50.31 FBA B enable (page 434), and 96.10 User set
status (page 530)…96.13 User set I/O mode in2 (page 531).
Parameter group: 95 HW configuration (page 517).
Events: 64B2 User set fault (page 575).

￭ Parameter checksum calculation

A parameter checksum can be calculated from a user-definable set of parameters
to monitor changes in the drive configuration. The calculated checksum is
compared to 1…4 reference checksums; in case of a mismatch, an event (a pure
event, warning or fault) is generated.
 Program features 103

By default, the set of parameters included in the calculation contain most

parameters with the exception of
• actual signals
• parameter group 47
• parameters that are activated to validate new settings (such as 51.27 and 96.7)
• parameters that are not saved to the flash memory (such as 96.24…96.26)
• parameters that are internally calculated from others (such as 98.9…98.14).
• dynamic parameters (eg. parameters that vary according to hardware), and
• application program parameters.
The default set can be edited using the Drive customizer PC tool.

Settings and diagnostics

Parameters: 96.53 Actual checksum (page 534)…96.59 Approved checksum
4 (page 535).
Events: 6200 Checksum mismatch (page 572) and A686 Checksum
mismatch (page 587).
104 Program features

￭ User lock
WARNING!
ABB will not be liable for damages or losses caused by the failure to activate
the user lock using a new pass code. See Cyber security disclaimer (page 20).

For improved cybersecurity, it is highly recommended that you set a master pass
code to prevent, for example, the changing of parameter values and/or the loading
of firmware and other files.
With several drives, set a unique pass code for each drive.
To activate the user lock for the first time,
• Enter the default pass code, 10000000, into 96.2. This will make parameters
96.100…96.102 visible.
• Enter a new pass code into 96.100. Always use eight digits; if using Drive
Composer, finish with Enter.
• Confirm the new pass code in 96.101.

WARNING!
Store the pass code in a safe place – the user lock cannot be opened even
by ABB if the pass code is lost.

• In 96.102, define the actions that you want to prevent (we recommend you
select all the actions unless otherwise required by the application).
• Enter an invalid (random) pass code into 96.2.
• Activate 96.8, or cycle the power to the control unit.
• Check that parameters 96.100…96.102 are hidden. If they are not, enter another
random pass code into 96.2.
To reopen the lock, enter your pass code into 96.2. This will again make parameters
96.100…96.102 visible.

Settings and diagnostics

Parameters: 96.2 Pass code (page 527) and 96.100 Change user pass code…96.102
User lock functionality (page 536).
Events: A6B0 User lock open (page 589).
 Program features 105

￭ Data storage parameters

Twenty-four (sixteen 32-bit, eight 16-bit) parameters are reserved for data storage.
These parameters are unconnected by default and can be used for eg. linking,
testing and commissioning purposes. They can be written to and read from using
other parameters’ source or target selections.
Note that only 32-bit floating point (type real32) parameters can be selected as
the source of another parameter value. In other words, parameters 47.1…47.8 can
be used as value sources of other parameters while 47.11…47.28 cannot.
To use a 16-bit integer (received in DDCS data sets) as the source of another
parameter, write the value into one of the real32 type storage parameters
(47.1…47.8). Select the storage parameter as the source, and define a suitable
scaling method between the 16-bit and 32-bit values in parameters 47.31…47.38.

Settings and diagnostics

Parameter group: 47 Data storage (page 423).

￭ Reduced run function

A “reduced run” function is available for inverter units consisting of
parallel-connected inverter modules. The function makes it possible to continue
operation with limited current even if one (or more) module is out of service, for
example, because of maintenance work. In principle, reduced run is possible with
only one module, but the physical requirements of operating the motor still apply;
for example, the modules remaining in use must be able to provide the motor with
enough magnetizing current.
The reduced run mask can be used instead of the reduced run mode in case there
is no need to remove the power module physically from the system. Masking a
module or several modules stops BCU from sending control commands to selected
PSL2 channel or channels.
Note:
• STO circuit must remain as it has been.
• Do not use mask to bypass STO circuit faults.
• Do not remove fiber optic cables from the system.
• Module must be disconnected from AC side to avoid current flow through the
freewheeling diodes.
106 Program features

Activation of the reduced run function

Note: For cabinet-built drives, the wiring accessories and the air baffle needed
during the procedure are available from ABB, and are included in the delivery.

WARNING!
Follow the safety instructions provided for the drive or inverter unit in
question.

1. Disconnect the supply voltage and all auxiliary voltages from the drive/inverter
unit.
2. If the inverter control unit is powered from the faulty module, install an
extension to the wiring and connect it to one of the remaining modules.
3. Remove the module to be serviced from its bay. See the appropriate hardware
manual for instructions.
4. If the Safe torque off (STO) function is in use, install jumpering in the STO
wiring in place of the missing module (unless the module was the last on the
chain).
5. Install an air baffle to the top module guide to block the airflow through the
empty module bay.
6. In case the inverter unit has a DC switch with a charging circuit, disable the
appropriate channel on the xSFC-xx charging controller.
7. Switch on the power to the drive/inverter unit.
8. Set parameter 95.12 to define which modules have been removed.
9. Enter the number of inverter modules present into parameter 95.13.
10. Reset all faults and start the drive/inverter unit. The maximum current is now
automatically limited according to the new inverter configuration. A mismatch
between the number of detected modules (95.14) and the value set in 95.13
will generate a fault.
After all modules have been reinstalled, parameters 95.12 and 95.13 must be reset
to 0 to disable the reduced run function. In case the inverter is equipped with a
charging circuit, the charging monitoring must be reactivated for all modules. If
the Safe torque off (STO) function is in use, an acceptance test must be performed
(see the hardware manual of the drive/inverter unit for instructions).
Settings and diagnostics
Parameters: 6.17 Drive status word 2 (page 159) and 95.13 Reduced run mode…95.14
Connected modules (page 521).
Events: 5695 Reduced run (page 571).
 Program features 107

￭ du/dt filter support

With an external du/dt filter connected to the output of the drive, bit 13 of 95.20
must be switched on. The setting limits the output switching frequency. With
frame size R5i…R7i inverter modules, the setting also forces the drive/inverter
module fan to full speed. Note that the setting is not to be activated with inverter
modules with internal du/dt filters.

Settings and diagnostics

Parameter: 95.20 HW options word 1 (page 523).

￭ Sine filter support

The control program has a setting that enables the use of sine filters (available
separately from ABB and others).
With an ABB sine filter connected to the output of the drive, bit 1 of 95.15 must be
switched on. The setting limits the switching and output frequencies to
• prevent the drive from operating at filter resonance frequencies, and
• protect the filter from overheating.
With a custom sine filter, bit 3 of 95.15 must be switched on. (The setting does
not limit the output frequency.) Additional parameters must be set according to
the properties of the filter as listed below.

Settings and diagnostics

Parameters: 95.15 Special HW settings (page 521), 97.1 Switching frequency
reference (page 538), 97.2 Minimum switching frequency (page 538), 99.18 Sine filter
inductance (page 556) and 99.19 Sine filter capacitance (page 557).
108 Program features

￭ Router mode for BCU control unit

The BCU control unit of an inverter unit can be set to a “router mode” to allow the
control of locally-connected power units (for example, inverter modules) by another
BCU. Using the router mode and some hardware switching, it is possible to have
the same modules alternate between inverter and, for example, IGBT supply use.
The router mode involves connecting the two BCUs together by their PSL2 channels.
When router mode is active, the channels coming from the other BCU are forwarded
to the local modules.
The diagrams below show how the control of four converter modules can be
switched between two BCUs.
Note: For an example of how to switch converter modules between inverter and
IGBT supply use, see the ACS880 IGBT supply control program firmware manual
(3AUA0000131562 [English]).

BCU 1 controlling all modules, BCU 2 in router mode

BCU 1 BCU 2
95.14 = 000Fh (1111b) 95.16 = On
95.16 = Off 95.17 = 1100b

CH1 CH2 CH3 CH4 CH1 CH2 CH3 CH4

Module 1 Module 2 Module 3 Module 4

BCU 2 controlling all modules, BCU 1 in router mode

 Program features 109

BCU 1 BCU 2
95.16 = On 95.14 = 000Fh (1111b)
95.17 = 1100b 95.16 = Off

CH1 CH2 CH3 CH4 CH1 CH2 CH3 CH4

Module 1 Module 2 Module 3 Module 4

Note:
• The local modules must be connected to successive channels starting from
CH1. The immediately following channels are connected to the other BCU and
routed to the local modules. There must be at least as many local modules as
there are routed channels.
• In PLC control, any switch-overs must be done in stopped state, and so that
at least one BCU is in router mode at any given time.
• Additional rules or restrictions may apply when using the router mode with
other control programs. See the appropriate firmware manual.

Settings and diagnostics

Parameters: 95.16 Router mode (page 522) and 95.17 Router channel config (page 522).

￭ Parameter ranges with option +N8200 (High speed license)

With option +N8200 (High speed license), the following speed and frequency
parameters have an extended range:
110 Program features

Range Parameters

-90000 … 90000 rpm 1.2

22.1
22.26…22.32
22.41…22.43
22.52…22.57
22.81…22.87
23.1
23.2
23.27
23.39
24.1…24.4
30.11
30.12
36.15
49.15
49.16
90.1
0…90000 rpm 1.61
21.6
25.18
25.19
29.70
29.72
29.74
29.76
29.78
37.11…37.15
46.1
46.6
46.21
46.31
99.9
 Program features 111

Range Parameters

-1500 … 1500 Hz 1.6

28.1
28.2
28.26…28.32
28.52…28.57
28.78
28.90…28.92
28.96
28.97
30.13
30.14
49.17
49.18
0…1500 Hz 1.63
46.2
99.8
112
 Application macros 113

5
Application macros

What this chapter contains

This chapter describes the intended use, operation and default control connections
of the application macros.
More information on the connectivity of the control unit is given in the Hardware
manual of the drive.

General
Application macros are sets of default parameter values suitable for the application
in question. When starting up the drive, the user typically selects the best-suited
application macro as a starting point, then makes any necessary changes to tailor
the settings to the application. This usually results in a much lower number of user
edits compared to the traditional way of programming a drive.
Application macros can be selected by parameter 96.4 Macro select. User parameter
sets are managed by the parameters in group 96 System (page 526).
Note: The default control connections described in this chapter are based on the
ZCU control unit.
114 Application macros

Factory macro
The Factory macro is suited to relatively straightforward speed control applications
such as conveyors, pumps and fans, and test benches.
The drive is speed-controlled with the reference signal connected to analog input
AI1. The start/stop commands are given through digital input DI1; running direction
is determined by DI2. This macro uses control location EXT1.
Faults are reset through digital input DI3.
DI4 switches between acceleration/deceleration time sets 1 and 2. The acceleration
and deceleration times, as well as ramp shapes, are defined by parameters
23.12…23.19.
DI5 activates constant speed 1.

￭ Default parameter settings for the Factory macro

The default parameter settings for the Factory macro are listed in chapter
Parameter listing.

￭ Default control connections for the Factory macro

Connection Term Description

XPOW External power input

+24VI
1 +24VI GND 24 V DC, 2 A
2 GND

XAI Reference voltage and analog inputs

+VREF 10 V DC, RL 1…10 kohm
1 +VREF
2 -VREF -VREF -10 V DC, RL 1…10 kohm
3 AGND
4 AI1+ AGND Ground
5 AI1- AI1+ Speed reference
6 AI2+
7 AI2- AI1- 0(2)…10 V, Rin > 200 kohm
AI2+ By default not in use.
AI2- 0(4)…20 mA, Rin = 100 ohm
XAO Analog outputs
AO1 Motor speed rpm
1 AO1
2 AGND AGND 0…20 mA, RL < 500 ohm
3 AO2
AO2 Motor current
4 AGND
AGND 0…20 mA, RL < 500 ohm
 Application macros 115

Connection Term Description

XD2D Drive-to-drive link

B Master/follower, drive-to-drive or embed-
1 B
ded fieldbus interface connection
2 A A
3 BGND
BGND
XRO1, XRO2, XRO3 Relay outputs
NC Ready run
11 NC
12 COM COM 250 V AC / 30 V DC
13 NO
NO 2A
21 NC
22 COM NC Running
23 NO
Fault COM 250 V AC / 30 V DC
31 NC
32 COM 2A
NO
33 NO

2 +24VD
NC Fault (-1)
XD24

5 DIOGND COM 250 V AC / 30 V DC

NO 2A

XD24 Digital interlock

DIIL Run enable
1 DIIL
2 +24VD +24VD +24 V DC 200 mA
3 DICOM
4 +24VD DICOM Digital input ground
5 DIOGND
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
DIO1 Output: Ready run
1 DIO1
2 DIO2 DIO2 Output: Running
116 Application macros

Connection Term Description

XDI Digital inputs

DI1 Stop (0) / Start (1)
2 +24VD

XD24
DI2 Forward (0) / Reverse (1)
5 DIOGND
DI3 Reset
1 DI1
2 DI2 DI4 Acc/Dec time set 1 (0) / set 2 (1)
3 DI3 DI5 Constant speed 1 (1 = On)
4 DI4
DI6 By default, not in use.
5 DI5
6 DI6

Safe torque off circuits must be closed for the drive

XSTO to start. See Hardware manual of drive.

X12 Safety options connection

X13 Control panel connection
X205 Memory unit connection
 Application macros 117

Hand/Auto macro
The Hand/Auto macro is suited to speed control applications where two external
control devices are used.
The drive is speed-controlled from the external control locations EXT1 (Hand
control) and EXT2 (Auto control). The selection between the control locations is
done through digital input DI3.
The start/stop signal for EXT1 is connected to DI1 while running direction is
determined by DI2. For EXT2, start/stop commands are given through DI6, the
direction through DI5.
The reference signals for EXT1 and EXT2 are connected to analog inputs AI1 and
AI2 respectively.
A constant speed (by default, 300 rpm) can be activated through DI4.

￭ Default parameter settings for the Hand/Auto macro

Below is a listing of default parameter values that differ from those listed for the
Factory macro in Parameter listing (page 138).

Parameter Hand/Auto macro default

12.30 AI2 scaled at AI2 max 1500.000

19.11 Ext1/Ext2 selection DI3
20.6 Ext2 commands In1 Start; In2 Dir
20.8 Ext2 in1 source DI6
20.9 Ext2 in2 source DI5
20.12 Run enable 1 source DIIL
22.12 Speed ref2 source AI2 scaled
22.14 Speed ref1/2 selection Follow Ext1/Ext2 selection
22.22 Constant speed sel1 DI4
23.11 Ramp set selection Acc/Dec time 1
31.11 Fault reset selection Not selected
118 Application macros

￭ Default control connections for the Hand/Auto macro

Connection Term Description

XPOW External power input

+24VI
1 +24VI GND 24 V DC, 2 A
2 GND

XAI Reference voltage and analog inputs

+VREF 10 V DC, RL 1…10 kohm
1 +VREF -VREF -10 V DC, RL 1…10 kohm
2 -VREF
AGND Ground
3 AGND
4 AI1+ AI1+ Speed reference (Hand)
5 AI1-
6 AI2+ AI1- 0(2)…10 V, Rin > 200 kohm
7 AI2-
AI2+ Speed reference (Auto)
AI2- 0(4)…20 mA, Rin = 100 ohm
XAO Analog outputs
AO1 Motor speed rpm
1 AO1
2 AGND AGND 0…20 mA, RL < 500 ohm
3 AO2
AO2 Motor current
4 AGND
AGND 0…20 mA, RL < 500 ohm
XD2D Drive-to-drive link
B Master/follower, drive-to-drive or embed-
1 B
ded fieldbus interface connection
2 A A
3 BGND
BGND
XRO1, XRO2, XRO3 Relay outputs
 Application macros 119

Connection Term Description

NC Ready run
11 NC
12 COM COM 250 V AC / 30 V DC
13 NO
NO 2A
21 NC
22 COM NC Running
23 NO
Fault COM 250 V AC / 30 V DC
31 NC
32 COM 2A
NO
33 NO

2 +24VD
NC Fault (-1)
5 DIOGND XD24 COM 250 V AC / 30 V DC
NO 2A

XD24 Digital interlock

DIIL Run enable
1 DIIL
2 +24VD +24VD +24 V DC 200 mA
3 DICOM
4 +24VD DICOM Digital input ground
5 DIOGND
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
DIO1 Output: Ready run
1 DIO1
2 DIO2 DIO2 Output: Running

XDI Digital inputs

DI1 Stop (0) / Start (1) – Hand
2 +24VD
XD24

5
DI2 Forward (0) / Reverse (1) – Hand
DIOGND
1 DI1 DI3 Hand (0) / Auto (1)
2 DI2 DI4 Constant speed 1 (1 = On)
3 DI3
DI5 Forward (0) / Reverse (1) – Auto
4 DI4
5 DI5 DI6 Stop (0) / Start (1) – Auto
6 DI6

Safe torque off circuits must be closed for the drive

XSTO to start. See Hardware manual of drive.

X12 Safety options connection

X13 Control panel connection
X205 Memory unit connection
120 Application macros

PID control macro

The PID control macro is suitable for process control applications, for example
closed-loop pressure, level or flow control systems such as
• pressure boost pumps of municipal water supply systems
• level-controlling pumps of water reservoirs
• pressure boost pumps of district heating systems
• material flow control on a conveyor line.
The process reference signal is connected to analog input AI1 and the process
feedback signal to AI2. Alternatively, a direct speed reference can be given to the
drive through AI1. Then the PID controller is bypassed and the drive no longer
controls the process variable.
Selection between direct speed control (control location EXT1) and process variable
control (EXT2) is done through digital input DI3.
The stop/start signals for EXT1 and EXT2 are connected to DI1 and DI6 respectively.
A constant speed (by default, 300 rpm) can be activated through DI4.
Note: When commissioning the PID loop, it is useful to run the motor in speed
control first using EXT1; this allows testing of the PID feedback polarity and scaling.
Once the feedback has been proven, the PID loop can be “closed” by switching to
EXT2.

￭ Default parameter settings for the PID control macro

Below is a listing of default parameter values that differ from those listed for the
Factory macro in Parameter listing (page 138).

Parameter Hand/Auto macro default

12.27 AI2 min 4.000

19.11 Ext1/Ext2 selection DI3
20.1 Ext1 commands In1 Start
20.4 Ext1 in2 source Not selected
20.6 Ext2 commands In1 Start
20.8 Ext2 in1 source DI6
20.12 Run enable 1 source DI5
22.12 Speed ref2 source PID
22.22 Constant speed sel1 DI4
23.11 Ramp set selection Acc/Dec time 1
 Application macros 121

Parameter Hand/Auto macro default

31.11 Fault reset selection Not selected

40.7 Set 1 PID operation mode On when drive running
40.8 Set 1 feedback 1 source AI2 scaled
40.11 Set 1 feedback filter time 0.040 s
40.35 Set 1 derivation filter time 1.0 s
40.60 Set 1 PID activation source Follow Ext1/Ext2 selection

Note: The macro selection does not affect parameter group 41 Process PID set 2.
122 Application macros

￭ Default control connections for the PID control macro

Connection Term Description

XPOW External power input

+24VI
1 +24VI GND 24 V DC, 2 A
2 GND

XAI Reference voltage and analog inputs

+VREF 10 V DC, RL 1…10 kohm
1 +VREF -VREF -10 V DC, RL 1…10 kohm
2 -VREF
AGND Ground
3 AGND
4 AI1+ AI1+ Speed reference
5 AI1-
P 6 AI2+ AI1- 0(2)…10 V, Rin > 200 kohm
I 7 AI2-
AI2+ Process feedback 1)
AI2- 0(4)…20 mA, Rin = 100 ohm
XAO Analog outputs
AO1 Motor speed rpm
1 AO1
2 AGND AGND 0…20 mA, RL < 500 ohm
3 AO2
AO2 Motor current
4 AGND
AGND 0…20 mA, RL < 500 ohm
XD2D Drive-to-drive link
B Master/follower, drive-to-drive or embed-
1 B
ded fieldbus interface connection
2 A A
3 BGND
BGND
XRO1, XRO2, XRO3 Relay outputs
 Application macros 123

Connection Term Description

NC Ready run
11 NC
12 COM COM 250 V AC / 30 V DC
13 NO
NO 2A
21 NC
22 COM NC Running
23 NO
Fault COM 250 V AC / 30 V DC
31 NC
32 COM 2A
NO
33 NO

2 +24VD
NC Fault (-1)
5 DIOGND XD24 COM 250 V AC / 30 V DC
NO 2A

XD24 Digital interlock

DIIL Digital interlock. By default, not in use.
1 DIIL
2 +24VD +24VD +24 V DC 200 mA
3 DICOM
4 +24VD DICOM Digital input ground
5 DIOGND
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
DIO1 Output: Ready run
1 DIO1
2 DIO2 DIO2 Output: Running

XDI Digital inputs

DI1 Stop (0) / Start (1) – Speed control
2 +24VD
XD24

DI2 By default, not in use.

5 DIOGND
DI3 Speed control (0) / Process control (1)
1 DI1
2 DI2 DI4 Constant speed 1 (1 = On)
3 DI3 DI5 Run enable (1 = On)
4 DI4
DI6 Stop (0) / Start (1) – Process control
5 DI5
6 DI6

Safe torque off circuits must be closed for the drive

XSTO to start. See Hardware manual of drive.

X12 Safety options connection

X13 Control panel connection
124 Application macros

Connection Term Description

X205 Memory unit connection

1) For sensor connection examples, see page 124.

￭ Sensor connection examples for the PID control macro

+ 0/4...20 mA
P AI2+ Actual value measurement
-
I AI2- -20...20 mA. Rin = 100 ohm

Note:The sensor must be powered externally.

+
P +24VD Auxiliary voltage output (200 mA max).
-
I DIOGND Ground
OUT 0/4...20 mA
AI2+ Actual value measurement
AI2- -20...20 mA. Rin = 100 ohm

+
P +24VD Auxiliary voltage output (200 mA max).
-
I DIOGND Ground
0/4...20 mA
AI2+ Actual value measurement
AI2- -20...20 mA. Rin = 100 ohm

Drive 1
- 0/4...20 mA
P AI2+ Actual value measurement
+
I AI2- -20...20 mA. Rin = 100 ohm

+24V Drive 2
Power
- AI2+ Actual value measurement
supply
AI2- -20...20 mA. Rin = 100 ohm

Drive 3
AI2+ Actual value measurement
AI2- -20...20 mA. Rin = 100 ohm
 Application macros 125

Torque control macro

This macro is used in applications in which torque control of the motor is required.
These are typically tension applications, where a particular tension needs to be
maintained in the mechanical system.
Torque reference is given through analog input AI2, typically as a current signal in
the range of 0…20 mA (corresponding to 0…100% of rated motor torque).
The start/stop signal is connected to digital input DI1. The direction is determined
by DI2. Through digital input DI3, it is possible to select speed control (EXT1)
instead of torque control (EXT2). As with the PID control macro, speed control can
be used for commissioning the system and checking the motor direction.
It is also possible to change the control to local (control panel or PC tool) by
pressing the Loc/Rem key. By default, the local reference is speed; if a torque
reference is required, the value of parameter 19.16 Local control mode should be
changed to Torque.
A constant speed (by default, 300 rpm) can be activated through DI4. DI5 switches
between acceleration/deceleration time sets 1 and 2. The acceleration and
deceleration times, as well as ramp shapes, are defined by parameters 23.12…23.19.

￭ Default parameter settings for the Torque control macro

Below is a listing of default parameter values that differ from those listed for the
Factory macro in Parameter listing (page 138).

Parameter Torque control macro default

19.11 Ext1/Ext2 selection DI3

19.14 Ext2 control mode Torque
20.2 Ext1 start trigger type Level
20.6 Ext2 commands In1 Start; In2 Dir
20.7 Ext2 start trigger type Level
20.8 Ext2 in1 source DI1
20.9 Ext2 in2 source DI2
20.12 Run enable 1 source DI6
22.22 Constant speed sel1 DI4
23.11 Ramp set selection DI5
26.11 Torque ref1 source AI2 scaled
31.11 Fault reset selection Not selected
126 Application macros

￭ Default control connections for the Torque control macro

Connection Term Description

XPOW External power input

+24VI
1 +24VI GND 24 V DC, 2 A
2 GND

XAI Reference voltage and analog inputs

+VREF 10 V DC, RL 1…10 kohm
1 +VREF -VREF -10 V DC, RL 1…10 kohm
2 -VREF
AGND Ground
3 AGND
4 AI1+ AI1+ Speed reference
5 AI1-
6 AI2+ AI1- 0(2)…10 V, Rin > 200 kohm
7 AI2-
AI2+ Torque reference
AI2- 0(4)…20 mA, Rin = 100 ohm
XAO Analog outputs
AO1 Motor speed rpm
1 AO1
2 AGND AGND 0…20 mA, RL < 500 ohm
3 AO2
AO2 Motor current
4 AGND
AGND 0…20 mA, RL < 500 ohm
XD2D Drive-to-drive link
B Master/follower, drive-to-drive or embed-
1 B
ded fieldbus interface connection
2 A A
3 BGND
BGND
XRO1, XRO2, XRO3 Relay outputs
 Application macros 127

Connection Term Description

NC Ready run
11 NC
12 COM COM 250 V AC / 30 V DC
13 NO
NO 2A
21 NC
22 COM NC Running
23 NO
Fault COM 250 V AC / 30 V DC
31 NC
32 COM 2A
NO
33 NO

2 +24VD
NC Fault (-1)
5 DIOGND XD24 COM 250 V AC / 30 V DC
NO 2A

XD24 Digital interlock

DIIL Digital interlock. By default, not in use.
1 DIIL
2 +24VD +24VD +24 V DC 200 mA
3 DICOM
4 +24VD DICOM Digital input ground
5 DIOGND
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
DIO1 Output: Ready run
1 DIO1
2 DIO2 DIO2 Output: Running

XDI Digital inputs

DI1 Stop (0) / Start (1)
2 +24VD
XD24

5
DI2 Forward (0) / Reverse (1)
DIOGND
1 DI1 DI3 Speed control (0) / Torque control (1)
2 DI2 DI4 Constant speed 1 (1 = On)
3 DI3
DI5 Acc/Dec time set 1 (0) / set 2 (1)
4 DI4
5 DI5 DI6 Run enable (1 = On)
6 DI6

Safe torque off circuits must be closed for the drive

XSTO to start. See Hardware manual of drive.

X12 Safety options connection

X13 Control panel connection
X205 Memory unit connection
128 Application macros

Sequential control macro

The Sequential control macro is suited for speed control applications in which a
speed reference, multiple constant speeds, and two acceleration and deceleration
ramps can be used.
Only EXT1 is used in this macro.
The macro offers seven preset constant speeds which can be activated by digital
inputs DI4…DI6 (see parameter 22.21 Constant speed function). An external speed
reference can be given through analog input AI1. The reference is active only when
no constant speed is activated (digital inputs DI4…DI6 are all off). Operational
commands can also be given from the control panel.
The start/stop commands are given through digital input DI1; running direction
is determined by DI2.
Two acceleration/deceleration ramps are selectable through DI3. The acceleration
and deceleration times, as well as ramp shapes, are defined by parameters
23.12…23.19.

￭ Operation diagram
The figure below shows an example of the use of the macro.
Speed

Speed 3

Speed 2 Stop along deceleration

ramp

Speed 1

Time

Accel1 Accel1 Accel2 Decel2

Start/Stop
Accel1/Decel1
Speed 1
Speed 2
Accel2/Decel2
Speed 3
 Application macros 129

￭ Selection of constant speeds

By default, constant speeds 1…7 are selected using digital inputs DI4…DI6 as
follows:

DI4 DI5 DI6 Constant speed active

0 0 0 None (External speed reference used)

1 0 0 Constant speed 1
0 1 0 Constant speed 2
1 1 0 Constant speed 3
0 0 1 Constant speed 4
1 0 1 Constant speed 5
0 1 1 Constant speed 6
1 1 1 Constant speed 7

￭ Default parameter settings for the Sequential control macro

Below is a listing of default parameter values that differ from those listed for the
Factory macro in Parameter listing (page 138).

Parameter Sequential control macro default

20.12 Run enable 1 source DIIL

21.3 Stop mode Ramp
22.21 Constant speed function 01b (Bit 0 = Packed)
22.22 Constant speed sel1 DI4
22.23 Constant speed sel2 DI5
22.24 Constant speed sel3 DI6
22.27 Constant speed 2 600.00 rpm
22.28 Constant speed 3 900.00 rpm
22.29 Constant speed 4 1200.00 rpm
22.30 Constant speed 5 1500.00 rpm
22.31 Constant speed 6 2400.00 rpm
22.32 Constant speed 7 3000.00 rpm
23.11 Ramp set selection DI3
25.6 Acc comp derivation time 0.12 s
31.11 Fault reset selection Not selected
130 Application macros

￭ Default control connections for the Sequential control macro

Connection Term Description

XPOW External power input

+24VI
1 +24VI GND 24 V DC, 2 A
2 GND

XAI Reference voltage and analog inputs

+VREF 10 V DC, RL 1…10 kohm
1 +VREF -VREF -10 V DC, RL 1…10 kohm
2 -VREF
AGND Ground
3 AGND
4 AI1+ AI1+ Speed reference
5 AI1-
6 AI2+ AI1- 0(2)…10 V, Rin > 200 kohm
7 AI2-
AI2+ By default, not in use.
AI2- 0(4)…20 mA, Rin = 100 ohm
XAO Analog outputs
AO1 Motor speed rpm
1 AO1
2 AGND AGND 0…20 mA, RL < 500 ohm
3 AO2
AO2 Motor current
4 AGND
AGND 0…20 mA, RL < 500 ohm
XD2D Drive-to-drive link
B Master/follower, drive-to-drive or embed-
1 B
ded fieldbus interface connection
2 A A
3 BGND
BGND
XRO1, XRO2, XRO3 Relay outputs
 Application macros 131

Connection Term Description

NC Ready run
11 NC
12 COM COM 250 V AC / 30 V DC
13 NO
NO 2A
21 NC
22 COM NC Running
23 NO
Fault COM 250 V AC / 30 V DC
31 NC
32 COM 2A
NO
33 NO

2 +24VD
NC Fault (-1)
5 DIOGND XD24 COM 250 V AC / 30 V DC
NO 2A

XD24 Digital interlock

DIIL Run enable
1 DIIL
2 +24VD +24VD +24 V DC 200 mA
3 DICOM
4 +24VD DICOM Digital input ground
5 DIOGND
+24VD +24 V DC 200 mA
DIOGND Digital input/output ground
XDIO Digital input/outputs
DIO1 Output: Ready run
1 DIO1
2 DIO2 DIO2 Output: Running

XDI Digital inputs

DI1 Stop (0) / Start (1)
2 +24VD
XD24

5
DI2 Forward (0) / Reverse (1)
DIOGND
1 DI1 DI3 Acc/Dec time set 1 (0) / set 2 (1)
2 DI2 DI4
3 DI3
DI5
4 DI4 Constant speed selection (see page 129)
5 DI5 DI6
6 DI6

Safe torque off circuits must be closed for the drive

XSTO to start. See Hardware manual of drive.

X12 Safety options connection

X13 Control panel connection
X205 Memory unit connection
132 Application macros

Fieldbus control macro

This application macro is not supported by the current firmware version.
 Parameters 133

6
Parameters

What this chapter contains

The chapter describes the parameters, including actual signals, of the control
program.
134 Parameters

Terms and abbreviations

Term Definition

Actual signal Type of parameter that is the result of a measurement or calculation by the
drive, or contains status information. Most actual signals are read-only, but
some (especially counter-type actual signals) can be reset.
Def (In the following table, shown on the same row as the parameter name) The
default value of a parameter when used in the Factory macro. For information
on other macro-specific parameter values, see chapter Application macros.

Note: Certain configurations or optional equipment may require specific de-

fault values.
These are labelled as follows:
(95.20 bx) = Default changed or write-protected by parameter 95.20, bit x.
FbEq (In the following table, shown on the same row as the parameter range, or
16b / 32b for each selection)
The scaling between the integer used in communication and the value shown
on the panel when a 16-bit value is selected for transmission to an external
system. The scaling is indicated for both 16-bit and 32-bit values.
Other The value is taken from another parameter.
Choosing “Other” displays a parameter list in which the user can specify the
source parameter.

Note: The source parameter must be of the real32 (32-bit floating point) type.
To use a 16-bit integer (for example, received from an external device in data
sets) as the source, data storage parameters 47.1 … 47.8 can be used.
Other [bit] The value is taken from a specific bit in another parameter.
Choosing “Other” displays a parameter list in which the user can specify the
source parameter and bit.
Parameter Either a user-adjustable operating instruction for the drive, or an actual signal.
p.u. Per unit
[parameter The value of the parameter.
number in
square
brackets]
 Parameters 135

Parameter group summary

Group Contents Page
01 Actual values Basic signals for monitoring the drive. 138
03 Input references Values of references received from various sources. 144
04 Warnings and faults Information on warnings and faults that occurred last. 146
05 Diagnostics Various run-time-type counters and measurements related to 155
drive maintenance.
06 Control and status words Drive control and status words. 157
07 System info Information on drive hardware, firmware and application program. 174
10 Standard DI, RO Configuration of digital inputs and relay outputs. 178
11 Standard DIO, FI, FO Configuration of digital input/outputs and frequency 185
inputs/outputs.
12 Standard AI Configuration of standard analog inputs. 190
13 Standard AO Configuration of standard analog outputs. 196
14 I/O extension module 1 Configuration of I/O extension module 1. 202
15 I/O extension module 2 Configuration of I/O extension module 2. 230
16 I/O extension module 3 Configuration of I/O extension module 3. 236
19 Operation mode Selection of local and external control location sources and 242
operating modes.
20 Start/stop/direction Start/stop/direction and run/start/jog enable signal source 245
selection; positive/negative reference enable signal source
selection.
21 Start/stop mode Start and stop modes; emergency stop mode and signal source 257
selection; DC magnetization settings; autophasing mode
selection.
22 Speed reference selection Speed reference selection; motor potentiometer settings. 268
23 Speed reference ramp Speed reference ramp settings (programming of the acceleration 278
and deceleration rates for the drive).
24 Speed reference Speed error calculation; speed error window control configuration; 285
conditioning speed error step.
25 Speed control Speed controller settings. 292
26 Torque reference chain Settings for the frequency reference chain. 304
28 Frequency reference chain Settings for the frequency reference chain. 313
29 Voltage reference chain Settings for the DC voltage reference chain. 323
30 Limits Drive operation limits. 328
31 Fault functions Configuration of external events; selection of behavior of the 339
drive upon fault situations.
32 Supervision Configuration of signal supervision functions 1…3. 351
33 Generic timer & counter Configuration of maintenance timers/counters. 355
35 Motor thermal protection Motor thermal protection settings such as temperature 363
measurement configuration, load curve definition and motor fan
control configuration.
36 Load analyzer Peak value and amplitude logger settings. 378
136 Parameters

Group Contents Page

37 User load curve Settings for user load curve. 383
40 Process PID set 1 Parameter values for process PID control. 387
41 Process PID set 2 A second set of parameter values for process PID control. 402
43 Brake chopper Settings for the internal brake chopper. 405
44 Mechanical brake control Configuration of mechanical brake control. 408
45 Energy efficiency Settings for the energy saving calculators. 414
46 Monitoring/scaling Speed supervision settings; actual signal filtering; general scaling 418
settings settings.
47 Data storage Data storage parameters that can be written to and read from 423
using other parameters’ source and target settings.
49 Panel port communication Communication settings for the control panel port on the drive. 426
50 Fieldbus adapter (FBA) Fieldbus communication configuration. 430
51 FBA A settings Fieldbus adapter A configuration. 439
52 FBA A data in Selection of data to be transferred from drive to fieldbus 441
controller through fieldbus adapter A.
53 FBA A data out Selection of data to be transferred from fieldbus controller to 442
drive through fieldbus adapter A.
54 FBA B settings Fieldbus adapter B configuration. 443
55 FBA B data in Selection of data to be transferred from drive to fieldbus 445
controller through fieldbus adapter B.
56 FBA B data out Selection of data to be transferred from fieldbus controller to 446
drive through fieldbus adapter B.
58 Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface. 447
60 DDCS communication DDCS communication configuration. 456
61 D2D and DDCS transmit Defines the data sent to the DDCS link. 473
data
62 D2D and DDCS receive Mapping of data received through the DDCS link. 479
data
90 Feedback selection Motor and load feedback configuration. 489
91 Encoder module settings Configuration of encoder interface modules. 500
92 Encoder 1 configuration Settings for encoder 1. 504
93 Encoder 2 configuration Settings for encoder 2. 511
94 LSU control Control of the supply unit of the drive, such as DC voltage and 513
reactive power reference.
95 HW configuration Various hardware-related settings. 517
96 System Language selection; access levels; macro selection; parameter 526
save and restore; control unit reboot; user parameter sets; unit
selection; data logger triggering; parameter checksum calculation;
user lock.
97 Motor control Motor model settings. 538
98 User motor parameters Motor values supplied by the user that are used in the motor 544
model.
99 Motor data Motor configuration settings. 547
 Parameters 137

Group Contents Page

200 Safety FSO-xx settings. 557
206 I/O bus configuration Distributed I/O bus settings. 557
207 I/O bus service Distributed I/O bus settings. 558
208 I/O bus diagnostics Distributed I/O bus diagnostic parameters. 558
209 I/O bus fan identification Distributed I/O bus settings. 558
138 Parameters

Parameter listing
No. Name / Range / Description Def / Type
Selection FbEq 16b / 32b
1 Actual values Basic signals for monitoring the drive.
All parameters in this group are read-only unless
otherwise noted.
1.1 Motor speed used Measured or estimated motor speed depending on - / real32
which type of feedback is used (see parameter 90.41
Motor feedback selection. A filter time constant for
this signal can be defined by parameter 46.11 Filter
time motor speed.
-30000.00 ... Measured or estimated motor speed. For 16-bit scaling, - / 100 = 1 rpm
30000.00 rpm see parameter 46.1.
1.2 Motor speed Estimated motor speed in rpm. A filter time constant - / real32
estimated for signal can be defined by parameter 46.11 Filter time
motor speed.
-30000.00 ... Estimated motor speed. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
1.3 Motor speed % Shows the value of 1.1 Motor speed used in percent of - / real32
the synchronous speed of the motor.
-1000.00 ... 1000.00 Measured or estimated motor speed. For 16-bit scaling, - / 100 = 1 %
% see parameter 46.1.
1.4 Encoder 1 speed Speed of encoder 1 in rpm. A filter time constant for - / real32
filtered this signal can be defined by parameter 46.11 Filter
time motor speed.
-30000.00 ... Encoder 1 speed. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
1.5 Encoder 2 speed Speed of encoder 2 in rpm. A filter time constant for - / real32
filtered this signal can be defined by parameter 46.11 Filter
time motor speed.
-30000.00 ... Encoder 2 speed. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
1.6 Output frequency Estimated drive output frequency in Hz. A filter time - / real32
constant for this signal can be defined by parameter
46.12 Filter time output frequency.
-600.00 ... 600.00 Estimated output frequency. For 16-bit scaling, see - / 100 = 1 Hz
Hz parameter 46.2.
1.7 Motor current Measured (absolute) motor current in A. - / real32
0.00 ... 30000.00 A Motor current. For 16-bit scaling, see parameter 46.5. - / 100 = 1 A
1.8 Motor current % of Motor current (drive output current) in percent of the - / real32
motor nom nominal motor current.
0.0 ... 1000.0 % Motor current. 1 = 1 % / 10 = 1 %
1.10 Motor torque Motor torque in percent of the nominal motor torque. - / real32
See also parameter 1.30 Nominal torque scale.
A filter time constant for this signal can be defined by
parameter 46.13 Filter time motor torque.
-1600.0 ... 1600.0 % Motor torque. For 16-bit scaling, see parameter 46.3. - / 10 = 1 %
 Parameters 139

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
1.11 DC voltage Measured DC link voltage. - / real32
0.00 ... 2000.00 V DC link voltage. 10 = 1 V / 100 = 1 V
1.13 Output voltage Calculated motor voltage in V AC. - / real32
0 ... 2000 V Motor voltage. 1=1V/1=1V
1.14 Output power Drive output power. The unit is selected by parameter - / real32
96.16 Unit selection. A filter time constant for this
signal can be defined by parameter 46.14 Filter time
power out.
-32768.00 ... Output power. For 16-bit scaling, see parameter 46.4. - / 100 = 1 kW
32767.00 kW
1.15 Output power % of Shows the value of 1.14 Output power in percent of - / real32
motor nom the nominal power of the motor.
-300.00 ... 300.00 % Output power. 10 = 1 % / 100 = 1 %
1.17 Motor shaft power Estimated mechanical power at motor shaft. The unit - / real32
is selected by parameter 96.16 Unit selection. A filter
time constant for this signal can be defined by
parameter 46.14 Filter time power out.
-32768.00 ... Motor shaft power. 1 = 1 kW or hp / 100
32767.00 kW or hp = 1 kW or hp
1.18 Inverter GWh Amount of energy that has passed through the drive - / int16
motoring (towards the motor) in full gigawatt-hours. The
minimum value is zero.
0 ... 32767 GWh Motoring energy in GWh. 1 = 1 GWh / 1 = 1 GWh
1.19 Inverter MWh Amount of energy that has passed through the drive - / int16
motoring (towards the motor) in full megawatt-hours. Whenever
the counter rolls over, 1.18 Inverter GWh motoring is
incremented. The minimum value is zero.
0 ... 1000 MWh Motoring energy in MWh. 1 = 1 MWh / 1 = 1
MWh
1.20 Inverter kWh Amount of energy that has passed through the drive - / real32
motoring (towards the motor) in full kilowatt-hours. Whenever
the counter rolls over, 1.19 Inverter MWh motoring is
incremented. The minimum value is zero.
0 ... 1000 kWh Motoring energy in kWh. 10 = 1 kWh / 1 = 1
kWh
1.21 U-phase current Measured U-phase current. - / real32
-30000.00 ... U-phase current. For 16-bit scaling, see parameter 46.5. - / 100 = 1 A
30000.00 A
1.22 V-phase current Measured V-phase current. - / real32
-30000.00 ... V-phase current. For 16-bit scaling, see parameter 46.5. - / 100 = 1 A
30000.00 A
1.23 W-phase current Measured W-phase current. - / real32
-30000.00 ... W-phase current. For 16-bit scaling, see parameter - / 100 = 1 A
30000.00 A 46.5.
140 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
1.24 Flux actual % Used flux reference in percent of nominal flux of motor. - / real32
0 ... 200 % Flux reference. 1=1%/1=1%
1.25 INU momentary cos Momentary cosphi of the drive. 0.00 / real32
φ
-1.00 ... 1.00 Cosphi. 100 = 1 / 100 = 1
1.29 Speed change rate Rate of actual speed change. Positive values indicate - / real32
acceleration, negative values indicate deceleration.
See also parameters 31.32 Emergency ramp
supervision, 31.33 Emergency ramp supervision delay,
31.37 Ramp stop supervision and 31.38 Ramp stop
supervision delay.
-15000 ... 15000 Rate of speed change. 1 = 1 rpm/s / 1 = 1
rpm/s rpm/s
1.30 Nominal torque Torque that corresponds to 100% of nominal motor 0.000 Nm or lb·ft /
scale torque. The unit is selected by parameter 96.16 Unit uint32
selection.

Note: This value is copied from parameter 99.12 Motor

nominal torque if entered. Otherwise the value is
calculated from other motor data.

0.000 ... Nominal torque. 1 = 1 Nm or lb·ft /

4000000.000 Nm 1000 Nm or lb·ft
or lb·ft
1.31 Ambient Measured temperature of incoming cooling air. The - / real32
temperature unit (°C or °F) is selected by parameter 96.16 Unit
selection.
-40.0 ... 200.0 ° Cooling air temperature. 1 = 1 ° / 10 = 1 °
1.32 Inverter GWh Amount of energy that has passed through the drive - / int16
regenerating (towards the supply) in full gigawatt-hours. The
minimum value is zero.
0 ... 32767 GWh Regenerative energy in GWh. 1 = 1 GWh / 1 = 1 GWh
1.33 Inverter MWh Amount of energy that has passed through the drive - / int16
regenerating (towards the supply) in full megawatt-hours. Whenever
the counter rolls over, 1.32 Inverter GWh regenerating
is incremented. The minimum value is zero.
0 ... 1000 MWh Regenerative energy in MWh. 1 = 1 MWh / 1 = 1
MWh
1.34 Inverter kWh Amount of energy that has passed through the drive - / real32
regenerating (towards the supply) in full kilowatt-hours. Whenever
the counter rolls over, 1.33 Inverter MWh regenerating
is incremented. The minimum value is zero.
0 ... 1000 kWh Regenerative energy in kWh. 10 = 1 kWh / 1 = 1
kWh
1.35 Mot - regen energy Amount of net energy (motoring energy - regenerating 0 GWh / int16
GWh (resettable) energy) that has passed through the drive in full
gigawatt hours.
You can reset the value by setting it to zero. Resetting
any of the parameters 1.35 to 1.37 resets all.
 Parameters 141

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-32768 ... 32767 GWh Energy balance in GWh. 1 = 1 GWh / 1 = 1 GWh
1.36 Mot - regen energy Amount of net energy (motoring energy - regenerating 0 MWh / int16
MWh (resettable) energy) that has passed through the drive in full
megawatt hours. Whenever the counter rolls over, 1.35
Mot - regen energy GWh (resettable) is incremented
or decremented.
You can reset the value by setting it to zero. Resetting
any of the parameters 1.35 to 1.37 resets all.
-1000 ... 1000 MWh Energy balance in MWh. 1 = 1 MWh / 1 = 1
MWh
1.37 Mot - regen energy Amount of energy (motoring energy - regenerating 0 kWh / real32
kWh (resettable) energy) that has passed through the drive in full
kilowatt-hours.
Whenever the counter rolls over, 1.36 Mot - regen
energy MWh (resettable) is incremented or
decremented.
You can reset the value by setting it to zero. Resetting
any of the parameters 1.35 to 1.37 resets all.
-1000 ... 1000 kWh Energy balance in kWh. 10 = 1 kWh / 1 = 1
kWh
1.61 Abs motor speed Absolute value of 1.1 Motor speed used. - / real32
used
0.00 ... 30000.00 Measured or estimated motor speed. For 16-bit scaling, - / 100 = 1 rpm
rpm see parameter 46.1.
1.62 Abs motor speed % Absolute value of 1.3 Motor speed %. - / real32
0.00 ... 1000.00 % Measured or estimated motor speed. 10 = 1 % / 100 = 1 %
1.63 Abs output Absolute value of 1.6 Output frequency. - / real32
frequency
0.00 ... 600.00 Hz Estimated output frequency. For 16-bit scaling, see - / 100 = 1 Hz
parameter 46.2.
1.64 Abs motor torque Absolute value of 1.10 Motor torque. - / real32
0.0 ... 1600.0 % Motor torque. For 16-bit scaling, see parameter 46.3. - / 10 = 1 %
1.65 Abs output power Absolute value of 1.14 Output power. - / real32
0.00 ... 32767.00 kW Output power. 1 = 1 kW or hp / 100
or hp = 1 kW or hp
1.66 Abs output power Absolute value of 1.15 Output power % of motor nom. - / real32
% motor nom
0.00 ... 300.00 % Output power. 10 = 1 % / 100 = 1 %
1.68 Abs motor shaft Absolute value of 1.17 Motor shaft power. - / real32
power
0.00 ... 32767.00 kW Motor shaft power. 1 = 1 kW or hp / 100
or hp = 1 kW or hp
1.70 Ambient Measured temperature of incoming cooling air. 0.00 % / real32
temperature % The amplitude range of 0…100 % corresponds to
0…60 °C or 32…140 °F.
See also 1.31 Ambient temperature.
142 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-200.00 ... 200.00 % Cooling air temperature. 1 = 1 % / 100 = 1 %
1.71 Step-up motor Estimated motor current in A when a step-up - / real32
current transformer is in use. The value is calculated from
parameter 1.7 using the step-up transformer ratio
(95.40) and sine filter values 99.18 and 99.19.
0.00 ... 30000.00 A Estimated motor current. For 16-bit scaling, see - / 100 = 1 A
parameter 46.5.
1.72 U-phase RMS U-phase rms current. - / real32
current
0.00 ... 30000.00 A U-phase rms current. For 16-bit scaling, see parameter - / 100 = 1 A
46.5.
1.73 V-phase RMS V-phase rms current. - / real32
current
0.00 ... 30000.00 A V-phase rms current. For 16-bit scaling, see parameter - / 100 = 1 A
46.5.
1.74 W-phase RMS W-phase rms current. - / real32
current
0.00 ... 30000.00 A W-phase rms current. For 16-bit scaling, see parameter - / 100 = 1 A
46.5.
1.102 Line current (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Estimated line current flowing through the supply unit.
0.00 ... 30000.00 A Estimated line current. For 16-bit scaling, see - / 100 = 1 A
parameter 46.5.
1.104 Active current (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Estimated active current flowing through the supply
unit.
-30000.00 ... Estimated active current. For 16-bit scaling, see - / 100 = 1 A
30000.00 A parameter 46.5.
1.106 Reactive current (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Estimated reactive current flowing through the supply
unit.
-30000.00 ... Estimated reactive current. For 16-bit scaling, see - / 100 = 1 A
30000.00 A parameter 46.5.
1.108 Grid frequency (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Estimated frequency of the power supply network.
0.00 ... 100.00 Hz Estimated supply frequency. For 16-bit scaling, see - / 100 =1 Hz
parameter 46.2.
1.109 Grid voltage (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Estimated voltage of the power supply network.
0.00 ... 2000.00 V Estimated supply voltage. 10 = 1 V / 100 = 1 V
 Parameters 143

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
1.110 Grid apparent (Only visible when IGBT supply unit control activated - / real32
power by 95.20)
Estimated apparent power being transferred through
the supply unit.
-30000.00 ... Estimated apparent power. For 16-bit scaling, see - / 100 = 1 kVA
30000.00 kVA parameter 46.4.
1.112 Grid power (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Estimated power being transferred through the supply
unit.
-30000.00 ... Estimated supply power. For 16-bit scaling, see - / 100 =1 kW
30000.00 kW parameter 46.4.
1.114 Grid reactive power (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Estimated reactive power being transferred through
the supply unit.
-30000.00 ... Estimated reactive power. 10 = 1 kVAr / 100 = 1
30000.00 kVAr kVAr
1.116 LSU cos φ (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Power factor of the supply unit.
-1.00 ... 1.00 Power factor. 100 = 1 / 100 = 1
1.164 LSU nominal power (Only visible when IGBT supply unit control activated - / real32
by 95.20)
Nominal power of the supply unit.
0 ... 30000 kW Nominal power. 1 = 1 kW / 1 = 1 kW
144 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
3 Input references Values of references received from various sources.
All parameters in this group are read-only unless
otherwise noted.
3.1 Panel reference Local reference given from the control panel or PC tool. 0.00 / real32
-100000.00 ... Local control panel or PC tool reference. 10 = 1 / 100 = 1
100000.00
3.2 Panel reference 2 Remote reference given from the control panel or PC - / real32
tool.
-30000.00 ... Remote control panel or PC tool reference. 10 = 1 / 100 = 1
30000.00
3.5 FB A reference 1 Reference 1 received through fieldbus adapter A. 0.00 / real32
See also chapter Fieldbus control through a fieldbus
adapter.
-100000.00 ... Reference 1 from fieldbus adapter A. 10 = 1 / 100 = 1
100000.00
3.6 FB A reference 2 Reference 2 received through fieldbus adapter A. 0.00 / real32
-100000.00 ... Reference 2 from fieldbus adapter A. 10 = 1 / 100 = 1
100000.00
3.7 FB B reference 1 Reference 1 received through fieldbus adapter B. 0.00 / real32
-100000.00 ... Reference 1 from fieldbus adapter B. 10 = 1 / 100 = 1
100000.00
3.8 FB B reference 2 Reference 2 received through fieldbus adapter B. 0.00 / real32
-100000.00 ... Reference 2 from fieldbus adapter B. 10 = 1 / 100 = 1
100000.00
3.9 EFB reference 1 Scaled reference 1 received through the embedded - / real32
fieldbus interface. The scaling is defined by 58.26 EFB
ref1 type.
-30000.00 ... Reference 1 received through the embedded fieldbus 10 = 1 / 100 = 1
30000.00 interface.
3.10 EFB reference 2 Scaled reference 2 received through the embedded - / real32
fieldbus interface. The scaling is defined by 58.27 EFB
ref2 type.
-30000.00 ... Reference 2 received through the embedded fieldbus 10 = 1 / 100 = 1
30000.00 interface.
3.11 DDCS controller ref Reference 1 received from the external (DDCS) - / real32
1 controller.
The value has been scaled according to parameter
60.60 DDCS controller ref1 type.
See also section External controller interface.
-30000.00 ... Scaled reference 1 received from external controller. 10 = 1 / 100 = 1
30000.00
3.12 DDCS controller ref Reference 2 received from the external (DDCS) - / real32
2 controller.
The value has been scaled according to parameter
60.61 DDCS controller ref2 type.
 Parameters 145

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-30000.00 ... Scaled reference 2 received from external controller. 10 = 1 / 100 = 1
30000.00
3.13 M/F or D2D ref1 Master/follower reference 1 received from the master. - / real32
The value has been scaled according to parameter
60.10 M/F ref1 type.
See also section Master/follower functionality.
-30000.00 ... Scaled reference 1 received from master. 10 = 1 / 100 = 1
30000.00
3.14 M/F or D2D ref2 Master/follower reference 2 received from the master. - / real32
The value has been scaled according to parameter
60.11 M/F ref2 type.
-30000.00 ... Scaled reference 2 received from master. 10 = 1 / 100 = 1
30000.00
3.30 FB A reference 1 Reference 1 received through fieldbus adapter A as a - / int32
int32 32-bit integer.
3.31 FB A reference 2 Reference 2 received through fieldbus adapter A as a - / int32
int32 32-bit integer.
3.51 IEC application Panel reference defined in the application program. 0 / real32
panel reference
-100000 ... 100000 Panel reference in the application program. 1=1/1=1
146 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
4 Warnings and Information on warnings and faults that occurred last.
faults For explanations of individual warning and fault codes,
see chapter Fault tracing.
All parameters in this group are read-only unless
otherwise noted.
4.1 Tripping fault Code of the 1st active fault (the fault that caused the 0 / uint16
current trip).
0000…FFFFh 1st active fault. 1=1
4.2 Active fault 2 Code of the 2nd active fault. 0 / uint16
0000…FFFFh 2nd active fault. 1=1
4.3 Active fault 3 Code of the 3rd active fault. 0 / uint16
0000…FFFFh 3rd active fault. 1=1
4.4 Active fault 4 Code of the 4th active fault. 0 / uint16
0000…FFFFh 4th active fault. 1=1
4.5 Active fault 5 Code of the 5th active fault. 0 / uint16
0000…FFFFh 5th active fault. 1=1
4.6 Active warning 1 Code of the 1st active warning. 0 / uint16
0000…FFFFh 1st active warning. 1=1
4.7 Active warning 2 Code of the 2nd active warning. 0 / uint16
0000…FFFFh 2nd active warning. 1=1
4.8 Active warning 3 Code of the 3rd active warning. 0 / uint16
0000…FFFFh 3rd active warning. 1=1
4.9 Active warning 4 Code of the 4th active warning. 0 / uint16
0000…FFFFh 4th active warning. 1=1
4.10 Active warning 5 Code of the 5th active warning. 0 / uint16
0000…FFFFh 5th active warning. 1=1
4.11 Latest fault Code of the 1st stored (non-active) fault. 0 / uint16
0000…FFFFh 1st stored fault. 1=1
4.12 2nd latest fault Code of the 2nd stored (non-active) fault. 0 / uint16
0000…FFFFh 2nd stored fault. 1=1
4.13 3rd latest fault Code of the 3rd stored (non-active) fault. 0 / uint16
0000…FFFFh 3rd stored fault. 1=1
4.14 4th latest fault Code of the 4th stored (non-active) fault. 0 / uint16
0000…FFFFh 4th stored fault. 1=1
4.15 5th latest fault Code of the 5th stored (non-active) fault. 0 / uint16
0000…FFFFh 5th stored fault. 1=1
4.16 Latest warning Code of the 1st stored (non-active) warning. 0 / uint16
0000…FFFFh 1st stored warning. 1=1
 Parameters 147

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
4.17 2nd latest warning Code of the 2nd stored (non-active) warning. 0 / uint16
0000…FFFFh 2nd stored warning. 1=1
4.18 3rd latest warning Code of the 3rd stored (non-active) warning. 0 / uint16
0000…FFFFh 3rd stored warning. 1=1
4.19 4th latest warning Code of the 4th stored (non-active) warning. 0 / uint16
0000…FFFFh 4th stored warning. 1=1
4.20 5th latest warning Code of the 5th stored (non-active) warning. 0 / uint16
0000…FFFFh 5th stored warning. 1=1
148 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
4.21 Fault word 1 ACS800-compatible fault word 1. - / uint16
The bit assignments of this word correspond to FAULT
WORD 1 in the ACS800. Parameter 4.120 Fault/Warning
word compatibility determines whether the bit
assignments are according to the ACS800 Standard
or ACS800 System control program.
Each bit can indicate several ACS880 events as listed
below.
This parameter is read-only.
Bit ACS880 fault name ACS880
events indic-
(4.120 = (4.120 = ated by this
ACS800 ACS800 Sys- bit
Standard ctrl tem ctrl pro-
program) gram) see Fault tra-
cing(page559).

0 SHORT CIRC SHORT CIRC 2340

1 OVERCUR- OVERCUR- 2310

RENT RENT

2 DC OVERVOLT DC OVERVOLT 3210

3 ACS800 TEMP ACS800 TEMP 2381, 4210,

4290, 42F1,
4310, 4380

4 EARTH FAULT EARTH FAULT 2330, 2392,

3181

5 THERMISTOR MOTOR TEMP 4981, 4991,

M 4992, 4993

6 MOTOR TEMP MOTOR TEMP 4982

7 SYS- SYS- 6481, 6487,

TEM_FAULT TEM_FAULT 64A1, 64A2,
64A3, 64B1,
64E1, 6881,
6882, 6883,
6885

8 UNDERLOAD UNDERLOAD -

9 OVERFREQ OVERFREQ 7310

10 Reserved MPROT 9081

SWITCH

11 Reserved CH2 COMM 7582

LOSS

12 Reserved SC (INU1) 2340 (XXYY

YY01)

13 Reserved SC (INU2) 2340 (XXYY

YY02)

14 Reserved SC (INU3) 2340 (XXYY

YY03)

15 Reserved SC (INU4) 2340 (XXYY

YY04)
 Parameters 149

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
4.22 Fault word 2 ACS800-compatible fault word 2. - / uint16
The bit assignments of this word correspond to FAULT
WORD 2 in the ACS800. Parameter 4.120 Fault/Warning
word compatibility determines whether the bit
assignments are according to the ACS800 Standard
or ACS800 System control program.
Each bit can indicate several ACS880 events as listed
below.
This parameter is read-only.
ACS880 fault name ACS880
events indic-
(4.120 = (4.120 = ated by this
Bit ACS800 ACS800 Sys- bit
Standard ctrl tem ctrl pro-
program) gram) (see Fault tra-
cing(page559))

0 SUPPLY SUPPLY 3130

PHASE PHASE

1 NO MOT DATA NO MOTOR -

DATA

2 DC UNDER- DC UNDER- 3220

VOLT VOLT

3 Reserved CABLE TEMP 4000

4 RUN ENABLE RUN DISABLE AFEB

5 ENCODER ERR ENCODER ERR 7301, 7380,

7381, 73A0,
73A1

6 I/O COMM IO COMM ERR 7080, 7082

7 CTRL B TEMP CTRL B TEMP -

8 EXTERNAL SELECTABLE 9082

FLT

9 OVER SW- OVER SW- -

FREQ FREQ

10 AI < MIN FUNC AI<MIN FUNC 80A0

11 PPCC LINK PPCC LINK 5681, 5682,

5690, 5691,
5692, 5693,
5694, 5695

12 COMM MOD- COMM MOD- 6681, 7510,

ULE ULE 7520, 7581

13 PANEL LOSS PANEL LOSS 7081

14 MOTOR STALL MOTOR STALL 7121

15 MOTOR MOTOR 3381

PHASE PHASE
150 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
4.25 Faulted modules (Only visible with a BCU control unit) - / uint16
Indicates which parallel-connected modules have
faulted.
The bits of this word are cleared when all faults have
been reset.
This parameter is read-only.
b0 Module 1 1 = Module 1 faulted
b1 Module 2 1 = Module 2 faulted
b2 Module 3 1 = Module 3 faulted.
b3 Module 4 1 = Module 4 faulted.
b4 Module 5 1 = Module 5 faulted.
b5 Module 6 1 = Module 6 faulted.
b6 Module 7 1 = Module 7 faulted.
b7 Module 8 1 = Module 8 faulted.
b8 Module 9 1 = Module 9 faulted.
b9 Module 10 1 = Module 10 faulted.
b10 Module 11 1 = Module 11 faulted.
b11 Module 12 1 = Module 12 faulted.
b12…15 Reserved
0000h…FFFFh 1=1
 Parameters 151

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
4.31 Warning word 1 ACS800-compatible warning (alarm) word 1. - / uint16
The bit assignments of this word correspond to ALARM
WORD 1 in the ACS800. Parameter 4.120 Fault/Warning
word compatibility determines whether the
assignments are according to the ACS800 Standard
or ACS800 System control program.
Each may indicate several ACS880 warnings as listed
below.
This parameter is read-only.
ACS800 alarm name ACS880
events indic-
(4.120 = (4.120 = ated by this
Bit ACS800 ACS800 Sys- bit
Standard ctrl tem ctrl pro-
program) gram) (see Fault tra-
cing(page559))

0 START INHIB- START INHIB- A5A0

IT IT

1 Reserved EM STOP AFE1, AFE2

2 THERMISTOR MOTOR TEMP A491, A497,

M A498, A499

3 MOTOR TEMP MOTOR TEMP A492

4 ACS800 TEMP ACS800 TEMP A2BA, A4A9,

A4B0, A4B1,
A4F6

5 ENCODER ERR ENCODER ERR A797, A7B0,

A7B1, A7E1

6 T MEAS ALM T MEAS CIRC A490, A5EA,

A782, A8A0

7 Reserved DIGITAL IO -

8 Reserved ANALOG IO -

9 Reserved EXT DIGITAL -

IO

10 Reserved EXT ANALOG A6E5, A7AA,

IO A7AB

11 Reserved CH2 COMM A7CB, AF80

LOSS

12 COMM MOD- MPROT A981

ULE SWITCH

13 Reserved EM STOP DEC -

14 EARTH FAULT EARTH FAULT A2B3

15 Reserved SAFETY A983

SWITC
152 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
4.32 Warning word 2 ACS800-compatible warning (alarm) word 2. - / uint16
The bit assignments of this word correspond to ALARM
WORD 2 in the ACS800. Parameter 4.120 Fault/Warning
word compatibility determines whether the bit
assignments are according to the ACS800 Standard
or ACS800 System control program.
Each may indicate several ACS880 warnings as listed
below.
This parameter is read-only.
ACS800 alarm name ACS880
events indic-
(4.120 = (4.120 = ated by this
Bit ACS800 ACS800 Sys- bit
Standard ctrl tem ctrl pro-
program) gram) (see Fault tra-
cing(page559))

0 Reserved MOTOR FAN A781

1 UNDERLOAD UNDERLOAD -

2 Reserved INV OVER- -

LOAD

3 Reserved CABLE TEMP A480

4 ENCODER ENCODER -
A<>B

5 Reserved FAN OVER- A984

TEMP

6 Reserved Reserved -

7 POWFAIL FILE POWFAIL FILE -

8 ALM (OS_17) POWDOWN -

FILE

9 MOTOR STALL MOTOR STALL A780

10 AI < MIN FUNC AI<MIN FUNC A8A0

11 Reserved COMM MOD- A6D1, A6D2,

ULE A7C1, A7C2,
A7CA, A7CE

12 Reserved BATT FAILURE -

13 PANEL LOSS PANEL LOSS A7EE

14 Reserved DC UNDER- A3A2

VOLT

15 Reserved RESTARTED -

4.40 Event word 1 User-defined event word. This word collects the status - / uint16
of the events (warnings, faults or pure events) selected
by parameters 4.41…4.72.
For each event, an auxiliary code can optionally be
specified for filtering.
This parameter is read-only.
b0 User bit 0 1 = Event selected by parameters 4.41 Event word 1 bit
0 code (and 4.42 Event word 1 bit 0 aux code) is active
is active
 Parameters 153

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b1 User bit 1 1 = Event selected by parameters 4.43 Event word 1
bit 1 code (and 4.44 Event word 1 bit 1 aux code) is
active
b15 User bit 15 1 = Event selected by parameters 4.71 (and 4.72) is
active
0000h…FFFFh 1=1
4.41 Event word 1 bit 0 Selects the hexadecimal code of an event (warning, 0 / uint16
code fault or pure event) whose status is shown as bit 0 of
4.40 Event word 1.
0000…FFFFh Code of event. 1=1
4.42 Event word 1 bit 0 Specifies an auxiliary code for the event selected by 0000 0000h / uint32
aux code the previous parameter. The selected event is indicated
by the event word only if its auxiliary code matches
the value of this parameter.
With a value of 0000 0000h, the event word will
indicate the event regardless of the auxiliary code.
0000 0000h…FFFF Code of warning, fault or pure event. 1=1
FFFFh
4.43 Event word 1 bit 1 Selects the hexadecimal code of an event (warning, 0000h / uint16
code fault or pure event) whose status is shown as bit 1 of
4.40 Event word 1.
0000…FFFFh Code of event. 1=1
4.44 Event word 1 bit 1 Specifies an auxiliary code for the event selected by 0000 0000h / uint32
aux code the previous parameter. The selected event is indicated
by the event word only if its auxiliary code matches
the value of this parameter.
With a value of 0000 0000h, the event word will
indicate the event regardless of the auxiliary code.
0000 0000h…FFFF Code of warning, fault or pure event. 1=1
FFFFh
… … … …
4.71 Event word 1 bit 15 Selects the hexadecimal code of an event (warning, 0000h / uint16
code fault or pure event) whose status is shown as bit 15 of
4.40 Event word 1.
The event codes are listed in chapter Fault tracing.
0000…FFFFh Code of event. 1=1
4.72 Event word 1 bit 15 Specifies an auxiliary code for the event selected by 0000 0000h / uint32
aux code the previous parameter. The selected event is indicated
by the event word only if its auxiliary code matches
the value of this parameter.
With a value of 0000 0000h, the event word will
indicate the event regardless of the auxiliary code.
0000 0000h…FFFF Code of warning, fault or pure event. 1=1
FFFFh
4.120 Fault/Warning word Selects whether the bit assignments of parameters ACS800 Standard
compatibility 4.21…4.32 correspond to the ACS800 Standard control ctrl program / uint16
program or the ACS800 System control program.
154 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
ACS800 Standard The bit assignments of parameters 4.21…4.32 0
ctrl program correspond to the ACS800 Standard control program
as follows:

• 4.21: 03.05 FAULT WORD 1

• 4.22: 03.06 FAULT WORD 2

• 4.31: 03.08 ALARM WORD 1

• 4.32: 03.09 ALARM WORD 2

ACS800 System ctrl The bit assignments of parameters 4.21…4.32 1

program correspond to the ACS800 System control program
as follows:

• 4.21: 09.01 FAULT WORD 1

• 4.22: 09.02 FAULT WORD 2

• 4.31: 09.04 ALARM WORD 1

• 4.32: 09.04 ALARM WORD 2

 Parameters 155

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
5 Diagnostics Various run-time-type counters and measurements
related to drive maintenance.
All parameters in this group are read-only unless
otherwise noted.
5.1 On-time counter On-time counter. The counter runs when the drive is 0 d / uint16
powered.
0 ... 65535 d On-time counter. 1=1d/1=1d
5.2 Run-time counter Motor run-time counter. The counter runs when the 0 d / uint16
inverter modulates.
0 ... 65535 d Motor run-time counter. 1=1d/1=1d
5.4 Main fan on-time Running time of the drive cooling fan. Can be reset 0 d / uint16
counter from the control panel by keeping Reset depressed
for over 3 seconds.
0 ... 65535 d Cooling fan run-time counter. 1=1d/1=1d
5.9 Time from 500-microsecond ticks elapsed since the last boot of - / uint32
power-up the control unit.
0 ... 4294967295 500-microsecond ticks since last boot. 1=1/1=1
5.10 Control board Displays the actual temperature on the control board - / real32
temperature surface.
-50 ... 150 °C Board temperature in degrees Celsius. 1 = 1 °C / 1 = 1 °C
5.11 Inverter Estimated drive temperature in percent of fault limit. - / real32
temperature The actual trip temperature varies according to the
type of the drive.
0.0 % = 0 °C (32 °F)
94 % approx. = Warning limit
100.0 % = Fault limit
-40.0 ... 160.0 % Drive temperature in percent. 1 = 1 % / 10 = 1 %
5.22 Diagnostic word 3 Diagnostic word 3. - / uint16
b0…10 Reserved
b11 Fan command 1 = Drive fan is rotating above idle speed
b12 Fan service counter 1 = Drive fan service counter has reached its limit
b13…15 Reserved
0000h…FFFFh 1=1
5.41 Main fan service Displays the age of the main cooling fan as a 0 % / real32
counter percentage of its estimated lifetime. The estimate is
based on the duty, operating conditions and other
operating parameters of the fan. When the counter
reaches 100%, a warning (A8C0 Fan service counter)
is generated.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 150 % Main cooling fan age. 1=1%/1=1%
156 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
5.42 Aux. fan service Displays the age of the auxiliary cooling fan as a 0 % / real32
counter percentage of its estimated lifetime. The estimate is
based on the duty, operating conditions and other
operating parameters of the fan. When the counter
reaches 100%, a warning (A8C0 Fan service counter)
is generated.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 150 % Auxiliary cooling fan age. 1=1%/1=1%
5.111 Line converter (Only visible when IGBT supply unit control activated - / real32
temperature by 95.20)
Estimated supply unit temperature in percent of fault
limit.
0.0 % = 0 °C (32 °F)
94 % approx. = Warning limit
100.0 % = Fault limit
-40.0 ... 160.0 % Supply unit temperature in percent. 1 = 1 % / 10 = 1 %
5.121 MCB closing (Only visible when IGBT supply unit control activated - / uint32
counter by 95.20)
Counts the closures of the main circuit breaker of the
supply unit.
0 ... 4294967295 Count of closures of main circuit breaker. 1=1/1=1
 Parameters 157

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
6 Control and status Drive control and status words.
words
6.1 Main control word The main control word of the drive. This parameter - / uint16
shows the control signals as received from the selected
sources (such as digital inputs, the fieldbus interfaces
and the application program).
The bit assignments of the word are as described on
page 643. The related status word and state diagram
are presented on pages 645 and 646 respectively.

Note: This parameter is read-only.

• Bits 12…15 can be used to carry additional control

data, and used as a signal source by any
binary-source selector parameter. Bit 10 must be
active for bits 12…15 to update.

• In fieldbus control, this parameter value is not

exactly the same as the control word that the
drive receives from the PLC. See parameter 50.12
FBA A debug mode.

6.2 Application control The drive control word received from the application - / uint16
word program (if any). The bit assignments are described
on page 643.
This parameter is read-only.
6.3 FBA A transparent Displays the unaltered control word received from the 0 / uint32
control word PLC through fieldbus adapter A when a transparent
communication profile is selected eg. by parameter
group 51 FBA A settings. See section Control word and
Status word (page 640).
This parameter is read-only.
00000000…FFFFFFFFh Control word received through fieldbus adapter A. 1=1
6.4 FBA B transparent Displays the unaltered control word received from the 0 / uint32
control word PLC through fieldbus adapter B when a transparent
communication profile is selected eg. by parameter
group 54 FBA B settings. See section Control word and
Status word (page 640).
This parameter is read-only.
00000000…FFFFFFFFh Control word received through fieldbus adapter B. 1=1
6.5 EFB transparent Displays the unaltered control word received from the 0 / uint32
control word PLC through the embedded fieldbus interface when a
transparent communication profile is selected in
parameter 58.25 Control profile. See section The
Transparent profile (page 629).
This parameter is read-only.
00000000…FFFFFFFFh Control word received through the embedded fieldbus 1=1
interface.
158 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
6.11 Main status word Main status word of the drive. - / uint16
The bit assignments are described on page 645. The
related control word and state diagram are presented
on pages 643 and 646.

Note: In fieldbus control, this parameter value is not

exactly the same as the status word that the drive
sends to the PLC. See parameter 50.12 FBA A debug
mode.
This parameter is read-only.
6.16 Drive status word 1 Drive status word 1. - / uint16
This parameter is read-only.
b0 Enabled 1 = Both run enable (see par. 20.12) and start enable
(20.19) signals are present, and Safe torque off has
not been activated.

Note:

• In I/O or local control, clearing this bit makes the

drive enter the SWITCH-ON INHIBITED state. For
further information, see 645.

• This bit is not affected by the presence of a fault.

b1 Inhibited 1 = Start inhibited. See parameters 6.18 and 6.25 for

the source of the inhibiting signal.
b2 DC charged 1 = DC circuit has been charged. If present, the DC
switch is closed, and charging switch is open.
0 = Charging not complete. If the inverter unit is not
equipped with a DC switch (option +F286), check
setting of 95.9.
b3 Ready to start 1 = Drive is ready to receive a start command
b4 Following reference 1 = Drive is ready to follow given reference
b5 Started 1 = Drive has been started
b6 Modulating 1 = Drive is modulating (output stage is being
controlled)
b7 Limiting 1 = Any operating limit (speed, torque, etc.) is active
b8 Local control 1 = Drive is in local control
b9 Network control 1 = Drive is in network control. See Terms and
abbreviations (page 18).
b10 Ext1 active 1 = Control location EXT1 active
b11 Ext2 active 1 = Control location EXT2 active
b12 Reserved
b13 Start request 1 = Start requested

Note: At the time of publishing, a start request from

the control panel does not activate this bit if any
start-inhibiting condition (see bit 1) is present.

b14…15 Reserved
 Parameters 159

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0000h…FFFFh 1=1
6.17 Drive status word 2 Drive status word 2. - / uint16
This parameter is read-only.
b0 Identification run 1 = Motor identification (ID) run has been performed
done
b1 Magnetized 1 = The motor has been magnetized
b2 Torque control 1 = Torque control mode active
b3 Speed control 1 = Speed control mode active
b4 Voltage control Reserved
b5 Safe reference 1 = A “safe” reference is being applied by functions
active such as parameters 49.5 and 50.2.
b6 Last speed active 1 = A “last speed” reference is being applied by
functions such as parameters 49.5 and 50.2.
b7 Loss of reference 1 = Reference signal lost
b8 Emergency stop 1 = Emergency stop failed (see parameters 31.32 and
failed 31.33).
b9 Jogging active 1 = Jogging enable signal is on
b10 Above limit 1 = Actual speed, frequency or torque equals or exceeds
limit (defined by parameters 46.31…46.33). Valid in
both directions of rotation.
b11 Emergency stop 1 = An emergency stop command signal is active, or
active the drive is stopping after receiving an emergency
stop command.
b12 Reduced run 1 = Reduced run active (see section Reduced run
function (page 105)).
b13 Reserved
b14 Stop failed 1 = Stopping failed (see parameters 31.37 and 31.38)
b15 Reserved
0000h…FFFFh 1=1
160 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
6.18 Start inhibit status Start inhibit status word. This word specifies the - / uint16
word source of the inhibiting condition that is preventing
the drive from starting.
After the condition is removed, the start command
must be cycled. See bit-specific notes.
See also parameter 6.25 Drive inhibit status word 2,
and 6.16 Drive status word 1, bit 1.
This parameter is read-only.

Note:

• If bit 1 of 6.16 Drive status word 1 is still set after

the removal of the inhibiting condition, and edge
triggering is selected for the active external
control location, a fresh rising-edge start signal
is required. See parameters 20.2, 20.7 and 20.19.

• If bit 1 of 6.16 Drive status word 1 is still set after

the removal of the inhibiting condition, a fresh
rising-edge start signal is required.

• Informative bit. The inhibiting condition need not

be removed by the user.

b0 Not ready run 1 = DC voltage is missing or drive has not been

parametrized correctly. Check the parameters in
groups 95 and 99.
b1 Ctrl location 1 = Control location has changed
changed
b2 SSW inhibit 1 = Control program is keeping itself in inhibited state
b3 Fault 1 = A fault is active
b4 Lost start enable 1 = Start enable signal missing
b5 Lost run enable 1 = Run enable signal missing
b6 FSO inhibit 1 = Operation prevented by FSO-xx safety functions
module
b7 STO 1 = Safe torque off active
b8 Current calibration 1 = Current calibration routine has finished
ended
b9 ID run ended 1 = Motor identification run has finished
b10 Auto phase ended 1 = Autophasing routine has finished
b11 Off1 1 = Emergency stop signal (mode Off1)
b12 Em Off2 1 = Emergency stop signal (mode Off2)
b13 Em Off3 1 = Emergency stop signal (mode Off3)
b14 Auto reset inhibit 1 = The autoreset function is inhibiting operation
b15 Jogging active 1 = The jogging enable signal is inhibiting operation
0000h…FFFFh 1=1
6.19 Speed control Speed control status word. - / uint16
status word This parameter is read-only.
 Parameters 161

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b0 Zero speed 1 = Drive is running at zero speed, ie. the absolute value
of par. 90.1 Motor speed for control has remained
below 21.6 Zero speed limit for longer than 21.7 Zero
speed delay.

Note:

• This bit is not updated when mechanical brake

control is enabled by par. 44.6 and the drive is
modulating.

• During a ramp stop when the drive is running

forward, the delay count runs whenever [90.1] <
[21.6]. From the reverse direction, the delay count
runs whenever 90.1 > -[21.6].

b1 Forward 1 = Drive is running in forward direction above zero

speed limit, ie. [90.1] > +[21.6].
b2 Reverse 1 = Drive is running in reverse direction above zero
speed limit, ie. [90.1] < -[21.6].
b3 Out of window 1 = Speed error window control active (see par. 24.41)
b4 Internal speed 1 = Estimated speed feedback used in motor control,
feedback ie. estimated speed is selected by par. 90.41 or 90.46,
or selected encoder has faulted (par. 90.45)
0 = Encoder 1 or 2 used for speed feedback
b5 Encoder 1 feedback 1 = Encoder 1 used for speed feedback in motor control
0 = Encoder 1 faulted or not selected as source of
speed feedback
(see par. 90.41 and 90.46)
b6 Encoder 2 feedback 1 = Encoder 2 used for speed feedback in motor control
0 = Encoder 2 faulted or not selected as source of
speed feedback
(see par. 90.41 and 90.46)
b7 Constant speed req 1 = A constant speed or frequency has been selected;
see par. 6.20.
b8 MF speed corr min 1 = Minimum limit of speed correction (in a
speed-controlled follower) has been reached (see par.
23.39…23.41).
b9 MF speed corr max 1 = Maximum limit of speed correction (in a
speed-controlled follower) has been reached (see par.
23.39…23.41).
b10…15 Reserved
0000h…FFFFh 1=1
6.20 Constant speed Constant speed/frequency status word. Indicates - / uint16
status word which constant speed or frequency is active (if any).
See also parameter 6.19 Speed control status word,
bit 7, and section Constant speeds/frequencies.
This parameter is read-only.
b0 Constant speed 1 1 = Constant speed or frequency 1 selected
b1 Constant speed 2 1 = Constant speed or frequency 2 selected
162 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b2 Constant speed 3 1 = Constant speed or frequency 3 selected
b3 Constant speed 4 1 = Constant speed or frequency 4 selected
b4 Constant speed 5 1 = Constant speed or frequency 5 selected
b5 Constant speed 6 1 = Constant speed or frequency 6 selected
b6 Constant speed 7 1 = Constant speed or frequency 7 selected
b7…15 Reserved
0000h…FFFFh 1=1
6.21 Drive status word 3 Drive status word 3. - / uint16
This parameter is read-only.
b0 DC hold active 1 = DC hold is active (see par. 21.8)
b1 Post-magnetizing 1 = Post-magnetizing is active (see par. 21.8)
active
b2 Motor pre-heating 1 = Motor pre-heating is active (see par. 21.14)
active
b3 Smooth start active Reserved
b4 Rotor position 1 = Rotor position has been determined (autophasing
known not needed). See section Autophasing (page 63).
b5 Brake chopper Brake chopper active. See section Brake
active chopper (page 84).
b6 Motor temperature
estimation active
b7…15 Reserved
0000h…FFFFh 1=1
6.25 Drive inhibit status Drive inhibit status word 2. This word specifies the - / uint16
word 2 source of the inhibiting condition that is preventing
the drive from starting. After the condition is removed,
the start command must be cycled. See bit-specific
notes.
See also parameter 6.18 Start inhibit status word, and
6.16 Drive status word 1, bit 1.
This parameter is read-only.

Note:

• If bit 1 of 6.16 Drive status word 1 is still set after

the removal of the inhibiting condition, and edge
triggering is selected for the active external
control location, a fresh rising-edge start signal
is required. See parameters 20.2, 20.7 and 20.19.

• If bit 1 of 6.16 Drive status word 1 is still set after

the removal of the inhibiting condition, a fresh
rising-edge start signal is required.

b0 Follower drive 1 = A follower is preventing the master from starting.

b1 Application 1 = The application program is preventing the drive
from starting.
 Parameters 163

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b2 Reserved
b3 Encoder feedback 1 = The encoder feedback configuration is preventing
the drive from starting.
b4 Ref source 1 = A reference source parametrization conflict is
parametrization preventing the drive from starting. See warning A6DA
Reference source parametrization.
b5…15 Reserved
0000h…FFFFh 1=1
6.29 MSW bit 10 sel Selects a binary source whose status is transmitted Above limit / uint32
as bit 10 of 6.11 Main status word.
False 0 0
True 1 1
Above limit Bit 10 of 6.17 Drive status word 2 (page 159). 2
Other [bit] See Terms and abbreviations (page 134).
6.30 MSW bit 11 sel Selects a binary source whose status is transmitted Ext ctrl loc / uint32
as bit 11 of 6.11 Main status word.
False 0 0
True 1 1
Ext ctrl loc Bit 11 of 6.1 Main control word (page 157). 2
Other [bit] See Terms and abbreviations (page 134).
6.31 MSW bit 12 sel Selects a binary source whose status is transmitted Ext run enable /
as bit 12 of 6.11 Main status word. uint32
False 0 0
True 1 1
Ext run enable Inverted bit 5 of 6.18 Start inhibit status 2
word (page 160).
Other [bit] See Terms and abbreviations (page 134).
6.32 MSW bit 13 sel Selects a binary source whose status is transmitted False / uint32
as bit 13 of 6.11 Main status word.
False 0 0
True 1 1
Other [bit] See Terms and abbreviations (page 134).
6.33 MSW bit 14 sel Selects a binary source whose status is transmitted False / uint32
as bit 14 of 6.11 Main status word.
False 0 0
True 1 1
Other [bit] See Terms and abbreviations (page 134).
164 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
6.36 LSU Status Word (Only visible when supply unit control activated by - / uint16
95.20)
Shows the status of the supply unit.
See also section Control of a supply unit
(LSU) (page 44), and parameter group 60 DDCS
communication.
This parameter is read-only.
b0 Ready on 1 = Ready to switch on
b1 Ready run 1 = Ready to operate, DC link charged
b2 Ready ref 1 = Operation enabled
b3 Tripped 1 = A fault is active
b4 Not In Use Reserved
b5 Not In Use Reserved
b6 Not In Use Reserved
b7 Warning 1 = A warning is active
b8 Modulating 1 = The supply unit is modulating
b9 Remote 1 = Remote control (EXT1 or EXT2)
0 = Local control
b10 Net ok 1 = Supply network voltage OK
b11 Not In Use Selectable in supply control program
b12 Not In Use Selectable in supply control program
b13 Not in use Selectable in supply control program
b14 Charging 1 = Charging circuit active
0 = Charging circuit inactive
b15 Not In Use Selectable in supply control program
0000h…FFFFh 1=1
6.39 Internal state (Only visible when supply unit control activated by - / uint16
machine LSU CW 95.20)
Shows the control word sent to the supply unit from
the INU-LSU (inverter unit/supply unit) state machine.
This parameter is read-only.
b0 ON/OFF 1 = Start charging
0 = Open main contactor (switch power off)
b1 OFF 2 0 = Emergency stop (Off2)
b2 OFF 3 0 = Emergency stop (Off3)
b3 START 1 = Start modulating
0 = Stop modulating
b4 Not In Use Reserved
b5 Not In Use Reserved
b6 Not In Use Reserved
b7 RESET 0→1 = Reset an active fault. A fresh start command is
required after reset.
 Parameters 165

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b8 Not In Use Reserved
b9 Not In Use Reserved
b10 Not In Use Reserve
b11 Not In Use Reserved
b12 USER BIT 0 See parameter 6.40 LSU CW user bit 0 selection.
b13 USER BIT 1 See parameter 6.41 LSU CW user bit 1 selection.
b14 USER BIT 2 See parameter 6.42 LSU CW user bit 2 selection.
b15 USER BIT 3 See parameter 6.43 LSU CW user bit 3 selection.
0000h…FFFFh 1=1
6.40 LSU CW user bit 0 (Only visible when supply unit control activated by MCW user bit 0 /
selection 95.20) uint32
Selects a binary source whose status is transmitted
as bit 12 of 6.39 Internal state machine LSU CW to the
supply unit.
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
6.41 LSU CW user bit 1 (Only visible when supply unit control activated by MCW user bit 1 /
selection 95.20) uint32
Selects a binary source whose status is transmitted
as bit 13 of 6.39 Internal state machine LSU CW to the
supply unit.
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
6.42 LSU CW user bit 2 (Only visible when supply unit control activated by MCW user bit 2 /
selection 95.20) uint32
Selects a binary source whose status is transmitted
as bit 14 of 6.39 Internal state machine LSU CW to the
supply unit.
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
166 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
6.43 LSU CW user bit 3 (Only visible when supply unit control activated by MCW user bit 3 /
selection 95.20) uint32
Selects a binary source whose status is transmitted
as bit 15 of 6.39 Internal state machine LSU CW to the
supply unit.
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
6.45 Follower CW user Selects a binary source whose status is transmitted MCW user bit 0 /
bit 0 selection as bit 12 of the Follower control word to follower uint32
drives. (Bits 0…11 of the Follower control word are
taken from 6.1 Main control word.)
See also section Master/follower functionality.
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
6.46 Follower CW user Selects a binary source whose status is transmitted MCW user bit 1 /
bit 1 selection as bit 13 of the Follower control word to follower uint32
drives. (Bits 0…11 of the Follower control word are
taken from 6.1 Main control word.)
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
 Parameters 167

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
6.47 Follower CW user Selects a binary source whose status is transmitted MCW user bit 2 /
bit 2 selection as bit 14 of the Follower control word to follower uint32
drives. (Bits 0…11 of the Follower control word are
taken from 6.1 Main control word.)
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
6.48 Follower CW user Selects a binary source whose status is transmitted MCW user bit 3 /
bit 3 selection as bit 15 of the Follower control word to follower uint32
drives. (Bits 0…11 of the Follower control word are
taken from 6.1 Main control word.)
FALSE 0 0
TRUE 1 1
MCW user bit 0 Bit 12 of 6.1 Main control word (page 157). 2
MCW user bit 1 Bit 13 of 6.1 Main control word (page 157). 3
MCW user bit 2 Bit 14 of 6.1 Main control word (page 157). 4
MCW user bit 3 Bit 15 of 6.1 Main control word (page 157). 5
Other [bit] See Terms and abbreviations (page 134).
6.50 User status word 1 User-defined status word. This word shows the status - / uint16
of the binary sources selected by parameters
6.60…6.75.
This parameter is read-only.
b0 User status bit 0 Status of source selected by parameter 6.60.
b1 User status bit 1 Status of source selected by parameter 6.61.
b2 User status bit 2 Status of source selected by parameter 6.62.
b3 User status bit 3 Status of source selected by parameter 6.63.
b4 User status bit 4 Status of source selected by parameter 6.64.
b5 User status bit 5 Status of source selected by parameter 6.65.
b6 User status bit 6 Status of source selected by parameter 6.66.
b7 User status bit 7 Status of source selected by parameter 6.67.
b8 User status bit 8 Status of source selected by parameter 6.68.
b9 User status bit 9 Status of source selected by parameter 6.69.
b10 User status bit 10 Status of source selected by parameter 6.70.
b11 User status bit 11 Status of source selected by parameter 6.71.
b12 User status bit 12 Status of source selected by parameter 6.72.
b13 User status bit 13 Status of source selected by parameter 6.73.
168 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b14 User status bit 14 Status of source selected by parameter 6.74.
b15 User status bit 15 Status of source selected by parameter 6.75.
0000h…FFFFh 1=1
6.60 User status word 1 Selects a binary source whose status is shown as bit FALSE / uint32
bit 0 sel 0 of 6.50 User status word 1.
FALSE 0 0
TRUE 1 1
Other [bit] See Terms and abbreviations (page 134).
6.61 User status word 1 Selects a binary source whose status is shown as bit Out of window /
bit 1 sel 1 of 6.50 User status word 1. uint32
False 0 0
True 1 1
Out of window Bit 3 of 6.19 Speed control status word (page 160). 2
Other [bit] See Terms and abbreviations (page 134).
6.62 User status word 1 Selects a binary source whose status is shown as bit Emergency stop
bit 2 sel 2 of 6.50 User status word 1. failed / uint32
False 0 0
True 1 1
Emergency stop Bit 8 of 6.17 Drive status word 2 (page 159). 2
failed
Other [bit] See Terms and abbreviations (page 134).
6.63 User status word 1 Selects a binary source whose status is shown as bit Magnetized / uint32
bit 3 sel 3 of 6.50 User status word 1.
False 0 0
True 1 1
Magnetized Bit 1 of 6.17 Drive status word 2 (page 159). 2
Other [bit] See Terms and abbreviations (page 134).
6.64 User status word 1 Selects a binary source whose status is shown as bit Run disable / uint32
bit 4 sel 4 of 6.50 User status word 1.
False 0 0
True 1 1
Run disable Bit 5 of 6.18 Start inhibit status word. 2
Other [bit] See Terms and abbreviations (page 134).
6.65 User status word 1 Selects a binary source whose status is shown as bit FALSE / uint32
bit 5 sel 5 of 6.50 User status word 1.
FALSE 0 0
TRUE 1 1
Other [bit] See Terms and abbreviations (page 134).
6.66 User status word 1 Selects a binary source whose status is shown as bit FALSE / uint32
bit 6 sel 6 of 6.50 User status word 1.
 Parameters 169

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
FALSE 0 0
TRUE 1 1
Other [bit] See Terms and abbreviations (page 134).
6.67 User status word 1 Selects a binary source whose status is shown as bit Identification run
bit 7 sel 7 of 6.50 User status word 1. done / uint32
False 0 0
True 1 1
Identification run Bit 0 of 6.17 Drive status word 2 (page 159). 2
done
Other [bit] See Terms and abbreviations (page 134).
6.68 User status word 1 Selects a binary source whose status is shown as bit Start inhibition /
bit 8 sel 8 of 6.50 User status word 1. uint32
False 0 0
True 1. 1
Start inhibition Bit 7 of 6.18 Start inhibit status word (page 160). 2
Other [bit] See Terms and abbreviations (page 134).
6.69 User status word 1 Selects a binary source whose status is shown as bit Limiting / uint32
bit 9 sel 9 of 6.50 User status word 1.
False 0 0
True 1 1
Limiting Bit 7 of 6.16 Drive status word 1 (page 158). 2
Other [bit] See Terms and abbreviations (page 134).
6.70 User status word 1 Selects a binary source whose status is shown as bit Torque control /
bit 10 sel 10 of 6.50 User status word 1. uint32
False 0 0
True 1 1
Torque control Bit 2 of 6.17 Drive status word 2 (page 159). 2
Other [bit] See Terms and abbreviations (page 134).
6.71 User status word 1 Selects a binary source whose status is shown as bit Zero speed / uint32
bit 11 sel 11 of 6.50 User status word 1.
False 0 0
True 1 1
Zero speed Bit 0 of 6.19 Speed control status word (page 160). 2
Other [bit] See Terms and abbreviations (page 134).
6.72 User status word 1 Selects a binary source whose status is shown as bit Internal speed
bit 12 sel 12 of 6.50 User status word 1. feedback / uint32
False 0 0
True 1 1
Internal speed Bit 4 of 6.19 Speed control status word (page 160). 2
feedback
170 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Other [bit] See Terms and abbreviations (page 134).
6.73 User status word 1 Selects a binary source whose status is shown as bit FALSE / uint32
bit 13 sel 13 of 6.50 User status word 1.
FALSE 0 0
TRUE 1 1
Other [bit] See Terms and abbreviations (page 134).
6.74 User status word 1 Selects a binary source whose status is shown as bit FALSE / uint32
bit 14 sel 14 of 6.50 User status word 1.
FALSE 0 0
TRUE 1 1
Other [bit] See Terms and abbreviations (page 134).
6.75 User status word 1 Selects a binary source whose status is shown as bit FALSE / uint32
bit 15 sel 15 of 6.50 User status word 1.
FALSE 0 0
TRUE 1 1
Other [bit] See Terms and abbreviations (page 134).
6.100 User control word 1 User-defined control word 1. - / uint16
b0 User control word 1 User-defined bit.
bit 0 sel
b1 User control word 1 User-defined bit.
bit 1 sel
b2 User control word 1 User-defined bit.
bit 2 sel
b3 User control word 1 User-defined bit.
bit 3 sel
b4 User control word 1 User-defined bit.
bit 4 sel
b5 User control word 1 User-defined bit.
bit 5 sel
b6 User control word 1 User-defined bit.
bit 6 sel
b7 User control word 1 User-defined bit.
bit 7 sel
b8 User control word 1 User-defined bit.
bit 8 sel
b9 User control word 1 User-defined bit.
bit 9 sel
b10 User control word 1 User-defined bit.
bit 10 sel
b11 User control word 1 User-defined bit.
bit 11 sel
 Parameters 171

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b12 User control word 1 User-defined bit.
bit 12 sel
b13 User control word 1 User-defined bit.
bit 13 sel
b14 User control word 1 User-defined bit.
bit 14 sel
b15 User control word 1 User-defined bit.
bit 15 sel
0000h…FFFFh 1=1
6.101 User control word 2 User-defined control word 2. - / uint16
b0 User control word 2 User-defined bit.
bit 0 sel
b1 User control word 2 User-defined bit.
bit 1 sel
b2 User control word 2 User-defined bit.
bit 2 sel
b3 User control word 2 User-defined bit.
bit 3 sel
b4 User control word 2 User-defined bit.
bit 4 sel
b5 User control word 2 User-defined bit.
bit 5 sel
b6 User control word 2 User-defined bit.
bit 6 sel
b7 User control word 2 User-defined bit.
bit 7 sel
b8 User control word 2 User-defined bit.
bit 8 sel
b9 User control word 2 User-defined bit.
bit 9 sel
b10 User control word 2 User-defined bit.
bit 10 sel
b11 User control word 2 User-defined bit.
bit 11 sel
b12 User control word 2 User-defined bit.
bit 12 sel
b13 User control word 2 User-defined bit.
bit 13 sel
b14 User control word 2 User-defined bit.
bit 14 sel
b15 User control word 2 User-defined bit.
bit 15 sel
0000h…FFFFh 1=1
172 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
6.116 LSU drive status (Only visible when IGBT supply unit control activated - / uint16
word 1 by 95.20)
Drive status word 1 received from the supply unit.
See also section Control of a supply unit
(LSU) (page 44), and parameter group 60 DDCS
communication.
This parameter is read-only.
b0 Enabled 1 = Run enable and start enable signals are present
b1 Inhibited 1 = Start inhibited
b2 Operation allowed 1 = Drive is ready to operate
b3 Ready to start 1 = Drive is ready to receive a start command
b4 Running 1 = Drive is ready to follow given reference
b5 Started 1 = Drive has been started
b6 Modulating 1 = Drive is modulating (output stage is being
controlled)
b7 Limiting 1 = Any operating limit is active
b8 Local control 1 = Drive is in local control
b9 Network control 1 = Drive is in network control
b10 Ext1 active 1 = Control location Ext1 active
b11 Ext2 active 1 = Control location Ext2 active
b12 Charging relay 1 = Charging contactor is energized. The actual state
depends on the hardware topology (NO or NC).
b13 MCB relay 1 = MCB relay is closed
b14…15 Reserved
0000h…FFFFh 1=1
6.118 LSU start inhibit (Only visible when IGBT supply unit control activated - / uint16
status word by 95.20)
This word specifies the source of the inhibiting
condition that is preventing the supply unit from
starting.
See also section Control of a supply unit
(LSU) (page 44) and parameter group 60 DDCS
communication.
This parameter is read-only.
b0 Not ready run
b1 Ctrl location
changed
b2 SSW inhibit
b3 Fault reset
b4 Lost start enable
b5 Lost run enable
b6…8 Reserved
b9 Charging overload
 Parameters 173

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b10…11 Reserved
b12 Em Off2
b13 Em Off3
b14 Auto reset inhibit
b15 Reserved
0000h…FFFFh 1=1
174 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
7 System info Information on drive hardware, firmware and
application program.
All parameters in this group are read-only.
7.3 Drive rating id Type of the drive/inverter unit. - / uint16
7.4 Firmware name Firmware identification. 0 / uint32
The format is AINFX, where X denotes the control unit
type
(2 or B = BCU-x2, 6 or C = ZCU-12/14).
7.5 Firmware version Version number of the firmware. 0 / uint32
The format is A.BB.C.D, where A = major version, B =
minor version, C = patch (ie. firmware variant code),
D = 0.
7.6 Loading package Name of the firmware loading package. 0 / uint32
name The format is AINLX, where X denotes the control unit
type (2 or B = BCU-x2, 6 or C = ZCU-12/14).
7.7 Loading package Version number of the firmware loading package. See 0 / uint32
version parameter 7.5.
7.8 Bootloader version Version number of the firmware bootloader. 0 / uint32
7.11 Cpu usage Microprocessor load in percent. - / uint32
0 ... 100 % Microprocessor load. 1=1%/1=1%
7.13 PU logic version Version number of the power unit logic. - / uint16
number The value of FFFF indicates that the version numbers
of parallel-connected power units are different. See
the drive information on the control panel.
7.14 FPGA logic version Version name of the FPGA logic of the control unit. - / uint32
name
7.15 FPGA logic version Version number of the FPGA logic of the control unit. - / uint16
number
7.21 Application (Only visible with option +N8010 [application - / uint16
environment status programmability])
1 Shows which tasks of the application program are
running.
See the Drive (IEC 61131-3) application programming
manual (3AUA0000127808 [English]).
b0 Pre task 1 = Pre-task running.
b1 Appl task1 1 = Task 1 running.
b2 Appl task2 1 = Task 2 running.
b3 Appl task3 1 = Task 3 running.
b4…14 Reserved
b15 Task monitoring 1 = Task monitoring enabled.
0000h…FFFFh 1=1
 Parameters 175

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
7.22 Application (Only visible with option +N8010 [application - / uint16
environment status programmability])
2 Shows the status of the openings in the application
program.
See the Drive (IEC 61131-3) application programming
manual (3AUA0000127808 [English]).
b0 Opening1 Status of opening 1 in the application program.
b1 Opening2 Status of opening 2 in the application program.
b2 Opening3 Status of opening 3 in the application program.
b3 Opening4 Status of opening 4 in the application program.
b4 Opening5 Status of opening 5 in the application program.
b5 Opening6 Status of opening 6 in the application program.
b6 Opening7 Status of opening 7 in the application program.
b7 Opening8 Status of opening 8 in the application program.
b8 Opening9 Status of opening 9 in the application program.
b9 Opening10 Status of opening 10 in the application program.
b10 Opening11 Status of opening 11 in the application program.
b11 Opening12 Status of opening 12 in the application program.
b12 Opening13 Status of opening 13 in the application program.
b13 Opening14 Status of opening 14 in the application program.
b14 Opening15 Status of opening 15 in the application program.
b15 Opening16 Status of opening 16 in the application program.
0000h…FFFFh 1=1
7.23 Application name (Only visible with option +N8010 [application 0 / uint32
programmability])
First five ASCII letters of the name given to the
application program in the programming tool. The full
name is visible under System info on the control panel
or the Drive Composer PC tool.
_N/A_ = None.
7.24 Application version (Only visible with option +N8010 [application 0 / uint32
programmability])
Application program version number given to the
application program in the programming tool. Also
visible under System info on the control panel or the
Drive Composer PC tool.
7.25 Customization First five ASCII letters of the name given to the 0 / uint32
package name customization package. The full name is visible under
System info on the control panel or the Drive Composer
PC tool.
_N/A_ = None.
7.26 Customization Customization package version number. Also visible 0 / uint32
package version under System info on the control panel or the Drive
Composer PC tool.
176 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
7.30 Adaptive program Shows the status of the adaptive program. - / uint16
status See section Adaptive programming (page 31).
b0 Initialized 1 = Adaptive program initialized
b1 Editing 1 = Adaptive program is being edited
b2 Edit done 1 = Editing of adaptive program finished
b3 Running 1 = Adaptive program running
b4…13 Reserved
b14 State changing Reserved
b15 Faulted 1 = Error in adaptive program
0000h…FFFFh 1=1
7.40 IEC application Cpu (Only visible with option +N8010 [application - / real32
usage peak programmability])
Displays the peak loading of the microprocessor
caused by the application program. This parameter
can, for example, be used to check the effect of a given
application program functionality on the CPU load.
The value is in percent of an internal quota.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0.0 ... 100.0 % Peak microprocessor loading caused by application 10 = 1 % / 10 = 1 %
program.
7.41 IEC application Cpu (Only visible with option +N8010 [application - / real32
load average programmability])
Displays the average loading of the microprocessor
caused by the application program. The value is in
percent of an internal quota.
0.0 ... 100.0 % Average microprocessor loading caused by application 10 = 1 % / 10 = 1 %
program.
7.51 Slot 1 option Displays the type of module detected in slot 1 of the - / uint16
module drive control unit.
No option No module detected. 0
[module type] Type of module detected. 1
7.52 Slot 2 option Displays the type of module detected in slot 2 of the - / uint16
module drive control unit.
0 ... 65535 1=1/1=1
No option No module detected. 0
[module type] Type of module detected. 1
7.53 Slot 3 option Displays the type of module detected in slot 3 of the - / uint16
module drive control unit.
0 ... 65535 1=1/1=1
No option No module detected. 0
[module type] Type of module detected. 1
 Parameters 177

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
7.54 Slot 1 module logic Displays the FPGA logic version of module detected 0 / uint16
version in slot 1 of the drive control unit.
The logic version is detected for DDCS option modules,
for example, FEN encoder modules (FEN-01, FEN-11,
FEN-21, FEN-31) and I/O modules (FIO-11, FDIO-01,
FAIO-01).
0000…FFFFh Logic version of module detected in slot 1. 1=1
7.55 Slot 1 module Displays the software version of module detected in - / uint16
software version slot 1 of the drive control unit.
7.56 Slot 2 module logic Displays the FPGA logic version of module detected 0 / uint16
version in slot 2 of the drive control unit.
The logic version is detected for DDCS option modules,
for example, FEN encoder modules (FEN-01, FEN-11,
FEN-21, FEN-31) and I/O modules (FIO-11, FDIO-01,
FAIO-01).
0000…FFFFh Logic version of module detected in slot 2. 1=1
7.57 Slot 2 module Displays the software version of module detected in - / uint16
software version slot 2 of the drive control unit.
7.58 Slot 3 module logic Displays the FPGA logic version of module detected 0 / uint16
version in slot 3 of the drive control unit.
The logic version is detected for DDCS option modules,
for example, FEN encoder modules (FEN-01, FEN-11,
FEN-21, FEN-31) and I/O modules (FIO-11, FDIO-01,
FAIO-01).
0000…FFFFh Logic version of module detected in slot 3. 1=1
7.59 Slot 3 module Displays the software version of module detected in - / uint16
software version slot 3 of the drive control unit.
7.106 LSU loading (Only visible when IGBT supply unit control activated 0 / uint32
package name by 95.20)
Name of the loading package of the supply unit
firmware.
7.107 LSU loading (Only visible when IGBT supply unit control activated 0 / uint32
package version by 95.20)
Version number of the loading package of the supply
unit firmware.
178 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
10 Standard DI, RO Configuration of digital inputs and relay outputs.
10.1 DI status Displays the electrical status of digital inputs DIIL and - / uint16
DI6…DI1. The activation/deactivation delays of the
inputs (if any are specified) are ignored. A filtering
time can be defined by parameter 10.51 DI filter time.
Bits 0…5 reflect the status of DI1…DI6; bit 15 reflects
the status of the DIIL input. Example:
1000000000010011b = DIIL, DI5, DI2 and DI1 are on,
DI3, DI4 and DI6 are off.
This parameter is read-only.
10.2 DI delayed status Displays the status of digital inputs DIIL and DI6…DI1. - / uint16
This word is updated only after activation/deactivation
delays (if any are specified). A filtering time can be
defined by parameter 10.51 DI filter time.
Bits 0…5 reflect the delayed status of DI1…DI6; bit 15
reflects the delayed status of the DIIL input.
This parameter is read-only.
10.3 DI force selection The electrical statuses of the digital inputs can be - / uint16
overridden for eg. testing purposes. A bit in parameter
10.4 DI force data is provided for each digital input,
and its value is applied whenever the corresponding
bit in this parameter is 1.
b0 DI1 1 = Force DI1 to value of bit 0 of parameter 10.4 DI force
data.
b1 DI2 1 = Force DI2 to value of bit 1 of parameter 10.4 DI force
data.
b2 DI3 1 = Force DI3 to value of bit 2 of parameter 10.4 DI force
data.
b3 DI4 1 = Force DI4 to value of bit 3 of parameter 10.4 DI force
data.
b4 DI5 1 = Force DI5 to value of bit 4 of parameter 10.4 DI
force data.
b5 DI6 1 = Force DI6 to value of bit 5 of parameter 10.4 DI
force data.
b6…14 Reserved
b15 DIIL 1 = Force DIIL to value of bit 15 of parameter 10.4 DI
force data.
0000h…FFFFh 1=1
10.4 DI force data Contains the values that the digital inputs are forced - / uint16
to when selected by 10.3 DI force selection.
Bit 0 is the forced value for DI1; bit 15 is the forced
value for the DIIL input.
 Parameters 179

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
10.5 DI1 ON delay Defines the activation delay for digital input DI1. 0.0 s / uint32

1
*DI status
0
**Delayed 1
DI status
0

tOn tOff tOn tOff Time

tOn = 10.5 DI1 ON delay

tOff = 10.6 DI1 OFF delay
*Electrical status of digital input. Indicated by 10.1 DI
status.
**Indicated by 10.2 DI delayed status.
0.0 ... 3000.0 s Activation delay for DI1. 10 = 1 s / 10 = 1 s
10.6 DI1 OFF delay Defines the deactivation delay for digital input DI1. 0.0 s / uint32
See parameter 10.5 DI1 ON delay.
0.0 ... 3000.0 s Deactivation delay for DI1. 10 = 1 s / 10 = 1 s
10.7 DI2 ON delay Defines the activation delay for digital input DI2. 0.0 s / uint32

1
*DI status
0
**Delayed 1
DI status
0

tOn tOff tOn tOff Time

tOn = 10.7 DI2 ON delay

tOff = 10.8 DI2 OFF delay
*Electrical status of digital input. Indicated by 10.1 DI
status.
**Indicated by 10.2 DI delayed status.
0.0 ... 3000.0 s Activation delay for DI2. 10 = 1 s / 10 = 1 s
10.8 DI2 OFF delay Defines the deactivation delay for digital input DI2. 0.0 s / uint32
See parameter 10.7 DI2 ON delay.
0.0 ... 3000.0 s Deactivation delay for DI2. 10 = 1 s / 10 = 1 s
10.9 DI3 ON delay Defines the activation delay for digital input DI3. 0.0 s / uint32

1
*DI status
0
**Delayed 1
DI status
0

Time
tOn tOff tOn tOff

tOn = 10.9 DI3 ON delay

tOff = 10.10 DI3 OFF delay
*Electrical status of digital input. Indicated by 10.1 DI
status.
**Indicated by 10.2 DI delayed status.
180 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.0 ... 3000.0 s Activation delay for DI3. 10 = 1 s / 10 = 1 s
10.10 DI3 OFF delay Defines the deactivation delay for digital input DI3. 0.0 s / uint32
See parameter 10.9 DI3 ON delay.
0.0 ... 3000.0 s Deactivation delay for DI3. 10 = 1 s / 10 = 1 s
10.11 DI4 ON delay Defines the activation delay for digital input DI4. 0.0 s / uint32

1
*DI status
0
**Delayed 1
DI status
0

Time
tOn tOff tOn tOff

tOn = 10.11 DI4 ON delay

tOff = 10.12 DI4 OFF delay
*Electrical status of digital input. Indicated by 10.1 DI
status.
**Indicated by 10.2 DI delayed status.
0.0 ... 3000.0 s Activation delay for DI4. 10 = 1 s / 10 = 1 s
10.12 DI4 OFF delay Defines the deactivation delay for digital input DI4. 0.0 s / uint32
See parameter 10.11 DI4 ON delay.
0.0 ... 3000.0 s Deactivation delay for DI4. 10 = 1 s / 10 = 1 s
10.13 DI5 ON delay Defines the activation delay for digital input DI5. 0.0 s / uint32

1
*DI status
0
**Delayed 1
DI status
0

tOn tOff tOn tOff Time

tOn = 10.13 DI5 ON delay

tOff = 10.14 DI5 OFF delay
*Electrical status of digital input. Indicated by 10.1 DI
status.
**Indicated by 10.2 DI delayed status.
0.0 ... 3000.0 s Activation delay for DI5. 10 = 1 s / 10 = 1 s
10.14 DI5 OFF delay Defines the deactivation delay for digital input DI5. 0.0 s / uint32
See parameter 10.13 DI5 ON delay.
0.0 ... 3000.0 s Deactivation delay for DI5. 10 = 1 s / 10 = 1 s
 Parameters 181

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
10.15 DI6 ON delay Defines the activation delay for digital input DI6. 0.0 s / uint32

1
*DI status
0
**Delayed 1
DI status
0

tOn tOff tOn tOff Time

tOn = 10.15 DI6 ON delay

tOff = 10.16 DI6 OFF delay
*Electrical status of digital input. Indicated by 10.1 DI
status.
**Indicated by 10.2 DI delayed status.
0.0 ... 3000.0 s Activation delay for DI6. 10 = 1 s / 10 = 1 s
10.16 DI6 OFF delay Defines the deactivation delay for digital input DI6. 0.0 s / uint32
See parameter 10.15 DI6 ON delay.
0.0 ... 3000.0 s Deactivation delay for DI6. 10 = 1 s / 10 = 1 s
10.21 RO status Status of relay outputs RO8…RO1. Example: - / uint16
00000001b = RO1 is energized, RO2…RO8 are
de-energized.
10.24 RO1 source Selects a drive signal to be connected to relay output Ready run; 10.01 b3
RO1. (-1) (95.20 b2); 35.105
b1 (95.20 b6); 06.16
b6 (95.20 b9) /
uint32
Not energized Output is not energized. 0
Energized Output is energized. 1
Ready run Bit 1 of 6.11 Main status word (page 158). 2
Enabled Bit 0 of 6.16 Drive status word 1 (page 158). 4
Started Bit 5 of 6.16 Drive status word 1 (page 158). 5
Magnetized Bit 1 of 6.17 Drive status word 2 (page 159). 6
Running Bit 6 of 6.16 Drive status word 1 (page 158). 7
Ready ref Bit 2 of 6.11 Main status word (page 158). 8
At setpoint Bit 8 of 6.11 Main status word (page 158). 9
Reverse Bit 2 of 6.19 Speed control status word (page 160). 10
Zero speed Bit 0 of 6.19 Speed control status word (page 160). 11
Above limit Bit 10 of 6.17 Drive status word 2 (page 159). 12
Warning Bit 7 of 6.11 Main status word (page 158). 13
Fault Bit 3 of 6.11 Main status word (page 158). 14
Fault (-1) Inverted bit 3 of 6.11 Main status word (page 158). 15
Start request Bit 13 of 6.16 Drive status word 1 (page 158). 16
Open brake Bit 0 of 44.1 Brake control status (page 408). 22
command
182 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Ext2 active Bit 11 of 6.16 Drive status word 1 (page 158). 23
Remote control Bit 9 of 6.11 Main status word (page 158). 24
Supervision 1 Bit 0 of 32.1 Supervision status (page 351). 33
Supervision 2 Bit 1 of 32.1 Supervision status (page 351). 34
Supervision 3 Bit 2 of 32.1 Supervision status (page 351). 35
RO/DIO control Bit 0 of 10.99 RO/DIO control word (page 183). 40
word bit0
RO/DIO control Bit 1 of 10.99 RO/DIO control word (page 183). 41
word bit1
RO/DIO control Bit 2 of 10.99 RO/DIO control word (page 183). 42
word bit2
RO/DIO control Bit 8 of 10.99 RO/DIO control word (page 183). 43
word bit8
RO/DIO control Bit 9 of 10.99 RO/DIO control word (page 183). 44
word bit9
Other [bit] See Terms and abbreviations (page 134).
10.25 RO1 ON delay Defines the activation delay for relay output RO1. 0.0 s / uint32

Status of selected 1
source
0
1
RO status
0

tOn tOff tOn tOff Time

tOn = 10.25 RO1 ON delay

tOff = 10.26 RO1 OFF delay
0.0 ... 3000.0 s Activation delay for RO1. 10 = 1 s / 10 = 1 s
10.26 RO1 OFF delay Defines the deactivation delay for relay output RO1. 0.0 s / uint32
See parameter 10.25 RO1 ON delay.
0.0 ... 3000.0 s Deactivation delay for RO1. 10 = 1 s / 10 = 1 s
10.27 RO2 source Selects a drive signal to be connected to relay output Running (95.20 b3) /
RO2. uint32
For the available selections, see parameter 10.24 RO1
source.
10.28 RO2 ON delay Defines the activation delay for relay output RO2. 0.0 (95.20 b3) s /
uint32
1
Status of selected
source
0
1
RO status
0

tOn tOff tOn tOff Time

tOn = 10.28 RO2 ON delay

tOff = 10.29 RO2 OFF delay
0.0 ... 3000.0 s Activation delay for RO2. 10 = 1 s / 10 = 1 s
 Parameters 183

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
10.29 RO2 OFF delay Defines the deactivation delay for relay output RO2. 0.0 (95.20 b3) s /
See parameter 10.28 RO2 ON delay. uint32
0.0 ... 3000.0 s Deactivation delay for RO2. 10 = 1 s / 10 = 1 s
10.30 RO3 source Selects a drive signal to be connected to relay output Fault (-1) / uint32
RO3.
For the available selections, see parameter 10.24 RO1
source.
10.31 RO3 ON delay Defines the activation delay for relay output RO3. 0.0 s / uint32

Status of selected 1
source
0
1
RO status
0

tOn tOff tOn tOff Time

tOn = 10.31 RO3 ON delay

tOff = 10.32 RO3 OFF delay
0.0 ... 3000.0 s Activation delay for RO3. 10 = 1 s / 10 = 1 s
10.32 RO3 OFF delay Defines the deactivation delay for relay output RO3. 0.0 s / uint32
See parameter 10.31 RO3 ON delay.
0.0 ... 3000.0 s Deactivation delay for RO3. 10 = 1 s / 10 = 1 s
10.51 DI filter time Defines a filtering time for parameters 10.1 DI status 10.0 ms / uint32
and 10.2 DI delayed status.
Note that this parameter has no effect on forced DI
values defined by parameters 10.3 and 10.4.
0.3 ... 100.0 ms Filtering time for 10.1 and 10.2. 10 = 1 ms / 10 = 1 ms
10.90 IO time level Selects the standard I/O communication time level. Fast / uint16
selection
Fast Standard I/O time level 500 us. 500
Normal Standard I/O time level 2 ms. 2000
10.99 RO/DIO control Storage parameter for controlling the relay outputs - / uint16
word and digital input/outputs eg. through the embedded
fieldbus interface.
To control the relay outputs (RO) and the digital
input/outputs (DIO) of the drive, send a control word
with the bit assignments shown below as Modbus I/O
data. Set the target selection parameter of that
particular data (58.101…58.124) to RO/DIO control
word. In the source selection parameter of the desired
output, select the appropriate bit of this word.
b0 RO1 Source bit for relay output RO1. See parameter 10.24.
b1 RO2 Source bit for relay output RO2. See parameter 10.27.
b2 RO3 Source bit for relay output RO3. See parameter 10.30.
b3…7 Reserved
b8 DIO1 Source bit for digital input/output DIO1 (see parameter
11.6.
184 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b9 DIO2 Source bit for digital input/output DIO2 (see
parameter 11.10.
b10…15 Reserved
0000h…FFFFh 1=1
 Parameters 185

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
11 Standard DIO, FI, Configuration of digital input/outputs and frequency
FO inputs/outputs.
11.1 DIO status Displays the status of digital input/outputs DIO2 and - / uint16
DIO1.
The activation/deactivation delays (if any are
specified) are ignored. A filtering time (for input mode)
can be defined by parameter 11.81 DIO filter time.
Example: 0010 = DIO2 is on, DIO1 is off.
This parameter is read-only.
11.2 DIO delayed status Displays the delayed status of digital input/outputs - / uint16
DIO2 and DIO1. This word is updated only after
activation/deactivation delays (if any are specified).
A filtering time (for input mode) can be defined by
parameter 11.81 DIO filter time.
Example: 0010 = DIO2 is on, DIO1 is off.
This parameter is read-only.
11.5 DIO1 function Selects whether DIO1 is used as a digital output or Output / uint16
input, or a frequency input.
Output DIO1 is used as a digital output. 0
Input DIO1 is used as a digital input. 1
Frequency DIO1 is used as a frequency input. 2
11.6 DIO1 output source Selects a drive signal to be connected to digital Ready run / uint32
input/output DIO1 when parameter 11.5 DIO1 function
is set to Output.
Not energized Output is not energized. 0
Energized Output is energized. 1
Ready run Bit 1 of 6.11 Main status word (page 158). 2
Enabled Bit 0 of 6.16 Drive status word 1 (page 158). 4
Started Bit 5 of 6.16 Drive status word 1 (page 158). 5
Magnetized Bit 1 of 6.17 Drive status word 2 (page 159). 6
Running Bit 6 of 6.16 Drive status word 1 (page 158). 7
Ready ref Bit 2 of 6.11 Main status word (page 158). 8
At setpoint Bit 8 of 6.11 Main status word (page 158). 9
Reverse Bit 2 of 6.19 Speed control status word (page 160). 10
Zero speed Bit 0 of 6.19 Speed control status word (page 160). 11
Above limit Bit 10 of 6.17 Drive status word 2 (page 159). 12
Warning Bit 7 of 6.11 Main status word (page 158). 13
Fault Bit 3 of 6.11 Main status word (page 158). 14
Fault (-1) Inverted bit 3 of 6.11 Main status word (page 158). 15
Start request Bit 13 of 6.16 Drive status word 1 (page 158). 16
Open brake Bit 0 of 44.1 Brake control status (page 408). 22
command
Ext2 active Bit 11 of 6.16 Drive status word 1 (page 158). 23
186 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Remote control Bit 9 of 6.11 Main status word (page 158). 24
Supervision 1 Bit 0 of 32.1 Supervision status (page 351). 33
Supervision 2 Bit 1 of 32.1 Supervision status (page 351). 34
Supervision 3 Bit 2 of 32.1 Supervision status (page 351). 35
RO/DIO control Bit 0 of 10.99 RO/DIO control word (page 183). 40
word bit0
RO/DIO control Bit 1 of 10.99 RO/DIO control word (page 183). 41
word bit1
RO/DIO control Bit 2 of 10.99 RO/DIO control word (page 183). 42
word bit2
RO/DIO control Bit 8 of 10.99 RO/DIO control word (page 183). 43
word bit8
RO/DIO control Bit 9 of 10.99 RO/DIO control word (page 183). 44
word bit9
Other [bit] See Terms and abbreviations (page 134).
11.7 DIO1 ON delay Defines the activation delay for digital input/output 0.0 s / uint32
DIO1 (when used as a digital output or digital input).

1
*DIO status
0
*Delayed 1
DIO status
0
Time
tOn tOff tOn tOff

tOn = 11.7 DIO1 ON delay

tOff = 11.8 DIO1 OFF delay
*Electrical status of DIO (in input mode) or status of
selected source (in output mode). Indicated by 11.1
DIO status.
**Indicated by 11.2 DIO delayed status.
0.0 ... 3000.0 s Activation delay for DIO1. 10 = 1 s / 10 = 1 s
11.8 DIO1 OFF delay Defines the deactivation delay for digital input/output 0.0 s / uint32
DIO1 (when used as a digital output or digital input).
See parameter 11.7 DIO1 ON delay.
0.0 ... 3000.0 s Deactivation delay for DIO1. 10 = 1 s / 10 = 1 s
11.9 DIO2 function Selects whether DIO2 is used as a digital output or Output / uint16
input, or a frequency output.
Output DIO2 is used as a digital output. 0
Input DIO2 is used as a digital input. 1
Frequency DIO2 is used as a frequency output. 2
11.10 DIO2 output source Selects a drive signal to be connected to digital Running / uint32
input/output DIO2 when parameter 11.9 DIO2 function
is set to Output.
For the available selections, see parameter 11.6 DIO1
output source.
 Parameters 187

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
11.11 DIO2 ON delay Defines the activation delay for digital input/output 0.0 s / uint32
DIO2 (when used as a digital output or digital input).

1
*DIO status
0
*Delayed 1
DIO status
0
Time
tOn tOff tOn tOff

tOn = 11.11 DIO2 ON delay

tOff = 11.12 DIO2 OFF delay
*Electrical status of DIO (in input mode) or status of
selected source (in output mode). Indicated by 11.1
DIO status.
**Indicated by 11.2 DIO delayed status.
0.0 ... 3000.0 s Activation delay for DIO2. 10 = 1 s / 10 = 1 s
11.12 DIO2 OFF delay Defines the deactivation delay for digital input/output 0.0 s / uint32
DIO2 (when used as a digital output or digital input).
See parameter 11.11 DIO2 ON delay.
0.0 ... 3000.0 s Deactivation delay for DIO2. 10 = 1 s / 10 = 1 s
11.38 Freq in 1 actual Displays the value of frequency input 1 (via DIO1 when - / real32
value it is used as a frequency input) before scaling. See
parameter 11.42 Freq in 1 min.
This parameter is read-only.
0 ... 16000 Hz Unscaled value of frequency input 1. 1 = 1 Hz / 1 = 1 Hz
11.39 Freq in 1 scaled Displays the value of frequency input 1 (via DIO1 when - / real32
it is used as a frequency input) after scaling. See
parameter 11.42 Freq in 1 min.
This parameter is read-only.
-32768.000 ... Scaled value of frequency input 1. 1 = 1 / 1000 = 1
32767.000
11.42 Freq in 1 min Defines the minimum for the frequency actually 0 Hz / real32
arriving at frequency input 1 (DIO1 when it is used as
a frequency input).
The incoming frequency signal (11.38 Freq in 1 actual
value) is scaled into an internal signal (11.39 Freq in 1
scaled) by parameters 11.42…11.45 as follows:

11.39

11.45

11.44

fin (11.38 )
11.42 11.43
188 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0 ... 16000 Hz Minimum frequency of frequency input 1 (DIO1). 1 = 1 Hz / 1 = 1 Hz
11.43 Freq in 1 max Defines the maximum for the frequency actually 16000 Hz / real32
arriving at frequency input 1 (DIO1 when it is used as
a frequency input).
See parameter 11.42 Freq in 1 min.
0 ... 16000 Hz Maximum frequency for frequency input 1 (DIO1). 1 = 1 Hz / 1 = 1 Hz
11.44 Freq in 1 at scaled Defines the value that is required to correspond 0.000 / real32
min internally to the minimum input frequency defined by
parameter 11.42 Freq in 1 min. See diagram at
parameter 11.42 Freq in 1 min.
-32768.000 ... Value corresponding to minimum of frequency input 1 = 1 / 1000 = 1
32767.000 1.
11.45 Freq in 1 at scaled Defines the value that is required to correspond 1500.000; 1800.000
max internally to the maximum input frequency defined by (95.20 b0) / real32
parameter 11.43 Freq in 1 max. See diagram at
parameter 11.42 Freq in 1 min.
-32768.000 ... Value corresponding to maximum of frequency input 1 = 1 / 1000 = 1
32767.000 1.
11.54 Freq out 1 actual Displays the value of frequency output 1 after scaling. - / real32
value See parameter 11.58 Freq out 1 src min.
This parameter is read-only.
0 ... 16000 Hz Value of frequency output 1. 1 = 1 Hz / 1 = 1 Hz
11.55 Freq out 1 source Selects a signal to be connected to frequency output Motor speed used /
1. uint32
Zero None 0
Motor speed used 1.1 Motor speed used (page 138). 1
Output frequency 1.6 Output frequency (page 138). 3
Motor current 1.7 Motor current (page 138). 4
Motor torque 1.10 Motor torque (page 138). 6
DC voltage 1.11 DC voltage (page 139). 7
Power inu out 1.14 Output power (page 139). 8
Speed ref ramp in 23.1 Speed ref ramp input (page 278). 10
Speed ref ramp out 23.2 Speed ref ramp output (page 278). 11
Speed ref used 24.1 Used speed reference (page 285). 12
Torq ref used 26.2 Torque reference used (page 304). 13
Freq ref used 28.2 Frequency ref ramp output (page 313). 14
Process PID out 40.1 Process PID output actual (page 387). 16
Process PID fbk 40.2 Process PID feedback actual (page 387). 17
Process PID act 40.3 Process PID setpoint actual (page 387). 18
Process PID dev 40.4 Process PID deviation actual (page 387). 19
Other [value] See Terms and abbreviations (page 134).
 Parameters 189

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
11.58 Freq out 1 src min Defines the real value of the signal (selected by 0.000 / real32
parameter 11.55 Freq out 1 source and shown by
parameter 11.54 Freq out 1 actual value) that
corresponds to the minimum value of frequency output
1 (defined by parameter 11.60 Freq out 1 at src min).

fout (11.54 )

11.61

11.60

11.58 11.59 Signal (real)

selected by
par. 11.55

fout (11.54 )

11.61

11.60

11.59 11.58 Signal (real)

selected by
par. 11.55

-32768.000 ... Real signal value corresponding to minimum value of 1 = 1 / 1000 = 1

32767.000 frequency output 1.
11.59 Freq out 1 src max Defines the real value of the signal (selected by 1500.000; 1800.000
parameter 11.55 Freq out 1 source and shown by (95.20 b0) / real32
parameter 11.54 Freq out 1 actual value) that
corresponds to the maximum value of frequency
output 1 (defined by parameter 11.61 Freq out 1 at src
max). See parameter 11.58 Freq out 1 src min.
-32768.000 ... Real signal value corresponding to maximum value of 1 = 1 / 1000 = 1
32767.000 frequency output 1.
11.60 Freq out 1 at src Defines the minimum value of frequency output 1. See 0 Hz / real32
min diagrams at parameter 11.58 Freq out 1 src min.
0 ... 16000 Hz Minimum value of frequency output 1. 1 = 1 Hz / 1 = 1 Hz
11.61 Freq out 1 at src Defines the maximum value of frequency output 1. See 16000 Hz / real32
max diagrams at parameter 11.58 Freq out 1 src min.
0 ... 16000 Hz Maximum value of frequency output 1. 1 = 1 Hz / 1 = 1 Hz
11.81 DIO filter time Defines a filtering time for parameter 11.1 DIO status 10.0 ms / uint32
and 11.2 DIO delayed status. The filtering time will only
affect the DIOs that are in input mode.
0.3 ... 100.0 ms Filtering time for 11.1. 10 = 1 ms / 10 = 1 ms
190 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
12 Standard AI Configuration of standard analog inputs.
12.1 AI tune Triggers the analog input tuning function. No action / uint16
Connect the signal to the input and select the
appropriate tuning function.
No action AI tune is not activated. 0
AI1 min tune Current analog input AI1 signal value is set as minimum 1
value of AI1 into parameter 12.17 AI1 min. The value
reverts back to No action automatically.
AI1 max tune Current analog input AI1 signal value is set as maximum 2
value of AI1 into parameter 12.18 AI1 max. The value
reverts back to No action automatically.
AI2 min tune Current analog input AI2 signal value is set as minimum 3
value of AI2 into parameter 12.27 AI2 min. The value
reverts back to No action automatically.
AI2 max tune Current analog input AI2 signal value is set as 4
maximum value of AI2 into parameter 12.28 AI2 max.
The value reverts back to No action automatically.
12.3 AI supervision Selects how the drive reacts when an analog input No action / uint16
function signal moves out of the minimum and/or maximum
limits specified for the input.
The supervision applies a margin of 0.5 V or 1.0 mA to
the limits. For example, if the maximum limit for the
input is 7.000 V, the maximum limit supervision
activates at 7.500 V.
The inputs and the limits to be observed are selected
by parameter 12.4 AI supervision selection.

Note: Analog input signal supervision is only active

when

• the analog input is set as the source (using the

AI1 scaled or AI2 scaled selection) in parameter
22.11, 22.12, 22.15, 22.17, 23.42, 26.11, 26.12, 26.16,
26.25, 28.11, 28.12, 30.21, 30.22, 40.16, 40.17, 40.50,
41.16, 41.17, 41.50 or 44.9, and is being used as
the active source, or

• supervision is forced using parameter 12.5 AI

supervision force.

No action No action taken. 0

Fault Drive trips on 80A0 AI Supervision. 1
Warning Drive generates an A8A0 AI Supervised Warning 2
warning.
 Parameters 191

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Last speed Drive generates a warning (A8A0 AI Supervised 3
Warning) and freezes the speed (or frequency) to the
level the drive was operating at. The speed/frequency
is determined on the basis of actual speed using 850
ms low-pass filtering.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Speed ref safe Drive generates a warning (A8A0 AI Supervised 4

Warning) and sets the speed to the speed defined by
parameter 22.41 Speed ref safe (or 28.41 Frequency
ref safe when frequency reference is being used).

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

12.4 AI supervision Specifies the analog input limits to be supervised. See - / uint16
selection parameter 12.3 AI supervision function.
b0 AI1 < MIN 1 = Minimum limit supervision of AI1 active.
b1 AI1 > MAX 1 = Maximum limit supervision of AI1 active.
b2 AI2 < MIN 1 = Minimum limit supervision of AI2 active.
b3 AI2 > MAX 1 = Maximum limit supervision of AI2 active.
b4…15 Reserved
0000h…FFFFh 1=1
12.5 AI supervision force Activates analog input supervision separately for each - / uint16
control location (see section Local control vs. external
control (page 23)).
The parameter is primarily intended for analog input
supervision when the input is connected to the
application program and not selected as a control
source by drive parameters.
b0 AI1 Ext 1 1 = AI1 supervision active when EXT1 is being used.
b1 AI1 Ext 2 1 = AI1 supervision active when EXT2 is being used.
b2 AI1 Local 1 = AI1 supervision active when local control is being
used.
b3 Reserved
b4 AI2 Ext 1 1 = AI2 supervision active when EXT1 is being used.
b5 AI2 Ext 2 1 = AI2 supervision active when EXT2 is being used.
b6 AI2 Local 1 = AI2 supervision active when local control is being
used.
b7…15 Reserved
0000 0000b…0111 1=1
0111b
192 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
12.11 AI1 actual value Displays the value of analog input AI1 in mA or V - / real32
(depending on whether the input is set to current or
voltage by a hardware setting).
This parameter is read-only.
-22.000 ... 22.000 Value of analog input AI1. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
12.12 AI1 scaled value Displays the value of analog input AI1 after scaling. - / real32
See parameters 12.19 AI1 scaled at AI1 min and 12.20
AI1 scaled at AI1 max.
This parameter is read-only.
-32768.000 ... Scaled value of analog input AI1. 1 = 1 / 1000 = 1
32767.000
12.15 AI1 unit selection Selects the unit for readings and settings related to V / uint16
analog input AI1.

Note: This setting must match the corresponding

hardware setting on the drive control unit (see the
hardware manual of the drive). Control board reboot
(either by cycling the power or through parameter 96.8
Control board boot) is required to validate any changes
in the hardware settings.

V Volts. 2
mA Milliamperes. 10
12.16 AI1 filter time Defines the filter time constant for analog input AI1. 0.100 s / real32

%
Unfiltered signal

100

63
Filtered signal

t
T

O = I × (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant

Note: The signal is also filtered due to the signal

interface hardware (approximately 0.25 ms time
constant). This cannot be changed by any parameter.

0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1

s
 Parameters 193

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
12.17 AI1 min Defines the minimum site value for analog input AI1. 0.000 mA or V /
Set the value actually sent to the drive when the analog real32
signal from plant is wound to its minimum setting.
See also parameter 12.1 AI tune.
-22.000 ... 22.000 Minimum value of AI1. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
12.18 AI1 max Defines the maximum site value for analog input AI1. 20.000 mA or V /
Set the value actually sent to the drive when the analog real32
signal from plant is wound to its maximum setting.
See also parameter 12.1 AI tune.
-22.000 ... 22.000 Maximum value of AI1. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
12.19 AI1 scaled at AI1 min Defines the real internal value that corresponds to the 0.000 / real32
minimum analog input AI1 value defined by parameter
12.17 AI1 min. (Changing the polarity settings of 12.19
and 12.20 can effectively invert the analog input.)

AIscaled (12.12 )

12.20

AIin (12.11 )
12.17
12.18

12.19

-32768.000 ... Real value corresponding to minimum AI1 value. 1 = 1 / 1000 = 1

32767.000
12.20 AI1 scaled at AI1 Defines the real internal value that corresponds to the 1500.000; 1800.000
max maximum analog input AI1 value defined by parameter (95.20 b0) / real32
12.18 AI1 max. See the drawing at parameter 12.19 AI1
scaled at AI1 min.
-32768.000 ... Real value corresponding to maximum AI1 value. 1 = 1 / 1000 = 1
32767.000
12.21 AI2 actual value Displays the value of analog input AI2 in mA or V - / real32
(depending on whether the input is set to current or
voltage by a hardware setting).
This parameter is read-only
-22.000 ... 22.000 Value of analog input AI2. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
194 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
12.22 AI2 scaled value Displays the value of analog input AI2 after scaling. - / real32
See parameters 12.29 AI2 scaled at AI2 min and 12.30
AI2 scaled at AI2 max.
This parameter is read-only.
-32768.000 ... Scaled value of analog input AI2. 1 = 1 / 1000 = 1
32767.000
12.25 AI2 unit selection Selects the unit for readings and settings related to mA / uint16
analog input AI2.

Note: This setting must match the corresponding

hardware setting on the drive control unit (see the
hardware manual of the drive). Control board reboot
(either by cycling the power or through parameter 96.8
Control board boot) is required to validate any changes
in the hardware settings.

V Volts. 2
mA Milliamperes. 10
12.26 AI2 filter time Defines the filter time constant for analog input AI2. 0.100 s / real32
See parameter 12.16 AI1 filter time.
0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1
s
12.27 AI2 min Defines the minimum site value for analog input AI2. 0.000 mA or V /
Set the value actually sent to the drive when the analog real32
signal from plant is wound to its minimum setting.
See also parameter 12.1 AI tune.
-22.000 ... 22.000 Minimum value of AI2. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
12.28 AI2 max Defines the maximum site value for analog input AI2. 20.000 mA or V /
Set the value actually sent to the drive when the analog real32
signal from plant is wound to its maximum setting.
See also parameter 12.1 AI tune.
-22.000 ... 22.000 Maximum value of AI2. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
 Parameters 195

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
12.29 AI2 scaled at AI2 Defines the real value that corresponds to the 0.000 / real32
min minimum analog input AI2 value defined by parameter
12.27 AI2 min. (Changing the polarity settings of 12.29
and 12.30 can effectively invert the analog input.)

AIscaled (12.22 )

12.30

AIin (12.21 )
12.27
12.28

12.29

-32768.000 ... Real value corresponding to minimum AI2 value. 1 = 1 / 1000 = 1

32767.000
12.30 AI2 scaled at AI2 Defines the real value that corresponds to the 100.000 / real32
max maximum analog input AI2 value defined by parameter
12.28 AI2 max.
See the drawing at parameter 12.29 AI2 scaled at AI2
min.
-32768.000 ... Real value corresponding to maximum AI2 value. 1 = 1 / 1000 = 1
32767.000
196 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
13 Standard AO Configuration of standard analog outputs.
13.11 AO1 actual value Displays the value of AO1 in mA. - / real32
This parameter is read-only.
0.000 ... 22.000 mA Value of AO1. 1000 = 1 mA / 1000
= 1 mA
13.12 AO1 source Selects a signal to be connected to analog output AO1. Motor speed used /
Alternatively, sets the output to excitation mode to uint32
feed a constant current to a temperature sensor.
Zero None 0
Motor speed used 1.1 Motor speed used (page 138). 1
Output frequency 1.6 Output frequency (page 138). 3
Motor current 1.7 Motor current (page 138). 4
Motor torque 1.10 Motor torque (page 138). 6
DC voltage 1.11 DC voltage (page 139). 7
Power inu out 1.14 Output power (page 139). 8
Speed ref ramp in 23.1 Speed ref ramp input (page 278). 10
Speed ref ramp out 23.2 Speed ref ramp output (page 278). 11
Speed ref used 24.1 Used speed reference (page 285). 12
Torq ref used 26.2 Torque reference used (page 304). 13
Freq ref used 28.2 Frequency ref ramp output (page 313). 14
Process PID out 40.1 Process PID output actual (page 387). 16
Process PID fbk 40.2 Process PID feedback actual (page 387). 17
Process PID act 40.3 Process PID setpoint actual (page 387). 18
Process PID dev 40.4 Process PID deviation actual (page 387). 19
Other [value] See Terms and abbreviations (page 134).
Force Pt100 The output is used to feed an excitation current to 20
excitation 1…3 Pt100 sensors. See section Motor thermal
protection (page 90).
Force KTY84 The output is used to feed an excitation current to a 21
excitation KTY84 sensor. See section Motor thermal
protection (page 90).
Force PTC The output is used to feed an excitation current to 22
excitation 1…3 PTC sensors. See section Motor thermal
protection (page 90).
Force Pt1000 The output is used to feed an excitation current to 23
excitation 1…3 Pt1000 sensors. See section Motor thermal
protection (page 90).
AO1 data storage 13.91 AO1 data storage (page 201). 37
AO2 data storage 13.92 AO2 data storage (page 201). 38
 Parameters 197

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
13.16 AO1 filter time Defines the filtering time constant for analog output 0.100 s / real32
AO1.

%
Unfiltered signal

100

63
Filtered signal

t
T

O = I × (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant
0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1
s
198 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
13.17 AO1 source min Defines the real minimum value of the signal (selected 0.0 / real32
by parameter 13.12 AO1 source) that corresponds to
the minimum required AO1 output value (defined by
parameter 13.19 AO1 out at AO1 src min).

IAO1 (mA)

13.20

13.19

13.17 13.18 Signal (real)

selected by
13.12

Programming 13.17 as the maximum value and 13.18

as the minimum value inverts the output.

IAO1 (mA)

13.20

13.19

13.18 13.17 Signal (real)

selected by
13.12

-32768.0 ... 32767.0 Real signal value corresponding to minimum AO1 1 = 1 / 10 = 1

output value.
13.18 AO1 source max Defines the real maximum value of the signal (selected 1500.000; 1800.000
by parameter 13.12 AO1 source) that corresponds to (95.20 b0) / real32
the maximum required AO1 output value (defined by
parameter 13.20 AO1 out at AO1 src max). See
parameter 13.17 AO1 source min.
-32768.0 ... 32767.0 Real signal value corresponding to maximum AO1 1 = 1 / 10 = 1
output value.
13.19 AO1 out at AO1 src Defines the minimum output value for analog output 0.000 mA / real32
min AO1.
See also drawing at parameter 13.17 AO1 source min.
0.000 ... 22.000 mA Minimum AO1 output value. 1000 = 1 mA / 1000
= 1 mA
 Parameters 199

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
13.20 AO1 out at AO1 src Defines the maximum output value for analog output 20.000 mA / real32
max AO1.
See also drawing at parameter 13.17 AO1 source min.
0.000 ... 22.000 mA Maximum AO1 output value. 1000 = 1 mA / 1000
= 1 mA
13.21 AO2 actual value Displays the value of AO2 in mA. - / real32
This parameter is read-only.
0.000 ... 22.000 mA Value of AO2. 1000 = 1 mA / 1000
= 1 mA
13.22 AO2 source Selects a signal to be connected to analog output AO2. Motor current /
Alternatively, sets the output to excitation mode to uint32
feed a constant current to a temperature sensor.
For the selections, see parameter 13.12 AO1 source.
13.26 AO2 filter time Defines the filtering time constant for analog output 0.100 s / real32
AO2. See parameter 13.16 AO1 filter time.
0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1
s
200 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
13.27 AO2 source min Defines the real minimum value of the signal (selected 0.0 / real32
by parameter 13.22 AO2 source) that corresponds to
the minimum required AO2 output value (defined by
parameter 13.29 AO2 out at AO2 src min).

IAO2 (mA)

13.30

13.29

13.27 13.28
Signal (real)
selected by
13.22

Programming 13.27 as the maximum value and 13.28

as the minimum value inverts the output.

IAO2 (mA)

13.30

13.29

13.28 13.27 Signal (real)

selected by
13.22

-32768.0 ... 32767.0 Real signal value corresponding to minimum AO2 1 = 1 / 10 = 1

output value.
13.28 AO2 source max Defines the real maximum value of the signal (selected 100.0 / real32
by parameter 13.22 AO2 source) that corresponds to
the maximum required AO2 output value (defined by
parameter 13.30 AO2 out at AO2 src max). See
parameter 13.27 AO2 source min.
-32768.0 ... 32767.0 Real signal value corresponding to maximum AO2 1 = 1 / 10 = 1
output value.
13.29 AO2 out at AO2 src Defines the minimum output value for analog output 0.000 mA / real32
min AO2.
See also drawing at parameter 13.27 AO2 source min.
0.000 ... 22.000 mA Minimum AO2 output value. 1000 = 1 mA / 1000
= 1 mA
 Parameters 201

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
13.30 AO2 out at AO2 src Defines the maximum output value for analog output 20.000 mA / real32
max AO2.
See also drawing at parameter 13.27 AO2 source min.
0.000 ... 22.000 mA Maximum AO2 output value. 1000 = 1 mA / 1000
= 1 mA
13.91 AO1 data storage Storage parameter for controlling analog output AO1 0.00 / real32
eg. through fieldbus.
In 13.12 AO1 source, select AO1 data storage. Then set
this parameter as the target of the incoming value
data.
With the embedded fieldbus interface, simply set the
target selection parameter of that particular data
(58.101…58.124) to AO1 data storage.
-327.68 ... 327.67 Storage parameter for AO1. 100 = 1 / 100 = 1
13.92 AO2 data storage Storage parameter for controlling analog output AO2 0.00 / real32
eg. through fieldbus.
In 13.22 AO2 source, select AO2 data storage. Then set
this parameter as the target of the incoming value
data.
With the embedded fieldbus interface, simply set the
target selection parameter of that particular data
(58.101…58.124) to AO2 data storage.
-327.68 ... 327.67 Storage parameter for AO2. 100 = 1 / 100 = 1
202 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14 I/O extension Configuration of I/O extension module 1.
module 1 See also section Programmable I/O
extensions (page 33).

Note: The contents of the parameter group vary

according to the selected I/O extension module type.

14.1 Module 1 type Activates (and specifies the type of) I/O extension None / uint16
module 1.

Note: This parameter cannot be changed while the

drive is running.

None Inactive. 0
FIO-01 FIO-01. 1
FIO-11 FIO-11. 2
FAIO-01 FAIO-01. 4
FDIO-01 FDIO-01. 3
14.2 Module 1 location Specifies the slot (1…3) on the control unit of the drive 1 / uint16
into which the I/O extension module is installed.
Alternatively, specifies the node ID of the slot on an
FEA-03 extension adapter.

Note: This parameter cannot be changed while the

drive is running.

1 ... 254 Slot 1 = 1; Slot 2 = 2; Slot 3 = 3. 1=1/1=1

4…254: Node ID of the slot on the FEA-03 extension
adapter.
14.3 Module 1 status Displays the status of I/O extension module 1. No option / uint16
No option No module detected in the specified slot. 0
No communication A module has been detected but cannot be 1
communicated with.
Unknown The module type is unknown. 2
FIO-01 An FIO-01 module has been detected and is active. 15
FIO-11 An FIO-11 module has been detected and is active. 20
FAIO-01 An FAIO-01 module has been detected and is active. 24
 Parameters 203

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.5 DI status (Visible when 14.1 Module 1 type = FDIO-01) - / uint16
Displays the status of the digital inputs on the
extension module. The activation/deactivation delays
(if any are specified) are ignored. A filtering time (for
input mode) can be defined by parameter 14.8 DI filter
time.
Bit 0 indicates the status of DI1.

Note: The number of active bits in this parameter

depends on the number of digital input/outputs on
the extension module.
Example: 0101b = DI1 and DI3 are on, remainder are
off.
This parameter is read-only.
14.5 DIO status (Visible when 14.1 Module 1 type = FIO-11) - / uint16
Displays the status of the digital input/outputs on the
extension module. The activation/deactivation delays
(if any are specified) are ignored. A filtering time (for
input mode) can be defined by parameter 14.8 DIO
filter time.
Bit 0 indicates the status of DIO1.

Note: The number of active bits in this parameter

depends on the number of digital input/outputs on
the extension module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
This parameter is read-only.
14.5 DIO status (Visible when 14.1 Module 1 type = FIO-01) - / uint16
Displays the status of the digital input/outputs on the
extension module. The activation/deactivation delays
(if any are specified) are ignored. A filtering time (for
input mode) can be defined by parameter 14.8 DIO
filter time.
Bit 0 indicates the status of DIO1.

Note: The number of active bits in this parameter

depends on the number of digital input/outputs on
the extension module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
This parameter is read-only.
14.6 DI delayed status (Visible when 14.1 Module 1 type = FDIO-01) - / uint16
Displays the delayed status of the digital inputs on
the extension module. The word is updated only after
activation/deactivation delays (if any are specified).
Bit 0 indicates the status of DI1.

Note: The number of active bits in this parameter

depends on the number of digital inputs on the
extension module.
Example: 0101b = DI1 and DI3 are on, remainder are
off.
This parameter is read-only.
204 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.6 DIO delayed status (Visible when 14.1 Module 1 type = FIO-11) - / uint16
Displays the delayed status of the digital
input/outputs on the extension module. This word is
updated only after activation/deactivation delays (if
any are specified).
Bit 0 indicates the status of DIO1.

Note: The number of active bits in this parameter

depends on the number of digital input/outputs on
the extension module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
This parameter is read-only.
14.6 DIO delayed status (Visible when 14.1 Module 1 type = FIO-01) - / uint16
Displays the delayed status of the digital
input/outputs on the extension module. This word is
updated only after activation/deactivation delays (if
any are specified).
Bit 0 indicates the status of DIO1.

Note: The number of active bits in this parameter

depends on the number of digital input/outputs on
the extension module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
This parameter is read-only.
14.8 DI filter time (Visible when 14.1 Module 1 type = FDIO-01) 10.0 ms / real32
Defines a filtering time for parameters 14.5 DI status
and 14.6 DI delayed status.
0.8 ... 100.0 ms Filtering time for DI status parameters. 10 = 1 ms / 10 = 1 ms
14.8 DIO filter time (Visible when 14.1 Module 1 type = FIO-11) 10.0 ms / real32
Defines a filtering time for parameters 14.5 DIO status
and 14.6 DIO delayed status. The filtering time will only
affect the DIOs that are in input mode.
0.8 ... 100.0 ms Filtering time for DIO status parameters. 10 = 1 ms / 10 = 1 ms
14.8 DIO filter time (Visible when 14.1 Module 1 type = FIO-01) 10.0 ms / real32
Defines a filtering time for parameters 14.5 DIO status
and 14.6 DIO delayed status. The filtering time will only
affect the DIOs that are in input mode.
0.8 ... 100.0 ms Filtering time for DIO status parameters. 10 = 1 ms / 10 = 1 ms
14.9 DIO1 function (Visible when 14.1 Module 1 type = FIO-11) Input / uint16
Selects whether DIO1 of the extension module is used
as a digital input or output.
Output DIO1 is used as a digital output. 0
Input DIO1 is used as a digital input. 1
14.9 DIO1 function (Visible when 14.1 Module 1 type = FIO-01) Input / uint16
Selects whether DIO1 of the extension module is used
as a digital input or output.
Output DIO1 is used as a digital output. 0
 Parameters 205

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Input DIO1 is used as a digital input. 1
14.11 DIO1 output source (Visible when 14.1 Module 1 type = FIO-11) Not energized /
Selects a drive signal to be connected to digital uint32
input/output DIO1 of the extension module when
parameter 14.9 DIO1 function is set to Output.
Not energized Output is not energized. 0
Energized Output is energized. 1
Ready run Bit 1 of 6.11 Main status word (page 158). 2
Enabled Bit 0 of 6.16 Drive status word 1 (page 158). 4
Started Bit 5 of 6.16 Drive status word 1 (page 158). 5
Magnetized Bit 1 of 6.17 Drive status word 2 (page 159). 6
Running Bit 6 of 6.16 Drive status word 1 (page 158). 7
Ready ref Bit 2 of 6.11 Main status word (page 158). 8
At setpoint Bit 8 of 6.11 Main status word (page 158). 9
Reverse Bit 2 of 6.19 Speed control status word (page 160). 10
Zero speed Bit 0 of 6.19 Speed control status word (page 160). 11
Above limit Bit 10 of 6.17 Drive status word 2 (page 159). 12
Warning Bit 7 of 6.11 Main status word (page 158). 13
Fault Bit 3 of 6.11 Main status word (page 158). 14
Fault (-1) Inverted bit 3 of 6.11 Main status word (page 158). 15
Start request Bit 13 of 6.16 Drive status word 1 (page 158). 16
Open brake Bit 0 of 44.1 Brake control status (page 408). 22
command
Ext2 active Bit 11 of 6.16 Drive status word 1 (page 158). 23
Remote control Bit 9 of 6.11 Main status word (page 158). 24
Supervision 1 Bit 0 of 32.1 Supervision status (page 351). 33
Supervision 2 Bit 1 of 32.1 Supervision status (page 351). 34
Supervision 3 Bit 2 of 32.1 Supervision status (page 351). 35
RO/DIO control Bit 0 of 10.99 RO/DIO control word (page 183). 40
word bit0
RO/DIO control Bit 1 of 10.99 RO/DIO control word (page 183). 41
word bit1
RO/DIO control Bit 2 of 10.99 RO/DIO control word (page 183). 42
word bit2
RO/DIO control Bit 8 of 10.99 RO/DIO control word (page 183). 43
word bit8
RO/DIO control Bit 9 of 10.99 RO/DIO control word (page 183). 44
word bit9
Other [bit] See Terms and abbreviations (page 134).
206 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.11 DIO1 output source (Visible when 14.1 Module 1 type = FIO-01) Not energized /
Selects a drive signal to be connected to digital uint32
input/output DIO1 of the extension module when
parameter 14.9 DIO1 function is set to Output.
Not energized Output is not energized. 0
Energized Output is energized. 1
Ready run Bit 1 of 6.11 Main status word (page 158). 2
Enabled Bit 0 of 6.16 Drive status word 1 (page 158). 4
Started Bit 5 of 6.16 Drive status word 1 (page 158). 5
Magnetized Bit 1 of 6.17 Drive status word 2 (page 159). 6
Running Bit 6 of 6.16 Drive status word 1 (page 158). 7
Ready ref Bit 2 of 6.11 Main status word (page 158). 8
At setpoint Bit 8 of 6.11 Main status word (page 158). 9
Reverse Bit 2 of 6.19 Speed control status word (page 160). 10
Zero speed Bit 0 of 6.19 Speed control status word (page 160). 11
Above limit Bit 10 of 6.17 Drive status word 2 (page 159). 12
Warning Bit 7 of 6.11 Main status word (page 158). 13
Fault Bit 3 of 6.11 Main status word (page 158). 14
Fault (-1) Inverted bit 3 of 6.11 Main status word (page 158). 15
Start request Bit 13 of 6.16 Drive status word 1 (page 158). 16
Open brake Bit 0 of 44.1 Brake control status (page 408). 22
command
Ext2 active Bit 11 of 6.16 Drive status word 1 (page 158). 23
Remote control Bit 9 of 6.11 Main status word (page 158). 24
Supervision 1 Bit 0 of 32.1 Supervision status (page 351). 33
Supervision 2 Bit 1 of 32.1 Supervision status (page 351). 34
Supervision 3 Bit 2 of 32.1 Supervision status (page 351). 35
RO/DIO control Bit 0 of 10.99 RO/DIO control word (page 183). 40
word bit0
RO/DIO control Bit 1 of 10.99 RO/DIO control word (page 183). 41
word bit1
RO/DIO control Bit 2 of 10.99 RO/DIO control word (page 183). 42
word bit2
RO/DIO control Bit 8 of 10.99 RO/DIO control word (page 183). 43
word bit8
RO/DIO control Bit 9 of 10.99 RO/DIO control word (page 183). 44
word bit9
Other [bit] See Terms and abbreviations (page 134).
 Parameters 207

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.12 DI1 ON delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the activation delay for digital input DI1.

1
*DI status
0
**Delayed 1
DI status
0

Time
tOn tOff tOn tOff

tOn = 14.12 DI1 ON delay

tOff = 14.13 DI1 OFF delay
*Electrical status of DI or status of selected source (in
output mode). Indicated by 14.5 DI status.
**Indicated by 14.6 DI delayed status.
0.00 ... 3000.00 s Activation delay for DI1. 10 = 1 s / 100 = 1 s
14.12 DIO1 ON delay (Visible when 14.1 Module 1 type = FIO-11) 0.00 s / real32
Defines the activation delay for digital input/output
DIO1.

1
*DIO status
0
**Delayed 1
DIO status
0

Time
tOn tOff tOn tOff

tOn = 14.12 DIO1 ON delay

tOff = 14.13 DIO1 OFF delay
*Electrical status of DIO (in input mode) or status of
selected source (in output mode). Indicated by 14.5
DIO status.
**Indicated by 14.6 DIO delayed status.
0.00 ... 3000.00 s Activation delay for DIO1. 10 = 1 s / 100 = 1 s
14.12 DIO1 ON delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the activation delay for digital input/output
DIO1.

1
*DIO status
0
**Delayed 1
DIO status
0

Time
tOn tOff tOn tOff

tOn = 14.12 DIO1 ON delay

tOff = 14.13 DIO1 OFF delay
*Electrical status of DIO (in input mode) or status of
selected source (in output mode). Indicated by 14.5
DIO status.
**Indicated by 14.6 DIO delayed status.
0.00 ... 3000.00 s Activation delay for DIO1. 10 = 1 s / 100 = 1 s
208 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.13 DI1 OFF delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the deactivation delay for digital input DI1.
See parameter 14.12 DI1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DI1. 10 = 1 s / 100 = 1 s
14.13 DIO1 OFF delay (Visible when 14.1 Module 1 type = FIO-11) 0.00 s / real32
Defines the deactivation delay for digital input/output
DIO1.
See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DIO1. 10 = 1 s / 100 = 1 s
14.13 DIO1 OFF delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the deactivation delay for digital input/output
DIO1.
See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DIO1. 10 = 1 s / 100 = 1 s
14.14 DIO2 function (Visible when 14.1 Module 1 type = FIO-11) Input / uint16
Selects whether DIO2 of the extension module is used
as a digital input or output.
Output DIO2 is used as a digital output. 0
Input DIO2 is used as a digital input. 1
14.14 DIO2 function (Visible when 14.1 Module 1 type = FIO-01) Input / uint16
Selects whether DIO2 of the extension module is used
as a digital input or output.
Output DIO2 is used as a digital output. 0
Input DIO2 is used as a digital input. 1
14.16 DIO2 output source (Visible when 14.1 Module 1 type = FIO-11) Not energized /
Selects a drive signal to be connected to digital uint32
input/output DIO2 when parameter 14.14 DIO2
function is set to Output.
For the available selections, see parameter 14.11 DIO1
output source.
14.16 DIO2 output source (Visible when 14.1 Module 1 type = FIO-01) Not energized /
Selects a drive signal to be connected to digital uint32
input/output DIO2 when parameter 14.14 DIO2
function is set to Output.
For the available selections, see parameter 14.11 DIO1
output source.
14.17 DI2 ON delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the activation delay for digital input DI2. See
parameter 14.12 DI1 ON delay.
0.00 ... 3000.00 s Activation delay for DI2. 10 = 1 s / 100 = 1 s
14.17 DIO2 ON delay (Visible when 14.1 Module 1 type = FIO-11) 0.00 s / real32
Defines the activation delay for digital input/output
DIO2. See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Activation delay for DIO2. 10 = 1 s / 100 = 1 s
14.17 DIO2 ON delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the activation delay for digital input/output
DIO2. See parameter 14.12 DIO1 ON delay.
 Parameters 209

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.00 ... 3000.00 s Activation delay for DIO2. 10 = 1 s / 100 = 1 s
14.18 DI2 OFF delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the deactivation delay for digital input DI2.
See parameter 14.12 DI1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DI2. 10 = 1 s / 100 = 1 s
14.18 DIO2 OFF delay (Visible when 14.1 Module 1 type = FIO-11) 0.00 s / real32
Defines the deactivation delay for digital input/output
DIO2.
See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DIO2. 10 = 1 s / 100 = 1 s
14.18 DIO2 OFF delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the deactivation delay for digital input/output
DIO2.
See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DIO2. 10 = 1 s / 100 = 1 s
14.19 AI supervision (Visible when 14.1 Module 1 type = FAIO-01) No action / uint16
function Selects how the drive reacts when an analog input
signal moves out of the minimum and/or maximum
limits specified for the input.
The inputs and the limits to be observed are selected
by parameter 14.20 AI supervision selection.
No action No action taken. 0
Fault Drive trips on 80A0 AI Supervision. 1
Warning Drive generates an A8A0 AI Supervised Warning 2
warning.
Last speed Drive generates a warning (A8A0 AI Supervised 3
Warning) and freezes the speed (or frequency) to the
level the drive was operating at. The speed/frequency
is determined on the basis of actual speed using
850 ms low-pass filtering.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Speed ref safe Drive generates a warning (A8A0 AI Supervised 4

Warning) and sets the speed to the speed defined by
parameter 22.41 Speed ref safe (or 28.41 Frequency
ref safe when frequency reference is being used).

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

14.19 DIO3 function (Visible when 14.1 Module 1 type = FIO-01) Input / uint16
Selects whether DIO3 of the extension module is used
as a digital input or output.
Output DIO3 is used as a digital output. 0
210 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Input DIO3 is used as a digital input. 1
14.20 AI supervision (Visible when 14.1 Module 1 type = FAIO-01) - / uint16
selection Specifies the analog input limits to be supervised. See
parameter 14.19 AI supervision function.

Note: The number of active bits in this parameter

depends on the number of inputs on the extension
module.

b0 AI1 < MIN 1 = Minimum limit supervision of AI1 active.

b1 AI1 > MAX 1 = Maximum limit supervision of AI1 active.
b2 AI2 < MIN 1 = Minimum limit supervision of AI2 active.
b3 AI2 > MAX 1 = Maximum limit supervision of AI2 active.
b4…15 Reserved
0000h…FFFFh 1=1
14.20 AI supervision (Visible when 14.1 Module 1 type = FIO-11) - / uint16
selection Specifies the analog input limits to be supervised. See
parameter 14.19 AI supervision function.
b0 AI1 < MIN 1 = Minimum limit supervision of AI1 active.
b1 AI1 > MAX 1 = Maximum limit supervision of AI1 active.
b2 AI2 < MIN 1 = Minimum limit supervision of AI2 active.
b3 AI2 > MAX 1 = Maximum limit supervision of AI2 active.
b4 AI3 < MIN 1 = Minimum limit supervision of AI3 active.
b5 AI3 > MAX 1 = Maximum limit supervision of AI3 active.
b6…15 Reserved
0000h…FFFFh 1=1
14.21 AI tune (Visible when 14.1 Module 1 type = FAIO-01) No action / uint16
Triggers the analog input tuning function, which
enables the use of actual measurements as the
minimum and maximum input values instead of
potentially inaccurate estimates.
Apply the minimum or maximum signal to the input
and select the appropriate tuning function.
See also the drawing at parameter 14.35 AI1 scaled at
AI1 min.
No action Tuning action completed or no action has been 0
requested.
The parameter automatically reverts to this value after
any tuning action.
AI1 min tune The measured value of AI1 is set as the minimum value 1
of AI1 into parameter 14.33 AI1 min.
AI1 max tune The measured value of AI1 is set as the maximum value 2
of AI1 into parameter 14.34 AI1 max.
AI2 min tune The measured value of AI2 is set as the minimum value 3
of AI2 into parameter 14.48 AI2 min.
 Parameters 211

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
AI2 max tune The measured value of AI2 is set as the maximum value 4
of AI2 into parameter 14.49 AI2 max.
14.21 AI tune (Visible when 14.1 Module 1 type = FIO-11) No action / uint16
Triggers the analog input tuning function, which
enables the use of actual measurements as the
minimum and maximum input values instead of
potentially inaccurate estimates.
Apply the minimum or maximum signal to the input
and select the appropriate tuning function.
See also the drawing at parameter 14.35 AI1 scaled at
AI1 min.
No action Tuning action completed or no action has been 0
requested.
The parameter automatically reverts to this value after
any tuning action.
AI1 min tune The measured value of AI1 is set as the minimum value 1
of AI1 into parameter 14.33 AI1 min.
AI1 max tune The measured value of AI1 is set as the maximum value 2
of AI1 into parameter 14.34 AI1 max.
AI2 min tune The measured value of AI2 is set as the minimum value 3
of AI2 into parameter 14.48 AI2 min.
AI2 max tune The measured value of AI2 is set as the maximum value 4
of AI2 into parameter 14.49 AI2 max.
AI3 min tune The measured value of AI3 is set as the minimum value 5
of AI3 into parameter 14.63 AI3 min.
AI3 max tune The measured value of AI3 is set as the maximum value 6
of AI3 into parameter 14.64 AI3 max.
14.21 DIO3 output source (Visible when 14.1 Module 1 type = FIO-01) Not energized /
Selects a drive signal to be connected to digital uint32
input/output DIO3 when parameter 14.19 DIO3
function is set to Output.
For the available selections, see parameter 14.11 DIO1
output source.
14.22 AI force selection (Visible when 14.1 Module 1 type = FAIO-01) - / uint16
The true readings of the analog inputs can be
overridden for eg. testing purposes. A forced value
parameter is provided for each analog input, and its
value is applied whenever the corresponding bit in this
parameter is 1.
b0 AI1 1 = Force mode: Force AI1 to value of parameter 14.28
AI1 force data.
b1 AI2 1 = Force mode: Force AI2 to value of parameter 14.43
AI2 force data.
b2…15 Reserved
0000h…FFFFh 1=1
14.22 DI3 ON delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the activation delay for digital input DI3. See
parameter 14.12 DI1 ON delay.
212 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.00 ... 3000.00 s Activation delay for DI3. 10 = 1 s / 100 = 1 s
14.22 AI force selection (Visible when 14.1 Module 1 type = FIO-11) - / uint16
The true readings of the analog inputs can be
overridden for eg. testing purposes. A forced value
parameter is provided for each analog input, and its
value is applied whenever the corresponding bit in this
parameter is 1.
b0 AI1 1 = Force mode: Force AI1 to value of parameter 14.28
AI1 force data.
b1 AI2 1 = Force mode: Force AI2 to value of parameter 14.43
AI2 force data.
b2 AI3 1 = Force mode: Force AI3 to value of parameter 14.58
AI3 force data (FIO-11 only).
b3…15 Reserved
0000h…FFFFh 1=1
14.22 DIO3 ON delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the activation delay for digital input/output
DIO3. See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Activation delay for DIO3. 10 = 1 s / 100 = 1 s
14.23 DI3 OFF delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the deactivation delay for digital input DI3.
See parameter 14.12 DI1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DI3. 10 = 1 s / 100 = 1 s
14.23 DIO3 OFF delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the deactivation delay for digital input/output
DIO3.
See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DIO3. 10 = 1 s / 100 = 1 s
14.24 DIO4 function (Visible when 14.1 Module 1 type = FIO-01) Input / uint16
Selects whether DIO4 of the extension module is used
as a digital input or output.
Output DIO4 is used as a digital output. 0
Input DIO4 is used as a digital input. 1
14.26 AI1 actual value (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Displays the value of analog input AI1 in mA or V
(depending on whether the input is set to current or
voltage).
This parameter is read-only.
-22.000 ... 22.000 Value of analog input AI1. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.26 DIO4 output source (Visible when 14.1 Module 1 type = FIO-01) Not energized /
Selects a drive signal to be connected to digital uint32
input/output DIO4 when parameter 14.24 DIO4
function is set to Output.
For the available selections, see parameter 14.11 DIO1
output source.
 Parameters 213

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.27 AI1 scaled value (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Displays the value of analog input AI1 after scaling.
See parameter 14.35 AI1 scaled at AI1 min.
This parameter is read-only.
-32768.000 ... Scaled value of analog input AI1. 1 = 1 / 1000 = 1
32767.000
14.27 DIO4 ON delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the activation delay for digital input/output
DIO4. See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Activation delay for DIO4. 10 = 1 s / 100 = 1 s
14.28 AI1 force data (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Forced value that can be used instead of the true
reading of the input. See parameter 14.22 AI force
selection.
-22.000 ... 22.000 Forced value of analog input AI1. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.28 DIO4 OFF delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the deactivation delay for digital input/output
DIO4. See parameter 14.12 DIO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for DIO4. 10 = 1 s / 100 = 1 s
14.29 AI1 HW switch (Visible when 14.1 Module 1 type = FAIO-01) mA / uint16
position Shows the position of the hardware current/voltage
selector on the I/O extension module.

Note: The setting of the current/voltage selector must

match the unit selection made in parameter 14.30 AI1
unit selection. I/O module reboot either by cycling the
power or through parameter 96.8 Control board boot
is required to validate any changes in the hardware
settings.

mA Milliamperes. 10
V Volts. 2
14.30 AI1 unit selection (Visible when 14.1 Module 1 type = FAIO-01) mA / uint16
Selects the unit for readings and settings related to
analog input AI1.

Note: This setting must match the corresponding

hardware setting on the I/O extension module (see
the manual of the I/O extension module). The hardware
setting is shown by parameter 14.29 AI1 HW switch
position. I/O module reboot either by cycling the
power or through parameter 96.8 Control board boot
is required to validate any changes in the hardware
settings.

mA Milliamperes. 10
V Volts. 2
214 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.31 RO status (Visible when 14.1 Module 1 type = FDIO-01) - / uint16
Status of relay outputs on the I/O extension module.
Example: 0001b = RO1 is energized, RO2 is
de-energized.
14.31 AI1 filter gain (Visible when 14.1 Module 1 type = FAIO-01) 1 ms / uint16
Selects a hardware filtering time for AI1.
See also parameter 14.32 AI1 filter time.
No filtering No filtering. 0
125 us 125 microseconds. 1
250 us 250 microseconds. 2
500 us 500 microseconds. 3
1 ms 1 millisecond. 4
2 ms 2 milliseconds. 5
4 ms 4 milliseconds. 6
7.9375 ms 7.9375 milliseconds. 7
14.31 RO status (Visible when 14.1 Module 1 type = FIO-01) - / uint16
Status of relay outputs on the I/O extension module.
Example: 0001b = RO1 is energized, RO2 is
de-energized.
14.32 AI1 filter time (Visible when 14.1 Module 1 type = FAIO-01) 0.100 s / real32
Defines the filter time constant for analog input AI1.

%
Unfiltered signal

100

63
Filtered signal

t
T

O = I × (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant

Note: The signal is also filtered due to the signal

interface hardware. See parameter 14.31 AI1 filter gain.

0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1

s
 Parameters 215

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.33 AI1 min (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA or V /
Defines the minimum value for analog input AI1. real32
See also parameter 14.21 AI tune.
-22.000 ... 22.000 Minimum value of AI1. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.34 RO1 source (Visible when 14.1 Module 1 type = FDIO-01) Not energized /
Selects a drive signal to be connected to relay output uint32
RO1.
For the available selections, see parameter 14.11 DIO1
output source.
14.34 AI1 max (Visible when 14.1 Module 1 type = FAIO-01) 10.000 mA or V /
Defines the maximum value for analog input AI1. real32
See also parameter 14.21 AI tune.
-22.000 ... 22.000 Maximum value of AI1. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.34 RO1 source (Visible when 14.1 Module 1 type = FIO-01) Not energized /
Selects a drive signal to be connected to relay output uint32
RO1.
For the available selections, see parameter 14.11 DIO1
output source.
14.35 RO1 ON delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the activation delay for relay output RO1.

Status of 1
selected source
0
1
RO status
0

Time
tOn tOff tOn tOff

tOn = 14.35 RO1 ON delay

tOff = 14.36 RO1 OFF delay
0.00 ... 3000.00 s Activation delay for RO1. 10 = 1 s / 100 = 1 s
216 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.35 AI1 scaled at AI1 min (Visible when 14.1 Module 1 type = FAIO-01) 0.000 / real32
Defines the real value that corresponds to the
minimum analog input AI1 value defined by parameter
14.33 AI1 min.

AIscaled (14.27 )

14.36

AIin (14.26 )
14.33
14.34

14.35

-32768.000 ... Real value corresponding to minimum AI1 value. 1 = 1 / 1000 = 1

32767.000
14.35 RO1 ON delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the activation delay for relay output RO1.

Status of 1
selected source
0
1
RO status
0

Time
tOn tOff tOn tOff

tOn = 14.35 RO1 ON delay

tOff = 14.36 RO1 OFF delay
0.00 ... 3000.00 s Activation delay for RO1. 10 = 1 s / 100 = 1 s
14.36 RO1 OFF delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the deactivation delay for relay output RO1.
See parameter 14.35 RO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for RO1. 10 = 1 s / 100 = 1 s
14.36 AI1 scaled at AI1 (Visible when 14.1 Module 1 type = FAIO-01) 100.000 / real32
max Defines the real value that corresponds to the
maximum analog input AI1 value defined by parameter
14.34 AI1 max.
See the drawing at parameter 14.35 AI1 scaled at AI1
min.
-32768.000 ... Real value corresponding to maximum AI1 value. 1 = 1 / 1000 = 1
32767.000
14.36 RO1 OFF delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the deactivation delay for relay output RO1.
See parameter 14.35 RO1 ON delay.
 Parameters 217

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.00 ... 3000.00 s Deactivation delay for RO1. 10 = 1 s / 100 = 1 s
14.37 RO2 source (Visible when 14.1 Module 1 type = FDIO-01) Not energized /
Selects a drive signal to be connected to relay output uint32
RO2.
For the available selections, see parameter 14.11 DIO1
output source.
14.37 RO2 source (Visible when 14.1 Module 1 type = FIO-01) Not energized /
Selects a drive signal to be connected to relay output uint32
RO2.
For the available selections, see parameter 14.11 DIO1
output source.
14.38 RO2 ON delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the activation delay for relay output RO2. See
parameter 14.35 RO1 ON delay.
0.00 ... 3000.00 s Activation delay for RO2. 10 = 1 s / 100 = 1 s
14.38 RO2 ON delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the activation delay for relay output RO2. See
parameter 14.35 RO1 ON delay.
0.00 ... 3000.00 s Activation delay for RO2. 10 = 1 s / 100 = 1 s
14.39 RO2 OFF delay (Visible when 14.1 Module 1 type = FDIO-01) 0.00 s / real32
Defines the deactivation delay for relay output RO2.
See parameter 14.35 RO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for RO2. 10 = 1 s / 100 = 1 s
14.39 RO2 OFF delay (Visible when 14.1 Module 1 type = FIO-01) 0.00 s / real32
Defines the deactivation delay for relay output RO2.
See parameter 14.35 RO1 ON delay.
0.00 ... 3000.00 s Deactivation delay for RO2. 10 = 1 s / 100 = 1 s
14.41 AI2 actual value (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Displays the value of analog input AI2 in mA or V
(depending on whether the input is set to current or
voltage).
This parameter is read-only.
-22.000 ... 22.000 Value of analog input AI2. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.42 AI2 scaled value (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Displays the value of analog input AI2 after scaling.
See parameter 14.50 AI2 scaled at AI2 min.
This parameter is read-only.
-32768.000 ... Scaled value of analog input AI2. 1 = 1 mA or V / 1000
32767.000 mA or V = 1 mA or V
14.43 AI2 force data (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Forced value that can be used instead of the true
reading of the input. See parameter 14.22 AI force
selection.
-22.000 ... 22.000 Forced value of analog input AI2. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
218 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.44 AI2 HW switch (Visible when 14.1 Module 1 type = FAIO-01) mA / uint16
position Shows the position of the hardware current/voltage
selector on the I/O extension module.

Note: The setting of the current/voltage selector must

match the unit selection made in parameter 14.45 AI2
unit selection. I/O module reboot either by cycling the
power or through parameter 96.8 Control board boot
is required to validate any changes in the hardware
settings.

mA Milliamperes. 10
V Volts. 2
14.45 AI2 unit selection (Visible when 14.1 Module 1 type = FAIO-01) mA / uint16
Selects the unit for readings and settings related to
analog input AI2.

Note: This setting must match the corresponding

hardware setting on the I/O extension module (see
the manual of the I/O extension module). The hardware
setting is shown by parameter 14.44 AI2 HW switch
position. I/O module reboot either by cycling the
power or through parameter 96.8 Control board boot
is required to validate any changes in the hardware
settings.

mA Milliamperes. 10
V Volts. 2
14.46 AI2 filter gain (Visible when 14.1 Module 1 type = FAIO-01) 1 ms / uint16
Selects a hardware filtering time for AI2.
See also parameter 14.47 AI2 filter time.
No filtering No filtering. 0
125 us 125 microseconds. 1
250 us 250 microseconds. 2
500 us 500 microseconds. 3
1 ms 1 millisecond. 4
2 ms 2 milliseconds. 5
4 ms 4 milliseconds. 6
7.9375 ms 7.9375 milliseconds. 7
 Parameters 219

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.47 AI2 filter time (Visible when 14.1 Module 1 type = FAIO-01) 0.100 s / real32
Defines the filter time constant for analog input AI2.

%
Unfiltered signal

100

63
Filtered signal

t
T

O = I × (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant

Note: The signal is also filtered due to the signal

interface hardware. See parameter 14.46 AI2 filter gain.

0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1

s
14.48 AI2 min (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA or V /
Defines the minimum value for analog input AI2. real32
See also parameter 14.21 AI tune.
-22.000 ... 22.000 Minimum value of AI2. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.49 AI2 max (Visible when 14.1 Module 1 type = FAIO-01) 10.000 mA or V /
Defines the maximum value for analog input AI2. real32
See also parameter 14.21 AI tune.
-22.000 ... 22.000 Maximum value of AI2. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
220 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.50 AI2 scaled at AI2 (Visible when 14.1 Module 1 type = FAIO-01) 0.000 / real32
min Defines the real value that corresponds to the
minimum analog input AI2 value defined by parameter
14.48 AI2 min.

AIscaled (14.42 )

14.51

14.48 AIin (14.41 )

14.49

14.50

-32768.000 ... Real value corresponding to minimum AI2 value. 1 = 1 / 1000 = 1

32767.000
14.51 AI2 scaled at AI2 (Visible when 14.1 Module 1 type = FAIO-01) 100.000 / real32
max Defines the real value that corresponds to the
maximum analog input AI2 value defined by parameter
14.49 AI2 max.
See the drawing at parameter 14.50 AI2 scaled at AI2
min.
-32768.000 ... Real value corresponding to maximum AI2 value. 1 = 1 / 1000 = 1
32767.000
14.56 AI3 actual value (Visible when 14.1 Module 1 type = FIO-11) - / real32
Displays the value of analog input AI3 in mA or V
(depending on whether the input is set to current or
voltage).
This parameter is read-only.
-22.000 ... 22.000 Value of analog input AI3. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.57 AI3 scaled value (Visible when 14.1 Module 1 type = FIO-11) - / real32
Displays the value of analog input AI3 after scaling.
See parameter 14.65 AI3 scaled at AI3 min.
This parameter is read-only.
-32768.000 ... Scaled value of analog input AI3. 1 = 1 / 1000 = 1
32767.000
14.58 AI3 force data (Visible when 14.1 Module 1 type = FIO-11) - / real32
Forced value that can be used instead of the true
reading of the input. See parameter 14.22 AI force
selection.
-22.000 ... 22.000 Forced value of analog input AI3. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
 Parameters 221

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.59 AI3 HW switch (Visible when 14.1 Module 1 type = FIO-11) mA / uint16
position Shows the position of the hardware current/voltage
selector on the I/O extension module.

Note: The setting of the current/voltage selector must

match the unit selection made in parameter 14.60 AI3
unit selection. I/O module reboot either by cycling the
power or through parameter 96.8 Control board boot
is required to validate any changes in the hardware
settings.

mA Milliamperes. 10
V Volts. 2
14.60 AI3 unit selection (Visible when 14.1 Module 1 type = FIO-11) mA / uint16
Selects the unit for readings and settings related to
analog input AI3.

Note: This setting must match the corresponding

hardware setting on the I/O extension module (see
the manual of the I/O extension module). The hardware
setting is shown by parameter 14.59 AI3 HW switch
position. I/O module reboot either by cycling the
power or through parameter 96.8 Control board boot
is required to validate any changes in the hardware
settings.

mA Milliamperes. 10
V Volts. 2
14.61 AI3 filter gain (Visible when 14.1 Module 1 type = FIO-11) 1 ms / uint16
Selects a hardware filtering time for AI3.
See also parameter 14.62 AI3 filter time.
No filtering No filtering. 0
125 us 125 microseconds. 1
250 us 250 microseconds. 2
500 us 500 microseconds. 3
1 ms 1 millisecond. 4
2 ms 2 milliseconds. 5
4 ms 4 milliseconds. 6
7.9375 ms 7.9375 milliseconds. 7
222 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.62 AI3 filter time (Visible when 14.1 Module 1 type = FIO-11) 0.100 s / real32
Defines the filter time constant for analog input AI3.

%
Unfiltered signal

100

63
Filtered signal

t
T

O = I × (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant

Note: The signal is also filtered due to the signal

interface hardware. See parameter 14.61 AI3 filter gain.

0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1

s
14.63 AI3 min (Visible when 14.1 Module 1 type = FIO-11) 0.000 mA or V /
Defines the minimum value for analog input AI3. real32
See also parameter 14.21 AI tune.
-22.000 ... 22.000 Minimum value of AI3. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
14.64 AI3 max (Visible when 14.1 Module 1 type = FIO-11) 10.000 mA or V /
Defines the maximum value for analog input AI3. real32
See also parameter 14.21 AI tune.
-22.000 ... 22.000 Maximum value of AI3. 1000 = 1 mA or V /
mA or V 1000 = 1 mA or V
 Parameters 223

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.65 AI3 scaled at AI3 (Visible when 14.1 Module 1 type = FIO-11) 0.000 / real32
min Defines the real value that corresponds to the
minimum analog input AI3 value defined by parameter
14.63 AI3 min.

AIscaled (14.57 )

14.66

AIin (14.56)
14.63
14.64

14.65

-32768.000 ... Real value corresponding to minimum AI3 value. 1 = 1 / 1000 = 1

32767.000
14.66 AI3 scaled at AI3 (Visible when 14.1 Module 1 type = FIO-11) 100.000 / real32
max Defines the real value that corresponds to the
maximum analog input AI3 value defined by parameter
14.64 AI3 max.
See the drawing at parameter 14.65 AI3 scaled at AI3
min.
-32768.000 ... Real value corresponding to maximum AI3 value. 1 = 1 / 1000 = 1
32767.000
14.71 AO force selection (Visible when 14.1 Module 1 type = FAIO-01) - / uint16
The value of the analog output can be overridden for
eg. testing purposes. A forced value parameter (14.78
AO1 force data) is provided for the analog output, and
its value is applied whenever the corresponding bit in
this parameter is 1.
b0 AO1 1 = Force mode: Force AO1 to value of parameter 14.78
AO1 force data.
b1 AO2 1 = Force mode: Force AO2 to value of parameter 14.88
AO2 force data (FAIO-01 only).
b2…15 Reserved
0000h…FFFFh 1=1
14.71 AO force selection (Visible when 14.1 Module 1 type = FIO-11) - / uint16
The value of the analog output can be overridden for
eg. testing purposes. A forced value parameter (14.78
AO1 force data) is provided for the analog output, and
its value is applied whenever the corresponding bit in
this parameter is 1.
224 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b0 AO1 1 = Force mode: Force AO1 to value of parameter 14.78
AO1 force data.
b1…15 Reserved
0000h…FFFFh 1=1
14.76 AO1 actual value (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Displays the value of AO1 in mA.
This parameter is read-only.
0.000 ... 22.000 mA Value of AO1. 1000 = 1 mA / 1000
= 1 mA
14.77 AO1 source (Visible when 14.1 Module 1 type = FAIO-01) Zero / uint32
Selects a signal to be connected to analog output AO1.
Alternatively, sets the output to excitation mode to
feed a constant current to a temperature sensor.
Zero None 0
Motor speed used 1.1 Motor speed used (page 138). 1
Output frequency 1.6 Output frequency (page 138). 3
Motor current 1.7 Motor current (page 138). 4
Motor torque 1.10 Motor torque (page 138). 6
DC voltage 1.11 DC voltage (page 139). 7
Power inu out 1.14 Output power (page 139). 8
Speed ref ramp in 23.1 Speed ref ramp input (page 278). 10
Speed ref ramp out 23.2 Speed ref ramp output (page 278). 11
Speed ref used 24.1 Used speed reference (page 285). 12
Torq ref used 26.2 Torque reference used (page 304). 13
Freq ref used 28.2 Frequency ref ramp output (page 313). 14
Process PID out 40.1 Process PID output actual (page 387). 16
Process PID fbk 40.2 Process PID feedback actual (page 387). 17
Process PID act 40.3 Process PID setpoint actual (page 387). 18
Process PID dev 40.4 Process PID deviation actual (page 387). 19
Other [value] See Terms and abbreviations (page 134).
Force Pt100 The output is used to feed an excitation current to 20
excitation 1…3 Pt100 sensors. See section Motor thermal
protection (page 90).
Force KTY84 The output is used to feed an excitation current to a 21
excitation KTY84 sensor. See section Motor thermal
protection (page 90).
Force PTC The output is used to feed an excitation current to 22
excitation 1…3 PTC sensors. See section Motor thermal
protection (page 90).
Force Pt1000 The output is used to feed an excitation current to 23
excitation 1…3 Pt1000 sensors. See section Motor thermal
protection (page 90).
 Parameters 225

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
AO1 data storage 13.91 AO1 data storage. 37
AO2 data storage 13.92 AO2 data storage. 38
14.78 AO1 force data (Visible when 14.1 Module 1 type = FIO-11) - / real32
Forced value that can be used instead of the selected
output signal. See parameter 14.71 AO force selection.
0.000 ... 22.000 mA Forced value of analog output AO1. 1000 = 1 mA / 1000
= 1 mA
14.78 AO1 force data (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA / real32
Forced value that can be used instead of the selected
output signal. See parameter 14.71 AO force selection.
0.000 ... 20.000 mA Forced value of analog output AO1. 1000 = 1 mA / 1000
= 1 mA
14.79 AO1 filter time (Visible when 14.1 Module 1 type = FAIO-01) 0.100 s / real32
Defines the filtering time constant for analog output
AO1.

%
Unfiltered signal

100

63
Filtered signal

t
T

O = I × (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant
0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1
s
226 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.80 AO1 source min (Visible when 14.1 Module 1 type = FAIO-01) 0.0 / real32
Defines the real value of the signal (selected by
parameter 14.77 AO1 source) that corresponds to the
minimum AO1 output value (defined by parameter
14.82 AO1 out at AO1 src min).

IAO1 (mA)

14.83

14.82

14.80 14.81 Signal (real)

selected by
par 14.77

IAO1 (mA)

14.83

14.82

14.81 14.80
Signal (real)
selected by
par 14.77

-32768.0 ... 32767.0 Real signal value corresponding to minimum AO1 1 = 1 / 10 = 1

output value.
14.81 AO1 source max (Visible when 14.1 Module 1 type = FAIO-01) 100.0 / real32
Defines the real value of the signal (selected by
parameter 14.77 AO1 source) that corresponds to the
maximum AO1 output value (defined by parameter
14.83 AO1 out at AO1 src max). See parameter 14.80
AO1 source min.
-32768.0 ... 32767.0 Real signal value corresponding to maximum AO1 1 = 1 / 10 = 1
output value.
 Parameters 227

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.82 AO1 out at AO1 src (Visible when 14.1 Module 1 type = FIO-11) 0.000 mA / real32
min Defines the minimum output value for analog output
AO1.
See also drawing at parameter 14.80 AO1 source min.
0.000 ... 22.000 mA Minimum AO1 output value. 1000 = 1 mA / 1000
= 1 mA
14.82 AO1 out at AO1 src (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA / real32
min Defines the minimum output value for analog output
AO1.
See also drawing at parameter 14.80 AO1 source min.
0.000 ... 20.000 mA Minimum AO1 output value. 1000 = 1 mA / 1000
= 1 mA
14.83 AO1 out at AO1 src (Visible when 14.1 Module 1 type = FIO-11) 10.000 mA / real32
max Defines the maximum output value for analog output
AO1.
See also drawing at parameter 14.80 AO1 source min.
0.000 ... 22.000 mA Maximum AO1 output value. 1000 = 1 mA / 1000
= 1 mA
14.83 AO1 out at AO1 src (Visible when 14.1 Module 1 type = FAIO-01) 10.000 mA / real32
max Defines the maximum output value for analog output
AO1.
See also drawing at parameter 14.80 AO1 source min.
0.000 ... 20.000 mA Maximum AO1 output value. 1000 = 1 mA / 1000
= 1 mA
14.86 AO2 actual value (Visible when 14.1 Module 1 type = FAIO-01) - / real32
Displays the value of AO2 in mA.
This parameter is read-only.
0.000 ... 22.000 mA Value of AO2. 1000 = 1 mA / 1000
= 1 mA
14.87 AO2 source (Visible when 14.1 Module 1 type = FAIO-01) Zero / uint32
Selects a signal to be connected to analog output AO2.
Alternatively, sets the output to excitation mode to
feed a constant current to a temperature sensor.
For the selections, see parameter 14.77 AO1 source.
14.88 AO2 force data (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA / real32
Forced value that can be used instead of the selected
output signal. See parameter 14.71 AO force selection.
0.000 ... 20.000 mA Forced value of analog output AO2. 1000 = 1 mA / 1000
= 1 mA
14.89 AO2 filter time (Visible when 14.1 Module 1 type = FAIO-01) 0.100 s / real32
Defines the filtering time constant for analog output
AO2. See parameter 14.79 AO1 filter time.
0.000 ... 30.000 s Filter time constant. 1000 = 1 s / 1000 = 1
s
228 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.90 AO2 source min (Visible when 14.1 Module 1 type = FAIO-01) 0.0 / real32
Defines the real value of the signal (selected by
parameter 14.87 AO2 source) that corresponds to the
minimum AO2 output value (defined by parameter
14.92 AO2 out at AO2 src min).

IAO2 (mA)

14.93

14.92

14.90 14.91
Signal (real)
selected by
par 14.87

IAO2 (mA)

14.93

14.92

14.91 14.90
Signal (real)
selected by
par 14.87

-32768.0 ... 32767.0 Real signal value corresponding to minimum AO2 1 = 1 / 10 = 1

output value.
14.91 AO2 source max (Visible when 14.1 Module 1 type = FAIO-01) 100.0 / real32
Defines the real value of the signal (selected by
parameter 14.87 AO2 source) that corresponds to the
maximum AO2 output value (defined by parameter
14.93 AO2 out at AO2 src max). See parameter 14.90
AO2 source min.
-32768.0 ... 32767.0 Real signal value corresponding to maximum AO2 1 = 1 / 10 = 1
output value.
 Parameters 229

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
14.92 AO2 out at AO2 src (Visible when 14.1 Module 1 type = FAIO-01) 0.000 mA / real32
min Defines the minimum output value for analog output
AO2.
See also drawing at parameter 14.90 AO2 source min.
0.000 ... 20.000 mA Minimum AO2 output value. 1000 = 1 mA / 1000
= 1 mA
14.93 AO2 out at AO2 src (Visible when 14.1 Module 1 type = FAIO-01) 10.000 mA / real32
max Defines the maximum output value for analog output
AO2.
See also drawing at parameter 14.90 AO2 source min.
0.000 ... 20.000 mA Maximum AO2 output value. 1000 = 1 mA / 1000
= 1 mA
230 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
15 I/O extension Configuration of I/O extension module 2.
module 2 See also section Programmable I/O
extensions (page 33).

Note: The contents of the parameter group vary

according to the selected I/O extension module type.

15.1 Module 2 type See parameter 14.1 Module 1 type. None / uint16
15.2 Module 2 location See parameter 14.2 Module 1 location. Slot 1 / uint16
15.3 Module 2 status See parameter 14.3 Module 1 status. No option / uint16
15.5 DI status (Visible when 15.1 Module 2 type = FDIO-01) - / uint16
See parameter 14.5 DI status.
15.5 DIO status (Visible when 15.1 Module 2 type = FIO-11) - / uint16
See parameter 14.5 DIO status.
15.5 DIO status (Visible when 15.1 Module 2 type = FIO-01) - / uint16
See parameter 14.5 DIO status.
15.6 DI delayed status (Visible when 15.1 Module 2 type = FDIO-01) - / uint16
See parameter 14.6 DI delayed status.
15.6 DIO delayed status (Visible when 15.1 Module 2 type = FIO-11) - / uint16
See parameter 14.6 DIO delayed status.
15.6 DIO delayed status (Visible when 15.1 Module 2 type = FIO-01) - / uint16
See parameter 14.6 DIO delayed status.
15.8 DI filter time (Visible when 15.1 Module 2 type = FDIO-01) - / real32
See parameter 14.8 DI filter time.
15.8 DIO filter time (Visible when 15.1 Module 2 type = FIO-11) 10.0 ms / real32
See parameter 14.8 DIO filter time.
15.8 DIO filter time (Visible when 15.1 Module 2 type = FIO-01) 10.0 ms / real32
See parameter 14.8 DIO filter time.
15.9 DIO1 function (Visible when 15.1 Module 2 type = FIO-11) Input / uint16
See parameter 14.9 DIO1 function.
15.9 DIO1 function (Visible when 15.1 Module 2 type = FIO-01) Input / uint16
See parameter 14.9 DIO1 function.
15.11 DIO1 output source (Visible when 15.1 Module 2 type = FIO-11) Not energized /
See parameter 14.11 DIO1 output source. uint32
15.11 DIO1 output source (Visible when 15.1 Module 2 type = FIO-01) Not energized /
See parameter 14.11 DIO1 output source. uint32
15.12 DI1 ON delay (Visible when 15.1 Module 2 type = FDIO-01) - / real32
See parameter 14.12 DI1 ON delay.
15.12 DIO1 ON delay (Visible when 15.1 Module 2 type = FIO-11) 0.00 s / real32
See parameter 14.12 DIO1 ON delay.
15.12 DIO1 ON delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.12 DIO1 ON delay.
15.13 DI1 OFF delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.13 DI1 OFF delay.
15.13 DIO1 OFF delay (Visible when 15.1 Module 2 type = FIO-11) 0.00 s / real32
See parameter 14.13 DIO1 OFF delay.
 Parameters 231

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
15.13 DIO1 OFF delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.13 DIO1 OFF delay.
15.14 DIO2 function (Visible when 15.1 Module 2 type = FIO-11) Input / uint16
See parameter 14.14 DIO2 function.
15.14 DIO2 function (Visible when 15.1 Module 2 type = FIO-01) Input / uint16
See parameter 14.14 DIO2 function.
15.16 DIO2 output source (Visible when 15.1 Module 2 type = FIO-11) Not energized /
See parameter 14.16 DIO2 output source. uint32
15.16 DIO2 output source (Visible when 15.1 Module 2 type = FIO-01) Not energized /
See parameter 14.16 DIO2 output source. uint32
15.17 DI2 ON delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.17 DI2 ON delay.
15.17 DIO2 ON delay (Visible when 15.1 Module 2 type = FIO-11) 0.00 s / real32
See parameter 14.17 DIO2 ON delay.
15.17 DIO2 ON delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.17 DIO2 ON delay.
15.18 DI2 OFF delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.18 DI2 OFF delay.
15.18 DIO2 OFF delay (Visible when 15.1 Module 2 type = FIO-11) 0.00 s / real32
See parameter 14.18 DIO2 OFF delay.
15.18 DIO2 OFF delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.18 DIO2 OFF delay.
15.19 DIO3 function (Visible when 15.1 Module 2 type = FIO-01) Input / uint16
See parameter 14.19 DIO3 function.
15.19 AI supervision (Visible when 15.1 Module 2 type = FAIO-01) No action / uint16
function See parameter 14.19 AI supervision function.
15.20 AI supervision (Visible when 15.1 Module 2 type = FAIO-01) - / uint16
selection See parameter 14.20 AI supervision selection.
15.20 AI supervision (Visible when 15.1 Module 2 type = FIO-11) - / uint16
selection See parameter 14.20 AI supervision selection.
15.21 DIO3 output source (Visible when 15.1 Module 2 type = FIO-01) Not energized /
See parameter 14.21 DIO3 output source. uint32
15.21 AI tune (Visible when 15.1 Module 2 type = FAIO-01) No action / uint16
See parameter 14.21 AI tune.
15.21 AI tune (Visible when 15.1 Module 2 type = FIO-11) No action / uint16
See parameter 14.21 AI tune.
15.22 DI3 ON delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.22 DI3 ON delay.
15.22 DIO3 ON delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.22 DIO3 ON delay.
15.22 AI force selection (Visible when 15.1 Module 2 type = FAIO-01) - / uint16
See parameter 14.22 AI force selection.
15.22 AI force selection (Visible when 15.1 Module 2 type = FIO-11) - / uint16
See parameter 14.22 AI force selection.
232 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
15.23 DI3 OFF delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.23 DI3 OFF delay.
15.23 DIO3 OFF delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.23 DIO3 OFF delay.
15.24 DIO4 function (Visible when 15.1 Module 2 type = FIO-01) Input / uint16
See parameter 14.24 DIO4 function.
15.26 DIO4 output source (Visible when 15.1 Module 2 type = FIO-01) Not energized /
See parameter 14.26 DIO4 output source. uint32
15.26 AI1 actual value (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.26 AI1 actual value.
15.27 DIO4 ON delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.27 DIO4 ON delay.
15.27 AI1 scaled value (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.27 AI1 scaled value.
15.28 DIO4 OFF delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.28 DIO4 OFF delay.
15.28 AI1 force data (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.28 AI1 force data.
15.29 AI1 HW switch (Visible when 15.1 Module 2 type = FAIO-01) mA / uint16
position See parameter 14.29 AI1 HW switch position.
15.30 AI1 unit selection (Visible when 15.1 Module 2 type = FAIO-01) mA / uint16
See parameter 14.30 AI1 unit selection.
15.31 RO status (Visible when 15.1 Module 2 type = FDIO-01) - / uint16
See parameter 14.31 RO status.
15.31 RO status (Visible when 15.1 Module 2 type = FIO-01) - / uint16
See parameter 14.31 RO status.
15.31 AI1 filter gain (Visible when 15.1 Module 2 type = FAIO-01) 1 ms / uint16
See parameter 14.31 AI1 filter gain.
15.32 AI1 filter time (Visible when 15.1 Module 2 type = FAIO-01) 0.100 s / real32
See parameter 14.32 AI1 filter time.
15.33 AI1 min (Visible when 15.1 Module 2 type = FAIO-01) 0.000 mA or V /
See parameter 14.33 AI1 min. real32
15.34 RO1 source (Visible when 15.1 Module 2 type = FDIO-01) Not energized /
See parameter 14.34 RO1 source. uint32
15.34 RO1 source (Visible when 15.1 Module 2 type = FIO-01) Not energized /
See parameter 14.34 RO1 source. uint32
15.34 AI1 max (Visible when 15.1 Module 2 type = FAIO-01) 10.000 mA or V /
See parameter 14.34 AI1 max. real32
15.35 RO1 ON delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.35 RO1 ON delay.
15.35 RO1 ON delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.35 RO1 ON delay.
15.35 AI1 scaled at AI1 min (Visible when 15.1 Module 2 type = FAIO-01) 0.000 / real32
See parameter 14.35 AI1 scaled at AI1 min.
 Parameters 233

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
15.36 RO1 OFF delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.36 RO1 OFF delay.
15.36 RO1 OFF delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.36 RO1 OFF delay.
15.36 AI1 scaled at AI1 (Visible when 15.1 Module 2 type = FAIO-01) 100.000 / real32
max See parameter 14.36 AI1 scaled at AI1 max.
15.37 RO2 source (Visible when 15.1 Module 2 type = FDIO-01) Not energized /
See parameter 14.37 RO2 source. uint32
15.37 RO2 source (Visible when 15.1 Module 2 type = FIO-01) Not energized /
See parameter 14.37 RO2 source. uint32
15.38 RO2 ON delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.38 RO2 ON delay.
15.38 RO2 ON delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.38 RO2 ON delay.
15.39 RO2 OFF delay (Visible when 15.1 Module 2 type = FDIO-01) 0.00 s / real32
See parameter 14.39 RO2 OFF delay.
15.39 RO2 OFF delay (Visible when 15.1 Module 2 type = FIO-01) 0.00 s / real32
See parameter 14.39 RO2 OFF delay.
15.41 AI2 actual value (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.41 AI2 actual value.
15.42 AI2 scaled value (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.42 AI2 scaled value.
15.43 AI2 force data (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.43 AI2 force data.
15.44 AI2 HW switch (Visible when 15.1 Module 2 type = FAIO-01) mA / uint16
position See parameter 14.44 AI2 HW switch position.
15.45 AI2 unit selection (Visible when 15.1 Module 2 type = FAIO-01) mA / uint16
See parameter 14.45 AI2 unit selection.
15.46 AI2 filter gain (Visible when 15.1 Module 2 type = FAIO-01) 1 ms / uint16
See parameter 14.46 AI2 filter gain.
15.47 AI2 filter time (Visible when 15.1 Module 2 type = FAIO-01) 0.100 s / real32
See parameter 14.47 AI2 filter time.
15.48 AI2 min (Visible when 15.1 Module 2 type = FAIO-01) 0.000 mA or V /
See parameter 14.48 AI2 min. real32
15.49 AI2 max (Visible when 15.1 Module 2 type = FAIO-01) 10.000 mA or V /
See parameter 14.49 AI2 max. real32
15.50 AI2 scaled at AI2 (Visible when 15.1 Module 2 type = FAIO-01) 0.000 / real32
min See parameter 14.50 AI2 scaled at AI2 min.
15.51 AI2 scaled at AI2 (Visible when 15.1 Module 2 type = FAIO-01) 100.000 / real32
max See parameter 14.51 AI2 scaled at AI2 max.
15.56 AI3 actual value (Visible when 15.1 Module 2 type = FIO-11) - / real32
See parameter 14.56 AI3 actual value.
15.57 AI3 scaled value (Visible when 15.1 Module 2 type = FIO-11) - / real32
See parameter 14.57 AI3 scaled value.
234 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
15.58 AI3 force data (Visible when 15.1 Module 2 type = FIO-11) - / real32
See parameter 14.58 AI3 force data.
15.59 AI3 HW switch (Visible when 15.1 Module 2 type = FIO-11) mA / uint16
position See parameter 14.59 AI3 HW switch position.
15.60 AI3 unit selection (Visible when 15.1 Module 2 type = FIO-11) mA / uint16
See parameter 14.60 AI3 unit selection.
15.61 AI3 filter gain (Visible when 15.1 Module 2 type = FIO-11) 1 ms / uint16
See parameter 14.61 AI3 filter gain.
15.62 AI3 filter time (Visible when 15.1 Module 2 type = FIO-11) 0.100 s / real32
See parameter 14.62 AI3 filter time.
15.63 AI3 min (Visible when 15.1 Module 2 type = FIO-11) 0.000 mA or V /
See parameter 14.63 AI3 min. real32
15.64 AI3 max (Visible when 15.1 Module 2 type = FIO-11) 10.000 mA or V /
See parameter 14.64 AI3 max. real32
15.65 AI3 scaled at AI3 (Visible when 15.1 Module 2 type = FIO-11) 0.000 / real32
min See parameter 14.65 AI3 scaled at AI3 min.
15.66 AI3 scaled at AI3 (Visible when 15.1 Module 2 type = FIO-11) 100.000 / real32
max See parameter 14.66 AI3 scaled at AI3 max.
15.71 AO force selection (Visible when 15.1 Module 2 type = FAIO-01) - / uint16
See parameter 14.71 AO force selection.
15.71 AO force selection (Visible when 15.1 Module 2 type = FIO-11) - / uint16
See parameter 14.71 AO force selection.
15.76 AO1 actual value (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.76 AO1 actual value.
15.77 AO1 source (Visible when 15.1 Module 2 type = FAIO-01) Zero / uint32
See parameter 14.77 AO1 source.
15.78 AO1 force data (Visible when 15.1 Module 2 type = FIO-11) - / real32
See parameter 14.78 AO1 force data.
15.78 AO1 force data (Visible when 15.1 Module 2 type = FAIO-01) 0.000 mA / real32
See parameter 14.78 AO1 force data.
15.79 AO1 filter time (Visible when 15.1 Module 2 type = FAIO-01) 0.100 s / real32
See parameter 14.79 AO1 filter time.
15.80 AO1 source min (Visible when 15.1 Module 2 type = FAIO-01) 0.0 / real32
See parameter 14.80 AO1 source min.
15.81 AO1 source max (Visible when 15.1 Module 2 type = FAIO-01) 100.0 / real32
See parameter 14.81 AO1 source max.
15.82 AO1 out at AO1 src (Visible when 15.1 Module 2 type = FIO-11) 0.000 mA / real32
min See parameter 14.82 AO1 out at AO1 src min.
15.82 AO1 out at AO1 src (Visible when 15.1 Module 2 type = FAIO-01) 0.000 mA / real32
min See parameter 14.82 AO1 out at AO1 src min.
15.83 AO1 out at AO1 src (Visible when 15.1 Module 2 type = FIO-11) 10.000 mA / real32
max See parameter 14.83 AO1 out at AO1 src max.
15.83 AO1 out at AO1 src (Visible when 15.1 Module 2 type = FAIO-01) 10.000 mA / real32
max See parameter 14.83 AO1 out at AO1 src max.
 Parameters 235

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
15.86 AO2 actual value (Visible when 15.1 Module 2 type = FAIO-01) - / real32
See parameter 14.86 AO2 actual value.
15.87 AO2 source (Visible when 15.1 Module 2 type = FAIO-01) Zero / uint32
See parameter 14.87 AO2 source.
15.88 AO2 force data (Visible when 15.1 Module 2 type = FAIO-01) 0.000 mA / real32
See parameter 14.88 AO2 force data.
15.89 AO2 filter time (Visible when 15.1 Module 2 type = FAIO-01) 0.100 s / real32
See parameter 14.89 AO2 filter time.
15.90 AO2 source min (Visible when 15.1 Module 2 type = FAIO-01) 0.0 / real32
See parameter 14.90 AO2 source min.
15.91 AO2 source max (Visible when 15.1 Module 2 type = FAIO-01) 100.0 / real32
See parameter 14.91 AO2 source max.
15.92 AO2 out at AO2 src (Visible when 15.1 Module 2 type = FAIO-01) 0.000 mA / real32
min See parameter 14.92 AO2 out at AO2 src min.
15.93 AO2 out at AO2 src (Visible when 15.1 Module 2 type = FAIO-01) 10.000 mA / real32
max See parameter 14.93 AO2 out at AO2 src max.
236 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
16 I/O extension Configuration of I/O extension module 3.
module 3 See also section Programmable I/O
extensions (page 33).

Note: The contents of the parameter group vary

according to the selected I/O extension module type.

16.1 Module 3 type See parameter 14.1 Module 1 type. None / uint16
16.2 Module 3 location See parameter 14.2 Module 1 location. Slot 1 / uint16
16.3 Module 3 status See parameter 14.3 Module 1 status. No option / uint16
16.5 DI status (Visible when 16.1 Module 3 type = FDIO-01) - / uint16
See parameter 14.5 DI status.
16.5 DIO status (Visible when 16.1 Module 3 type = FIO-11) - / uint16
See parameter 14.5 DIO status.
16.5 DIO status (Visible when 16.1 Module 3 type = FIO-01) - / uint16
See parameter 14.5 DIO status.
16.6 DI delayed status (Visible when 16.1 Module 3 type = FDIO-01) - / uint16
See parameter 14.6 DI delayed status.
16.6 DIO delayed status (Visible when 16.1 Module 3 type = FIO-11) - / uint16
See parameter 14.6 DIO delayed status.
16.6 DIO delayed status (Visible when 16.1 Module 3 type = FIO-01) - / uint16
See parameter 14.6 DIO delayed status.
16.8 DI filter time (Visible when 16.1 Module 3 type = FDIO-01) 10.0 ms / real32
See parameter 14.8 DI filter time.
16.8 DIO filter time (Visible when 16.1 Module 3 type = FIO-11) 10.0 ms / real32
See parameter 14.8 DIO filter time.
16.8 DIO filter time (Visible when 16.1 Module 3 type = FIO-01) 10.0 ms / real32
See parameter 14.8 DIO filter time.
16.9 DIO1 function (Visible when 16.1 Module 3 type = FIO-11) Input / uint16
See parameter 14.9 DIO1 function.
16.9 DIO1 function (Visible when 16.1 Module 3 type = FIO-01) Input / uint16
See parameter 14.9 DIO1 function.
16.11 DIO1 output source (Visible when 16.1 Module 3 type = FIO-11) Not energized /
See parameter 14.11 DIO1 output source. uint32
16.11 DIO1 output source (Visible when 16.1 Module 3 type = FIO-01) Not energized /
See parameter 14.11 DIO1 output source. uint32
16.12 DI1 ON delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.12 DI1 ON delay.
16.12 DIO1 ON delay (Visible when 16.1 Module 3 type = FIO-11) 0.00 s / real32
See parameter 14.12 DIO1 ON delay.
16.12 DIO1 ON delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.12 DIO1 ON delay.
16.13 DI1 OFF delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.13 DI1 OFF delay.
16.13 DIO1 OFF delay (Visible when 16.1 Module 3 type = FIO-11) 0.00 s / real32
See parameter 14.13 DIO1 OFF delay.
 Parameters 237

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
16.13 DIO1 OFF delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.13 DIO1 OFF delay.
16.14 DIO2 function (Visible when 16.1 Module 3 type = FIO-11) Input / uint16
See parameter 14.14 DIO2 function.
16.14 DIO2 function (Visible when 16.1 Module 3 type = FIO-01) Input / uint16
See parameter 14.14 DIO2 function.
16.16 DIO2 output source (Visible when 16.1 Module 3 type = FIO-11) Not energized /
See parameter 14.16 DIO2 output source. uint32
16.16 DIO2 output source (Visible when 16.1 Module 3 type = FIO-01) Not energized /
See parameter 14.16 DIO2 output source. uint32
16.17 DI2 ON delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.17 DI2 ON delay.
16.17 DIO2 ON delay (Visible when 16.1 Module 3 type = FIO-11) 0.00 s / real32
See parameter 14.17 DIO2 ON delay.
16.17 DIO2 ON delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.17 DIO2 ON delay.
16.18 DI2 OFF delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.18 DI2 OFF delay.
16.18 DIO2 OFF delay (Visible when 16.1 Module 3 type = FIO-11) 0.00 s / real32
See parameter 14.18 DIO2 OFF delay.
16.18 DIO2 OFF delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.18 DIO2 OFF delay.
16.19 AI supervision (Visible when 16.1 Module 3 type = FAIO-01) No action / uint16
function See parameter 14.19 AI supervision function.
16.19 DIO3 function (Visible when 16.1 Module 3 type = FIO-01) Input / uint16
See parameter 14.19 DIO3 function.
16.20 AI supervision (Visible when 16.1 Module 3 type = FAIO-01) - / uint16
selection See parameter 14.20 AI supervision selection.
16.20 AI supervision (Visible when 16.1 Module 3 type = FIO-11) - / uint16
selection See parameter 14.20 AI supervision selection.
16.21 AI tune (Visible when 16.1 Module 3 type = FAIO-01) No action / uint16
See parameter 14.21 AI tune.
16.21 AI tune (Visible when 16.1 Module 3 type = FIO-11) No action / uint16
See parameter 14.21 AI tune.
16.21 DIO3 output source (Visible when 16.1 Module 3 type = FIO-01) Not energized /
See parameter 14.21 DIO3 output source. uint32
16.22 AI force selection (Visible when 16.1 Module 3 type = FAIO-01) - / uint16
See parameter 14.22 AI force selection.
16.22 AI force selection (Visible when 16.1 Module 3 type = FIO-11) - / uint16
See parameter 14.22 AI force selection.
16.22 DI3 ON delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.22 DI3 ON delay.
16.22 DIO3 ON delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.22 DIO3 ON delay.
238 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
16.23 DI3 OFF delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.23 DI3 OFF delay.
16.23 DIO3 OFF delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.23 DIO3 OFF delay.
16.24 DIO4 function (Visible when 16.1 Module 3 type = FIO-01) Input / uint16
See parameter 14.24 DIO4 function.
16.26 AI1 actual value (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.26 AI1 actual value.
16.26 DIO4 output source (Visible when 16.1 Module 3 type = FIO-01) Not energized /
See parameter 14.26 DIO4 output source. uint32
16.27 AI1 scaled value (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.27 AI1 scaled value.
16.27 DIO4 ON delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.27 DIO4 ON delay.
16.28 AI1 force data (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.28 AI1 force data.
16.28 DIO4 OFF delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.28 DIO4 OFF delay.
16.29 AI1 HW switch (Visible when 16.1 Module 3 type = FAIO-01) mA / uint16
position See parameter 14.29 AI1 HW switch position.
16.30 AI1 unit selection (Visible when 16.1 Module 3 type = FAIO-01) mA / uint16
See parameter 14.30 AI1 unit selection.
16.31 RO status (Visible when 16.1 Module 3 type = FDIO-01) - / uint16
See parameter 14.31 RO status.
16.31 RO status (Visible when 16.1 Module 3 type = FIO-01) - / uint16
See parameter 14.31 RO status.
16.31 AI1 filter gain (Visible when 16.1 Module 3 type = FAIO-01) 1 ms / uint16
See parameter 14.31 AI1 filter gain.
16.32 AI1 filter time (Visible when 16.1 Module 3 type = FAIO-01) 0.100 s / real32
See parameter 14.32 AI1 filter time.
16.33 AI1 min (Visible when 16.1 Module 3 type = FAIO-01) 0.000 mA or V /
See parameter 14.33 AI1 min. real32
16.34 RO1 source (Visible when 16.1 Module 3 type = FDIO-01) Not energized /
See parameter 14.34 RO1 source. uint32
16.34 RO1 source (Visible when 16.1 Module 3 type = FIO-01) Not energized /
See parameter 14.34 RO1 source. uint32
16.34 AI1 max (Visible when 16.1 Module 3 type = FAIO-01) 10.000 mA or V /
See parameter 14.34 AI1 max. real32
16.35 RO1 ON delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.35 RO1 ON delay.
16.35 RO1 ON delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.35 RO1 ON delay.
16.35 AI1 scaled at AI1 min (Visible when 16.1 Module 3 type = FAIO-01) 0.000 / real32
See parameter 14.35 AI1 scaled at AI1 min.
 Parameters 239

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
16.36 RO1 OFF delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.36 RO1 OFF delay.
16.36 RO1 OFF delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.36 RO1 OFF delay.
16.36 AI1 scaled at AI1 (Visible when 16.1 Module 3 type = FAIO-01) 100.000 / real32
max See parameter 14.36 AI1 scaled at AI1 max.
16.37 RO2 source (Visible when 16.1 Module 3 type = FDIO-01) Not energized /
See parameter 14.37 RO2 source. uint32
16.37 RO2 source (Visible when 16.1 Module 3 type = FIO-01) Not energized /
See parameter 14.37 RO2 source. uint32
16.38 RO2 ON delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.38 RO2 ON delay.
16.38 RO2 ON delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.38 RO2 ON delay.
16.39 RO2 OFF delay (Visible when 16.1 Module 3 type = FDIO-01) 0.00 s / real32
See parameter 14.39 RO2 OFF delay.
16.39 RO2 OFF delay (Visible when 16.1 Module 3 type = FIO-01) 0.00 s / real32
See parameter 14.39 RO2 OFF delay.
16.41 AI2 actual value (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.41 AI2 actual value.
16.42 AI2 scaled value (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.42 AI2 scaled value.
16.43 AI2 force data (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.43 AI2 force data.
16.44 AI2 HW switch (Visible when 16.1 Module 3 type = FAIO-01) mA / uint16
position See parameter 14.44 AI2 HW switch position.
16.45 AI2 unit selection (Visible when 16.1 Module 3 type = FAIO-01) mA / uint16
See parameter 14.45 AI2 unit selection.
16.46 AI2 filter gain (Visible when 16.1 Module 3 type = FAIO-01) 1 ms / uint16
See parameter 14.46 AI2 filter gain.
16.47 AI2 filter time (Visible when 16.1 Module 3 type = FAIO-01) 0.100 s / real32
See parameter 14.47 AI2 filter time.
16.48 AI2 min (Visible when 16.1 Module 3 type = FAIO-01) 0.000 mA or V /
See parameter 14.48 AI2 min. real32
16.49 AI2 max (Visible when 16.1 Module 3 type = FAIO-01) 10.000 mA or V /
See parameter 14.49 AI2 max. real32
16.50 AI2 scaled at AI2 (Visible when 16.1 Module 3 type = FAIO-01) 0.000 / real32
min See parameter 14.50 AI2 scaled at AI2 min.
16.51 AI2 scaled at AI2 (Visible when 16.1 Module 3 type = FAIO-01) 100.000 / real32
max See parameter 14.51 AI2 scaled at AI2 max.
16.56 AI3 actual value (Visible when 16.1 Module 3 type = FIO-11) - / real32
See parameter 14.56 AI3 actual value.
16.57 AI3 scaled value (Visible when 16.1 Module 3 type = FIO-11) - / real32
See parameter 14.57 AI3 scaled value.
240 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
16.58 AI3 force data (Visible when 16.1 Module 3 type = FIO-11) - / real32
See parameter 14.58 AI3 force data.
16.59 AI3 HW switch (Visible when 16.1 Module 3 type = FIO-11) mA / uint16
position See parameter 14.59 AI3 HW switch position.
16.60 AI3 unit selection (Visible when 16.1 Module 3 type = FIO-11) mA / uint16
See parameter 14.60 AI3 unit selection.
16.61 AI3 filter gain (Visible when 16.1 Module 3 type = FIO-11) 1 ms / uint16
See parameter 14.61 AI3 filter gain.
16.62 AI3 filter time (Visible when 16.1 Module 3 type = FIO-11) 0.100 s / real32
See parameter 14.62 AI3 filter time.
16.63 AI3 min (Visible when 16.1 Module 3 type = FIO-11) 0.000 mA or V /
See parameter 14.63 AI3 min. real32
16.64 AI3 max (Visible when 16.1 Module 3 type = FIO-11) 10.000 mA or V /
See parameter 14.64 AI3 max. real32
16.65 AI3 scaled at AI3 (Visible when 16.1 Module 3 type = FIO-11) 0.000 / real32
min See parameter 14.65 AI3 scaled at AI3 min.
16.66 AI3 scaled at AI3 (Visible when 16.1 Module 3 type = FIO-11) 100.000 / real32
max See parameter 14.66 AI3 scaled at AI3 max.
16.71 AO force selection (Visible when 16.1 Module 3 type = FAIO-01) - / uint16
See parameter 14.71 AO force selection.
16.71 AO force selection (Visible when 16.1 Module 3 type = FIO-11) - / uint16
See parameter 14.71 AO force selection.
16.76 AO1 actual value (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.76 AO1 actual value.
16.77 AO1 source (Visible when 16.1 Module 3 type = FAIO-01) Zero / uint32
See parameter 14.77 AO1 source.
16.78 AO1 force data (Visible when 16.1 Module 3 type = FIO-11) - / real32
See parameter 14.78 AO1 force data.
16.78 AO1 force data (Visible when 16.1 Module 3 type = FAIO-01) 0.000 mA / real32
See parameter 14.78 AO1 force data.
16.79 AO1 filter time (Visible when 16.1 Module 3 type = FAIO-01) 0.100 s / real32
See parameter 14.79 AO1 filter time.
16.80 AO1 source min (Visible when 16.1 Module 3 type = FAIO-01) 0.0 / real32
See parameter 14.80 AO1 source min.
16.81 AO1 source max (Visible when 16.1 Module 3 type = FAIO-01) 100.0 / real32
See parameter 14.81 AO1 source max.
16.82 AO1 out at AO1 src (Visible when 16.1 Module 3 type = FIO-11) 0.000 mA / real32
min See parameter 14.82 AO1 out at AO1 src min.
16.82 AO1 out at AO1 src (Visible when 16.1 Module 3 type = FAIO-01) 0.000 mA / real32
min See parameter 14.82 AO1 out at AO1 src min.
16.83 AO1 out at AO1 src (Visible when 16.1 Module 3 type = FIO-11) 10.000 mA / real32
max See parameter 14.83 AO1 out at AO1 src max.
16.83 AO1 out at AO1 src (Visible when 16.1 Module 3 type = FAIO-01) 10.000 mA / real32
max See parameter 14.83 AO1 out at AO1 src max.
 Parameters 241

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
16.86 AO2 actual value (Visible when 16.1 Module 3 type = FAIO-01) - / real32
See parameter 14.86 AO2 actual value.
16.87 AO2 source (Visible when 16.1 Module 3 type = FAIO-01) Zero / uint32
See parameter 14.87 AO2 source.
16.88 AO2 force data (Visible when 16.1 Module 3 type = FAIO-01) 0.000 mA / real32
See parameter 14.88 AO2 force data.
16.89 AO2 filter time (Visible when 16.1 Module 3 type = FAIO-01) 0.100 s / real32
See parameter 14.89 AO2 filter time.
16.90 AO2 source min (Visible when 16.1 Module 3 type = FAIO-01) 0.0 / real32
See parameter 14.90 AO2 source min.
16.91 AO2 source max (Visible when 16.1 Module 3 type = FAIO-01) 100.0 / real32
See parameter 14.91 AO2 source max.
16.92 AO2 out at AO2 src (Visible when 16.1 Module 3 type = FAIO-01) 0.000 mA / real32
min See parameter 14.92 AO2 out at AO2 src min.
16.93 AO2 out at AO2 src (Visible when 16.1 Module 3 type = FAIO-01) 10.000 mA / real32
max See parameter 14.93 AO2 out at AO2 src max.
242 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
19 Operation mode Selection of local and external control location sources
and operating modes.
See also section Operating modes of the
drive (page 26).
19.1 Actual operation Displays the operating mode currently used. Zero / uint16
mode See parameters 19.11…19.14.
This parameter is read-only.
Zero None. 1
Speed Speed control (in DTC motor control mode). 2
Torque Torque control (in DTC motor control mode). 3
Min The torque selector is comparing the output of the 4
speed controller (25.1 Torque reference speed control)
and torque reference (26.74 Torque ref ramp out) and
the smaller of the two is used.
Max The torque selector is comparing the output of the 5
speed controller (25.1 Torque reference speed control)
and torque reference (26.74 Torque ref ramp out) and
the greater of the two is used.
Add The speed controller output is added to the torque 6
reference.
Voltage DC voltage control. 7
Scalar (Hz) Frequency control in scalar motor control mode. 10
Scalar (rpm) Speed control in scalar motor control mode. 11
Forced magn. Motor is in magnetizing mode. 20
19.11 Ext1/Ext2 selection Selects the source for external control location EXT1 / uint32
EXT1/EXT2 selection.
0 = EXT1
1 = EXT2
EXT1 EXT1 (permanently selected). 0
EXT2 EXT2 (permanently selected). 1
FBA A MCW bit 11 Control word bit 11 received through fieldbus interface 2
A.
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 12
1).
EFB MCW bit 11 Control word bit 11 received through the embedded 32
fieldbus interface.
 Parameters 243

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Other [bit] See Terms and abbreviations (page 134).
19.12 Ext1 control mode Selects the operating mode for external control Speed / uint16
location EXT1.
Zero None. 1
Speed Speed control. The torque reference used is 25.1 2
Torque reference speed control (output of the speed
reference chain).
Torque Torque control. The torque reference used is 26.74 3
Torque ref ramp out (output of the torque reference
chain).
Minimum Combination of selections Speed and Torque: the 4
torque selector compares the speed controller output
(25.1 Torque reference speed control) and the torque
reference (26.74 Torque ref ramp out) and selects the
smaller of the two.
If speed error becomes negative, the drive follows the
speed controller output until speed error becomes
positive again.
This prevents the drive from accelerating
uncontrollably if the load is lost in torque control.
Maximum Combination of selections Speed and Torque: the 5
torque selector compares the speed controller output
(25.1 Torque reference speed control) and the torque
reference (26.74 Torque ref ramp out) and selects the
greater of the two.
If speed error becomes positive, the drive follows the
speed controller output until speed error becomes
negative again.
This prevents the drive from accelerating
uncontrollably if the load is lost in torque control.
Add Combination of selections Speed and Torque: Torque 6
selector adds the speed reference chain output to the
torque reference chain output.
Voltage (Type BCU control units only) DC voltage control. The 7
torque reference used is 29.1 Torque ref DC voltage
control (output of the DC voltage reference chain).
19.14 Ext2 control mode Selects the operating mode for external control Speed / uint16
location EXT2.
For the selections, see parameter 19.12 Ext1 control
mode.
19.16 Local control mode Selects the operating mode for local control. Speed / uint16
Speed Speed control. The torque reference used is 25.1 0
Torque reference speed control (output of the speed
reference chain).
Torque Torque control. The torque reference used is 26.74 1
Torque ref ramp out (output of the torque reference
chain).
244 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
19.17 Local control Enables/disables local control (start and stop buttons No / uint16
disable on the control panel, and the local controls on the PC
tool).

WARNING!
Before disabling local control, ensure that the
control panel is not needed for stopping the
drive.

No Local control enabled. 0

Yes Local control disabled. 1
19.20 Scalar control Selects the reference type for scalar motor control Rpm / uint16
reference unit mode.
See also section operating Operating modes of the
drive (page 26), and parameter 99.4 Motor control
mode.

Note: This parameter cannot be changed while the

drive is running.

Hz Hz. 0
The reference is taken from parameter 28.2 Frequency
ref ramp output (output of the frequency control
chain).
Rpm Rpm. The reference is taken from parameter 23.2 Speed 1
ref ramp output (speed reference after ramping and
shaping).
 Parameters 245

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
20 Start/stop/direction Start/stop/direction and run/start/jog enable signal
source selection; positive/negative reference enable
signal source selection.
For information on control locations, see section Local
control vs. external control (page 23).
20.1 Ext1 commands Selects the source of start, stop and direction In1 Start; In2 Dir /
commands for external control location 1 (EXT1). uint16
See also parameters 20.2…20.5.
Not selected No start or stop command sources selected. 0
In1 Start The source of the start and stop commands is selected 1
by parameter 20.3 Ext1 in1 source. The state transitions
of the source bits are interpreted as follows:
State of source 1 (20.3) Command

0→1 (20.2 = Edge) Start

1 (20.2 = Level)

0 Stop

In1 Start; In2 Dir The source selected by 20.3 Ext1 in1 source is the start 2
signal; the source selected by 20.4 Ext1 in2 source
determines the direction. The state transitions of the
source bits are interpreted as follows:
State of source 1 State of source 2 Command
(20.3) (20.4)

0 Any Stop

0→1 (20.2 = Edge) 0 Start forward

1 (20.2 = Level) 1 Start reverse

In1 Start fwd; In2 The source selected by 20.3 Ext1 in1 source is the 3
Start rev forward start signal; the source selected by 20.4 Ext1
in2 source is the reverse start signal. The state
transitions of the source bits are interpreted as
follows:
State of source 1 State of source 2 Command
(20.3) (20.4)

0 0 Stop

0→1 (20.2 = Edge) 0 Start forward

1 (20.2 = Level)

0 0→1 (20.2 = Edge) Start reverse

1 (20.2 = Level)

1 1 Stop
246 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
In1P Start; In2 Stop The sources of the start and stop commands are 4
selected by parameters 20.3 Ext1 in1 source and 20.4
Ext1 in2 source.
The state transitions of the source bits are interpreted
as follows:
State of source 1 State of source 2 Command
(20.3) (20.4)

0→1 1 Start

Any 0 Stop

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

In1P Start; In2 Stop; The sources of the start and stop commands are 5
In3 Dir selected by parameters 20.3 Ext1 in1 source and 20.4
Ext1 in2 source.
The source selected by 20.5 Ext1 in3 source determines
the direction. The state transitions of the source bits
are interpreted as follows:
State of State of State of Command
source 1 source 2 source 3
(20.3) (20.4) (20.5)

0→1 1 0 Start forward

0→1 1 1 Start reverse

Any 0 Any Stop

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

In1P Start fwd; In2P The sources of the start and stop commands are 6
Start rev; In3 Stop selected by parameters 20.3 Ext1 in1 source, 20.4 Ext1
in2 source and 20.5 Ext1 in3 source. The state
transitions of the source bits are interpreted as
follows:
State of State of State of Command
source 1 source 2 source 3
(20.3) (20.4) (20.5)

0→1 Any 1 Start forward

Any 0→1 1 Start reverse

Any Any 0 Stop

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

Control panel The start and stop commands are taken from the 11
control panel.
 Parameters 247

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Fieldbus A The start and stop commands are taken from fieldbus 12
adapter A.

Note: The start signal is always level-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

Embedded fieldbus The start and stop commands are taken from the 14
embedded fieldbus interface.

Note: The start signal is always level-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

M/F link The start and stop commands are taken from another 15
drive through the master/follower link.

Note: The start signal is always level-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

Application The start and stop commands are taken from the 21
Program application program control word (parameter 6.2
Application control word).

Note: The start signal is always level-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

ATF Reserved. 22
DDCS controller The start and stop commands are taken from an 16
external (DDCS) controller.

Note: The start signal is always level-triggered with

this setting regardless of parameter 20.2 Ext1 start
trigger type.

20.2 Ext1 start trigger Defines whether the start signal for external control Edge / uint16
type location EXT1 is edge-triggered or level-triggered.

Note: This parameter is only effective when parameter

20.1 Ext1 commands is set to In1 Start, In1 Start; In2
Dir, In1 Start fwd; In2 Start rev, or Control panel.

Edge The start signal is edge-triggered. 0

Level The start signal is level-triggered. 1
20.3 Ext1 in1 source Selects source 1 for parameter 20.1 Ext1 commands. DI1 / uint32
Not selected 0 (always off). 0
Selected 1 (always on). 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
248 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
20.4 Ext1 in2 source Selects source 2 for parameter 20.1 Ext1 commands. DI2 / uint32
For the available selections, see parameter 20.3 Ext1
in1 source.
20.5 Ext1 in3 source Selects source 3 for parameter 20.1 Ext1 commands. Not selected / uint32
For the available selections, see parameter 20.3 Ext1
in1 source.
20.6 Ext2 commands Selects the source of start, stop and direction Not selected / uint16
commands for external control location 2 (EXT2).
See also parameters 20.7…20.10.
Not selected No start or stop command sources selected. 0
In1 Start The source of the start and stop commands is selected 1
by parameter 20.8 Ext2 in1 source. The state
transitions of the source bits are interpreted as
follows:
State of source 1 (20.8) Command

0→1 (20.7 = Edge) Start

1 (20.7 = Level)

0 Stop

In1 Start; In2 Dir The source selected by 20.8 Ext2 in1 source is the start 2
signal; the source selected by 20.9 Ext2 in2 source
determines the direction. The state transitions of the
source bits are interpreted as follows:
State of source 1 State of source 2 Command
(20.8) (20.9)

0 Any Stop

0→1 (20.7 = Edge) 0 Start forward

1 (20.7 = Level) 1 Start reverse
 Parameters 249

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
In1 Start fwd; In2 The source selected by 20.8 Ext2 in1 source is the 3
Start rev forward start signal; the source selected by 20.9 Ext2
in2 source is the reverse start signal. The state
transitions of the source bits are interpreted as
follows:
State of source 1 State of source 2 Command
(20.8) (20.9)

0 0 Stop

0→1 (20.7 = Edge) 0 Start forward

1 (20.7 = Level)

0 0→1 (20.7 = Edge) Start reverse

1 (20.7 = Level)

1 1 Stop

In1P Start; In2 Stop The sources of the start and stop commands are 4
selected by parameters 20.8 Ext2 in1 source and 20.9
Ext2 in2 source.
The state transitions of the source bits are interpreted
as follows:
State of source 1 State of source 2 Command
(20.8) (20.9)

0→1 1 Start

Any 0 Stop

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.

In1P Start; In2 Stop; The sources of the start and stop commands are 5
In3 Dir selected by parameters 20.8 Ext2 in1 source and 20.9
Ext2 in2 source.
The source selected by 20.10 Ext2 in3 source
determines the direction. The state transitions of the
source bits are interpreted as follows:
State of State of State of Command
source 1 source 2 source 3
(20.8) (20.9) (20.10)

0→1 1 0 Start forward

0→1 1 1 Start reverse

Any 0 Any Stop

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.
250 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
In1P Start fwd; In2P The sources of the start and stop commands are 6
Start rev; In3 Stop selected by parameters 20.8 Ext2 in1 source, 20.9 Ext2
in2 source and 20.10 Ext2 in3 source. The state
transitions of the source bits are interpreted as
follows:
State of State of State of Command
source 1 source 2 source 3
(20.8) (20.9) (20.10)

0→1 Any 1 Start forward

Any 0→1 1 Start reverse

Any Any 0 Stop

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.

Control panel The start and stop commands are taken from the 11
control panel.
Fieldbus A The start and stop commands are taken from fieldbus 12
adapter A.

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.

Embedded fieldbus The start and stop commands are taken from the 14
embedded fieldbus interface.

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.

M/F link The start and stop commands are taken from another 15
drive through the master/follower link.

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.

Application The start and stop commands are taken from the 21
Program application program control word (parameter 6.2
Application control word).

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.

ATF Reserved. 22
DDCS controller The start and stop commands are taken from an 16
external (DDCS) controller.

Note: The start signal is always edge-triggered with

this setting regardless of parameter 20.7 Ext2 start
trigger type.
 Parameters 251

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
20.7 Ext2 start trigger Defines whether the start signal for external control Edge / uint16
type location EXT2 is edge-triggered or level-triggered.

Note: This parameter is only effective when parameter

20.6 Ext2 commands is set to In1 Start, In1 Start; In2
Dir, In1 Start fwd; In2 Start rev, or Control panel.

Edge The start signal is edge-triggered. 0

Level The start signal is level-triggered. 1
20.8 Ext2 in1 source Selects source 1 for parameter 20.6 Ext2 commands. Not selected / uint32
For the available selections, see parameter 20.3 Ext1
in1 source.
20.9 Ext2 in2 source Selects source 2 for parameter 20.6 Ext2 commands. Not selected / uint32
For the available selections, see parameter 20.3 Ext1
in1 source.
20.10 Ext2 in3 source Selects source 3 for parameter 20.6 Ext2 commands. Not selected / uint32
For the available selections, see parameter 20.3 Ext1
in1 source.
20.11 Run enable stop Selects the way the motor is stopped when the run Coast (95.20 b10) /
mode enable signal switches off. uint16
The source of the run enable signal is selected by
parameter 20.12 Run enable 1 source.
Coast Stop by switching off the output semiconductors of 0
the drive.
The motor coasts to a stop.

WARNING!
If a mechanical brake is used, ensure it is safe
to stop the drive by coasting.

Ramp Stop along the active deceleration ramp. See 1

parameter group 23 Speed reference ramp (page 278).
Torque limit Stop according to torque limits (parameters 30.19 and 2
30.20).
20.12 Run enable 1 source Selects the source of the external run enable signal. If DIIL (95.20 b10);
the run enable signal is switched off, the drive will not Selected (95.20 b5);
start. If already running, the drive will stop according DI5 (95.20 b9) /
to the setting of parameter 20.11 Run enable stop uint32
mode.
1 = Run enable signal on.

Note: The warning that indicates a missing signal can

be suppressed using parameter 20.30 Enable signals
warning function.
See also parameter 20.19 Enable start command.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
252 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
FBA A MCW bit 3 Control word bit 3 received through fieldbus interface 30
A.
EFB MCW bit 3 Control word bit 3 received through the embedded 32
fieldbus interface.
DIIL DIIL input (10.2 DI delayed status, bit 15). 33
Active control Control word bit 3 received from the active control 34
source MCW bit 3 source.

Note:

• If the drive is running in fieldbus control,

switching bit 3 off effectively removes both the
start and run enable signals.

• In this case, the stop mode is determined by

either 20.11 Run enable stop mode or 21.3 Stop
mode, whichever mode has higher priority. The
order of stop modes from highest to lowest
priority is Coast – Torque limit – Ramp.
In case the active source is the control panel, PC
tool or drive I/O, the run enable signal is always
on.

Other [bit] See Terms and abbreviations (page 134).

20.19 Enable start Selects the source for the start enable signal. Selected / uint32
command 1 = Start enable.
With the signal switched off, any drive start command
is inhibited. (Switching the signal off while the drive
is running will not stop the drive.)

Note:

• If a level-triggered start command is on when the

start enable signal switches on, the drive will
start. (An edgetriggered start signal must be
cycled for the drive to start.) See parameters 20.2
Ext1 start trigger type, 20.7 Ext2 start trigger type
and 20.29 Local start trigger type.

• The warning that indicates a missing signal can

be suppressed using parameter 20.30 Enable
signals warning function.

See also parameter 20.12 Run enable 1 source.

 Parameters 253

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
1).
DIIL DIIL input (10.2 DI delayed status, bit 15). 30
Other [bit] See Terms and abbreviations (page 134).
20.23 Positive speed Selects the source of the positive speed enable Selected / uint32
enable command.
1 = Positive speed enabled.
0 = Positive speed interpreted as zero speed reference.
In the figure below, 23.1 Speed ref ramp input is set to
zero after the positive speed enable signal has cleared.
Actions in different control modes:
Speed control: Speed reference is set to zero and the
motor ramps down along the currently active
deceleration ramp. The drive keeps modulating. The
rush controller prevents additional torque terms from
running the motor in the positive direction.
Torque control: The rush controller monitors the
rotation direction of the motor.

20.23

20.24

23.01

01.01

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
254 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
20.24 Negative speed Selects the source of the negative speed reference Selected / uint32
enable enable command. See parameter 20.23 Positive speed
enable.
20.25 Jogging enable Selects the source for a jog enable signal. Not selected / uint32
(The sources for jogging activation signals are selected
by parameters 20.26 Jogging 1 start source and 20.27
Jogging 2 start source.)
1 = Jogging is enabled.
0 = Jogging is disabled.

Note: Jogging can be enabled only when no start

command from an external control location is active.
On the other hand, if jogging is already enabled, the
drive cannot be started from an external control
location (apart from inching commands through
fieldbus).
See section Jogging (page 60).
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
 Parameters 255

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
20.26 Jogging 1 start If enabled by parameter 20.25 Jogging enable, selects Not selected / uint32
source the source for the activation of jogging function 1.
(Jogging function 1 can also be activated through
fieldbus regardless of parameter 20.25.)
1 = Jogging 1 active.

Note: If both jogging 1 and 2 are activated, the one

that was activated first has priority.

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 02). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
Other [bit] See Terms and abbreviations (page 134).
20.27 Jogging 2 start If enabled by parameter 20.25 Jogging enable, selects Not selected / uint32
source the source for the activation of jogging function 2.
(Jogging function 2 can also be activated through
fieldbus regardless of parameter 20.25.)
1 = Jogging 2 active.
For the selections, see parameter 20.26 Jogging 1 start
source.

Note: If both jogging 1 and 2 are activated, the one

that was activated first has priority.

20.29 Local start trigger Defines whether the start signal for local control (for Edge / uint16
type example, control panel or PC tool) is edge-triggered
or level-triggered.
Edge The start signal is edge-triggered. 0
Level The start signal is level-triggered. 1
20.30 Enable signals Selects enable signal (eg. run enable, start enable) - / uint16
warning function warnings to be suppressed. This parameter can be
used to prevent these warnings from flooding the
event log.
Whenever a bit of this parameter is set to 1, the
corresponding warning is suppressed, ie. no warning
is generated even if the signal is switched off.
The bits of this binary number correspond to the
following warnings:
b0 Enable Start AFEA Enable start signal missing
b1 Run enable 1 AFEB Run enable missing
256 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b2…15 Reserved
0000h…FFFFh 1=1
 Parameters 257

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
21 Start/stop mode Start and stop modes; emergency stop mode and
signal source selection; DC magnetization settings;
autophasing mode selection.
21.1 Start mode Selects the motor start function for the DTC motor Automatic / uint16
control mode, ie. when 99.4 Motor control mode is set
to DTC.

Note:

• The start function for the scalar motor control

mode is selected by parameter 21.19 Scalar start
mode.

• Starting into a rotating motor is not possible

when DC magnetizing is selected (Fast or
Constant time).

• With permanent magnet motors and synchronous

reluctance motors, Automatic start mode must
be used.

• This parameter cannot be changed while the drive

is running.

See also section DC magnetization (page 67).

Fast The drive pre-magnetizes the motor before start. The 0
premagnetizing time is determined automatically,
being typically 200 ms to 2 s depending on motor size.
This mode should be selected if a high break-away
torque is required.
Constant time The drive pre-magnetizes the motor before start. The 1
premagnetizing time is defined by parameter 21.2
Magnetization time. This mode should be selected if
constant pre-magnetizing time is required (e.g. if the
motor start must be synchronized with the release of
a mechanical brake). This setting also guarantees the
highest possible break-away torque when the
pre-magnetizing time is set long enough.

WARNING!
The drive will start after the set magnetizing
time has passed even if motor magnetization
is not completed. In applications where a full
break-away torque is essential, ensure that the
constant magnetizing time is long enough to
allow generation of full magnetization and
torque.
258 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Automatic Automatic start guarantees optimal motor start in 2
most cases.
It includes the flying start function (starting into a
rotating motor) and the automatic restart function (a
stopped motor can be restarted immediately without
waiting the motor flux to die away). The drive motor
control program identifies the flux as well as the
mechanical state of the motor and starts the motor
instantly under all conditions.
Flying start This method is intended for asynchronous motors 3
only, and is optimized for applications where the drive
must be started into a rotating motor at high
frequencies (above 150 Hz).
21.2 Magnetization time Defines the pre-magnetization time when 500 ms / uint16

• parameter 21.1 Start mode is set to Constant time

(in DTC motor control mode), or

• parameter 21.19 Scalar start mode is set to Const

time (in scalar motor control mode).
After the start command, the drive automatically
premagnetizes the motor for the set time. To ensure
full magnetizing, set this parameter to the same value
as, or higher than, the rotor time constant. If not
known, use the rule-of-thumb value given in the table
below:
Motor rated power Constant magnetizing time

< 1 kW ≥ 50 to 100 ms

1 to 10 kW ≥ 100 to 200 ms

10 to 200 kW ≥ 200 to 1000 ms

200 to 1000 kW ≥ 1000 to 2000 ms

Note: This parameter cannot be changed while the

drive is running.

0 ... 10000 ms Constant DC magnetizing time. 1 = 1 ms / 1 = 1 ms

21.3 Stop mode Selects the way the motor is stopped when a stop Coast / uint16
command is received.
Additional braking is possible by selecting flux braking
(see parameter 97.5 Flux braking).

Note: This parameter has no effect in a follower drive

in a master/follower configuration.

Coast Stop by switching off the output semiconductors of 0

the drive.
The motor coasts to a stop.

WARNING!
If a mechanical brake is used, ensure it is safe
to stop the drive by coasting.
 Parameters 259

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Ramp Stop along the active deceleration ramp. See 1
parameter group 23 Speed reference ramp (page 278).
Torque limit Stop according to torque limits (parameters 30.19 and 2
30.20).
21.4 Emergency stop Selects the way the motor is stopped when an Ramp stop (Off1);
mode emergency stop command is received. Coast stop (Off2)
The source of the emergency stop signal is selected (95.20 b1); Eme ramp
by parameter 21.5 Emergency stop source. stop (Off3) (95.20
b2) / uint16
Ramp stop (Off1) With the drive running: 0

• 1 = Normal operation.

• 0 = Normal stop along the standard deceleration

ramp defined for the particular reference type
(see section Reference ramping (page 46)). After
the drive has stopped, it can be restarted by
removing the emergency stop signal and
switching the start signal from 0 to 1.
With the drive stopped:

• 1 = Starting allowed.

• 0 = Starting not allowed.

Coast stop (Off2) With the drive running: 1

• 1 = Normal operation.

• 0 = Stop by coasting. The drive can be restarted

by restoring the start interlock signal and
switching the start signal from 0 to 1.
With the drive stopped:

• 1 = Starting allowed.

• 0 = Starting not allowed.

Eme ramp stop With the drive running: 2

(Off3)
• 1 = Normal operation.

• 0 = Stop by ramping along emergency stop ramp

defined by parameter 23.23 Emergency stop time.
After the drive has stopped, it can be restarted
by removing the emergency stop signal and
switching the start signal from 0 to 1.
With the drive stopped:

• 1 = Starting allowed.

• 0 = Starting not allowed.

260 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
21.5 Emergency stop Selects the source of the emergency stop signal. The Inactive (true); DI4
source stop mode is selected by parameter 21.4 Emergency (95.20 b1, 95.20 b2)
stop mode. / uint32
0 = Emergency stop active
1 = Normal operation

Note: This parameter cannot be changed while the

drive is running.

Active (false) 0. 0
Inactive (true) 1. 1
DIIL DIIL input (10.2 DI delayed status, bit 15). 2
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 12
1).
Other [bit] See Terms and abbreviations (page 134).
21.6 Zero speed limit Defines the zero speed limit. The motor is stopped 30.00 rpm / real32
along a speed ramp (when ramped stop is selected)
until the defined zero speed limit is reached. After the
zero speed delay, the motor coasts to a stop.

Note: If you use a value below the default, make sure

the drive is able to stop.

0.00 ... 30000.00 Zero speed limit. For 16-bit scaling, see parameter - / 100 = 1 rpm
rpm 46.1.
 Parameters 261

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
21.7 Zero speed delay Defines the delay for the zero speed delay function. 0 ms / real32
The function is useful in applications where a smooth
and quick restarting is essential. During the delay, the
drive knows the rotor position accurately.
Without zero speed delay:
The drive receives a stop command and decelerates
along a ramp. When actual motor speed falls below
the value of parameter 21.6 Zero speed limit, inverter
modulation is stopped and the motor coasts to a
standstill.

Speed

Speed controller switched off:

Motor coasts to a stop.

21.06
Time

With zero speed delay:

The drive receives a stop command and decelerates
along a ramp. When actual motor speed falls below
the value of parameter 21.6 Zero speed limit, the zero
speed delay function activates. During the delay the
function keeps the speed controller live: the inverter
modulates, motor is magnetized and the drive is ready
for a quick restart. Zero speed delay can be used e.g.
with the jogging function.

Speed
Speed controller remains active.
Motor is decelerated to true zero
speed.

21.06
Time

Delay

0 ... 30000 ms Zero speed delay. 1 = 1 ms / 1 = 1 ms

262 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
21.8 DC current control Activates/deactivates the DC hold and - / uint16
post-magnetization functions. See section DC
magnetization (page 67).

Note:

• DC hold is only available with speed control in

DTC motor control mode (see page 26).

• DC magnetization causes the motor to heat up.

In applications where long DC magnetization
times are required, externally ventilated motors
should be used. If the DC magnetization period
is long, DC magnetization cannot prevent the
motor shaft from rotating if a constant load is
applied to the motor.

b0 DC hold 1 = Enable DC hold. See section DC hold (page 67).

Note: The DC hold function has no effect if the start

signal is switched off.

b1 Post magnetization 1 = Enable post-magnetization. See section

Post-magnetization (page 68).

Note: Post-magnetization is only available when

ramping is the selected stop mode (see parameter
21.3 Stop mode).

b2…15 Reserved
0000h…FFFFh 1=1
21.9 DC hold speed Defines the DC hold speed. See parameter 21.8 DC 5.00 rpm / real32
current control, and section DC hold (page 67).
0.00 ... 1000.00 rpm DC hold speed. For 16-bit scaling, see parameter 46.1. - / 100 = 1 rpm
21.10 DC current Defines the DC hold current in percent of the motor 30.0 % / real32
reference nominal current. See parameter 21.8 DC current control,
and section DC magnetization (page 67).
0.0 ... 100.0 % DC hold current. 1 = 1 % / 10 = 1 %
21.11 Post magnetization Defines the length of time for which 0 s / uint32
time post-magnetization is active after stopping the motor.
The magnetization current is defined by parameter
21.10 DC current reference.
See parameter 21.8 DC current control.
0 ... 3000 s Post-magnetization time. 1=1s/1=1s
 Parameters 263

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
21.12 Continuous Activates/deactivates (or selects a source that Off / uint32
magnetization activates/deactivates) continuous magnetization. See
command section Continuous magnetization (page 68).
The magnetization current is calculated on the basis
of flux reference (see parameter group 97 Motor
control).

Note:

• This function is only available in DTC motor

control mode.

• Continuous magnetization causes the motor to

heat up. In applications where long magnetization
times are required, externally ventilated motors
should be used.

• Continuous magnetization may not be able to

prevent the motor shaft from rotating during a
long period if a constant load is applied to the
motor.

0 = Normal operation
1 = Magnetization active
Off 0. 0
On 1. 1
Other [bit] See Terms and abbreviations (page 134).
21.13 Autophasing mode Selects the way autophasing is performed. Turning / uint16
See section Autophasing (page 63).

Note: This parameter cannot be changed while the

drive is running.

Turning This mode gives the most accurate autophasing result. 0

This mode can be used, and is recommended, if the
motor is allowed to rotate and the start-up is not
time-critical.

Note: This mode will cause the motor to rotate. The

load torque must be less than 5%.

Standstill 1 Faster than the Turning mode, but not as accurate. 1

The motor will not rotate.
Permanent magnet motors: This mode is
recommended with salient-pole motors.
Standstill 2 An alternative standstill autophasing mode that can 2
be used if the Turning mode cannot be used, and the
Standstill 1 mode gives erratic results. However, this
mode is considerably slower than Standstill 1.
Permanent magnet motors: This mode is
recommended with non salient-pole motors.
Turning with This mode should be used if the zero pulse signal of 3
Z-pulse the pulse encoder is to be observed, and other modes
do not give a result. The motor will turn until a zero
pulse is detected.
264 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
21.14 Pre-heating input Selects the source of the motor pre-heat on/off Inactive (false) /
source command. uint32
See section Pre-heating (page 67).

Note: The pre-heating function will not activate if

• the Safe torque off function is active,

• a fault is active,

• less than one minute has elapsed after stopping,

or

• PID sleep function is active.

Pre-heating is deactivated when the drive is started,

and overridden by pre-magnetization,
post-magnetization or continuous magnetization.
0 = Pre-heating inactive
1 = Pre-heating active
Inactive (false) 0. Pre-heating is always deactivated. 0
Active (true) 1. Pre-heating is always activated when the drive is 1
stopped (apart from conditions stated above).
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
Supervision 1 Supervision 1 active (32.1 Supervision status, bit 0). 8
Supervision 2 Supervision 2 active (32.1 Supervision status, bit 1). 9
Supervision 3 Supervision 3 active (32.1 Supervision status, bit 2). 10
Other [bit] See Terms and abbreviations (page 134).
21.15 Pre-heating time Defines the delay time for the pre-heating function. 60 s / real32
delay
10 ... 3000 s Pre-heating time delay. 1=1s/1=1s
21.16 Pre-heating current Defines the motor pre-heating current that is fed into 0.0 % / real32
the motor when the source selected by 21.14
Pre-heating input source is on. The value is in percent
of the nominal motor current.
0.0 ... 30.0 % Pre-heating current. 1 = 1 % / 10 = 1 %
 Parameters 265

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
21.18 Auto restart time The motor can be automatically started after a short 5.0 s / real32
supply power failure using the automatic restart
function. See section Automatic restart (page 81).
When this parameter is set to 0.0 seconds, automatic
restarting is disabled. Otherwise, the parameter
defines the maximum duration of the power failure
after which restarting is attempted. Note that this
time also includes the DC precharging delay.

WARNING!
The function restarts the drive automatically
and continues operation after a supply break.
Make sure that no dangerous situations can
occur.

0.0 ... 10.0 s 0.0 s = Automatic restarting disabled. 1 = 1 s / 10 = 1 s

0.1 … 10.0 s = Maximum power failure duration.
21.19 Scalar start mode Selects the motor start function for the scalar motor Normal / uint16
control mode, ie. when99.4 Motor control mode is set
to Scalar.

Note:

• The start function for the DTC motor control

mode is selected by parameter 21.1 Start mode.

• With permanent magnet motors, Automatic start

mode must be used.

See also section DC magnetization (page 67).

Normal Immediate start from zero speed. 0
Const time The drive pre-magnetizes the motor before start. The 1
premagnetizing time is defined by parameter 21.2
Magnetization time. This mode should be selected if
constant pre-magnetizing time is required (e.g. if the
motor start must be synchronized with the release of
a mechanical brake). This setting also guarantees the
highest possible break-away torque when the
pre-magnetizing time is set long enough.

Note: This mode cannot be used to start into a rotating

motor.

WARNING!
The drive will start after the set magnetizing
time has passed even if motor magnetization
is not completed. In applications where a full
break-away torque is essential, ensure that the
constant magnetizing time is long enough to
allow generation of full magnetization and
torque.
266 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Automatic This setting should be used 2

• in applications where flying starts (ie. starting

into a rotating motor) are required, and

• with permanent magnet motors.

21.20 Follower force ramp In a torque-controlled follower drive, forces (or selects Not selected / uint32
stop a source that forces) the drive to switch to speed
control upon a ramp stop (Off1 or Off3) command.
This is required for an independent ramp stop of the
follower.
See also section Master/follower functionality.
1 = Ramp stop forces speed control
Not selected 0. 0
Selected 1. 1
DIIL DIIL input (10.2 DI delayed status, bit 15). 2
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 12
1).
Other [bit] See Terms and abbreviations (page 134).
21.37 Motor temperature Selects the source of the motor temperature Inactive (false) /
estimation estimation on/off command. uint32
See section Motor temperature estimation (page 69).

Note: The motor temperature estimation function

requires that

• ID run is performed

• ID run request is not active

• a fault is not active, and

• drive is in stopped state and ready to run.

WARNING!
The drive starts modulation when the above
conditions are fulfilled and the selection is
active. Take extra care when rebooting the
drive.

Inactive (false) 0 0
 Parameters 267

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Active (true) 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
Supervision 1 Supervision 1 active (32.1 Supervision status, bit 0). 8
Supervision 2 Supervision 2 active (32.1 Supervision status, bit 1). 9
Supervision 3 Supervision 3 active (32.1 Supervision status, bit 2). 10
Drive start Motor temperature estimation is performed always 11
command with drive start command.
Drive power-up Motor temperature estimation is performed once after 12
drive power-up (control board boot).
21.38 Motor temperature Defines the motor temperature estimation time. 4.0 s / real32
estimation time Motor temperature estimation is activated with
parameter 21.37 Motor temperature estimation.
0.5 ... 20.0 s Motor temperature estimation time in seconds. 10 = 1 s / 10 = 1 s
268 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
22 Speed reference Speed reference selection; motor potentiometer
selection settings.
See the control chain diagrams on pages 652...654.
22.1 Speed ref unlimited Displays the output of the speed reference selection - / real32
block.
See the control chain diagram on page 653.
This parameter is read-only.
-30000.00 ... Value of the selected speed reference. For 16-bit - / 100 = 1 rpm
30000.00 rpm scaling, see parameter 46.1.
22.11 Speed ref1 source Selects speed reference source 1. AI1 scaled / uint32
Two signal sources can be defined by this parameter
and 22.12 Speed ref2 source. A digital source selected
by 22.14 Speed ref1/2 selection can be used to switch
between the two sources, or a mathematical function
(22.13 Speed ref1 function) applied to the two signals
to create the reference.

22.11
22.13
0
AI Ref1
FB 22.81
… ADD 22.14
Other
SUB 0
MUL 22.83
MIN 1
22.12
MAX
0
AI
22.82
FB
…
Other

Zero None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FB A ref1 3.5 FB A reference 1 (page 144). 4
FB A ref2 3.6 FB A reference 2 (page 144). 5
EFB ref1 3.9 EFB reference 1 (page 144). 8
EFB ref2 3.10 EFB reference 2 (page 144). 9
DDCS ctrl ref1 3.11 DDCS controller ref 1 (page 144). 10
DDCS ctrl ref2 3.12 DDCS controller ref 2 (page 144). 11
M/F reference 1 3.13 M/F or D2D ref1 (page 145). 12
M/F reference 2 3.14 M/F or D2D ref2 (page 145). 13
Motor 22.80 Motor potentiometer ref act (output of the 15
potentiometer motor potentiometer).
PID 40.1 Process PID output actual (output of the process 16
PID controller).
Control panel (ref Control panel reference, with initial value from 18
saved) last-used panel reference. See section Using the
control panel as an external control source (page 25).
 Parameters 269

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Control panel (ref Control panel reference, with initial value from previous 19
copied) source or actual value. See section Using the control
panel as an external control source (page 25).
Other [value] See Terms and abbreviations (page 134).
22.12 Speed ref2 source Selects speed reference source 2. Zero / uint32
For the selections, and a diagram of reference source
selection, see parameter 22.11 Speed ref1 source.
22.13 Speed ref1 function Selects a mathematical function between the reference Ref1 / uint16
sources selected by parameters 22.11 Speed ref1 source
and 22.12 Speed ref2 source. See diagram at 22.11
Speed ref1 source.
Ref1 Signal selected by 22.11 Speed ref1 source is used as 0
speed reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as speed 1
reference 1.
Sub (ref1 - ref2) The subtraction ([22.11 Speed ref1 source] - [22.12 2
Speed ref2 source]) of the reference sources is used
as speed reference 1.
Mul (ref1 x ref2) The multiplication of the reference sources is used as 3
speed reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as speed 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as speed 5
reference 1.
22.14 Speed ref1/2 Configures the selection between speed references 1 Follow Ext1/Ext2
selection and 2. selection / uint32
See diagram at 22.11 Speed ref1 source.
0 = Speed reference 1
1 = Speed reference 2
Speed reference 1 0. 0
Speed reference 2 1. 1
Follow Ext1/Ext2 Speed reference 1 is used when external control 2
selection location EXT1 is active. Speed reference 2 is used when
external control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 12
1).
270 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Other [bit] See Terms and abbreviations (page 134).
22.15 Speed additive 1 Defines a reference to be added to the speed reference Zero / uint32
source after reference selection (see page 652).
For the selections, see parameter 22.11 Speed ref1
source.

Note: For safety reasons, the additive is not applied

when any of the stop functions are active.

22.16 Speed share Defines a scaling factor for the selected speed 1.000 / real32
referencec (speed reference 1 or 2, multiplied by the
defined value).
Speed reference 1 or 2 is selected by parameter 22.14
Speed ref1/2 selection.
-8.000 ... 8.000 Speed reference scaling factor. 1000 = 1 / 1000 = 1
22.17 Speed additive 2 Defines a reference to be added to the speed reference Zero / uint32
source after the speed share function (see page 652).
For the selections, see parameter 22.11 Speed ref1
source.

Note: For safety reasons, the additive is not applied

when any of the stop functions are active.

22.21 Constant speed Determines how constant speeds are selected, and - / uint16
function whether the rotation direction signal is considered or
not when applying a constant speed.
b0 Constant speed 1 = Packed: 7 constant speeds are selectable using the
mode three sources defined by parameters 22.22, 22.23 and
22.24.
0 = Separate: Constant speeds 1, 2 and 3 are separately
activated by the sources defined by parameters 22.22,
22.23 and 22.24 respectively.
In case of conflict, the constant speed with the smaller
number takes priority.
b1 Direction enable 1 = Start dir: To determine running direction for a
constant speed, the sign of the constant speed setting
(parameters 22.26…22.32) is multiplied by the direction
signal (forward: +1, reverse: -1). This effectively allows
the drive to have 14 (7 forward, 7 reverse) constant
speeds if all values in 22.26…22.32 are positive.

WARNING!
If the direction signal is reverse and the active
constant speed is negative, the drive will run
in the forward direction.

0 = Accord Par: The running direction for the constant

speed is determined by the sign of the constant speed
setting (parameters 22.26…22.32).
b2…15 Reserved
0000h…FFFFh 1=1
 Parameters 271

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
22.22 Constant speed sel1 When bit 0 of parameter 22.21 Constant speed function DI5 / uint32
is 0 (Separate), selects a source that activates constant
speed 1.
When bit 0 of parameter 22.21 Constant speed function
is 1 (Packed), this parameter and parameters 22.23
Constant speed sel2 and 22.24 Constant speed sel3
select three sources whose states activate constant
speeds as follows:
Source Source Source Constant
defined by defined by defined by speed active
par. 22.22 par. 22.23 par. 22.24

0 0 0 None

1 0 0 Constant
speed 1

0 1 0 Constant
speed 2

1 1 0 Constant
speed 3

0 0 1 Constant
speed 4

1 0 1 Constant
speed 5

0 1 1 Constant
speed 6

1 1 1 Constant
speed 7

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
272 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
22.23 Constant speed When bit 0 of parameter 22.21 Constant speed function Not selected / uint32
sel2 is 0 (Separate), selects a source that activates constant
speed 2.
When bit 0 of parameter 22.21 Constant speed function
is 1 (Packed), this parameter and parameters 22.22
Constant speed sel1 and 22.24 Constant speed sel3
select three sources that are used to activate constant
speeds. See table at parameter 22.22 Constant speed
sel1.
For the selections, see parameter 22.22 Constant speed
sel1.
22.24 Constant speed When bit 0 of parameter 22.21 Constant speed function Not selected / uint32
sel3 is 0 (Separate), selects a source that activates constant
speed 3.
When bit 0 of parameter 22.21 Constant speed function
is 1 (Packed), this parameter and parameters 22.22
Constant speed sel1 and 22.23 Constant speed sel2
select three sources that are used to activate constant
speeds. See table at parameter 22.22 Constant speed
sel1.
For the selections, see parameter 22.22 Constant speed
sel1.
22.26 Constant speed 1 Defines constant speed 1 (the speed the motor will 300.00 rpm / real32
turn when constant speed 1 is selected).
-30000.00 ... Constant speed 1. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
22.27 Constant speed 2 Defines constant speed 2. 0.00 rpm / real32
-30000.00 ... Constant speed 2. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
22.28 Constant speed 3 Defines constant speed 3. 0.00 rpm / real32
-30000.00 ... Constant speed 3. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
22.29 Constant speed 4 Defines constant speed 4. 0.00 rpm / real32
-30000.00 ... Constant speed 4. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
22.30 Constant speed 5 Defines constant speed 5. 0.00 rpm / real32
-30000.00 ... Constant speed 5. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
22.31 Constant speed 6 Defines constant speed 6. 0.00 rpm / real32
-30000.00 ... Constant speed 6. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
22.32 Constant speed 7 Defines constant speed 7. 0.00 rpm / real32
-30000.00 ... Constant speed 7. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
 Parameters 273

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
22.41 Speed ref safe Defines a safe speed reference value that is used with - / real32
supervision functions such as

• 12.3 AI supervision function

• 49.5 Communication loss action

• 50.2 FBA A comm loss func

• 50.32 FBA B comm loss func

• 58.14 Communication loss action.

-30000.00 ... Safe speed reference. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
22.42 Jogging 1 ref Defines the speed reference for jogging function 1. 0.00 rpm / real32
For more information on jogging, see page 60.
-30000.00 ... Speed reference for jogging function 1. For 16-bit - / 100 = 1 rpm
30000.00 rpm scaling, see parameter 46.1.
22.43 Jogging 2 ref Defines the speed reference for jogging function 2. 0.00 rpm / real32
For more information on jogging, see page 60.
-30000.00 ... Speed reference for jogging function 2. For 16-bit - / 100 = 1 rpm
30000.00 rpm scaling, see parameter 46.1.
22.51 Critical speed Enables/disables the critical speeds function. Also - / uint16
function determines whether the specified ranges are effective
in both rotating directions or not.
See also section Critical speeds/frequencies (page 47).
b0 Enable 1 = Enable: Critical speeds enabled.
0 = Disable: Critical speeds disabled.
b1 Sign mode 1 = Signed: The signs of parameters 22.52…22.57 are
taken into account.
0 = Absolute: Parameters 22.52…22.57 are handled as
absolute values.
Each range is effective in both directions of rotation.
b2…15 Reserved
0000h…FFFFh 1=1
22.52 Critical speed 1 low Defines the low limit for critical speed range 1. 0.00 rpm / real32

Note: This value must be less than or equal to the value

of 22.53 Critical speed 1 high.

-30000.00 ... Low limit for critical speed 1. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
22.53 Critical speed 1 high Defines the high limit for critical speed range 1. 0.00 rpm / real32

Note: This value must be greater than or equal to the

value of 22.52 Critical speed 1 low.

-30000.00 ... High limit for critical speed 1. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
274 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
22.54 Critical speed 2 low Defines the low limit for critical speed range 2. 0.00 rpm / real32

Note: This value must be less than or equal to the value

of 22.55 Critical speed 2 high.

-30000.00 ... Low limit for critical speed 2. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
22.55 Critical speed 2 high Defines the high limit for critical speed range 2. 0.00 rpm / real32

Note: This value must be greater than or equal to the

value of 22.54 Critical speed 2 low.

-30000.00 ... High limit for critical speed 2. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
22.56 Critical speed 3 low Defines the low limit for critical speed range 3. 0.00 rpm / real32

Note: This value must be less than or equal to the value

of 22.57 Critical speed 3 high.

-30000.00 ... Low limit for critical speed 3. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
22.57 Critical speed 3 Defines the high limit for critical speed range 3. 0.00 rpm / real32
high
Note: This value must be greater than or equal to the
value of 22.56 Critical speed 3 low.

-30000.00 ... High limit for critical speed 3. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
22.71 Motor Activates and selects the mode of the motor Disabled / uint16
potentiometer potentiometer.
function See section Motor potentiometer (page 73).
Disabled Motor potentiometer is disabled and its value set to 0
0.
Enabled (init at When enabled, the motor potentiometer first adopts 1
stop/power-up) the value defined by parameter 22.72 Motor
potentiometer initial value.
When the drive is running, the value can be adjusted
from the up and down sources defined by parameters
22.73 Motor potentiometer up source and 22.74 Motor
potentiometer down source.
A stop or a power cycle will reset the motor
potentiometer to the initial value (22.72).
Enabled (resume As Enabled (init at stop/power-up), but the motor 2
always) potentiometer value is retained over a stop or a power
cycle.
22.72 Motor Defines an initial value (starting point) for the motor 0.00 / real32
potentiometer potentiometer. See the selections of parameter 22.71
initial value Motor potentiometer function.
-32768.00 ... Initial value for motor potentiometer. 1 = 1 / 100 = 1
32767.00
 Parameters 275

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
22.73 Motor Selects the source of motor potentiometer up signal. Not selected / uint32
potentiometer up 0 = No change
source 1 = Increase motor potentiometer value. (If both the
up and down sources are on, the potentiometer value
will not change.)
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
22.74 Motor Selects the source of motor potentiometer down Not selected / uint32
potentiometer signal.
down source 0 = No change
1 = Decrease motor potentiometer value. (If both the
up and down sources are on, the potentiometer value
will not change.)
For the selections, see parameter 22.73 Motor
potentiometer up source.
22.75 Motor Defines the change rate of the motor potentiometer. 60.0 s / real32
potentiometer This parameter specifies the time required for the
ramp time motor potentiometer to change from minimum (22.76)
to maximum (22.77). The same change rate applies in
both directions.
0.0 ... 3600.0 s Motor potentiometer change time. 10 = 1 s / 10 = 1 s
22.76 Motor Defines the minimum value of the motor -1500.00 / real32
potentiometer min potentiometer.
value
-32768.00 ... Motor potentiometer minimum. 1 = 1 / 100 = 1
32767.00
22.77 Motor Defines the maximum value of the motor 1500.00 / real32
potentiometer max potentiometer.
value
-32768.00 ... Motor potentiometer maximum. 1 = 1 / 100 = 1
32767.00
22.80 Motor Displays the output of the motor potentiometer - / real32
potentiometer ref function. (The motor potentiometer is configured
act using parameters 22.71…22.74.)
This parameter is read-only.
276 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-32768.00 ... Value of motor potentiometer. 1 = 1 / 100 = 1
32767.00
22.81 Speed reference act Displays the value of speed reference source 1 - / real32
1 (selected by parameter 22.11 Speed ref1 source). See
the control chain diagram on page 652.
This parameter is read-only.
-30000.00 ... Value of reference source 1. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
22.82 Speed reference act Displays the value of speed reference source 2 - / real32
2 (selected by parameter 22.12 Speed ref2 source). See
the control chain diagram on page 652.
This parameter is read-only.
-30000.00 ... Value of reference source 2. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
22.83 Speed reference act Displays the value of speed reference after the - / real32
3 mathematical function applied by parameter 22.13
Speed ref1 function and reference 1/2 selection (22.14
Speed ref1/2 selection). See the control chain diagram
on page 652.
This parameter is read-only.
-30000.00 ... Speed reference after source selection. For 16-bit - / 100 = 1 rpm
30000.00 rpm scaling, see parameter 46.1.
22.84 Speed reference act Displays the value of speed reference after application - / real32
4 of 1st speed additive (22.15 Speed additive 1 source).
See the control chain diagram on page 652.
This parameter is read-only.
-30000.00 ... Speed reference after additive 1. For 16-bit scaling, - / 100 = 1 rpm
30000.00 rpm see parameter 46.1.
22.85 Speed reference act Displays the value of speed reference after the - / real32
5 application of the speed share scaling factor (22.16
Speed share). See the control chain diagram on page
652.
This parameter is read-only.
-30000.00 ... Speed reference after speed share scaling. For 16-bit - / 100 = 1 rpm
30000.00 rpm scaling, see parameter 46.1.
22.86 Speed reference act Displays the value of speed reference after application - / real32
6 of 2nd speed additive (22.17 Speed additive 2 source).
See the control chain diagram on page 652.
This parameter is read-only.
-30000.00 ... Speed reference after additive 2. For 16-bit scaling, - / 100 = 1 rpm
30000.00 rpm see parameter 46.1.
 Parameters 277

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
22.87 Speed reference act Displays the value of speed reference before - / real32
7 application of critical speeds. See the control chain
diagram on page 653.
The value is received from 22.86 Speed reference act
6 unless overridden by

• any constant speed

• a jogging reference

• network control reference (see Terms and

abbreviations (page 18))

• control panel reference

• safe speed reference.

This parameter is read-only.
-30000.00 ... Speed reference before application of critical speeds. - / 100 = 1 rpm
30000.00 rpm For 16-bit scaling, see parameter 46.1.
278 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
23 Speed reference Speed reference ramp settings (programming of the
ramp acceleration and deceleration rates for the drive).
See the control chain diagram on page 654.
23.1 Speed ref ramp Displays the used speed reference (in rpm) before it - / real32
input enters the ramping and shaping functions. See the
control chain diagram on page 654.
This parameter is read-only.
-30000.00 ... Speed reference before ramping and shaping. For - / 100 = 1 rpm
30000.00 rpm 16-bit scaling, see parameter 46.1.
23.2 Speed ref ramp Displays the ramped and shaped speed reference in - / real32
output rpm. See the control chain diagram on page 654.
This parameter is read-only.
-30000.00 ... Speed reference after ramping and shaping. For 16-bit - / 100 = 1 rpm
30000.00 rpm scaling, see parameter 46.1.
23.11 Ramp set selection Selects the source that switches between the two sets DI4; Acc/Dec time 2
of acceleration/deceleration ramp times defined by (95.20 b1) / uint32
parameters 23.12…23.15.
0 = Acceleration time 1 and deceleration time 1 are
active
1 = Acceleration time 2 and deceleration time 2 are
active
Acc/Dec time 1 0. 0
Acc/Dec time 2 1. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
23.12 Acceleration time 1 Defines acceleration time 1 as the time required for 20.000 s / real32
the speed to change from zero to the speed defined
by parameter 46.1 Speed scaling (not to parameter
30.12 Maximum speed).
If the speed reference increases faster than the set
acceleration rate, the motor speed will follow the
acceleration rate.
If the speed reference increases slower than the set
acceleration rate, the motor speed will follow the
reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to
exceed the drive torque limits.
 Parameters 279

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.000 ... 1800.000 s Acceleration time 1. 10 = 1 s / 1000 = 1 s
23.13 Deceleration time 1 Defines deceleration time 1 as the time required for 20.000 s / real32
the speed to change from the speed defined by
parameter 46.1 Speed scaling (not from parameter
30.12 Maximum speed) to zero.
If the speed reference decreases slower than the set
deceleration rate, the motor speed will follow the
reference.
If the reference changes faster than the set
deceleration rate, the motor speed will follow the
deceleration rate.
If the deceleration rate is set too short, the drive will
automatically prolong the deceleration in order not to
exceed drive torque limits (or not to exceed a safe DC
link voltage). If there is any doubt about the
deceleration time being too short, ensure that DC
overvoltage control is on (parameter 30.30 Overvoltage
control).

Note: If a short deceleration time is needed for a high

inertia application, the drive should be equipped with
braking equipment such as a brake chopper and brake
resistor.

0.000 ... 1800.000 s Deceleration time 1. 10 = 1 s / 1000 = 1 s

23.14 Acceleration time 2 Defines acceleration time 2. See parameter 23.12 60.000 s / real32
Acceleration time 1.
0.000 ... 1800.000 s Acceleration time 2. 10 = 1 s / 1000 = 1 s
23.15 Deceleration time 2 Defines deceleration time 2. See parameter 23.13 60.000 s / real32
Deceleration time 1.
0.000 ... 1800.000 s Deceleration time 2. 10 = 1 s / 1000 = 1 s
280 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
23.16 Shape time acc 1 Defines the shape of the acceleration ramp at the - / real32
beginning of the acceleration.
0.000 s: Linear ramp. Suitable for steady acceleration
or deceleration and for slow ramps.
0.001…1000.000 s: S-curve ramp. S-curve ramps are
ideal for lifting applications. The S-curve consists of
symmetrical curves at both ends of the ramp and a
linear part in between.

Note: For safety reasons, shape times are not applied

to emergency stop ramps.

Note: Ramp shape times may not always be obeyed if

changed during ramping and reference would
overshoot.
Acceleration:

Linear ramp:
23.17 = 0 s
Speed
Shape time

Linear ramp:
23.16 = 0 s

S-curve ramp:
23.17 > 0 s

S-curve ramp:
23.16 > 0 s

Time

Deceleration:

Speed
S-curve ramp:
23.18 > 0 s

Linear ramp:
23.18 = 0 s

S-curve ramp:
23.19 > 0 s

Linear ramp:
23.19 = 0 s

Time

0.000 ... 1800.000 s Ramp shape at start of acceleration. 10 = 1 s / 1000 = 1 s

 Parameters 281

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
23.17 Shape time acc 2 Defines the shape of the acceleration ramp at the end 0.000 s / real32
of the acceleration. See parameter 23.16 Shape time
acc 1.
0.000 ... 1800.000 s Ramp shape at end of acceleration. 10 = 1 s / 1000 = 1 s
23.18 Shape time dec 1 Defines the shape of the deceleration ramp at the 0.000 s / real32
beginning of the deceleration. See parameter 23.16
Shape time acc 1.
0.000 ... 1800.000 s Ramp shape at start of deceleration. 10 = 1 s / 1000 = 1 s
23.19 Shape time dec 2 Defines the shape of the deceleration ramp at the end 0.000 s / real32
of the deceleration. See parameter 23.16 Shape time
acc 1.
0.000 ... 1800.000 s Ramp shape at end of deceleration. 10 = 1 s / 1000 = 1 s
23.20 Acc time jogging Defines the acceleration time for the jogging function 60.000 s / real32
i.e. the time required for the speed to change from
zero to the speed value defined by parameter 46.1
Speed scaling.
See section Jogging (page 60).
0.000 ... 1800.000 s Acceleration time for jogging. 10 = 1 s / 1000 = 1 s
23.21 Dec time jogging Defines the deceleration time for the jogging function 60.000 s / real32
i.e. the time required for the speed to change from the
speed value defined by parameter 46.1 Speed scaling
to zero.
See section Jogging (page 60).
0.000 ... 1800.000 s Deceleration time for jogging. 10 = 1 s / 1000 = 1 s
23.23 Emergency stop In speed control mode, this parameter defines the 3.000 s / real32
time deceleration rate for emergency stop Off3 as the time
it would take for the speed to decrease from the value
of parameter 46.1 Speed scaling. This also applies to
torque control because the drive switches to speed
control on receiving an emergency stop Off3
command.
In frequency control mode, this parameter specifies
the time it would take for the frequency to decrease
from the value of 46.2 Frequency scaling to zero.
The emergency stop mode and activation source are
selected by parameters 21.4 Emergency stop mode
and 21.5 Emergency stop source respectively.
Emergency stop can also be activated through
fieldbus.

Note: Emergency stop Off1 uses the standard

deceleration ramp as defined by parameters
23.11…23.19 (speed and torque control) or 28.71…28.75
(frequency control).

0.000 ... 1800.000 s Emergency stop Off3 deceleration time. 10 = 1 s / 1000 = 1 s

282 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
23.24 Speed ramp in zero Selects a source that forces the speed reference to Inactive / uint32
source zero just before it enters the ramp function.
0 = Force speed reference to zero before the ramp
function
1 = Speed reference continues towards the ramp
function as normal
Active 0. 0
Inactive 1. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
23.26 Ramp out balancing Selects the source for enabling/disabling speed Not selected / uint32
enable reference ramp balancing.
This function is used to generate a smooth transfer
from a torque- or tension-controlled motor back to
being speed-controlled. The balancing output would
be tracking the present “line” speed of the application
and when transfer is required, the speed reference can
then be quickly “seeded” to the correct line speed.
Balancing is also possible in the speed controller, see
parameter 25.9 Speed ctrl balancing enable.
See also parameter 23.27 Ramp out balancing ref.
0 = Disabled
1 = Enabled
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
 Parameters 283

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Other [bit] See Terms and abbreviations (page 134).
23.27 Ramp out balancing Defines the reference for speed ramp balancing. The - / real32
ref output of the ramp generator is forced to this value
when balancing is enabled by parameter 23.26 Ramp
out balancing enable.
-30000.00 ... Speed ramp balancing reference. For 16-bit scaling, - / 100 = 1 rpm
30000.00 rpm see parameter 46.1.
23.28 Variable slope Activates the variable slope function, which controls Off / uint32
enable the slope of the speed ramp during a speed reference
change. This allows for a constantly variable ramp rate
to be generated, instead of just the standard two
ramps normally available.
If the update interval of the signal from an external
control system and the variable slope rate (23.29
Variable slope rate) are equal, the resulting speed
reference (23.2 Speed ref ramp output) is a straight
line.

Speed reference

Speed
reference

23.02 Speed ref ramp output

Time

t = update interval of signal from external control

system
A = speed reference change during t
This function is only active in remote control.
Off Variable slope disabled. 0
On Variable slope enabled (not available in local control). 1
Other [bit] See Terms and abbreviations (page 134).
23.29 Variable slope rate Defines the rate of the speed reference change when 50 ms / real32
variable slope is enabled by parameter 23.28 Variable
slope enable.
For the best result, enter the reference update interval
into this parameter.
2 ... 30000 ms Variable slope rate. 1 = 1 ms / 1 = 1 ms
284 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
23.39 Follower speed Displays the speed correction term for the load share - / real32
correction out function with a speed-controlled follower drive.
See section Load share function with a
speed-controlled follower (page 36).
This parameter is read-only.
-30000.00 ... Speed correction term. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
23.40 Follower speed With a speed-controlled follower, selects the source Not selected / uint32
correction enable for enabling/disabling the load share function.
See section Load share function with a
speed-controlled follower (page 36).
0 = Disabled
1 = Enabled
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
23.41 Follower speed Adjusts the gain of the speed correction term in a 1.00 % / real32
correction gain speed-controlled follower. In effect, defines how
accurately the follower follows the master torque. A
greater value results in a more accurate performance.
See section Load share function with a
speed-controlled follower (page 36).
0.00 ... 100.00 % Speed correction term adjustment. 1 = 1 % / 100 = 1 %
23.42 Follower speed corr Selects the source of the torque reference for the load MF ref 2 / uint32
torq source share function. See section Load share function with
a speed-controlled follower (page 36).
NULL None. 0
MF ref 2 3.14 M/F or D2D ref2 (page 145). 1
Other [value] See Terms and abbreviations (page 134).
 Parameters 285

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
24 Speed reference Speed error calculation; speed error window control
conditioning configuration; speed error step.
See the control chain diagrams on pages 657 and 658.
24.1 Used speed Displays the ramped and corrected speed reference - / real32
reference (before speed error calculation). See the control chain
diagram on page 657.
This parameter is read-only.
-30000.00 ... Speed reference used for speed error calculation. For - / 100 = 1 rpm
30000.00 rpm 16-bit scaling, see parameter 46.1.
24.2 Used speed Displays the speed feedback used for speed error - / real32
feedback calculation.
See the control chain diagram on page 657.
This parameter is read-only.
-30000.00 ... Speed feedback used for speed error calculation. For - / 100 = 1 rpm
30000.00 rpm 16-bit scaling, see parameter 46.1.
24.3 Speed error filtered Displays the filtered speed error. See the control chain 0.00 rpm / real32
diagram on page 657.
This parameter is read-only.
-30000.00 ... Filtered speed error. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
24.4 Speed error Displays the inverted (unfiltered) speed error. See the 0.00 rpm / real32
inverted control chain diagram on page 657.
This parameter is read-only
-30000.00 ... Inverted speed error. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
24.11 Speed correction Defines a speed reference correction, ie. a value added 0.00 rpm / real32
to the existing reference between ramping and
limitation. This is useful to trim the speed if necessary,
for example to adjust draw between sections of a
paper machine.

Note: For safety reasons, the correction is not applied

when an emergency stop is active.

WARNING!
If the speed reference correction exceeds 21.6
Zero speed limit, a ramp stop may be
impossible. Make sure the correction is reduced
or removed when a ramp stop is required.

See the control chain diagram on page 657.

-10000.00 ... Speed reference correction. For 16-bit scaling, see - / 100 = 1 rpm
10000.00 rpm parameter 46.1.
286 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
24.12 Speed error filter Defines the time constant of the speed error low-pass 0 ms / real32
time filter.
If the used speed reference changes rapidly, the
possible interferences in the speed measurement can
be filtered with the speed error filter. Reducing the
ripple with this filter may cause speed controller tuning
problems. A long filter time constant and fast
acceleration time contradict one another. A very long
filter time results in unstable control.
0 ... 10000 ms Speed error filtering time constant. 0 = filtering 1 = 1 ms / 1 = 1 ms
disabled.
24.13 RFE speed filter Enables/disables resonance frequency filtering. The Off / uint16
filtering is configured by parameters 24.13…24.17.
The speed error value coming to the speed controller
is filtered by a common 2nd order band-elimination
filter to eliminate the amplification of mechanical
resonance frequencies.

Note: Tuning the resonance frequency filter requires

a basic understanding of frequency filters. Incorrect
tuning can amplify mechanical oscillations and damage
the drive hardware. To ensure the stability of the speed
controller, stop the drive or disable the filtering before
changing the parameter settings.
0 = Resonance frequency filtering disabled.
1 = Resonance frequency filtering enabled.
On 1. 1
Off 0. 0
24.14 Frequency of zero Defines the zero frequency of the resonance frequency 45.00 Hz / real32
filter.
The value must be set near the resonance frequency,
which is filtered out before the speed controller.
The drawing shows the frequency response.

20log10|H(ω)|
20

-20

-40

-60
0 50 100 150
f(Hz)

0.50 ... 500.00 Hz Zero frequency. 1 = 1 Hz / 100 = 1 Hz

 Parameters 287

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
24.15 Damping of zero Defines the damping coefficient for parameter 24.14. 0.000 / real32
The value of 0 corresponds to the maximum
elimination of the resonance frequency.

20log10|H(ω)|
20
fzero = 45 Hz
ξzero = 0.250
0 ξpole = 1

-20
fzero = 45 Hz
ξzero = 0
-40
ξpole = 1

-60
0 50 100 150
f(Hz)

Note: To ensure that the resonance frequency band is

filtered (rather than amplified), the value of 24.15 must
be smaller than 24.17.

-1.000 ... 1.000 Damping coefficient. 100 = 1 / 1000 = 1

24.16 Frequency of pole Defines the frequency of pole of the resonance 40.00 Hz / real32
frequency filter.

20log10|H(ω)|
40
fzero = 45 Hz, fpole = 50 Hz
ξzero = 0, ξpole = 0.250
20

-20 fzero = 45 Hz fzero = 45 Hz

fpole = 30 Hz fpole = 40 Hz
-40 ξzero = 0 ξzero = 0
ξpole = 0.250 ξpole = 0.250
-60
0 50 100
f(Hz)

Note: If this value is very different from the value of

24.14, the frequencies near the frequency of pole are
amplified, which can damage the driven machine.

0.50 ... 500.00 Hz Frequency of pole. 1 = 1 Hz / 100 = 1 Hz

288 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
24.17 Damping of pole Defines the damping coefficient for parameter 24.16. 0.250 / real32
The coefficient shapes the frequency response of the
resonance frequency filter. A narrower bandwidth
results in better dynamic properties. By setting this
parameter to 1, the effect of the pole is eliminated.

20log10|H(ω)|
40
fzero = 45 Hz
20 fpole = 40 Hz
ξzero = 0
ξpole = 0.050
0

fzero = 45 Hz fzero = 45 Hz
-20
fpole = 40 Hz fpole = 40 Hz
ξzero = 0 ξzero = 0
-40
ξpole = 0.750 ξpole = 0.250
-60
0 50 100
f(Hz)

Note: To ensure that the resonance frequency band is

filtered (rather than amplified), the value of 24.15 must
be smaller than 24.17.

-1.000 ... 1.000 Damping coefficient. 100 = 1 / 1000 = 1

 Parameters 289

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
24.41 Speed error window Enables/disables (or selects a source that Disable / uint32
control enable enables/disables) speed error window control,
sometimes also referred to as deadband control or
strip break protection. It forms a speed supervision
function for a torque-controlled drive, preventing the
motor from running away if the material that is being
held under tension breaks.

Note: Speed error window control is only effective

when the Add operating mode is active (see
parameters 19.12 and 19.14), or when the drive is a
speed-controlled follower (see page 36).
In normal operation, window control keeps the speed
controller input at zero so the drive stays in torque
control.
If the motor load is lost, then the motor speed will rise
as the torque controller tries to maintain torque. The
speed error (speed reference - actual speed) will
increase until it exits the speed error window. When
this is detected, the exceeding part of the error value
is connected to the speed controller. The speed
controller produces a reference term relative to the
input and gain (25.2 Speed proportional gain) which
the torque selector adds to the torque reference. The
result is used as the internal torque reference for the
drive.
The activation of speed error window control is
indicated by bit 3 of 6.19 Speed control status word.
290 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
The window boundaries are defined by 24.43 Speed
error window high and 24.44 Speed error window low
as follows:

Speed (rpm)

Reference + [24.44] rpm

Speed error Reference

window

Reference - [24.43] rpm

Forward
0 rpm
Reverse

Reference + [24.43] rpm

Speed error Reference

window

Reference - [24.44] rpm

Note that it is parameter 24.44 (rather than 24.43) that

defines the overspeed limit in both directions of
rotation. This is because the function monitors speed
error (which is negative in case of overspeed, positive
in case of underspeed).

WARNING!
In a speed-controlled follower, the speed error
window must not exceed 21.6 Zero speed limit
for a reliable ramp stop. Make sure both 24.43
and 24.44 are smaller than 21.6 (or speed error
window control disabled) when a ramp stop is
required.

0 = Speed error window control disabled

1 = Speed error window control enabled
Disable 0. 0
Enable 1. 1
Other [bit] See Terms and abbreviations (page 134).
24.42 Speed window When speed error window control (see parameter 24.41 Normal speed
control mode Speed error window control enable) is enabled, this control / uint16
parameter determines whether the speed controller
only observes the proportional term instead of all three
(P, I and D) terms.
Normal speed All three terms (parameters 25.2, 25.3 and 25.4) are 0
control observed by the speed controller.
 Parameters 291

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
P-control Only the proportional term (25.2) is observed by the 1
speed controller. The integral and derivative terms are
internally forced to zero.
24.43 Speed error window Defines the upper boundary of the speed error window. 0.00 rpm / real32
high See parameter 24.41 Speed error window control
enable.
0.00 ... 3000.00 rpm Upper boundary of speed error window. For 16-bit - / 100 = 1 rpm
scaling, see parameter 46.1.
24.44 Speed error window Defines the lower boundary of the speed error window. 0.00 rpm / real32
low See parameter 24.41 Speed error window control
enable.
0.00 ... 3000.00 rpm Lower boundary of speed error window. For 16-bit - / 100 = 1 rpm
scaling, see parameter 46.1.
24.46 Speed error step Defines an additional speed error step given to the 0.00 rpm / real32
input of the speed controller (and added to the speed
error value). This can be used in large drive systems
for dynamic speed normalizing.

WARNING!
Make sure the error step value is removed when
a stop command is given.

-3000.00 ... 3000.00 Speed error step. For 16-bit scaling, see parameter - / 100 = 1 rpm
rpm 46.1.
292 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25 Speed control Speed controller settings.
See the control chain diagrams on pages 657 and 658.
25.1 Torque reference Displays the speed controller output that is transferred - / real32
speed control to the torque controller. See the control chain diagram
on page 658.
This parameter is read-only.
-1600.0 ... 1600.0 % Limited speed controller output torque. For 16-bit - / 10 = 1 %
scaling, see parameter 46.3.
25.2 Speed proportional Defines the proportional gain (Kp) of the speed 10.00; 5.00 (95.21
gain controller. Too high a gain may cause speed oscillation. b1/b2) / real32
The figure below shows the speed controller output
after an error step when the error remains constant.

Gain = K p = 1
TI= Integration time = 0
TD= Derivation time = 0

Error value E
Controller
output
Controller
e = Error value
output = Kp x e

Time

If gain is set to 1.00, a 10% error (reference - actual

value) in the motor synchronous speed produces a
proportional term of 10%.

Note: This parameter is automatically set by the speed

controller autotune function. See section Speed
controller autotune (page 48).

0.00 ... 250.00 Proportional gain for speed controller. 100 = 1 / 100 = 1
 Parameters 293

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.3 Speed integration Defines the integration time of the speed controller. 2.50; 5.00 s (95.21
time The integration time defines the rate at which the b1/b2) s / real32
controller output changes when the error value is
constant and the proportional gain of the speed
controller is 1. The shorter the integration time, the
faster the continuous error value is corrected.
Setting the integration time to zero disables the I-part
of the controller. This is useful to do when tuning the
proportional gain; adjust the proportional gain first,
then return the integration time.
The integrator has anti-windup control for operation
at a torque or current limit.
The figure below shows the speed controller output
after an error step when the error remains constant.

Controller output Gain = K p = 1

TI= Integration time > 0
TD= Derivation time = 0

Kp x e

Kp x e e = Error value

Time
TI

Note: This parameter is automatically set by the speed

controller autotune function. See section Speed
controller autotune (page 48).

0.00 ... 1000.00 s Integration time for speed controller. 10 = 1 s / 100 = 1 s

294 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.4 Speed derivation Defines the derivation time of the speed controller. 0.000 s / real32
time Derivative action boosts the controller output if the
error value changes.
The longer the derivation time, the more the speed
controller output is boosted during the change. If the
derivation time is set to zero, the controller works as
a PI controller, otherwise as a PID controller. The
derivation makes the control more responsive for
disturbances. For simple applications (especially those
without an encoder), derivative time is not normally
required and should be left at zero.
The figure below shows the speed controller output
after an error step when the error remains constant.
The speed error derivative must be filtered with a low
pass filter to eliminate external disturbances.

% Controller
output

'e
Kp × TD ×
Ts Kp × e

Error value

Kp × e
e = Error value

TI
Time

Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time > 0
Ts= Sample time period = 500 μs
Δe = Error value change between two samples
0.000 ... 10.000 s Derivation time for speed controller. 1000 = 1 s / 1000 = 1
s
25.5 Derivation filter Defines the derivation filter time constant. See 8 ms / real32
time parameter 25.4 Speed derivation time.
0 ... 10000 ms Derivation filter time constant. 1 = 1 ms / 1 = 1 ms
 Parameters 295

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.6 Acc comp Defines the derivation time for - / real32
derivation time acceleration(/deceleration) compensation. In order to
compensate for a high inertia load during acceleration,
a derivative of the reference is added to the output of
the speed controller. The principle of a derivative
action is described under parameter 25.4 Speed
derivation time.

Note: As a general rule, set this parameter to the value

between 50 and 100% of the sum of the mechanical
time constants of the motor and the driven machine.
The figure below shows the speed responses when a
high inertia load is accelerated along a ramp.
No acceleration compensation:

Speed reference

Actual speed

Time

Acceleration compensation:

Speed reference

Actual speed

Time

0.00 ... 1000.00 s Acceleration compensation derivation time. 10 = 1 s / 100 = 1 s

25.7 Acc comp filter time Defines the acceleration (or deceleration) 8.0 ms / real32
compensation filter time constant. See parameters
25.4 Speed derivation time and 25.6 Acc comp
derivation time.
0.0 ... 1000.0 ms Acceleration/deceleration compensation filter time. 1 = 1 ms / 10 = 1 ms
296 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.8 Drooping rate Defines the droop rate in percent of the nominal motor - / real32
speed.
Drooping decreases the drive speed slightly as the
drive load increases. The actual speed decrease at a
certain operating point depends on the droop rate
setting and the drive load (= torque reference / speed
controller output). At 100 % speed controller output,
drooping is at its nominal level, i.e. equal to the value
of this parameter. The drooping effect decreases
linearly to zero along with the decreasing load.
The droop rate can be used e.g. to adjust the load
sharing in a Master/Follower application run by several
drives. In a Master/Follower application the motor
shafts are coupled to each other.
The correct droop rate for a process must be found
out case by case in practice.
Speed decrease = Speed controller output × Drooping
× Synchronous speed
Example: Speed controller output is 50 %, droop rate
is 1 %, synchronous speed of the drive is 1500 rpm.
Speed decrease = 0.50 × 0.01 × 1500 rpm = 7.5 rpm.

Motor speed in
% of nominal

No drooping
100%
Drooping 25.08 Drooping rate

Speed controller
output / %
Drive load
100%

0.00 ... 100.00 % Droop rate. 100 = 1 % / 100 = 1 %

25.9 Speed ctrl Selects the source for enabling/disabling speed Not selected / uint32
balancing enable controller output balancing.
This function is used to generate a smooth, “bumpless”
transfer from a torque- or tension-controlled motor
back to being speed-controlled. When balancing is
enabled, the output of the speed controller is forced
to the value of 25.10 Speed ctrl balancing ref.
Balancing is also possible in the ramp generator (see
parameter 23.26 Ramp out balancing enable).
0 = Disabled
1 = Enabled
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
 Parameters 297

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
25.10 Speed ctrl Defines the reference used in speed controller output 0.0 % / real32
balancing ref balancing. The output of the speed controller is forced
to this value when balancing is enabled by parameter
25.9 Speed ctrl balancing enable.
-300.0 ... 300.0 % Speed control output balancing reference. For 16-bit - / 10 = 1 %
scaling, see parameter 46.3.
25.11 Speed control min Defines the minimum speed controller output torque. -300.0 % / real32
torque
-1600.0 ... 0.0 % Minimum speed controller output torque. For 16-bit - / 10 = 1 %
scaling, see parameter 46.3.
25.12 Speed control max Defines the maximum speed controller output torque. 300.0 % / real32
torque
0.0 ... 1600.0 % Maximum speed controller output torque. For 16-bit - / 10 = 1 %
scaling, see parameter 46.3.
25.13 Min torq sp ctrl em Defines the minimum speed controller output torque -400.0 % / real32
stop during a ramped emergency stop (Off1 or Off3).
-1600.0 ... 0.0 % Minimum speed controller output torque for ramped - / 10 = 1 %
emergency stop. For 16-bit scaling, see parameter
46.3.
25.14 Max torq sp ctrl em Defines the maximum speed controller output torque 400.0 % / real32
stop during a ramped emergency stop (Off1 or Off3).
0.0 ... 1600.0 % Maximum speed controller output torque for ramped - / 10 = 1 %
emergency stop. For 16-bit scaling, see parameter
46.3.
25.15 Proportional gain Defines the proportional gain for the speed controller 10.00; 5.00 (95.21
em stop when an emergency stop is active. See parameter 25.2 b1/b2) / real32
Speed proportional gain.
1.00 ... 250.00 Proportional gain upon an emergency stop. 100 = 1 / 100 = 1
298 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.18 Speed adapt min Minimum actual speed for speed controller adaptation. - / real32
limit Speed controller gain and integration time can be
adapted according to actual speed (90.1 Motor speed
for control).
This is done by multiplying the gain (25.2 Speed
proportional gain) and integration time (25.3 Speed
integration time) by coefficients at certain speeds.
The coefficients are defined individually for both gain
and integration time.
When actual speed is below or equal to 25.18 Speed
adapt min limit, the gain is multiplied by 25.21 Kp adapt
coef at min speed, and the integration time divided
by 25.22 Ti adapt coef at min speed.
When actual speed is equal to or above 25.19 Speed
adapt max limit, no adaptation takes place (the
coefficient is 1).
When actual speed is between 25.18 Speed adapt min
limit and 25.19 Speed adapt max limit, the coefficients
for the gain and integration time are calculated linearly
on the basis of the breakpoints.
See also the block diagram on page 658.

Coefficient for pKor TI

Kp = Proportional gain
TI = Integration time

1.000

25.21 or
25.22

Actual speed
(90.01) (rpm)
0
25.18 25.19

0 ... 30000 rpm Minimum actual speed for speed controller adaptation. 1 = 1 rpm / 1 = 1 rpm
25.19 Speed adapt max Maximum actual speed for speed controller - / real32
limit adaptation.
See parameter 25.18 Speed adapt min limit.
0 ... 30000 rpm Maximum actual speed for speed controller 1 = 1 rpm / 1 = 1 rpm
adaptation.
25.21 Kp adapt coef at Proportional gain coefficient at minimum actual speed. 1.000 / real32
min speed See parameter 25.18 Speed adapt min limit.
0.000 ... 10.000 Proportional gain coefficient at minimum actual speed. 1000 = 1 / 1000 = 1
25.22 Ti adapt coef at min Integration time coefficient at minimum actual speed. 1.000 / real32
speed See parameter 25.18 Speed adapt min limit.
0.000 ... 10.000 Integration time coefficient at minimum actual speed. 1000 = 1 / 1000 = 1
 Parameters 299

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.25 Torque adapt max Maximum torque reference for speed controller - / real32
limit adaptation.
Speed controller gain can be adapted according to the
final unlimited torque reference (26.1 Torque reference
to TC).
This can be used to smooth out disturbances caused
by a small load and backlashes.
The functionality involves multiplying the gain (25.2
Speed proportional gain) by a coefficient within a
certain torque range.
When the torque reference is 0%, the gain is multiplied
by the value of parameter 25.27 Kp adapt coef at min
torque.
When the torque reference is equal to or above 25.25
Torque adapt max limit, no adaptation takes place
(the coefficient is 1).
Between 0% and 25.25 Torque adapt max limit, the
coefficient for the gain is calculated linearly on the
basis of the breakpoints.
Filtering can be applied on the torque reference using
parameter 25.26 Torque adapt filt time.
See also the block diagram on page 658.

Coefficient for pK (proportional gain)

1.000

25.27

Final torque reference

(26.01 ) (rpm)

0 25.25

0.0 ... 1600.0 % Maximum torque reference for speed controller - / 10 = 1 %

adaptation. For 16-bit scaling, see parameter 46.3.
25.26 Torque adapt filt Defines a filter time constant for the adaptation, in 0.000 s / real32
time effect adjusting the rate of change of the gain.
See parameter 25.25 Torque adapt max limit.
0.000 ... 100.000 s Filter time for adaptation. 100 = 1 s / 1000 = 1 s
25.27 Kp adapt coef at Proportional gain coefficient at 0% torque reference. 1.000 / real32
min torque See parameter 25.25 Torque adapt max limit.
0.000 ... 10.000 Proportional gain coefficient at 0% torque reference. 1000 = 1 / 1000 = 1
300 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.30 Flux adaptation Enables/disables speed controller adaptation based Enable / uint16
enable on motor flux reference (1.24 Flux actual %).
The proportional gain of the speed controller is
multiplied by a coefficient of 0…1 between 0…100%
flux reference respectively.
See also the block diagram on page 658.

Coefficient for pK (proportional gain)

1.000

Flux reference
(01.24) (%)
0.000
0
100

Disable Speed controller adaptation based on flux reference 0

disabled
Enable Speed controller adaptation based on flux reference 1
enabled.
 Parameters 301

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.33 Speed controller Activates (or selects a source that activates) the speed Off / uint32
autotune controller autotune function. See section Speed
controller autotune (page 48).
The autotune will automatically set parameters 25.2
Speed proportional gain, 25.3 Speed integration time
and 25.37 Mechanical time constant.
The prerequisites for performing the autotune routine
are:

• the motor identification run (ID run) has been

successfully completed

• the speed and torque limits (parameter group 30

Limits) have been set

• speed feedback filtering (parameter group 90

Feedback selection), speed error filtering (24
Speed reference conditioning) and zero speed
(21 Start/stop mode) have been set, and

• the drive has been started and is running in speed

control mode.

WARNING!
The motor and machinery will run against the
torque and speed limits during the autotune
routine. MAKE SURE IT IS SAFE TO ACTIVATE
THE AUTOTUNE FUNCTION!

The autotune routine can be aborted by stopping the

drive.
0→1 = Activate speed controller autotune

Note: The value does not revert to 0 automatically.

Off 0. 0
On 1. 1
Other [bit] See Terms and abbreviations (page 134).
25.34 Speed controller Defines a control preset for the speed controller Normal / uint16
autotune mode autotune function. The setting affects the way the
torque reference will respond to a speed reference
step.
Smooth Slow but robust response. 0
Normal Medium setting. 1
Tight Fast response. May produce too high a gain value for 2
some applications.
25.37 Mechanical time Mechanical time constant of the drive and the 0.00 s / real32
constant machinery as determined by the speed controller
autotune function. The value can be adjusted manually.
0.00 ... 1000.00 s Mechanical time constant. 10 = 1 s / 100 = 1 s
302 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.38 Autotune torque Defines an added torque value used by the autotune 10.00 % / real32
step function.
This value is scaled to motor nominal torque.
Note that the torque used by the autotune function
can also be limited by the torque limits (in parameter
group 30 Limits) and nominal motor torque.
0.00 ... 100.00 % Autotune torque step. 100 = 1 % / 100 = 1 %
25.39 Autotune speed Defines a speed value added to the initial speed for 10.00 % / real32
step the autotune routine. The initial speed (speed used
when autotune is activated) plus the value of this
parameter is the calculated maximum speed used by
the autotune routine. The maximum speed can also
be limited by the speed limits (in parameter group 30
Limits) and nominal motor speed.
The value is scaled to motor nominal speed.

Note: The motor will exceed the calculated maximum

speed slightly at the end of each acceleration stage.

0.00 ... 100.00 % Autotune speed step. 100 = 1 % / 100 = 1 %

25.40 Autotune repeat Determines how many acceleration/deceleration cycles 10 / uint16
times are performed during the autotune routine. Increasing
the value will improve the accuracy of the autotune
function, and allow the use of smaller torque or speed
step values.
1 ... 10 Number of cycles during autotune routine. 1=1/1=1
25.41 Torque reference Reserved - / real32
Autotune2
25.42 Integral term enable Selects a source that enables/disables the integral (I) Selected / uint32
part of the speed controller.
0 = I-part disabled
1 = I-part enabled
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
 Parameters 303

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
25.53 Torque prop Displays the output of the proportional (P) part of the - / real32
reference speed controller. See the control chain diagram on
page 658.
This parameter is read-only.
-30000.0 ... 30000.0 P-part output of speed controller. For 16-bit scaling, - / 10 = 1 %
% see parameter 46.3.
25.54 Torque integral Displays the output of the integral (I) part of the speed - / real32
reference controller. See the control chain diagram on page 658.
This parameter is read-only.
-30000.0 ... 30000.0 I-part output of speed controller. For 16-bit scaling, - / 10 = 1 %
% see parameter 46.3.
25.55 Torque deriv Displays the output of the derivative (D) part of the - / real32
reference speed controller. See the control chain diagram on
page 658.
This parameter is read-only.
-30000.0 ... 30000.0 D-part output of speed controller. For 16-bit scaling, - / 10 = 1 %
% see parameter 46.3.
25.56 Torque acc Displays the output of the acceleration compensation - / real32
compensation function on page 658.
See the control chain diagram.
This parameter is read-only.
-30000.0 ... 30000.0 Output of acceleration compensation function. For - / 10 = 1 %
% 16-bit scaling, see parameter 46.3.
25.57 Torque reference Displays the acceleration-compensated output of the - / real32
unbalanced speed controller. See the control chain diagram on
page 658.
This parameter is read-only.
-30000.0 ... 30000.0 Acceleration-compensated output of speed controller. - / 10 = 1 %
% For 16-bit scaling, see parameter 46.3.
304 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
26 Torque reference Settings for the torque reference chain.
chain See the control chain diagrams on pages 659 and 661.
26.1 Torque reference to Displays the final torque reference given to the torque - / real32
TC controller in percent. This reference is then acted upon
by various final limiters, like power, torque, load etc.
See the control chain diagrams on pages 661 and 662.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference for torque control. For 16-bit scaling, - / 10 = 1 %
see parameter 46.3.
26.2 Torque reference Displays the final torque reference (in percent of motor - / real32
used nominal torque) given to the DTC core, and comes
after frequency, voltage and torque limitation.
See the control chain diagram on page 662.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference for torque control. For 16-bit scaling, - / 10 = 1 %
see parameter 46.3.
26.8 Minimum torque ref Defines the minimum torque reference. Allows for local -300.0 % / real32
limiting of the torque reference before it is passed on
to the torque ramp controller. For absolute torque
limiting, refer to parameter 30.19 Minimum torque 1.
-1000.0 ... 0.0 % Minimum torque reference. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
26.9 Maximum torque Defines the maximum torque reference. Allows for 300.0 % / real32
ref local limiting of the torque reference before it is
passed on to the torque ramp controller. For absolute
torque limiting, refer to parameter 30.20 Maximum
torque 1.
0.0 ... 1000.0 % Maximum torque reference. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
26.11 Torque ref1 source Selects torque reference source 1. Zero / uint32
Two signal sources can be defined by this parameter
and 26.12 Torque ref2 source. A digital source selected
by 26.14 Torque ref1/2 selection can be used to switch
between the two sources, or a mathematical function
(26.13 Torque ref1 function) applied to the two signals
to create the reference.

26.11
26.13
0
AI Ref1
FB 26.70
… ADD 26.14
Other
SUB 0
MUL 26.72
MIN 1
26.12
MAX
0
AI
26.71
FB
…
Other

Zero None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
 Parameters 305

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FB A ref1 3.5 FB A reference 1 (page 144). 4
FB A ref2 3.6 FB A reference 2 (page 144). 5
EFB ref1 3.9 EFB reference 1 (page 144). 8
EFB ref2 3.10 EFB reference 2 (page 144). 9
DDCS ctrl ref1 3.11 DDCS controller ref 1 (page 144). 10
DDCS ctrl ref2 3.12 DDCS controller ref 2 (page 144). 11
M/F reference 1 3.13 M/F or D2D ref1 (page 145). 12
M/F reference 2 3.14 M/F or D2D ref2 (page 145). 13
Motor 22.80 Motor potentiometer ref act (output of the 15
potentiometer motor potentiometer).
PID 40.1 Process PID output actual (output of the process 16
PID controller).
Control panel (ref Control panel reference, with initial value from 18
saved) last-used panel reference. See section Using the
control panel as an external control source (page 25).
Control panel (ref Control panel reference, with initial value from previous 19
copied) source or actual value. See section Using the control
panel as an external control source (page 25).
Other [value] See Terms and abbreviations (page 134).
26.12 Torque ref2 source Selects torque reference source 2. Zero / uint32
For the selections, and a diagram of reference source
selection, see parameter 26.11 Torque ref1 source.
26.13 Torque ref1 Selects a mathematical function between the reference Ref1 / uint16
function sources selected by parameters 26.11 Torque ref1
source and 26.12 Torque ref2 source. See diagram at
26.11 Torque ref1 source.
Ref1 Signal selected by 26.11 Torque ref1 source is used as 0
torque reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as torque 1
reference 1.
Sub (ref1 - ref2) The subtraction ([26.11 Torque ref1 source] - [26.12 2
Torque ref2 source]) of the reference sources is used
as torque reference 1.
Mul (ref1 x ref2) The multiplication of the reference sources is used as 3
torque reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as torque 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as torque 5
reference 1.
26.14 Torque ref1/2 Configures the selection between torque references Torque reference 1 /
selection 1 and 2. uint32
See diagram at 26.11 Torque ref1 source.
0 = Torque reference 1
1 = Torque reference 2
306 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Torque reference 1 0. 0
Torque reference 2 1. 1
Follow Ext1/Ext2 Torque reference 1 is used when external control 2
selection location EXT1 is active. Torque reference 2 is used when
external control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
Other [bit] See Terms and abbreviations (page 134).
26.15 Load share Defines the scaling factor for the torque reference (the 1.000 / real32
torque reference is multiplied by the value).
This allows drives sharing the load between two
motors on the same mechanical plant to be tailored
to share the correct amount each, yet use the same
master torque reference.
-8.000 ... 8.000 Torque reference scaling factor. 1000 = 1 / 1000 = 1
26.16 Torque additive 1 Selects the source of torque reference additive 1. Zero / uint32
source
Note: For safety reasons, the additive is not applied
when an emergency stop is active.
See the control chain diagram on page 659.
For the selections, see parameter 26.11 Torque ref1
source.
26.17 Torque ref filter Defines a low-pass filter time constant for the torque 0.000 s / real32
time reference.
0.000 ... 30.000 s Filter time constant for torque reference. 1000 = 1 s / 1000 = 1
s
26.18 Torque ramp up Defines the torque reference ramp-up time, ie. the 0.000 s / real32
time time for the reference to increase from zero to nominal
motor torque.
0.000 ... 60.000 s Torque reference ramp-up time. 100 = 1 s / 1000 = 1 s
26.19 Torque ramp down Defines the torque reference ramp-down time, ie. the 0.000 s / real32
time time for the reference to decrease from nominal motor
torque to zero.
0.000 ... 60.000 s Torque reference ramp-down time. 100 = 1 s / 1000 = 1 s
 Parameters 307

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
26.25 Torque additive 2 Selects the source of torque reference additive 2. Zero / uint32
source The value received from the selected source is added
to the torque reference after operating mode selection.
Because of this, the additive can be used in speed and
torque modes.

Note: For safety reasons, the additive is not applied

when an emergency stop is active.

WARNING!
If the additive exceeds the limits set by
parameters 25.11 Speed control min torque and
25.12 Speed control max torque, a ramp stop
may be impossible. Make sure the additive is
reduced or removed when a ramp stop is
required eg. by using parameter 26.26 Force
torque ref add 2 zero.

See the control chain diagram on page 661.

For the selections, see parameter 26.11 Torque ref1
source.
26.26 Force torque ref Selects a source that forces torque reference additive Not selected / uint32
add 2 zero 2 (see parameter 26.25 Torque additive 2 source) to
zero.
0 = Normal operation
1 = Force torque reference additive 2 to zero.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
26.27 Torque limit filter Defines the filtering time of the torque limit. 100 ms / real32
time This parameter is used to smooth the step when
changing the limit if the drive is running on torque
limit.
0 ... 100 ms Torque limit filter time. 1 = 1 ms / 1 = 1 ms
308 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
26.41 Torque step When enabled by parameter 26.42 Torque step enable, 0.0 % / real32
adds an additional step to the torque reference.
A second torque step can be added using pointer
parameters 26.43 Torque step pointer enable and 26.44
Torque step source.
The two torque steps work independently of each
other, and are summed up to calculate the total torque
step.

Note: For safety reasons, the torque steps are not

applied when an emergency stop is active.

WARNING!
If the total torque step exceeds the limits set
by parameters 25.11 Speed control min torque
and 25.12 Speed control max torque, a ramp
stop may be impossible. Make sure the torque
step is reduced or disabled when a ramp stop
is required.

-300.0 ... 300.0 % Torque step. For 16-bit scaling, see parameter 46.3. - / 10 = 1 %
26.42 Torque step enable Enables/disables the torque step defined by Disable / uint32
parameter 26.41 Torque step.
Disable Torque step disabled. 0
Enable Torque step enabled. 1
26.43 Torque step pointer Selects a source that enables/disables the torque step Selected / uint32
enable defined by parameter 26.44 Torque step source.
See also parameter 26.41 Torque step.
1 = Torque step enabled.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
26.44 Torque step source Selects the source of the torque step enabled by 26.43 Zero / uint32
Torque step pointer enable.
Zero None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
 Parameters 309

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FB A ref1 3.5 FB A reference 1 (page 144). 4
FB A ref2 3.6 FB A reference 2 (page 144). 5
EFB ref1 3.9 EFB reference 1 (page 144). 8
EFB ref2 3.10 EFB reference 2 (page 144). 9
DDCS ctrl ref1 3.11 DDCS controller ref 1 (page 144). 10
DDCS ctrl ref2 3.12 DDCS controller ref 2 (page 144). 11
M/F reference 1 3.13 M/F or D2D ref1 (page 145). 12
M/F reference 2 3.14 M/F or D2D ref2 (page 145). 13
Motor 22.80 Motor potentiometer ref act (output of the 15
potentiometer motor potentiometer).
PID 40.1 Process PID output actual (output of the process 16
PID controller).
Control panel (ref Control panel reference, with initial value from 18
saved) last-used panel reference. See section Using the
control panel as an external control source (page 25).
Control panel (ref Control panel reference, with initial value from previous 19
copied) source or actual value. See section Using the control
panel as an external control source (page 25).
Other [value] See Terms and abbreviations (page 134).
26.51 Oscillation damping Parameters 26.51…26.58 configure the oscillation Not selected / uint32
damping function. See section Oscillation
damping (page 51), and the block diagram on page
661.
This parameter enables (or selects a source that
enables) the oscillation damping algorithm.
1 = Oscillation damping algorithm enabled
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
310 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
26.52 Oscillation damping Determines (or selects a source that determines) Not selected / uint32
out enable whether the output of the oscillation damping function
is applied to the torque reference or not.

Note: Before enabling the oscillation damping output,

adjust parameters 26.53…26.57. Then monitor the
input signal (selected by 26.53) and the output (26.58)
to make sure that the correction is safe to apply.
1 = Apply oscillation damping output to torque
reference
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
26.53 Oscillation Selects the input signal for the oscillation damping Speed error / uint32
compensation input function.

Note: Before changing this parameter run-time, disable

the oscillation damping output using parameter 26.52.
Monitor the behavior of 26.58 before re-enabling the
output.

Speed error 24.1 Used speed reference - unfiltered motor speed. 0

Note: This setting is not supported in scalar motor

control mode.

DC voltage 1.11 DC voltage. (The value is internally filtered.) 1

26.55 Oscillation damping Defines the center frequency of the oscillation 31.0 Hz / real32
frequency damping filter.
Set the value according to the number of oscillation
peaks in the monitored signal (selected by 26.53) per
second.

Note: Before changing this parameter run-time, disable

the oscillation damping output using parameter 26.52.
Monitor the behavior of 26.58 before re-enabling the
output.

0.1 ... 60.0 Hz Center frequency for oscillation damping. 10 = 1 Hz / 10 = 1 Hz

 Parameters 311

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
26.56 Oscillation damping Defines a phase shift for the output of the filter. 180 deg / real32
phase
Note: Before changing this parameter run-time, disable
the oscillation damping output using parameter 26.52.
Monitor the behavior of 26.58 before re-enabling the
output.

0 ... 360 deg Phase shift for oscillation damping function output. 10 = 1 deg / 1 = 1 deg
26.57 Oscillation damping Defines a gain for the output of the oscillation 1.0 % / real32
gain damping function, ie. how much the output of the filter
is amplified before it is added to the torque reference.
Oscillation gain is scaled according to the speed
controller gain so that changing the gain will not
disturb oscillation damping.

Note: Before changing this parameter run-time, disable

the oscillation damping output using parameter 26.52.
Monitor the behavior of 26.58 before re-enabling the
output.

0.0 ... 100.0 % Gain setting for oscillation damping output. 10 = 1 % / 10 = 1 %

26.58 Oscillation damping Displays the output of the oscillation damping - / real32
output function. This value is added to the torque reference
(as allowed by parameter 26.52 Oscillation damping
out enable).
This parameter is read-only.
-1600.000 ... Output of the oscillation damping function. 10 = 1 % / 1000 = 1 %
1600.000 %
26.70 Torque reference Displays the value of torque reference source 1 - / real32
act 1 (selected by parameter 26.11 Torque ref1 source). See
the control chain diagram on page 659.
This parameter is read-only.
-1600.0 ... 1600.0 % Value of torque reference source 1. For 16-bit scaling, - / 10 = 1 %
see parameter 46.3.
26.71 Torque reference Displays the value of torque reference source 2 - / real32
act 2 (selected by parameter 26.12 Torque ref2 source). See
the control chain diagram on page 659.
This parameter is read-only.
-1600.0 ... 1600.0 % Value of torque reference source 2. For 16-bit scaling, - / 10 = 1 %
see parameter 46.3.
26.72 Torque reference Displays the torque reference after the function - / real32
act 3 applied by parameter 26.13 Torque ref1 function (if
any), and after selection (26.14 Torque ref1/2
selection). See the control chain diagram on page 659.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference after selection. For 16-bit scaling, - / 10 = 1 %
see parameter 46.3.
26.73 Torque reference Displays the torque reference after application of - / real32
act 4 reference additive 1. See the control chain diagram on
page 659.
This parameter is read-only.
312 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-1600.0 ... 1600.0 % Torque reference after application of reference - / 10 = 1 %
additive 1. For 16-bit scaling, see parameter 46.3.
26.74 Torque ref ramp out Displays the torque reference after limiting and - / real32
ramping. See the control chain diagram on page 659.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference after limiting and ramping. For 16-bit - / 10 = 1 %
scaling, see parameter 46.3.
26.75 Torque reference Displays the torque reference after control mode - / real32
act 5 selection.
See the control chain diagram on page 661.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference after control mode selection. For - / 10 = 1 %
16-bit scaling, see parameter 46.3.
26.76 Torque reference Displays the torque reference after application of - / real32
act 6 reference additive 2. See the control chain diagram on
page 661.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference after application of reference - / 10 = 1 %
additive 2. For 16-bit scaling, see parameter 46.3.
26.77 Torque ref add A Displays the value of the source of torque reference - / real32
actual additive 2. See the control chain diagram on page 661.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference additive 2. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
26.78 Torque ref add B Displays the value of torque reference additive 2 before - / real32
actual it is added to torque reference. See the control chain
diagram on page 661.
This parameter is read-only.
-1600.0 ... 1600.0 % Torque reference additive 2. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
26.81 Rush control gain Rush controller gain term. See section Rush 10.0 / real32
control (page 53).
0.0 ... 10000.0 Rush controller gain (0.0 = disabled). 1 = 1 / 10 = 1
26.82 Rush control Rush controller integration time term. 2.0 s / real32
integration time
0.0 ... 10.0 s Rush controller integration time (0.0 = disabled). 1 = 1 s / 10 = 1 s
 Parameters 313

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
28 Frequency Settings for the frequency reference chain.
reference chain See the control chain diagrams 664 and 665.
28.1 Frequency ref ramp Displays the used frequency reference before ramping. - / real32
input See the control chain diagram on page 665.
This parameter is read-only.
-598.00 ... 598.00 Frequency reference before ramping. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.2 Frequency ref ramp Displays the final frequency reference (after selection, - / real32
output limitation and ramping). See the control chain diagram
on page 665.
This parameter is read-only.
-598.00 ... 598.00 Final frequency reference. For 16-bit scaling, see - / 100 = 1 Hz
Hz parameter 46.2.
28.11 Frequency ref1 Selects frequency reference source 1. Zero / uint32
source Two signal sources can be defined by this parameter
and 28.12 Frequency ref2 source. A digital source
selected by 28.14 Frequency ref1/2 selection can be
used to switch between the two sources, or a
mathematical function (28.13 Frequency ref1 function)
applied to the two signals to create the reference.

28.11
28.13
0
AI Ref1
FB 28.90
… ADD 28.14
Other SUB 0
MUL 28.92

28.12
MIN 1
MAX
0
AI
28.91
FB
…
Other

Zero None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FB A ref1 3.5 FB A reference 1 (page 144). 4
FB A ref2 3.6 FB A reference 2 (page 144). 5
EFB ref1 3.9 EFB reference 1 (page 144). 8
EFB ref2 3.10 EFB reference 2 (page 144). 9
DDCS ctrl ref1 3.11 DDCS controller ref 1 (page 144). 10
DDCS ctrl ref2 3.12 DDCS controller ref 2 (page 144). 11
M/F reference 1 3.13 M/F or D2D ref1 (page 145). 12
M/F reference 2 3.14 M/F or D2D ref2 (page 145). 13
Motor 22.80 Motor potentiometer ref act (output of the 15
potentiometer motor potentiometer).
314 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
PID 40.1 Process PID output actual (output of the process 16
PID controller).
Control panel (ref Control panel reference, with initial value from 18
saved) last-used panel reference. See section Using the
control panel as an external control source (page 25).
Control panel (ref Control panel reference, with initial value from previous 19
copied) source or actual value. See section Using the control
panel as an external control source (page 25).
Other [value] See Terms and abbreviations (page 134).
28.12 Frequency ref2 Selects frequency reference source 2. Zero / uint32
source For the selections, and a diagram of reference source
selection, see parameter 28.11 Frequency ref1 source.
28.13 Frequency ref1 Selects a mathematical function between the reference Ref1 / uint16
function sources selected by parameters 28.11 Frequency ref1
source and 28.12 Frequency ref2 source. See diagram
at 28.11 Frequency ref1 source.
Ref1 Signal selected by 28.11 Frequency ref1 source is used 0
as frequency reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as frequency 1
reference 1.
Sub (ref1 - ref2) The subtraction ([28.11 Frequency ref1 source] - [28.12 2
Frequency ref2 source]) of the reference sources is
used as frequency reference 1.
Mul (ref1 x ref2) The multiplication of the reference sources is used as 3
frequency reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as 4
frequency reference 1.
Max (ref1, ref2) The greater of the reference sources is used as 5
frequency reference 1.
28.14 Frequency ref1/2 Configures the selection between frequency references Follow Ext1/Ext2
selection 1 and 2. See diagram at 28.11 Frequency ref1 source. selection / uint32
0 = Frequency reference 1
1 = Frequency reference 2
Frequency 0. 0
reference 1
Frequency 1. 1
reference 2
Follow Ext1/Ext2 Frequency reference 1 is used when external control 2
selection location EXT1 is active. Frequency reference 2 is used
when external control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
 Parameters 315

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
Other [bit] See Terms and abbreviations (page 134).
28.21 Constant frequency Determines how constant frequencies are selected, - / uint16
function and whether the rotation direction signal is considered
or not when applying a constant frequency.
b0 Constant freq mode 1 = Packed: 7 constant frequencies are selectable using
the three sources defined by parameters 28.22, 28.23
and 28.24.
0 = Separate: Constant frequencies 1, 2 and 3 are
separately activated by the sources defined by
parameters 28.22, 28.23 and 28.24 respectively. In case
of conflict, the constant frequency with the smaller
number takes priority.
b1 Direction enable 1 = Start dir: To determine running direction for a
constant frequency, the sign of the constant frequency
setting (parameters 28.26…28.32) is multiplied by the
direction signal (forward: +1, reverse: -1). This
effectively allows the drive to have 14 (7 forward, 7
reverse) constant frequencies if all values in
28.26…28.32 are positive.

WARNING!
If the direction signal is reverse and the active
constant frequency is negative, the drive will
run in the forward direction.

0 = According to Par: The running direction for the

constant frequency is determined by the sign of the
constant speed setting (parameters 28.26…28.32).
b2…15 Reserved
0000h…FFFFh 1=1
316 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
28.22 Constant frequency When bit 0 of parameter 28.21 Constant frequency Not selected / uint32
sel1 function is 0 (Separate), selects a source that activates
constant frequency 1.
When bit 0 of parameter 28.21 Constant frequency
function is 1 (Packed), this parameter and parameters
28.23 Constant frequency sel2 and 28.24 Constant
frequency sel3 select three sources whose states
activate constant frequencies as follows:
Source Source Source Constant fre-
defined by defined by defined by quency active
par. 28.22 par. 28.23 par. 28.24

0 0 0 None

1 0 0 Constant fre-
quency 1

0 1 0 Constant fre-
quency 2

1 1 0 Constant fre-
quency 3

0 0 1 Constant fre-
quency 4

1 0 1 Constant fre-
quency 5

0 1 1 Constant fre-
quency 6

1 1 1 Constant fre-
quency 7

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
 Parameters 317

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
28.23 Constant frequency When bit 0 of parameter 28.21 Constant frequency Not selected / uint32
sel2 function is 0 (Separate), selects a source that activates
constant frequency 2.
When bit 0 of parameter 28.21 Constant frequency
function is 1 (Packed), this parameter and parameters
28.22 Constant frequency sel1 and 28.24 Constant
frequency sel3 select three sources that are used to
activate constant frequencies.
See table at parameter 28.22 Constant frequency sel1.
For the selections, see parameter 28.22 Constant
frequency sel1.
28.24 Constant frequency When bit 0 of parameter 28.21 Constant frequency Not selected / uint32
sel3 function is 0 (Separate), selects a source that activates
constant frequency 3.
When bit 0 of parameter 28.21 Constant frequency
function is 1 (Packed), this parameter and parameters
28.22 Constant frequency sel1 and 28.23 Constant
frequency sel2 select three sources that are used to
activate constant frequencies.
See table at parameter 28.22 Constant frequency sel1.
For the selections, see parameter 28.22 Constant
frequency sel1.
28.26 Constant frequency Defines constant frequency 1 (the frequency the motor 0.00 Hz / real32
1 will turn when constant frequency 1 is selected).
-598.00 ... 598.00 Constant frequency 1. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
28.27 Constant frequency Defines constant frequency 2. 0.00 Hz / real32
2
-598.00 ... 598.00 Constant frequency 2. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
28.28 Constant frequency Defines constant frequency 3. 0.00 Hz / real32
3
-598.00 ... 598.00 Constant frequency 3. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
28.29 Constant frequency Defines constant frequency 4. 0.00 Hz / real32
4
-598.00 ... 598.00 Constant frequency 4. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
28.30 Constant frequency Defines constant frequency 5. 0.00 Hz / real32
5
-598.00 ... 598.00 Constant frequency 5. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
28.31 Constant frequency Defines constant frequency 6. 0.00 Hz / real32
6
-598.00 ... 598.00 Constant frequency 6. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
28.32 Constant frequency Defines constant frequency 7. 0.00 Hz / real32
7
318 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-598.00 ... 598.00 Constant frequency 7. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
28.41 Frequency ref safe Defines a safe frequency reference value that is used - / real32
with supervision functions such as

• 12.3 AI supervision function

• 49.5 Communication loss action

• 50.2 FBA A comm loss func

• 50.32 FBA B comm loss func

• 58.14 Communication loss action.

-598.00 ... 598.00 Safe frequency reference. For 16-bit scaling, see - / 100 = 1 Hz
Hz parameter 46.2.
28.51 Critical frequency Enables/disables the critical frequencies function. Also - / uint16
function determines whether the specified ranges are effective
in both rotating directions or not.
See also section Critical speeds/frequencies (page 47).
b0 Enable 1 = Enable: Critical frequencies enabled.
0 = Disable: Critical frequencies disabled.
b1 Sign mode 1 = According to par: The signs of parameters
28.52…28.57 are taken into account.
0 = Absolute: Parameters 28.52…28.57 are handled as
absolute values.
Each range is effective in both directions of rotation.
b2…15 Reserved
0000h…FFFFh 1=1
28.52 Critical frequency 1 Defines the low limit for critical frequency 1. 0.00 Hz / real32
low
Note: This value must be less than or equal to the value
of 28.53 Critical frequency 1 high.

-598.00 ... 598.00 Low limit for critical frequency 1. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.53 Critical frequency 1 Defines the high limit for critical frequency 1. 0.00 Hz / real32
high
Note: This value must be greater than or equal to the
value of 28.52 Critical frequency 1 low.

-598.00 ... 598.00 High limit for critical frequency 1. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.54 Critical frequency 2 Defines the low limit for critical frequency 2. 0.00 Hz / real32
low
Note: This value must be less than or equal to the value
of 28.55 Critical frequency 2 high.

-598.00 ... 598.00 Low limit for critical frequency 2. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
 Parameters 319

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
28.55 Critical frequency 2 Defines the high limit for critical frequency 2. 0.00 Hz / real32
high
Note: This value must be greater than or equal to the
value of 28.54 Critical frequency 2 low.

-598.00 ... 598.00 High limit for critical frequency 2. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.56 Critical frequency 3 Defines the low limit for critical frequency 3. 0.00 Hz / real32
low
Note: This value must be less than or equal to the value
of 28.57 Critical frequency 3 high.

-598.00 ... 598.00 Low limit for critical frequency 3. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.57 Critical frequency 3 Defines the high limit for critical frequency 3. 0.00 Hz / real32
high
Note: This value must be greater than or equal to the
value of 28.56 Critical frequency 3 low.

-598.00 ... 598.00 High limit for critical frequency 3. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.71 Freq ramp set Selects a source that switches between the two sets Acc/Dec time 1 /
selection of acceleration/deceleration times defined by uint32
parameters 28.72…28.75.
0 = Acceleration time 1 and deceleration time 1 are in
force
1 = Acceleration time 2 and deceleration time 2 are in
force
Acc/Dec time 1 0. 0
Acc/Dec time 2 1. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
320 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
28.72 Freq acceleration Defines acceleration time 1 as the time required for 20.000 s / real32
time 1 the frequency to change from zero to the frequency
defined by parameter 46.2 Frequency scaling (not to
parameter 30.14 Maximum frequency).
If the reference increases faster than the set
acceleration rate, the motor will follow the acceleration
rate.
If the reference increases slower than the set
acceleration rate, the motor frequency will follow the
reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to
exceed the drive torque limits.
0.000 ... 1800.000 s Acceleration time 1. 10 = 1 s / 1000 = 1 s
28.73 Freq deceleration Defines deceleration time 1 as the time required for 20.000 s / real32
time 1 the frequency to change from the frequency defined
by parameter 46.2 Frequency scaling (not from
parameter 30.14 Maximum frequency) to zero.
If there is any doubt about the deceleration time being
too short, ensure that DC overvoltage control (30.30
Overvoltage control) is on.

Note: If a short deceleration time is needed for a high

inertia application, the drive should be equipped with
braking equipment such as a brake chopper and brake
resistor.

0.000 ... 1800.000 s Deceleration time 1. 10 = 1 s / 1000 = 1 s

28.74 Freq acceleration Defines acceleration time 2. See parameter 28.72 Freq 60.000 s / real32
time 2 acceleration time 1.
0.000 ... 1800.000 s Acceleration time 2. 10 = 1 s / 1000 = 1 s
28.75 Freq deceleration Defines deceleration time 2. See parameter 28.73 Freq 60.000 s / real32
time 2 deceleration time 1.
0.000 ... 1800.000 s Deceleration time 2. 10 = 1 s / 1000 = 1 s
28.76 Freq ramp in zero Selects a source that forces the frequency reference Inactive / uint32
source to zero.
0 = Force frequency reference to zero
1 = Normal operation
Active 0. 0
Inactive 1. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
 Parameters 321

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
28.77 Freq ramp hold Selects a source that forces the output of the Inactive / uint32
frequency ramp generator to actual frequency value.
0 = Force ramp output to actual frequency
1 = Normal operation
Active 0. 0
Inactive 1. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
28.78 Freq ramp output Defines a reference for frequency ramp balancing. The - / real32
balancing output of the ramp generator is forced to this value
when balancing is enabled by parameter 28.79 Freq
ramp out balancing enable.
-598.00 ... 598.00 Frequency ramp balancing reference. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.79 Freq ramp out Selects the source for enabling/disabling speed ramp Not selected / uint32
balancing enable balancing. See parameter 28.78 Freq ramp output
balancing.
0 = Disabled
1 = Enabled
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
322 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
28.90 Frequency ref act 1 Displays the value of frequency reference source 1 - / real32
(selected by parameter 28.11 Frequency ref1 source).
See the control chain diagram on page 664.
This parameter is read-only.
-598.00 ... 598.00 Value of frequency reference source 1. For 16-bit - / 100 = 1 Hz
Hz scaling, see parameter 46.2.
28.91 Frequency ref act 2 Displays the value of frequency reference source 2 - / real32
(selected by parameter 28.12 Frequency ref2 source).
See the control chain diagram on page 664.
This parameter is read-only.
-598.00 ... 598.00 Value of frequency reference source 2. For 16-bit - / 100 = 1 Hz
Hz scaling, see parameter 46.2.
28.92 Frequency ref act 3 Displays the frequency reference after the function - / real32
applied by parameter 28.13 Frequency ref1 function (if
any), and after selection (28.14 Frequency ref1/2
selection). See the control chain diagram on page 664.
This parameter is read-only.
-598.00 ... 598.00 Frequency reference after selection. For 16-bit scaling, - / 100 = 1 Hz
Hz see parameter 46.2.
28.96 Frequency ref act 7 Displays the frequency reference after application of - / real32
constant frequencies, control panel reference, etc. See
the control chain diagram on page 664.
This parameter is read-only.
-598.00 ... 598.00 Frequency reference 7. For 16-bit scaling, see - / 100 = 1 Hz
Hz parameter 46.2.
28.97 Frequency ref Displays the frequency reference after application of - / real32
unlimited critical frequencies, but before ramping and limiting.
See the control chain diagram on page 665.
This parameter is read-only.
-598.00 ... 598.00 Frequency reference before ramping and limiting. For - / 100 = 1 Hz
Hz 16-bit scaling, see parameter 46.2.
 Parameters 323

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
29 Voltage reference Settings for the DC voltage reference chain.
chain See section DC voltage control mode (page 27) and
the control chain diagrams (pages 666 and 667).
This group is only visible with a BCU control unit.
29.1 Torque ref DC Displays the DC voltage controller output that is - / real32
voltage control transferred to the torque controller.
This parameter is read-only.
-1600.0 ... 1600.0 % Final DC voltage reference. 100 = 1 % / 10 = 1 %
29.2 DC voltage ref Displays the DC voltage reference after the function - / real32
applied by parameter 29.13 DC voltage ref1 function
(if any), and after selection (29.14 DC voltage ref1/2
selection). See the diagram at parameter 29.11 DC
voltage ref1 source.
0 ... 2000 V DC voltage reference after selection. 10 = 1 V / 1 = 1 V
29.3 DC voltage ref used Displays the DC voltage reference between - / real32
minimum/maximum limitation and ramping.
0 ... 2000 V DC voltage reference before ramping. 10 = 1 V / 1 = 1 V
29.4 DC voltage ref Displays the DC voltage reference after ramping. - / real32
ramped
0 ... 2000 V DC voltage reference after ramping. 10 = 1 V / 1 = 1 V
29.5 Filtered DC voltage Displays the measured DC voltage after filtering. - / real32
0 ... 2000 V Measured and filtered DC voltage. 10 = 1 V / 1 = 1 V
29.6 DC voltage error Displays the difference between the ramped voltage - / real32
reference (29.4) and measured, filtered DC voltage
(29.5).
-2000 ... 2000 V Measured and filtered DC voltage. 10 = 1 V / 1 = 1 V
29.7 Power reference Displays the output of the PI controller, ie. the DC - / real32
voltage reference before it is converted to a torque
reference.
-300.00 ... 300.00 % Output of the PI controller. 10 = 1 % / 100 = 1 %
29.9 Minimum DC Defines a minimum limit for the DC voltage reference 0 V / real32
voltage reference before it is ramped.
0 ... 2000 V Minimum DC voltage reference. 1=1V/1=1V
29.10 Maximum DC Defines a maximum limit for the DC voltage reference 2000 V / real32
voltage reference before it is ramped.
0 ... 2000 V Maximum DC voltage reference. 1=1V/1=1V
324 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
29.11 DC voltage ref1 Selects DC voltage reference source 1. Zero / uint32
source Two signal sources can be defined by this parameter
and 29.12 DC voltage ref2 source. A digital source
selected by 29.14 DC voltage ref1/2 selection can be
used to switch between the two sources, or a
mathematical function (29.13 DC voltage ref1 function)
applied to the two signals to create the reference.

29.11
29.13
0
AI Ref1
FB
… … ADD 29.14
Other SUB 0
MUL 29.02
MIN 1
29.12
0 MAX

AI
FB
… …
Other

Zero None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FB A ref1 3.5 FB A reference 1 (page 144). 4
FB A ref2 3.6 FB A reference 2 (page 144). 5
EFB ref1 3.9 EFB reference 1 (page 144). 8
EFB ref2 3.10 EFB reference 2 (page 144). 9
DDCS ctrl ref1 3.11 DDCS controller ref 1 (page 144). 10
DDCS ctrl ref2 3.12 DDCS controller ref 2 (page 144). 11
M/F reference 1 3.13 M/F or D2D ref1 (page 145). 12
M/F reference 2 3.14 M/F or D2D ref2 (page 145). 13
Motor 22.80 Motor potentiometer ref act (output of the 15
potentiometer motor potentiometer).
PID 40.1 Process PID output actual (output of the process 16
PID controller).
Control panel (ref Control panel reference, with initial value from 18
saved) last-used panel reference. See section Using the
control panel as an external control source (page 25).
Control panel (ref Control panel reference, with initial value from previous 19
copied) source or actual value. See section Using the control
panel as an external control source (page 25).
Other [value] See Terms and abbreviations (page 134).
29.12 DC voltage ref2 Selects DC voltage reference source 2. Zero / uint32
source For the selections, and a diagram of reference source
selection, see parameter 29.11 DC voltage ref1 source.
 Parameters 325

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
29.13 DC voltage ref1 Selects a mathematical function between the reference Ref1 / uint16
function sources selected by parameters 29.11 DC voltage ref1
source and 29.12 DC voltage ref2 source. See diagram
at 29.11 DC voltage ref1 source.
Ref1 Signal selected by 29.11 DC voltage ref1 source is used 0
as DC voltage reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as DC voltage 1
reference 1.
Sub (ref1 - ref2) The subtraction ([29.11 DC voltage ref1 source] - [29.12 2
DC voltage ref2 source]) of the reference sources is
used as DC voltage reference 1.
Mul (ref1 x ref2) The multiplication of the reference sources is used as 3
DC voltage reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as DC 4
voltage reference 1.
Max (ref1, ref2) The greater of the reference sources is used as DC 5
voltage reference 1.
29.14 DC voltage ref1/2 Configures the selection between DC voltage Follow Ext1/Ext2
selection references 1 and 2. See diagram at 29.11 DC voltage selection / uint32
ref1 source.
0 = DC voltage reference 1
1 = DC voltage reference 2
DC voltage 0. 0
reference 1
DC voltage 1. 1
reference 2
Follow Ext1/Ext2 DC voltage reference 1 is used when external control 2
selection location EXT1 is active. DC voltage reference 2 is used
when external control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
Other [bit] See Terms and abbreviations (page 134).
29.17 DC voltage filter Defines a filtering time for measured DC voltage. - / real32
time
0 ... 10000 ms Filtering time for DC voltage measurement. 1 = 1 ms / 1 = 1 ms
29.18 DC voltage ramp Defines the maximum decrease rate for the DC voltage 10 V/s / real32
down speed reference.
0 ... 30000 V/s DC voltage reference decrease rate. 1 = 1 V/s / 1 = 1 V/s
29.19 DC voltage ramp up Defines the maximum increase rate for the DC voltage 10 V/s / real32
speed reference.
326 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0 ... 30000 V/s DC voltage reference increase rate. 1 = 1 V/s / 1 = 1 V/s
29.20 DC voltage Defines the proportional gain for the DC voltage 54.66 V/s / real32
proportional gain reference PI controller.
0.00 ... 1000.00 V/s Proportional gain. 100 = 1 V/s / 100 = 1
V/s
29.21 DC voltage Defines the integration time for the DC voltage 0.1646 s / real32
integration time reference PI controller.
Setting the integration time to zero disables the I-part
of the controller.
0.0000 ... 60.0000 s Integration time. 10000 = 1 s / 10000
=1s
29.25 DC capacitance Selects the source of the total DC circuit capacitance Copy from database
source value. / uint16
The value is used in DC voltage reference calculation.

Note: This parameter cannot be changed while the

drive is running.

Copy from DC capacitance value is taken from an internal 0

database database according to drive type.
User value The DC capacitance value is read from parameter 29.26 1
Used DC capacitance.
29.26 Used DC Defines the DC circuit capacitance when parameter 0.000 mF / real32
capacitance 29.25 DC capacitance source is set to User value.

Note: This parameter cannot be changed while the

drive is running.

0.000 ... 1000.000 User-specified DC capacitance. 100 = 1 mF / 1000 =

mF 1 mF
29.70 Speed data point 1 Parameters 29.70…29.79 define a maximum torque 400.00 rpm / real32
limitation curve as a function of speed. The limit is
applied before the reference is forwarded to the torque
controller.
This parameter defines the speed at the first point of
the curve. The curve is linear between 0 rpm and this
speed.

Torque (%)

29.77

29.75

29.79

29.73
29.71

0
0 29.70 29.72 29.74 29.76 29.78 Speed (rpm)

0.00 ... 30000.00 Speed at 1st point of curve. 1 = 1 rpm / 100 = 1

rpm rpm
 Parameters 327

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
29.71 Torque data point 1 Defines the maximum torque at the first point of the 300.0 % / real32
limitation curve.
0.0 ... 1600.0 % Maximum torque at 1st point of curve. 1 = 1 % / 10 = 1 %
29.72 Speed data point 2 Defines the speed at the second point of the curve. 800.00 rpm / real32
0.00 ... 30000.00 Speed at 2nd point of curve. 1 = 1 rpm / 100 = 1
rpm rpm
29.73 Torque data point 2 Defines the maximum torque at the second point of 300.0 % / real32
the limitation curve.
0.0 ... 1600.0 % Maximum torque at 2nd point of curve. 1 = 1 % / 10 = 1 %
29.74 Speed data point 3 Defines the speed at the third point of the curve. 1200.00 rpm / real32
0.00 ... 30000.00 Speed at 3rd point of curve. 1 = 1 rpm / 100 = 1
rpm rpm
29.75 Torque data point 3 Defines the maximum torque at the third point of the 300.0 % / real32
limitation curve.
0.0 ... 1600.0 % Maximum torque at 3rd point of curve. 1 = 1 % / 10 = 1 %
29.76 Speed data point 4 Defines the speed at the fourth point of the curve. 1600.00 rpm / real32
0.00 ... 30000.00 Speed at 4th point of curve. 1 = 1 rpm / 100 = 1
rpm rpm
29.77 Torque data point 4 Defines the maximum torque at the fourth point of 300.0 % / real32
the limitation curve.
0.0 ... 1600.0 % Maximum torque at 4th point of curve. 1 = 1 % / 10 = 1 %
29.78 Speed data point 5 Defines the speed at the fifth point of the curve. 2000.00 rpm / real32
0.00 ... 30000.00 Speed at 5th point of curve. 1 = 1 rpm / 100 = 1
rpm rpm
29.79 Torque data point 5 Defines the maximum torque at the fifth point of the 300.0 % / real32
limitation curve.
0.0 ... 1600.0 % Maximum torque at 5th point of curve. 1 = 1 % / 10 = 1 %
328 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
30 Limits Drive operation limits.
30.1 Limit word 1 Displays limit word 1. - / uint16
This parameter is read-only.
b0 Torq lim 1 = Drive torque is being limited by the motor control
(undervoltage control, current control, load angle
control or pull-out control), or by the torque limits
defined by parameters.
b1 Spd ctl tlim min 1 = Speed controller output is being limited by 25.11
Speed control min torque
b2 Spd ctl tlim max 1 = Speed controller output is being limited by 25.12
Speed control max torque
b3 Torq ref max 1 = Torque reference ramp input is being limited by
26.9 Maximum torque ref, source of 30.25 Maximum
torque sel, 30.26 Power motoring limit or 30.27 Power
generating limit. See diagram on page 662.
b4 Torq ref min 1 = Torque reference ramp input is being limited by
26.8 Minimum torque ref, source of 30.18 Minimum
torque sel, 30.26 Power motoring limit or 30.27 Power
generating limit. See diagram on page 662.
b5 Tlim max speed 1 = Torque reference is being limited by the rush
control because of maximum speed limit (30.12
Maximum speed)
b6 Tlim min speed 1 = Torque reference is being limited by the rush
control because of minimum speed limit (30.11
Minimum speed)
b7 Max speed ref lim 1 = Speed reference is being limited by 30.12 Maximum
speed, or by maximum permanent magnet motor
speed limit based on DC voltage
b8 Min speed ref lim 1 = Speed reference is being limited by 30.11 Minimum
speed, or by maximum permanent magnet motor
speed limit based on DC voltage
b9 Max freq ref lim 1 = Frequency reference is being limited by 30.14
Maximum frequency
b10 Min freq ref lim 1 = Frequency reference is being limited by 30.13
Minimum frequency
b11 Reserved
b12 Sw freq ref lim 1 = Requested output frequency cannot be reached
because of switching frequency limitation (because
of eg. output filtering or ATEXrelated protections)
b13 Load angle lim (With permanent magnet motors and synchronous
reluctance motors, and externally-excited synchronous
motors in steady state)
1 = Maximum load angle is being limited, ie. the motor
cannot produce any more torque
(With externally-excited synchronous motors in
dynamic situations)
1 = Torque is being limited
b14…15 Reserved
 Parameters 329

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0000h…FFFFh 1=1
30.2 Torque limit status Displays the torque controller limitation status word. - / uint16
This parameter is read-only.
*Only one out of bits 0…3, and one out of bits 9…13
can be on simultaneously. The bit typically indicates
the limit that is exceeded first.
b0 Undervoltage *1 = Intermediate DC circuit undervoltage
b1 Overvoltage *1 = Intermediate DC circuit overvoltage
b2 Minimum torque *1 = Torque is being limited by 30.26 Power motoring
limit, 30.27 Power generating limit or the source of
30.18 Minimum torque sel. See diagram on page 662.
b3 Maximum torque *1 = Torque is being limited by 30.26 Power motoring
limit, 30.27 Power generating limit or the source of
30.25 Maximum torque sel.
See diagram on page 662.
b4 Internal current 1 = An inverter current limit (identified by bits 8…11)
is active
b5 Maximum load (With permanent magnet motors, synchronous
angle reluctance motors, and externally-excited synchronous
motors only)
1 = Maximum load angle limit is active, ie. the motor
is producing as much torque as possible
b6 Motor pullout (With asynchronous motors only)
1 = Motor pull-out limit is active, ie. the motor cannot
produce any more torque
b7 Reserved
b8 Thermal 1 = Input current is being limited by the main circuit
thermal limit
b9 Max current *1 = Maximum output current (IMAX) is being limited
b10 User current *1 = Output current is being limited by 30.17 Maximum
current
b11 Thermal IGBT *1 = Output current is being limited by a calculated
thermal current value
b12 IGBT *1 = Output current is being limited because of
overtemperature estimated IGBT temperature
b13 IGBT overload *1 = Output current is being limited because of IGBT
junction to case temperature
b14…15 Reserved
0000h…FFFFh 1=1
330 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
30.11 Minimum speed Defines the minimum allowed speed. -1500.00; -1800.00
(95.20 b0) rpm /
WARNING! real32
This value must not be higher than 30.12
Maximum speed.

WARNING!
In frequency control mode, this limit is not
effective. Make sure the frequency limits (30.13
and 30.14) are set appropriately if frequency
control is used.

WARNING!
In a master/follower configuration, do not set
maximum and minimum speed limits with the
same sign on a follower drive. See section
Master/follower functionality.

-30000.00 ... Minimum allowed speed. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
30.12 Maximum speed Defines the maximum allowed speed. 1500.00; 1800.00
(95.20 b0) rpm /
WARNING! real32
This value must not be lower than 30.11
Minimum speed.

WARNING!
In frequency control mode, this limit is not
effective. Make sure the frequency limits (30.13
and 30.14)) are set appropriately if frequency
control is used.

WARNING!
In a master/follower configuration, do not set
maximum and minimum speed limits with the
same sign on a follower drive. See section
Master/follower functionality.

-30000.00 ... Maximum speed. For 16-bit scaling, see parameter - / 100 = 1 rpm
30000.00 rpm 46.1.
30.13 Minimum frequency Defines the minimum allowed frequency. -50.00; -60.00 (95.20
b0) Hz / real32
WARNING!
This value must not be higher than 30.14
Maximum frequency.

WARNING!
This limit is effective in frequency control mode
only.
 Parameters 331

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-598.00 ... 598.00 Minimum frequency. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
30.14 Maximum Defines the maximum allowed frequency. 50.00; 60.00 (95.20
frequency b0) Hz / real32
WARNING!
This value must not be lower than 30.13
Minimum frequency.

WARNING!
This limit is effective in frequency control mode
only.

-598.00 ... 598.00 Maximum frequency. For 16-bit scaling, see parameter - / 100 = 1 Hz
Hz 46.2.
30.15 Maximum start A temporary motor current limit specifically for Disable / uint16
current enable starting can be defined by this parameter and 30.16
Maximum start current.
When this parameter is set to Enable, the drive
observes the start current limit defined by 30.16
Maximum start current. The limit is in force for 2
seconds after initial magnetization (of an
asynchronous induction motor) or autophasing (of a
permanent magnet motor), but not more often than
once in every 7 seconds. Otherwise, the limit defined
by 30.17 Maximum current is in force.

Note: The availability of a start current higher than the

general limit depends on drive hardware. See the rating
data in the hardware manual of the drive.

Disable Start current limit disabled. 0

Enable Start current limit enabled. 1
30.16 Maximum start Defines a maximum start current when enabled by 0.00 A / real32
current parameter 30.15 Maximum start current enable.
0.00 ... 30000.00 A Maximum start current. 1=1A/1=1A
30.17 Maximum current Defines the maximum allowed motor current. 0.00 A / real32
0.00 ... 30000.00 A Maximum motor current. 1=1A/1=1A
332 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
30.18 Minimum torque sel Selects a source that switches between two different Minimum torque 1 /
predefined minimum torque limits. uint32
0 = Minimum torque limit defined by 30.19 is active
1 = Minimum torque limit selected by 30.21 is active
The user can define two sets of torque limits, and
switch between the sets using a binary source such
as a digital input.
The minimum limit selection (30.18) is independent of
the maximum limit selection (30.25).
The first set of limits is defined by parameters 30.19
and 30.20. The second set has selector parameters for
both the minimum (30.21) and maximum (30.22) limits
that allows the use of a selectable analog source (such
as an analog input).

30.21

0
AI1 30.18
AI2 1
PID
30.23 User-defined
0
Other minimum torque
limit
30.19

30.22
0
AI1 30.25
AI2
1
PID
30.24
0 User-defined
Other maximum torque
limit
30.20

The limit selection parameters are updated on a 10 ms

time level.

Note: In addition to the user-defined limits, torque

may be limited for other reasons (such as power
limitation). Refer to the block diagram on page 662.

Minimum torque 1 0 (minimum torque limit defined by 30.19 is active). 0

Minimum torque 2 1 (minimum torque limit selected by 30.21 is active). 1
source
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
 Parameters 333

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
30.19 Minimum torque 1 Defines a minimum torque limit for the drive (in -300.0 % / real32
percent of nominal motor torque). See diagram at
parameter 30.18 Minimum torque sel.
The limit is effective when

• the source selected by 30.18 Minimum torque sel

is 0, or

• 30.18 is set to Minimum torque 1.

Note: Do not set this parameter to 0% in an attempt

to prevent reverse rotation. In an open-loop
application, that is likely to prevent the motor from
stopping altogether. To prevent reverse rotation, use
the speed/frequency limits in this parameter group,
or parameters 20.23/20.24.

-1600.0 ... 0.0 % Minimum torque limit 1. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
30.20 Maximum torque 1 Defines a maximum torque limit for the drive (in 300.0 % / real32
percent of nominal motor torque). See diagram at
parameter 30.18 Minimum torque sel.
The limit is effective when

• the source selected by 30.25 Maximum torque sel

is 0, or

• 30.25 is set to Maximum torque 1.

0.0 ... 1600.0 % Maximum torque 1. For 16-bit scaling, see parameter - / 10 = 1 %
46.3.
30.21 Minimum torque 2 Defines the source of the minimum torque limit for Minimum torque 2 /
source the drive (in percent of nominal motor torque) when uint32

• the source selected by parameter 30.18 Minimum

torque sel is 1, or

• 30.18 is set to Minimum torque 2 source

See diagram at 30.18 Minimum torque sel.

Note: Any positive values received from the selected

source are inverted.

Zero None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
PID 40.1 Process PID output actual (output of the process 5
PID controller).
Minimum torque 2 30.23 Minimum torque 2. 6
334 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Other [value] See Terms and abbreviations (page 134).
30.22 Maximum torque 2 Defines the source of the maximum torque limit for Maximum torque 2 /
source the drive (in percent of nominal motor torque) when uint32

• the source selected by parameter 30.25 Maximum

torque sel is 1, or

• 30.25 is set to Maximum torque 2 source.

See diagram at 30.18 Minimum torque sel.

Note: Any negative values received from the selected

source are inverted.

Zero None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
PID 40.1 Process PID output actual (output of the process 5
PID controller).
Maximum torque 2 30.24 Maximum torque 2. 6
Other [value] See Terms and abbreviations (page 134).
30.23 Minimum torque 2 Defines the minimum torque limit for the drive (in -300.0 % / real32
percent of nominal motor torque) when

• the source selected by parameter 30.18 Minimum

torque sel is 1, and

• 30.21 is set to PID.

Note: Do not set this parameter to 0% in an attempt

to prevent reverse rotation. In an open-loop
application, that is likely to prevent the motor from
stopping altogether. To prevent reverse rotation, use
the speed/frequency limits in this parameter group,
or parameters 20.23/20.24.
See diagram at 30.18 Minimum torque sel.

-1600.0 ... 0.0 % Minimum torque limit 2. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
30.24 Maximum torque 2 Defines the maximum torque limit for the drive (in 300.0 % / real32
percent of nominal motor torque) when

• the source selected by parameter 30.25 Maximum

torque sel is 1, and

• 30.22 is set to Maximum torque 2.

See diagram at 30.18 Minimum torque sel.
0.0 ... 1600.0 % Maximum torque limit 2. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
30.25 Maximum torque Selects a source that switches between two different Maximum torque 1 /
sel maximum torque limits. uint32
0 = Maximum torque limit 1 defined by 30.20 is active
1 = Maximum torque limit selected by 30.22 is active
See also parameter 30.18 Minimum torque sel.
 Parameters 335

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Maximum torque 1 0. 0
Maximum torque 2 1. 1
source
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [value] See Terms and abbreviations (page 134).
30.26 Power motoring Defines the maximum shaft power in motoring mode, 300.00 % / real32
limit ie. when power is being transferred from the motor
to the machinery.
The value is given in percent of nominal motor power.

Note: If nominal shaft torque is defined by parameter

99.12 Motor nominal torque then nominal shaft power
is calculated according to parameters 99.9 Motor
nominal speed and 99.12 Motor nominal torque.

0.00 ... 600.00 % Maximum shaft power in motoring mode. 1 = 1 % / 100 = 1 %

30.27 Power generating Defines the maximum shaft power in generating mode, -300.00 % / real32
limit ie. when power is being transferred from the machinery
to the motor. The value is given in percent of nominal
motor power.

Note: Do not set this parameter to 0% in an attempt

to prevent reverse rotation. In an open-loop
application, that is likely to prevent the motor from
stopping altogether. To prevent reverse rotation, use
the speed/frequency limits in this parameter group,
or parameters 20.23/20.24.

Note: If nominal shaft torque is defined by parameter

99.12 Motor nominal torque then nominal shaft power
is calculated according to parameters 99.9 Motor
nominal speed and 99.12 Motor nominal torque.

-600.00 ... 0.00 % Maximum shaft power in generating mode. 1 = 1 % / 100 = 1 %

336 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
30.30 Overvoltage control Enables the overvoltage control of the intermediate Enable / uint16
DC link.
Fast braking of a high inertia load causes the voltage
to rise to the overvoltage control limit. To prevent the
DC voltage from exceeding the limit, the overvoltage
controller automatically decreases the braking torque.

Note: With internal brake chopper, drive increases its

internal overvoltage control limit to enable higher
reliability in breaking.

Disable Overvoltage control disabled. 0

Enable Overvoltage control enabled. 1
30.31 Undervoltage Enables the undervoltage control of the intermediate Enable / uint16
control DC link.
If the DC voltage drops due to input power cut off, the
undervoltage controller will automatically decrease
the motor torque in order to keep the voltage above
the lower limit. By decreasing the motor torque, the
inertia of the load will cause regeneration back to the
drive, keeping the DC link charged and preventing an
undervoltage trip until the motor coasts to a stop. This
will act as a power-loss ride-through functionality in
systems with high inertia, such as a centrifuge or a
fan.
Disable Undervoltage control disabled. 0
Enable Undervoltage control enabled. 1
30.33 Motor RMS voltage Defines the maximum motor RMS voltage limit. 10000.0 % / real32
limit
50.0 ... 10000.0 % Maximum motor RMS voltage limit. 1=1%/1=1%
30.35 Thermal current Enables/disables temperature-based output current Enable / uint16
limitation limitation.
The limitation should only be disabled if required by
the application.
Disable Thermal current limitation disabled. 0
Enable Thermal current limitation enabled. 1
30.101 LSU limit word 1 (Only visible when IGBT supply unit control activated - / uint16
by 95.20)
Displays limit word 1 of the supply unit.
This parameter is read-only.
b0 P user ref max 1 = Power reference is being limited by supply control
program parameters
b1 P user ref min 1 = Power reference is being limited by supply control
program parameters
b2 P user max 1 = Power is being limited by parameter 30.149
b3 P user min 1 = Power is being limited by parameter 30.148
b4 P cooling overtemp 1 = Power reference is being limited because of coolant
overtemperature
 Parameters 337

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b5 P power unit 1 = Power reference is being limited because of supply
overtemp unit overtemperature
b6 Reserved
0000h…FFFFh 1=1
30.102 LSU limit word 2 (Only visible when IGBT supply unit control activated - / uint16
by 95.20)
Displays limit word 2 of the supply unit.
This parameter is read-only.
b0 Q user ref max 1 = Reactive power reference is being limited
b1 Q user ref min 1 = Reactive power reference is being limited
b2 Q cooling overtemp 1 = Reactive power reference is being limited because
of coolant overtemperature
b3 Q power unit 1 = Reactive power reference is being limited because
overtemp of supply unit overtemperature
b4 AC overvoltage 1 = AC overvoltage protection
b5…6 Reserved
b7 AC diff max 1 = (When AC voltage-type reactive power reference is
being used)
Input of AC control is being limited
b8 AC diff min 1 = (When AC voltage-type reactive power reference is
being used)
Input of AC control is being limited
b9…15 Reserved
0000h…FFFFh 1=1
30.103 LSU limit word 3 (Only visible when IGBT supply unit control activated - / uint16
by 95.20)
Displays limit word 3 of the supply unit.
This parameter is read-only.
b0 Undervoltage limit 1 = Power is being limited by the undervoltage
controller
b1 Overvoltage limit 1 = Power is being limited by the overvoltage controller
b2 Motoring power 1 = Power is being limited by temperature or user
power limits (see parameters 30.148 and 30.149)
b3 Generating power 1 = Power is being limited by temperature or user
power limits (see parameters 30.148 and 30.149)
b4 Active current limit 1 = Active current is being limited. For details, see bits
6…9 and 14…15.
b5 Reactive current 1 = Reactive current is being limited. For details, see
limit bits 12…13.
b6 Thermal limit 1 = Active current is being limited by internal main
circuit thermal limit
b7 SOA limit 1 = Active current is being limited by internal safe
operation area limit
338 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b8 User current limit 1 = Active current is being limited by current limit set
by supply control program parameters
b9 Thermal IGBT 1 = Active current is being limited based on internal
maximum thermal IGBT stress limit
b10…11 Reserved
b12 Q act neg 1 = Negative reactive current is being limited by
maximum total current
b13 Q act pos 1 = Positive reactive current is being limited by
maximum total current
b14 P act neg 1 = Negative active current is being limited by
maximum total current
b15 P act pos 1 = Positive active current is being limited by maximum
total current
0000h…FFFFh 1=1
30.104 LSU limit word 4 (Only visible when IGBT supply unit control activated - / uint16
by 95.20)
Displays limit word 4 of the supply unit.
This parameter is read-only.
b0 Udc ref max 1 = DC reference is being limited by supply control
program parameters
b1 Udc ref min 1 = DC reference is being limited by supply control
program parameters
b2 User I max 1 = Current is being limited by supply control program
parameters
b3 Temp I max 1 = Current is being limited based on temperature
b4…15 Reserved
0000h…FFFFh 1=1
30.148 LSU minimum (Only visible when IGBT supply unit control activated -200.0 % / real32
power limit by 95.20)
Defines a minimum power limit for the supply unit.
Negative values refer to regenerating, ie. feeding
power into the supply network.
-200.0 ... 0.0 % Minimum power limit for supply unit. 1 = 1 % / 10 = 1 %
30.149 LSU maximum (Only visible when IGBT supply unit control activated 200.0 % / real32
power limit by 95.20)
Defines a maximum power limit for the supply unit.
0.0 ... 200.0 % Maximum power limit for supply unit. 1 = 1 % / 10 = 1 %
 Parameters 339

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
31 Fault functions Configuration of external events; selection of behavior
of the drive upon fault situations.
31.1 External event 1 Defines the source of external event 1. Inactive (true); DI6
source See also parameter 31.2 External event 1 type. (95.20 b8) / uint32
0 = Trigger event
1 = Normal operation
Active (false) 0. 0
Inactive (true) 1. 1
DIIL DIIL input (10.2 DI delayed status, bit 15). 2
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 12
1).
Other [value] See Terms and abbreviations (page 134).
31.2 External event 1 Selects the type of external event 1. Fault (95.20 b8) /
type uint16
Fault The external event generates a fault. 0
Warning The external event generates a warning. 1
Warning/Fault If the drive is modulating, the external event generates 3
a fault.
Otherwise, the event generates a warning.
31.3 External event 2 Defines the source of external event 2. See also Inactive (true); DIIL
source parameter 31.4 External event 2 type. (95.20 b5) / uint32
For the selections, see parameter 31.1 External event
1 source.
31.4 External event 2 Selects the type of external event 2. Fault / uint16
type
Fault The external event generates a fault. 0
Warning The external event generates a warning. 1
Warning/Fault If the drive is modulating, the external event generates 3
a fault.
Otherwise, the event generates a warning.
31.5 External event 3 Defines the source of external event 3. See also Inactive (true) /
source parameter 31.6 External event 3 type. uint32
For the selections, see parameter 31.1 External event
1 source.
340 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
31.6 External event 3 Selects the type of external event 3. Fault / uint16
type
Fault The external event generates a fault. 0
Warning The external event generates a warning. 1
Warning/Fault If the drive is modulating, the external event generates 3
a fault.
Otherwise, the event generates a warning.
31.7 External event 4 Defines the source of external event 4. See also Inactive (true) /
source parameter 31.8 External event 4 type. uint32
For the selections, see parameter 31.1 External event
1 source.
31.8 External event 4 Selects the type of external event 4. Fault / uint16
type
Fault The external event generates a fault. 0
Warning The external event generates a warning. 1
Warning/Fault If the drive is modulating, the external event generates 3
a fault.
Otherwise, the event generates a warning.
31.9 External event 5 Defines the source of external event 5. See also Inactive (true) /
source parameter 31.10 External event 5 type. uint32
For the selections, see parameter 31.1 External event
1 source.
31.10 External event 5 Selects the type of external event 5. Fault / uint16
type
Fault The external event generates a fault. 0
Warning The external event generates a warning. 1
Warning/Fault If the drive is modulating, the external event generates 3
a fault.
Otherwise, the event generates a warning.
31.11 Fault reset Selects the source of an external fault reset signal. DI3 / uint32
selection This signal will be observed even if it is not the active
source in the current control location
(EXT1/EXT2/Local).
(A reset from the active source will be observed
regardless of this parameter.)
0 → 1 = Reset
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
 Parameters 341

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
FBA A MCW bit 7 Control word bit 7 received through fieldbus interface 30
A.
EFB MCW bit 7 Control word bit 7 received through the embedded 32
fieldbus interface.
Other [bit] See Terms and abbreviations (page 134).
31.12 Autoreset selection Selects faults that are automatically reset. The - / uint16
parameter is a 16-bit word with each bit corresponding
to a fault type.
Whenever a bit is set to 1, the corresponding fault is
automatically reset.
The number and interval of reset attempts are defined
by parameters 31.14…31.16.

WARNING!
Before you activate the function, make sure
that no dangerous situations can occur. The
function resets the drive automatically and
continues operation after a fault.

Note:

• The autoreset function is only available in external

control; see section Local control vs. external
control (page 23).

• Faults related to the Safe torque off (STO)

function cannot be automatically reset.

• In case bit 4 (Supply unit) is set and the inverter

unit has tripped to 7583 Line side unit faulted, a
reset command is given for both the inverter and
supply units.

The bits of this binary number correspond to the

following faults:
b0 Overcurrent
b1 Overvoltage
b2 Undervoltage
b3 AI supervision fault
b4 Supply unit
b5…7 Reserved
b8 Application fault 1 Defined in the application program.
b9 Application fault 2 Defined in the application program.
b10 Selectable fault See parameter 31.13 User selectable fault.
342 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b11 External fault 1 From source selected by parameter 31.1 External event
1 source.
b12 External fault 2 From source selected by parameter 31.3 External event
2 source.
b13 External fault 3 From source selected by parameter 31.5 External event
3 source.
b14 External fault 4 From source selected by parameter 31.7 External event
4 source.
b15 External fault 5 From source selected by parameter 31.9 External event
5 source.
0000h…FFFFh 1=1
31.13 User selectable Defines the fault that can be automatically reset using 0 / uint32
fault parameter 31.12 Autoreset selection, bit 10.
The faults are listed in chapter Fault tracing.
0000…FFFFh Fault code. 1=1
31.14 Number of trials Defines the maximum number of automatic resets 0 / uint32
that the drive is allowed to attempt within the time
specified by 31.15 Total trials time.
If the fault persists, subsequent reset attempts will
be made at intervals defined by 31.16 Delay time.
The faults to be automatically reset are defined by
31.12 Autoreset selection.
0 ... 5 Number of automatic resets. 1=1/1=1
31.15 Total trials time Defines a time window for automatic fault resets. The 30.0 s / real32
maximum number of attempts made during any period
of this length is defined by 31.14 Number of trials.

Note: If the fault condition remains and cannot be

reset, each reset attempt will generate an event and
start a new time window. In practice, if the specified
number of resets (31.14) at specified intervals (31.16)
take longer than the value of 31.15, the drive will
continue to attempt resetting the fault until the cause
is eventually removed.

1.0 ... 600.0 s Time for automatic resets. 10 = 1 s / 10 = 1 s

31.16 Delay time Defines the time that the drive will wait after a fault 0.0 s / real32
(or a previous reset attempt) before attempting an
automatic reset.
See parameter 31.12 Autoreset selection.
0.0 ... 120.0 s Autoreset delay. 10 = 1 s / 10 = 1 s
31.19 Motor phase loss Selects how the drive reacts when a motor phase loss Fault / uint16
is detected.

Note: The drive may not be able to reliably detect a

phase loss in a multimotor application: a separate
protection method (eg. a motor protection switch)
should be installed for each motor.

No action No action taken. 0

 Parameters 343

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Fault The drive trips on fault 3381 Output phase loss. 1
31.20 Earth fault Selects how the drive reacts when an earth fault or Fault / uint16
current unbalance is detected in the motor or the
motor cable.
See also section Earth (Ground) fault detection
(parameter 31.20) (page 97).
No action No action taken. 0
Warning The drive generates an A2B3 Earth leakage warning. 1
Fault The drive trips on fault 2330 Earth leakage. 2
31.22 STO indication Selects which indications are given when both Safe Fault/Fault / uint16
run/stop torque off (STO) signals are switched off or lost. The
indications also depend on whether the drive is running
or stopped when this occurs.
The tables at each selection below show the
indications generated with that particular setting.

Note:

• This parameter does not affect the operation of

the STO function itself. The STO function will
operate regardless of the setting of this
parameter: a running drive will stop upon removal
of one or both STO signals, and will not start until
both STO signals are restored and all faults reset.

• The loss of only one STO signal always generates

a fault as it is interpreted as a malfunction.

• This parameter cannot be changed while the drive

is running.

WARNING!
The drive cannot detect or memorize any
changes in the STO circuitry when the drive
control unit is not powered or when the main
power to the drive is off. If both STO circuits
are closed and a level-type start signal is active
when the power is restored, it is possible that
the drive starts without a fresh start command.
Take this into account in the risk assessment
of the system.

For more information on the STO, see the Hardware

manual of the drive.
344 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Fault/Fault 0
Inputs Indication (running
IN1 IN2 or stopped)

0 0 Fault 5091 Safe

torque off

0 1 Faults 5091 Safe

torque off and FA81
Safe torque off 1
loss

1 0 Faults 5091 Safe

torque off and
FA82 Safe torque
off 2 loss

1 1 (Normal operation)

Fault/Warning 1
Inputs Indication

IN1 IN2 Running Stopped

0 0 Fault 5091 Warning A5A0

Safe torque Safe torque
off5091 Safe off
torque off

0 1 Faults 5091 Warning A5A0

Safe torque Safe torque
off and FA81 off and fault
Safe torque FA81 Safe
off 1 loss torque off 1
loss

1 0 Faults 5091 Warning A5A0

Safe torque Safe torque
off and FA82 off and fault
Safe torque FA82 Safe
off 2 loss torque off 2
loss

1 1 (Normal operation)

Fault/Event 2
Inputs Indication

IN1 IN2 Running Stopped

0 0 Fault 5091 Event B5A0

Safe torque STO event
off

0 1 Faults 5091 Event B5A0

Safe torque STO event
off and FA81 and fault FA81
Safe torque Safe torque
off 1 loss off 1 loss

1 0 Faults 5091 Event B5A0

Safe torque STO event
off and FA82 and fault FA82
Safe torque Safe torque
off 2 loss off 2 loss

1 1 (Normal operation)
 Parameters 345

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Warning/Warning 3
Inputs Indication (running
IN1 IN2 or stopped)

0 0 Warning A5A0 Safe

torque off

0 1 Warning A5A0 Safe

torque off and fault
FA81 Safe torque
off 1 loss

1 0 Warning A5A0 Safe

torque off and fault
FA82 Safe torque
off 2 loss

1 1 (Normal operation)

Event/Event 4
Inputs Indication (running
IN1 IN2 or stopped)

0 0 Event B5A0 STO

event

0 1 Event B5A0 STO

event and fault
FA81 Safe torque
off 1 loss

1 0 Event B5A0 STO

event and fault
FA82 Safe torque
off 2 loss

1 1 (Normal operation)

No indication/No 5
Inputs Indication (running
indication
IN1 IN2 or stopped)

0 0 None

0 1 Fault FA81 Safe

torque off 1 loss

1 0 Fault FA82 Safe

torque off 2 loss

1 1 (Normal operation)

31.23 Wiring or earth fault Selects how the drive reacts to incorrect input power Fault; No action
and motor cable connection (i.e. input power cable is (95.20 b15) / uint16
connected to drive motor connection).

Note: The protection must be disabled with

drive/inverter hardware supplied from a common DC
bus.

No action No action taken (protection disabled). 0

Fault The drive trips on fault 3181 Wiring or earth fault. 1
346 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
31.24 Stall function Selects how the drive reacts to a motor stall condition. Fault / uint16
A stall condition is defined as follows:

• The drive exceeds the stall current limit (31.25

Stall current limit), and

• the output frequency is below the level set by

parameter 31.27 Stall frequency limit or the motor
speed is below the level set by parameter 31.26
Stall speed limit, and

• the conditions above have been true longer than

the time set by parameter 31.28 Stall time.

No action None (stall supervision disabled). 0

Warning The drive generates an A780 Motor stall. 1
Fault The drive trips on fault 7121 Motor stall. 2
31.25 Stall current limit Stall current limit in percent of the nominal current of 200.0 % / real32
the motor. See parameter 31.24 Stall function.
0.0 ... 1600.0 % Stall current limit. 10 = 1 % / 10 = 1 %
31.26 Stall speed limit Stall speed limit in rpm. See parameter 31.24 Stall 150.00; 180.00 rpm
function. (95.20 b0) rpm /
real32
0.00 ... 10000.00 Stall speed limit. For 16-bit scaling, see parameter 46.1. - / 100 = 1 rpm
rpm
31.27 Stall frequency limit Stall frequency limit. See parameter 31.24 Stall 15.00; 18.00 Hz
function. (95.20 b0) Hz /
real32
Note: Setting the limit below 10 Hz is not
recommended.

0.00 ... 500.00 Hz Stall frequency limit. For 16-bit scaling, see parameter - / 100 = 1 Hz
46.2.
31.28 Stall time Stall time. See parameter 31.24 Stall function. 20 s / real32
0 ... 3600 s Stall time. 1=1s/1=1s
 Parameters 347

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
31.30 Overspeed trip Defines, together with 30.11 Minimum speed and 30.12 500.00 rpm / real32
margin Maximum speed, the maximum allowed speed of the
motor (overspeed protection). If 90.1 Motor speed for
control or the estimated speed exceeds the speed limit
defined by parameter 30.11 or 30.12 by more than the
value of this parameter, the drive trips on the 7310
Overspeed.
Example: If the maximum speed is 1420 rpm and speed
trip margin is 300 rpm, the drive trips at 1720 rpm.

Speed (90.01)

Overspeed trip level

(31.30 )

(30.12 )

0
Time

(30.11 )

(31.30 )

Overspeed trip level

0.00 ... 10000.00 Overspeed trip margin. For 16-bit scaling, see - / 100 = 1 rpm
rpm parameter 46.1.
31.32 Emergency ramp Parameters 31.32 Emergency ramp supervision and - / real32
supervision 31.33 Emergency ramp supervision delay, together
with 1.29 Speed change rate, provide a supervision
function for emergency stop modes Off1 and Off3.
The supervision is based on either

• observing the time within which the motor stops,

or

• comparing the actual and expected deceleration

rates.
If this parameter is set to 0%, the maximum stop time
is directly set in parameter 31.33. Otherwise, 31.32
defines the maximum allowed deviation from the
expected deceleration rate, which is calculated from
parameters 23.11…23.19 (Off1) or 23.23 Emergency
stop time (Off3). If the actual deceleration rate (1.29)
deviates too much from the expected rate, the drive
trips on 73B0 Emergency ramp failed, sets bit 8 of 6.17
Drive status word 2, and coasts to a stop.
If 31.32 is set to 0% and 31.33 is set to 0 s, the
emergency stop ramp supervision is disabled.
348 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0 ... 300 % Maximum deviation from expected deceleration rate. 1=1%/1=1%
31.33 Emergency ramp If parameter 31.32 Emergency ramp supervision is set - / real32
supervision delay to 0%, this parameter defines the maximum time an
emergency stop (mode Off1 or Off3) is allowed to take.
If the motor has not stopped when the time elapses,
the drive trips on 73B0 Emergency ramp failed, sets
bit 8 of 6.17 Drive status word 2, and coasts to a stop.
If 31.32 is set to a value other than 0%, this parameter
defines a delay between the receipt of the emergency
stop command and the activation of the supervision.
It is recommended to specify a short delay to allow
the speed change rate to stabilize.
0 ... 32767 s Maximum ramp-down time, or supervision activation 1=1s/1=1s
delay.
31.35 Main fan fault Selects how the drive reacts when a main cooling fan Warning / uint16
function fault is detected.

Note: With an inverter unit consisting of one or more

frame R8i inverter modules with speed-controlled fans,
it may be possible to continue operation even if one
main fan of a module stops. When fan failure is
detected, the control program will automatically

• set the other fan of the module to full speed

• set the fans of the other modules (if any) to full

speed

• decrease the switching frequency to a minimum,

and

• disable the supervision of temperature difference

between the modules.
If this parameter is set to Fault, the inverter unit will
trip (but still carry out the actions listed above).
Otherwise, the inverter will attempt to continue
operation.
This parameter has no effect with Liquid cooled (LC)
inverters and drives. Set parameter 206.07 Fan speed
fault limit to zero to disable fault in LC units.

Fault The drive trips on fault 5080 Fan. 0

Warning The drive generates an A581 Fan. 1
No action No action taken. 2
31.36 Aux fan fault (Only visible with a ZCU control unit) Fault / uint16
function Selects how the drive reacts when a modules internal
auxiliary fan fault is detected.
Fault The drive trips on fault 5081 Auxiliary fan not running. 0

Note: The fault is suppressed for two minutes after

power-up.
During this time, the drive only generates a warning,
A582 Auxiliary fan not running.
 Parameters 349

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Warning The drive generates a warning, A582 Auxiliary fan not 1
running.
31.37 Ramp stop Parameters 31.37 Ramp stop supervision and 31.38 - / real32
supervision Ramp stop supervision delay, together with 1.29 Speed
change rate, provide a supervision function for normal
(ie. nonemergency) ramp stopping.
The supervision is based on either

• observing the time within which the motor stops,

or

• comparing the actual and expected deceleration

rates.
If this parameter is set to 0%, the maximum stop time
is directly set in parameter 31.38. Otherwise, 31.37
defines the maximum allowed deviation from the
expected deceleration rate, which is calculated from
parameters 23.11…23.19. If the actual deceleration rate
(1.29) deviates too much from the expected rate, the
drive trips on 73B1 Stop failed, sets bit 14 of 6.17 Drive
status word 2, and coasts to a stop.
If 31.37 is set to 0% and 31.38 is set to 0 s, the ramp
stop supervision is disabled.
0 ... 300 % Maximum deviation from expected deceleration rate. 1=1%/0=1%
31.38 Ramp stop If parameter 31.37 Ramp stop supervision is set to 0%, 0 s / real32
supervision delay this parameter defines the maximum time a ramp stop
is allowed to take. If the motor has not stopped when
the time elapses, the drive trips on 73B1 Stop failed,
sets bit 14 of 6.17 Drive status word 2, and coasts to
a stop.
If 31.37 is set to a value other than 0%, this parameter
defines a delay between the receipt of the stop
command and the activation of the supervision. It is
recommended to specify a short delay to allow the
speed change rate to stabilize.
0 ... 32767 s Maximum ramp-down time, or supervision activation 1=1s/1=1s
delay.
31.40 Disable warning Selects warnings to be suppressed. The parameter is - / uint16
messages a 16-bit word with each bit corresponding to a warning.
Whenever a bit is set to 1, the corresponding warning
is suppressed.
The bits of this binary number correspond to the
following warnings:
b0 Overvoltage A3A1 DC link overvoltage
b1 Reserved
b2 Encoder 1 A7E1 Encoder (for encoder 1)
b3 Encoder 2 A7E1 Encoder (for encoder 2)
b4 CU Battery A5F4 Control unit battery
b5 EmergencyStop AFE1 Emergency stop (off2)
Off2
350 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b6 EmergencyStop AFE2 Emergency stop (off1 or off3)
Off1 Off3
b7…15 Reserved
0000h…FFFFh 1=1
31.42 Overcurrent fault Sets a custom motor current fault limit. 0.00 A / real32
limit The drive automatically sets an internal motor current
limit according to the drive hardware. The internal limit
is appropriate in most cases, but this parameter can
be used to set a lower current limit, for example, to
protect a permanent magnet motor from
demagnetization.

Note: The limit defines the maximum peak current of

one phase.
With this parameter at 0.0 A, only the internal limit is
in force.
0.00 ... 30000.00 A Custom motor current fault limit. For 16-bit scaling, - / 100 = 1 A
see parameter 46.5.
31.54 Fault action Selects the stop mode when a non-critical fault occurs. Coast / uint16
Coast The drive coasts to a stop. 0
Emergency ramp The drive follows the ramp specified for an emergency 1
stop in parameter 23.23 Emergency stop time.
31.55 Ext I/O comm loss Selects how the drive reacts when the communication Fault / uint16
event to an I/O extension module fails.
No action No action taken. 0
Warning The drive generates a warning, A799 ExtIO comm loss. 1
Fault The drive trips on a fault, 7082 Ext I/O comm loss. 2
31.120 LSU earth fault (Only visible when IGBT supply unit control activated Fault / uint16
by 95.20)
Selects how the supply unit reacts when an earth fault
or current unbalance is detected.
No action No action taken. 0
Warning The supply unit generates a warning AE02 Earth 1
leakage.
Fault The supply unit trips on a fault, 2E01 Earth leakage. 2
31.121 LSU supply phase (Only visible when IGBT supply unit control activated Fault / uint16
loss by 95.20)
Selects how the supply unit reacts when a supply phase
loss is detected.
No action No action taken. 0
Fault The supply unit trips on a fault, 3E00 Input phase loss. 1
 Parameters 351

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
32 Supervision Configuration of signal supervision functions 1…3.
Three values can be chosen to be monitored; a warning
or fault is generated whenever predefined limits are
exceeded.
See also section Signal supervision (page 99).
32.1 Supervision status Signal supervision status word. - / uint16
Indicates whether the values monitored by the signal
supervision functions are within or outside their
respective limits.

Note: This word is independent of the drive actions

defined by parameters 32.6, 32.16 and 32.26.

b0 Supervision 1 active 1 = Signal selected by 32.7 is outside its limits.

b1 Supervision 2 active 1 = Signal selected by 32.17 is outside its limits.
b2 Supervision 3 active 1 = Signal selected by 32.27 is outside its limits.
b3…15 Reserved
0000h…FFFFh 1=1
32.5 Supervision 1 Selects the mode of signal supervision function 1. Disabled / uint16
function Determines how the monitored signal (see parameter
32.7) is compared to its lower and upper limits (32.9
and 32.10 respectively).
The action to be taken when the condition is fulfilled
is selected by 32.6.
Disabled Signal supervision 1 not in use. 0
Low Action is taken whenever the signal falls below its 1
lower limit.
High Action is taken whenever the signal rises above its 2
upper limit.
Abs low Action is taken whenever the absolute value of the 3
signal falls below its (absolute) lower limit.
Abs high Action is taken whenever the absolute value of the 4
signal rises above its (absolute) upper limit.
Both Action is taken whenever the signal falls below its low 5
limit or rises above its high limit.
Abs both Action is taken whenever the absolute value of the 6
signal falls below its (absolute) low limit or rises above
its (absolute) high limit.
32.6 Supervision 1 action Selects the action the drive takes when the value No action / uint16
monitored by signal supervision 1 exceeds its limits.

Note: This parameter does not affect the status

indicated by 32.1 Supervision status.

No action No action taken. 0

Warning A warning (A8B0 Signal supervision) is generated. 1
Fault The drive trips on 80B0 Signal supervision. 2
Fault if running If running, the drive trips on 80B0 Signal supervision. 3
352 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
32.7 Supervision 1 signal Selects the signal to be monitored by signal Zero / uint32
supervision function 1.
Zero None. 0
Speed 1.1 Motor speed used. 1
Frequency 1.6 Output frequency. 3
Current 1.7 Motor current. 4
Torque 1.10 Motor torque. 6
DC voltage 1.11 DC voltage. 7
Output power 1.14 Output power. 8
AI1 12.11 AI1 actual value. 9
AI2 12.21 AI2 actual value (page 193). 10
Speed ref ramp in 23.1 Speed ref ramp input (page 278). 18
Speed ref ramp out 23.2 Speed ref ramp output (page 278). 19
Speed ref used 24.1 Used speed reference (page 285). 20
Torque ref used 26.2 Torque reference used (page 304). 21
Freq ref used 28.2 Frequency ref ramp output (page 313). 22
Process PID Output 40.1 Process PID output actual (page 387). 24
Process PID 40.2 Process PID feedback actual (page 387). 25
feedback
Other [value] See Terms and abbreviations (page 134).
32.8 Supervision 1 filter Defines a filter time constant for the signal monitored 0.000 s / real32
time by signal supervision 1.
0.000 ... 30.000 s Signal filter time. 1000 = 1 s / 1000 = 1
s
32.9 Supervision 1 low Defines the lower limit for signal supervision 1. 0.00 / real32
-21474830.00 ... Low limit. - / 100 = 1
21474830.00
32.10 Supervision 1 high Defines the upper limit for signal supervision 1. 0.00 / real32
-21474830.00 ... Upper limit. - / 100 = 1
21474830.00
32.15 Supervision 2 Selects the mode of signal supervision function 2. Disabled / uint16
function Determines how the monitored signal (see parameter
32.17) is compared to its lower and upper limits (32.19
and 32.20 respectively).
The action to be taken when the condition is fulfilled
is selected by 32.16.
Disabled Signal supervision 2 not in use. 0
Low Action is taken whenever the signal falls below its 1
lower limit.
High Action is taken whenever the signal rises above its 2
upper limit.
 Parameters 353

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Abs low Action is taken whenever the absolute value of the 3
signal falls below its (absolute) lower limit.
Abs high Action is taken whenever the absolute value of the 4
signal rises above its (absolute) upper limit.
Both Action is taken whenever the signal falls below its low 5
limit or rises above its high limit.
Abs both Action is taken whenever the absolute value of the 6
signal falls below its (absolute) low limit or rises above
its (absolute) high limit.
32.16 Supervision 2 action Selects the action the drive takes when the value No action / uint16
monitored by signal supervision 2 exceeds its limits.

Note: This parameter does not affect the status

indicated by 32.1 Supervision status.

No action No action taken. 0

Warning A warning (A8B1 Signal supervision 2) is generated. 1
Fault The drive trips on 80B1 Signal supervision 2. 2
Fault if running If running, the drive trips on 80B1 Signal supervision 3
2.
32.17 Supervision 2 signal Selects the signal to be monitored by signal Zero / uint32
supervision function 2.
For the available selections, see parameter 32.7
Supervision 1 signal.
32.18 Supervision 2 filter Defines a filter time constant for the signal monitored 0.000 s / real32
time by signal supervision 2.
0.000 ... 30.000 s Signal filter time. 1000 = 1 s / 1000 = 1
s
32.19 Supervision 2 low Defines the lower limit for signal supervision 2. 0.00 / real32
-21474830.00 ... Low limit. - / 100 = 1
21474830.00
32.20 Supervision 2 high Defines the upper limit for signal supervision 2. 0.00 / real32
-21474830.00 ... Upper limit. - / 100 = 1
21474830.00
32.25 Supervision 3 Selects the mode of signal supervision function 3. Disabled / uint16
function Determines how the monitored signal (see parameter
32.27) is compared to its lower and upper limits (32.29
and 32.30 respectively).
The action to be taken when the condition is fulfilled
is selected by 32.26.
Disabled Signal supervision 3 not in use. 0
Low Action is taken whenever the signal falls below its 1
lower limit.
High Action is taken whenever the signal rises above its 2
upper limit.
Abs low Action is taken whenever the absolute value of the 3
signal falls below its (absolute) lower limit.
354 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Abs high Action is taken whenever the absolute value of the 4
signal rises above its (absolute) upper limit.
Both Action is taken whenever the signal falls below its low 5
limit or rises above its high limit.
Abs both Action is taken whenever the absolute value of the 6
signal falls below its (absolute) low limit or rises above
its (absolute) high limit.
32.26 Supervision 3 action Selects the action the drive takes when the value No action / uint16
monitored by signal supervision 3 exceeds its limits.

Note: This parameter does not affect the status

indicated by 32.1 Supervision status.

No action No action taken. 0

Warning A warning (A8B2 Signal supervision 3) is generated. 1
Fault The drive trips on 80B2 Signal supervision 3. 2
Fault if running If running, the drive trips on 80B2 Signal supervision 3
3.
32.27 Supervision 3 signal Selects the signal to be monitored by signal Zero / uint32
supervision function 3.
For the available selections, see parameter 32.7
Supervision 1 signal.
32.28 Supervision 3 filter Defines a filter time constant for the signal monitored 0.000 s / real32
time by signal supervision 3.
0.000 ... 30.000 s Signal filter time. 1000 = 1 s / 1000 = 1
s
32.29 Supervision 3 low Defines the lower limit for signal supervision 3. 0.00 / real32
-21474830.00 ... Low limit. - / 100 = 1
21474830.00
32.30 Supervision 3 high Defines the upper limit for signal supervision 3. 0.00 / real32
-21474830.00 ... Upper limit. - / 100 = 1
21474830.00
 Parameters 355

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
33 Generic timer & Configuration of maintenance timers/counters.
counter See also section Maintenance timers and
counters (page 99).
33.1 Counter status Displays the maintenance timer/counter status word, - / uint16
indicating which maintenance timers/counters have
exceeded their limits.
This parameter is read-only.
b0 On-time 1 1 = On-time timer 1 has reached its preset limit.
b1 On-time 2 1 = On-time timer 2 has reached its preset limit.
b2 Edge 1 1 = Signal edge counter 1 has reached its preset limit.
b3 Edge 2 1 = Signal edge counter 2 has reached its preset limit.
b4 Value 1 1 = Value counter 1 has reached its preset limit.
b5 Value 2 1 = Value counter 2 has reached its preset limit.
b6…15 Reserved
0000h…FFFFh 1=1
33.10 On-time 1 actual Displays the actual present value of on-time timer 1. - / uint32
The timer runs whenever the signal selected by
parameter 33.13 On-time 1 source is on.
When the timer exceeds the limit set by 33.11 On-time
1 warn limit, bit 0 of 33.1 Counter status is set to 1. The
warning specified by 33.14 On-time 1 warn message
is also given if enabled by 33.12 On-time 1 function.
The timer can be reset from the Drive Composer PC
tool, or from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 s Actual present value of on-time timer 1. -/1=1s
33.11 On-time 1 warn limit Sets the warning limit for on-time timer 1. - / uint32
0 ... 4294967295 s Warning limit for on-time timer 1. -/1=1s
33.12 On-time 1 function Configures on-time timer 1. - / uint16
b0 Counter mode 0 = Loop: When the limit is reached, the counter is
reset. The counter status (bit 0 of 33.1) switches to 1
for one second. The warning (if enabled) stays active
for at least 10 seconds.
1 = Saturate: When the limit is reached, the counter
status (bit 0 of 33.1) switches to 1, and remains so until
33.10 is reset. The warning (if enabled) also stays active
until 33.10 is reset.
b1 Warning enable 0 = Disable: No warning is given when the limit is
reached
1 = Enable: A warning (see 33.14) is given when the limit
is reached
b2…15 Reserved
0000h…FFFFh 1=1
33.13 On-time 1 source Selects the signal to be monitored by on-time timer 1. False / uint32
False Constant 0 (timer disabled). 0
356 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
True Constant 1. 1
RO1 Bit 0 of 10.21 RO status (page 181). 2
Other [bit] See Terms and abbreviations (page 134).
33.14 On-time 1 warn Selects the optional warning message for on-time On-time 1 exceeded
message timer 1. / uint32
On-time 1 exceeded A886 On-Time 1. The message text can be edited on 0
the control panel by choosing Menu – Settings – Edit
texts.
Clean device A88C Device clean. 6
Maintain additional A890 Additional cooling fan. 7
cooling fan
Maintain cabinet A88E Cabinet fan. 8
fan
Maintain DC A88D DC capacitor. 9
capacitors
Maintain motor A880 Motor bearing. 10
bearing
33.20 On-time 2 actual Displays the actual present value of on-time timer 2. - / uint32
The timer runs whenever the signal selected by
parameter 33.23 On-time 2 source is on.
When the timer exceeds the limit set by 33.21 On-time
2 warn limit, bit 1 of 33.1 Counter status is set to 1. The
warning specified by 33.24 On-time 2 warn message
is also given if enabled by 33.22 On-time 2 function.
The timer can be reset from the Drive Composer PC
tool, or from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 s Actual present value of on-time timer 2. -/1=1s
33.21 On-time 2 warn Sets the warning limit for on-time timer 2. - / uint32
limit
0 ... 4294967295 s Warning limit for on-time timer 2. -/1=1s
33.22 On-time 2 function Configures on-time timer 2. - / uint16
b0 Counter mode 0 = Loop: When the limit is reached, the counter is
reset. The counter status (bit 1 of 33.1) switches to 1
for one second. The warning (if enabled) stays active
for at least 10 seconds.
1 = Saturate: When the limit is reached, the counter
status (bit 1 of 33.1) switches to 1, and remains so until
33.20 is reset. The warning (if enabled) also stays active
until 33.20 is reset.
b1 Warning enable 0 = Disable: No warning is given when the limit is
reached
1 = Enable: A warning (see 33.24) is given when the
limit is reached
b2…15 Reserved
0000h…FFFFh 1=1
 Parameters 357

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
33.23 On-time 2 source Selects the signal to be monitored by on-time timer False / uint32
2.
False Constant 0 (timer disabled). 0
True Constant 1. 1
RO1 Bit 0 of 10.21 RO status (page 181). 2
Other [bit] See Terms and abbreviations (page 134).
33.24 On-time 2 warn Selects the optional warning message for on-time On-time 2 exceeded
message timer 2. / uint32
On-time 2 exceeded A887 On-Time 2. The message text can be edited on 1
the control panel by choosing Menu – Settings – Edit
texts.
Clean device A88C Device clean. 6
Maintain additional A890 Additional cooling fan. 7
cooling fan
Maintain cabinet A88E Cabinet fan. 8
fan
Maintain DC A88D DC capacitor. 9
capacitors
Maintain motor A880 Motor bearing. 10
bearing
33.30 Edge counter 1 Actual present value of signal edge counter 1. - / uint32
actual The counter is incremented every time the signal
selected by parameter 33.33 Edge counter 1 source
switches on or off (or either, depending on the setting
of 33.32 Edge counter 1 function). A divisor may be
applied to the count (see 33.34 Edge counter 1 divider).
When the counter exceeds the limit set by 33.31 Edge
counter 1 warn limit, bit 2 of 33.1 Counter status is set
to 1. The warning specified by 33.35 Edge counter 1
warn message is also given if enabled by 33.32 Edge
counter 1 function.
The counter can be reset from the Drive Composer PC
tool, or from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 Actual present value of signal edge counter 1. -/1=1
33.31 Edge counter 1 Sets the warning limit for signal edge counter 1. - / uint32
warn limit
0 ... 4294967295 Warning limit for signal edge counter 1. -/1=1
33.32 Edge counter 1 Configures signal edge counter 1. - / uint16
function
358 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b0 Counter mode 0 = Loop: When the limit is reached, the counter is
reset. The counter status (bit 2 of 33.1) switches to 1
and remains so until the counter is again incremented.
The warning (if enabled) stays active for at least 10
seconds.
1 = Saturate: When the limit is reached, the counter
status (bit 2 of 33.1) switches to 1, and remains so until
33.30 is reset. The warning (if enabled) also stays active
until 33.30 is reset.
b1 Warning enable 0 = Disable: No warning is given when the limit is
reached
1 = Enable: A warning (see 33.35) is given when the limit
is reached
b2 Count rising edges Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
b3 Count falling edges Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
b4…15 Reserved
0000h…FFFFh 1=1
33.33 Edge counter 1 Selects the signal to be monitored by signal edge False / uint32
source counter 1.
False Constant 0. 0
True Constant 1. 1
RO1 Bit 0 of 10.21 RO status (page 181). 2
Other [bit] See Terms and abbreviations (page 134).
33.34 Edge counter 1 Defines a divisor for signal edge counter 1. Determines 1 / uint32
divider how many signal edges increment the counter by 1.
1 ... 2147483647 Divisor for signal edge counter 1. -/1=1
33.35 Edge counter 1 Selects the optional warning message for signal edge Edge counter 1
warn message counter 1. exceeded / uint32
Edge counter 1 A888 Edge counter 1. The message text can be edited 2
exceeded on the control panel by choosing Menu – Settings –
Edit texts.
Counted main A884 Main contactor. 11
contactor
Counted output A881 Output relay. 12
relay
Counted motor A882 Motor starts. 13
starts
Counted power ups A883 Power ups. 14
Counted DC A885 DC charge. 15
charges
 Parameters 359

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
33.40 Edge counter 2 Displays the actual present value of signal edge - / uint32
actual counter 2.
The counter is incremented every time the signal
selected by parameter 33.43 Edge counter 2 source
switches on or off (or either, depending on the setting
of 33.42 Edge counter 2 function). A divisor may be
applied to the count (see 33.44 Edge counter 2 divider).
When the counter exceeds the limit set by 33.41 Edge
counter 2 warn limit, bit 3 of 33.1 Counter status is set
to 1. The warning specified by 33.45 Edge counter 2
warn message is also given if enabled by 33.42 Edge
counter 2 function.
The counter can be reset from the Drive Composer PC
tool, or from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 Actual present value of signal edge counter 2. -/1=1
33.41 Edge counter 2 Sets the warning limit for signal edge counter 2. - / uint32
warn limit
0 ... 4294967295 Warning limit for signal edge counter 2. -/1=1
33.42 Edge counter 2 Configures signal edge counter 2. - / uint16
function
b0 Counter mode 0 = Loop: When the limit is reached, the counter is
reset. The counter status (bit 3 of 33.1) remains 1 until
the counter is again incremented. The warning (if
enabled) stays active for at least 10 seconds.
1 = Saturate: After the limit is reached, the counter
status (bit 3 of 33.1) remains 1 until 33.40 is reset. The
warning (if enabled) also stays active until 33.40 is
reset.
b1 Warning enable Warning enable
0 = Disable: No warning is given when the limit is
reached
1 = Enable: A warning (see 33.45) is given when the
limit is reached
b2 Count rising edges Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
b3 Count falling edges Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
b4…15 Reserved
0000h…FFFFh 1=1
33.43 Edge counter 2 Selects the signal to be monitored by signal edge False / uint32
source counter 2.
False 0. 0
True 1. 1
RO1 Bit 0 of 10.21 RO status (page 181). 2
Other [bit] See Terms and abbreviations (page 134).
360 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
33.44 Edge counter 2 Defines a divisor for signal edge counter 2. Determines 1 / uint32
divider how many signal edges increment the counter by 1.
1 ... 4294967295 Divisor for signal edge counter 2. -/1=1
33.45 Edge counter 2 Selects the optional warning message for signal edge Edge counter 2
warn message counter 2. exceeded / uint32
Edge counter 2 A889 Edge counter 2. The message text can be edited 3
exceeded on the control panel by choosing Menu – Settings –
Edit texts.
Counted main A884 Main contactor. 11
contactor
Counted output A881 Output relay. 12
relay
Counted motor A882 Motor starts. 13
starts
Counted power ups A883 Power ups. 14
Counted DC A885 DC charge. 15
charges
33.50 Value counter 1 Displays the actual present value of value counter 1. 0 / real32
actual The value of the source selected by parameter 33.53
Value counter 1 source is read at one-second intervals
and added to the counter. A divisor can be applied to
the count (see 33.54 Value counter 1 divider).
When the counter exceeds the limit set by 33.51 Value
counter 1 warn limit, bit 4 of 33.1 Counter status is set
to 1.
The warning specified by 33.55 Value counter 1 warn
message is also given if enabled by 33.52 Value counter
1 function.
The counter can be reset from the Drive Composer PC
tool, or from the control panel by keeping Reset
depressed for over 3 seconds.
-2147483000 ... Actual present value of value counter 1. -/1=1
2147483000
33.51 Value counter 1 Sets the limit for value counter 1. - / real32
warn limit With a positive limit, bit 4 of 33.1 Counter status is set
to 1 (and a warning optionally generated) when the
counter is equal or greater than the limit.
With a negative limit, bit 4 of 33.1 Counter status is
set to 1 (and a warning optionally generated) when the
counter is equal or smaller than the limit.
0 = Counter disabled.
-2147483000 ... Limit for value counter 1. -/1=1
2147483000
33.52 Value counter 1 Configures value counter 1. - / uint16
function
 Parameters 361

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b0 Counter mode 0 = Loop: When the limit is reached, the counter is
reset. The counter status (bit 4 of 33.1) switches to 1
for one second. The warning (if enabled) stays active
for at least 10 seconds.
1 = Saturate: When the limit is reached, the counter
status (bit 4 of 33.1) switches to 1, and remains so until
33.50 is reset. The warning (if enabled) also stays active
until 33.50 is reset.
b1 Warning enable 0 = Disable: No warning is given when the limit is
reached
1 = Enable: A warning (see 33.55) is given when the
limit is reached
b2…15 Reserved
0000h…FFFFh 1=1
33.53 Value counter 1 Selects the signal to be monitored by value counter 1. Not selected / uint32
source
Not selected None (counter disabled). 0
Motor speed 1.1 Motor speed used. 1
Other [bit] See Terms and abbreviations (page 134).
33.54 Value counter 1 Defines a divisor for value counter 1. The value of the 1.000 / real32
divider monitored signal is divided by this value before
integration.
0.001 ... Divisor for value counter 1. -/1=1
2147483.000
33.55 Value counter 1 Selects the optional warning message for value counter Value counter 1
warn message 1. exceeded / uint32
Value counter 1 A88A Value counter 1. The message text can be edited 4
exceeded on the control panel by choosing Menu – Settings –
Edit texts.
Maintain motor A880 Motor bearing. 10
bearing
33.60 Value counter 2 Displays the actual present value of value counter 2. 0 / real32
actual The value of the source selected by parameter 33.63
Value counter 2 source is read at one-second intervals
and added to the counter. A divisor can be applied to
the count (see 33.64 Value counter 2 divider).
When the counter exceeds the limit set by 33.61 Value
counter 2 warn limit, bit 5 of 33.1 Counter status is set
to 1.
The warning specified by 33.65 Value counter 2 warn
message is also given if enabled by 33.62 Value counter
2 function.
The counter can be reset from the Drive Composer PC
tool, or from the control panel by keeping Reset
depressed for over 3 seconds.
-2147483008 ... Actual present value of value counter 2. -/1=1
2147483008
362 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
33.61 Value counter 2 Sets the limit for value counter 2. - / real32
warn limit With a positive limit, bit 5 of 33.1 Counter status is set
to 1 (and a warning optionally generated) when the
counter is equal or greater than the limit.
With a negative limit, bit 5 of 33.1 Counter status is set
to 1 (and a warning optionally generated) when the
counter is equal or smaller than the limit.
0 = Counter disabled.
-2147483008 ... Limit for value counter 2. -/1=1
2147483008
33.62 Value counter 2 Configures value counter 2. - / uint16
function
b0 Counter mode 0 = Loop: When the limit is reached, the counter is
reset. The counter status (bit 5 of 33.1) switches to 1
for one second. The warning (if enabled) stays active
for at least 10 seconds.
1 = Saturate: When the limit is reached, the counter
status (bit 5 of 33.1) switches to 1, and remains so until
33.60 is reset. The warning (if enabled) also stays
active until 33.60 is reset.
b1 Warning enable Warning enable
0 = Disable: No warning is given when the limit is
reached
1 = Enable: A warning (see 33.65) is given when the
limit is reached
b2…15 Reserved
0000h…FFFFh 1=1
33.63 Value counter 2 Selects the signal to be monitored by value counter 2. Not selected / uint32
source
Not selected None (counter disabled). 0
Motor speed 1.1 Motor speed used. 1
Other [value] See Terms and abbreviations (page 134).
33.64 Value counter 2 Defines a divisor for value counter 2. The value of the 1.000 / real32
divider monitored signal is divided by this value before
integration.
0.001 ... Divisor for value counter 2. -/1=1
2147483.000
33.65 Value counter 2 Selects the optional warning message for value counter Value counter 2
warn message 2. exceeded / uint32
Value counter 2 A88B Value counter 2. The message text can be edited 5
exceeded on the control panel by choosing Menu – Settings –
Edit texts.
Maintain motor A880 Motor bearing. 10
bearing
 Parameters 363

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
35 Motor thermal Motor thermal protection settings such as
protection temperature measurement configuration, load curve
definition and motor fan control configuration.
See also section Motor thermal protection (page 90).
35.1 Motor estimated Displays the motor temperature as estimated by the - / real32
temperature internal motor thermal protection model (see
parameters 35.50…35.55). The unit (°C or °F) is
selected by parameter 96.16 Unit selection.
This parameter is read-only.
-60.0 ... 1000.0 ° Estimated motor temperature. 1=1°/1=1°
35.2 Measured Displays the temperature received through the source - / real32
temperature 1 defined by parameter 35.11 Temperature 1 source. The
unit is selected by parameter 96.16 Unit selection.

Note: With °F, the range is -76…1832. With a PTC

sensor, the range is 0…5000 ohms.
This parameter is read-only.
-60 ... 1000 ° Measured temperature 1. 1=1°/1=1°
35.3 Measured Displays the temperature received through the source - / real32
temperature 2 defined by parameter 35.21 Temperature 2 source. The
unit is selected by parameter 96.16 Unit selection.

Note: With °F, the range is -76…1832. With a PTC

sensor, the range is 0…5000 ohms.
This parameter is read-only.
-60 ... 1000 ° Measured temperature 2. 1=1°/1=1°
35.4 FPTC status word Displays the status of optional FPTC-xx thermistor - / uint16
protection modules. The word can be used as the
source of eg. external events.

Note: The “module found” bits are updated regardless

of whether the corresponding module is activated.
However, the “fault active” and “warning active” bits
are not updated if the module is not activated. Modules
are activated by parameter 35.30 FPTC configuration
word.
This parameter is read-only.
b0 Module found in 1 = Yes: An FPTC-xx module has been detected in slot
slot 1 1.
b1 Fault active in slot 1 1 = Yes: The module in slot 1 has an active fault (4991
Safe motor temperature 1).
b2 Warning active in 1 = Yes: The module in slot 1 has an active warning
slot 1 (A497 Motor temperature 1).
b3 Module found in 1 = Yes: An FPTC-xx module has been detected in slot
slot 2 2.
b4 Fault active in slot 2 1 = Yes: The module in slot 2 has an active fault (4992
Safe motor temperature 2).
b5 Warning active in 1 = Yes: The module in slot 2 has an active warning
slot 2 (A498 Motor temperature 2).
364 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b6 Module found in 1 = Yes: An FPTC-xx module has been detected in slot
slot 3 3.
b7 Fault active in slot 3 1 = Yes: The module in slot 3 has an active fault (4993
Safe motor temperature 3).
b8 Warning active in 1 = Yes: The module in slot 3 has an active warning
slot 3 (A499 Motor temperature 3).
b9…15 Reserved
0000h…FFFFh 1=1
35.5 Motor overload Displays the motor overload level as a percent of the - / real32
level motor overload fault limit. See parameter 35.56 Motor
overload action and section Motor overload
protection (page 94).
0.0 ... 300.0 % Motor overload level. 10 = 1 % / 10 = 1 %
0.0% No motor overloading.
88.0% Motor overloaded to warning level.
100.0% Motor overloaded to fault level.
35.9 Temperature Shows temperature calibration status word. - / uint16
Calibration status
word
b0 Temperature 1 Calibration status of temperature 1. See parameter
calibration done 35.17 Temperature 1 calibration.
b1 Temperature 2 Calibration status of temperature 2. See parameter
calibration done 35.27 Temperature 2 calibration.
b2…15 Reserved
0000h…FFFFh 1=1
35.11 Temperature 1 Selects the source from which measured temperature Disabled / uint16
source 1 is read.
For wiring examples, see the hardware manual of the
drive.
Usually this source is from a sensor connected to the
motor controlled by the drive, but it could be used to
measure and monitor a temperature from other parts
of the process as long as a suitable sensor is used as
per the selection list.
Disabled None. Temperature monitoring function 1 is disabled. 0
Estimated Estimated motor temperature (see parameter 35.1 1
temperature Motor estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient
temperature of the motor in 35.50 Motor ambient
temperature.
 Parameters 365

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
KTY84 analog I/O KTY84 sensor connected to the analog input selected 2
by parameter 35.14 Temperature 1 AI source and an
analog output. The input and output can be on the
drive control unit or on an extension module.
The following settings are required:

• Set the hardware jumper or switch related to the

analog input to U (voltage). Any change must be
validated by a control unit reboot.

• Set the unit selection parameter of the input to

volt.

• Set the source selection parameter of the analog

output to “Force KTY84 excitation”.

• Select the analog input in parameter 35.14. In case

the input is located on an I/O extension module,
use selection Other (see Terms and
abbreviations (page 18)) to point at the actual
input value parameter (for example, 14.26 AI1
actual value).
The analog output feeds a constant current through
the sensor. As the resistance of the sensor changes
along with its temperature, the voltage over the sensor
changes. The voltage is read by the analog input and
converted into degrees.
KTY84 encoder KTY84 sensor connected to encoder interface 1. 3
module 1 See also parameters 91.21 Module 1 temp sensor type
and 91.22 Module 1 temp filter time.
KTY84 encoder KTY84 sensor connected to encoder interface 2. 4
module 2 See also parameters 91.24 Module 2 temp sensor type
and 91.25 Module 2 temp filter time.
1 x Pt100 analog I/O Pt100 sensor connected to a standard analog input 5
selected by parameter 35.14 Temperature 1 AI source
and an analog output. The input and output can be on
the drive control unit or on an extension module.
The required settings are the same as with selection
KTY84 analog I/O, except that the source selection
parameter of the analog output must be set to Force
Pt100 excitation.
2 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with two sensors 6
connected in series. Using multiple sensors improves
measurement accuracy significantly.
3 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with three 7
sensors connected in series. Using multiple sensors
improves measurement accuracy significantly.
366 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
PTC DI6 PTC sensor connected to digital input DI6 (see the 8
connection diagram on page 90).

Note: Either 0 ohm (normal temperature) or 4000 ohm

(excessive temperature) will be shown by 35.2
Measured temperature 1. By default, an excessive
temperature will generate a warning as per parameter
35.13 Temperature 1 warning limit. If you want a fault
instead, set 35.12 Temperature 1 fault limit to 4000
ohm.

PTC analog I/O PTC sensor connected to a standard analog input 20

selected by parameter 35.14 Temperature 1 AI source
and an analog output. The input and output can be on
the drive control unit or on an extension module.
The required settings are the same as with selection
KTY84 analog I/O, except that the source selection
parameter of the analog output must be set to Force
PTC excitation.
PTC encoder PTC sensor connected to encoder interface 1. 9
module 1 See also parameters 91.21 Module 1 temp sensor type
and 91.22 Module 1 temp filter time.
PTC encoder PTC sensor connected to encoder interface 2. 10
module 2 See also parameters 91.24 Module 2 temp sensor type
and 91.25 Module 2 temp filter time.
Direct temperature The temperature is taken from the source selected by 11
parameter 35.14 Temperature 1 AI source. The value
of the source is assumed to be in the unit of
temperature specified by 96.16 Unit selection.
1 x Pt1000 analog Pt1000 sensor connected to a standard analog input 13
I/O selected by parameter 35.14 Temperature 1 AI source
and an analog output. The input and output can be on
the drive control unit or on an extension module.
The required settings are the same as with selection
KTY84 analog I/O, except that the source selection
parameter of the analog output must be set to Force
Pt1000 excitation.
2 x Pt1000 analog As selection 1 x Pt1000 analog I/O, but with two 14
I/O sensors connected in series. Using multiple sensors
improves measurement accuracy significantly.
3 x Pt1000 analog As selection 1 x Pt1000 analog I/O, but with three 15
I/O sensors connected in series. Using multiple sensors
improves measurement accuracy significantly.
Pt1000 encoder Pt1000 sensor connected to encoder interface 1. See 16
module 1 parameters 91.21 Module 1 temp sensor type and 91.22
Module 1 temp filter time.

Note: Pt1000 sensor supports FEN-11 and FEN-31

encoder modules only.
 Parameters 367

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Pt1000 encoder Pt1000 sensor connected to encoder interface 2. See 17
module 2 parameters 91.24 Module 2 temp sensor type and 91.25
Module 2 temp filter time.

Note: Pt1000 sensor supports FEN-11 and FEN-31

encoder modules only.

35.12 Temperature 1 fault Defines the fault limit for temperature monitoring 130 ° / real32
limit function 1.
When measured temperature 1 exceeds the limit, the
drive trips on fault 4981 External temperature 1.
The unit is selected by parameter 96.16 Unit selection.

Note: With °F, the range is -76…1832. With a PTC

sensor, the range is 0…5000 ohms.

-60 ... 1000 ° Fault limit for temperature monitoring function 1. 1=1°/1=1°
35.13 Temperature 1 Defines the warning limit for temperature monitoring 110 ° / real32
warning limit function 1. When measured temperature 1 exceeds this
limit, a warning (A491 External temperature 1) is
generated.
The unit is selected by parameter 96.16 Unit selection.

Note: With °F, the range is -76…1832. With a PTC

sensor, the range is 0…5000 ohms.

-60 ... 1000 ° Warning limit for temperature monitoring function 1. 1=1°/1=1°
35.14 Temperature 1 AI Specifies the analog input when the setting of 35.11 Not selected / uint32
source Temperature 1 source requires measurement through
an analog input.

Note: If the input is located on an I/O extension

module, use the selection Other to point to the AI
actual value in group 14, 15 or 16, eg. 14.26 AI1 actual
value.

Not selected None. 0

AI1 actual value Analog input AI1 on the control unit. 1
AI2 actual value Analog input AI2 on the control unit. 2
Other [value] See Terms and abbreviations (page 134).
35.17 Temperature 1 Defines the calibration of temperature 1. 0 ° / real32
calibration Calibration can be used to fine-tune the motor
temperature measurement. Once the motor has cooled
down, measure its ambient temperature and set this
value accordingly.
This parameter affects only if Pt100 or Pt1000
measurement is using AI and AO of the control unit or
I/O extension modules.
-30 ... 1000 ° Calibration of temperature 1 in celsius. 1=1°/1=1°
368 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
35.21 Temperature 2 Selects the source from which measured temperature Disabled / uint16
source 2 is read.
For wiring examples, see the hardware manual of the
drive.
Usually this source is from a sensor connected to the
motor controlled by the drive, but it could be used to
measure and monitor a temperature from other parts
of the process as long as a suitable sensor is used as
per the selection list.
Disabled None. Temperature monitoring function 2 is disabled. 0
Estimated Estimated motor temperature (see parameter 35.1 1
temperature Motor estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient
temperature of the motor in 35.50 Motor ambient
temperature.
KTY84 analog I/O KTY84 sensor connected to the analog input selected 2
by parameter 35.24 Temperature 2 AI source and an
analog output. The input and output can be on the
drive control unit or on an extension module.
The following settings are required:

• Set the hardware jumper or switch related to the

analog input to U (voltage). Any change must be
validated by a control unit reboot.

• Set the unit selection parameter of the input to

volt.

• Set the source selection parameter of the analog

output to “Force KTY84 excitation”.

• Select the analog input in parameter 35.24. In case

the input is located on an I/O extension module,
use the selection Other (see Terms and
abbreviations (page 18)) to point at the actual
input value parameter (for example, 14.26 AI1
actual value).
The analog output feeds a constant current through
the sensor. As the resistance of the sensor changes
along with its temperature, the voltage over the sensor
changes. The voltage is read by the analog input and
converted into degrees.
KTY84 encoder KTY84 sensor connected to encoder interface 1. 3
module 1 See also parameters 91.21 Module 1 temp sensor type
and 91.22 Module 1 temp filter time.
KTY84 encoder KTY84 sensor connected to encoder interface 2. 4
module 2 See also parameters 91.24 Module 2 temp sensor type
and 91.25 Module 2 temp filter time.
 Parameters 369

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
1 x Pt100 analog I/O Pt100 sensor connected to a standard analog input 5
selected by parameter 35.24 Temperature 2 AI source
and an analog output. The input and output can be on
the drive control unit or on an extension module.
The required settings are the same as with selection
KTY84 analog I/O, except that the source selection
parameter of the analog output must be set to Force
Pt100 excitation.
2 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with two sensors 6
connected in series. Using multiple sensors improves
measurement accuracy significantly.
3 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with three 7
sensors connected in series. Using multiple sensors
improves measurement accuracy significantly.
PTC DI6 PTC sensor connected to digital input DI6 (see the 8
connection diagram on page 90).

Note: Either 0 ohm (normal temperature) or 4000 ohm

(excessive temperature) will be shown by 35.3
Measured temperature 2. By default, an excessive
temperature will generate a warning as per parameter
35.23 Temperature 2 warning limit. If you want a fault
instead, set 35.22 Temperature 2 fault limit to 4000
ohm.

PTC analog I/O PTC sensor connected to a standard analog input 20

selected by parameter 35.24 Temperature 2 AI source
and an analog output. The input and output can be on
the drive control unit or on an extension module.
The required settings are the same as with selection
KTY84 analog I/O, except that the source selection
parameter of the analog output must be set to Force
Pt100 excitation.
PTC encoder PTC sensor connected to encoder interface 1. 9
module 1 See also parameters 91.21 Module 1 temp sensor type
and 91.22 Module 1 temp filter time.
PTC encoder PTC sensor connected to encoder interface 2. 10
module 2 See also parameters 91.24 Module 2 temp sensor type
and 91.25 Module 2 temp filter time.
Direct temperature The temperature is taken from the source selected by 11
parameter 35.24 Temperature 2 AI source. The value
of the source is assumed to be in the unit of
temperature specified by 96.16 Unit selection.
1 x Pt1000 analog Pt1000 sensor connected to a standard analog input 13
I/O selected by parameter 35.24 Temperature 2 AI source
and an analog output. The input and output can be on
the drive control unit or on an extension module.
The required settings are the same as with selection
KTY84 analog I/O, except that the source selection
parameter of the analog output must be set to Force
Pt100 excitation.
370 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
2 x Pt1000 analog As selection 1 x Pt1000 analog I/O, but with two 14
I/O sensors connected in series. Using multiple sensors
improves measurement accuracy significantly.
3 x Pt1000 analog As selection 1 x Pt1000 analog I/O, but with three 15
I/O sensors connected in series. Using multiple sensors
improves measurement accuracy significantly.
Pt1000 encoder Pt1000 sensor connected to encoder interface 1. See 16
module 1 parameters 91.21 Module 1 temp sensor type and 91.22
Module 1 temp filter time.

Note: Pt1000 sensor is supported with FEN-11 and

FEN-31 encoder modules only.

Pt1000 encoder Pt1000 sensor connected to encoder interface 2. See 17

module 2 parameters 91.24 Module 2 temp sensor type and 91.25
Module 2 temp filter time.

Note: Pt1000 sensor is supported with FEN-11 and

FEN-31 encoder modules only.

35.22 Temperature 2 fault Defines the fault limit for temperature monitoring 130 ° / real32
limit function 2.
When measured temperature 2 exceeds the limit, the
drive trips on fault 4982 External temperature 2.
The unit is selected by parameter 96.16 Unit selection.

Note: With °F, the range is -76…1832. With a PTC

sensor, the range is 0…5000 ohms.

-60 ... 1000 ° Fault limit for temperature monitoring function 2. 1=1°/1=1°
35.23 Temperature 2 Defines the warning limit for temperature monitoring 110 ° / real32
warning limit function 2. When measured temperature 2 exceeds the
limit, a warning
(A492 External temperature 2) is generated.
The unit is selected by parameter 96.16 Unit selection.

Note: With °F, the range is -76…1832. With a PTC

sensor, the range is 0…5000 ohms.

-60 ... 1000 ° Warning limit for temperature monitoring function 2. 1=1°/1=1°
35.24 Temperature 2 AI Selects the input for parameter 35.21 Temperature 2 Not selected / uint32
source source, selections KTY84 analog I/O, 1 x Pt100 analog
I/O, 2 x Pt100 analog I/O, 3 x Pt100 analog I/O and
Direct temperature.
Not selected None. 0
AI1 actual value Analog input AI1 on the control unit. 1
AI2 actual value Analog input AI2 on the control unit. 2
Other [value] See Terms and abbreviations (page 134).
35.27 Temperature 2 Defines the calibration of temperature 2. 0 °C / real32
calibration See parameter 35.17 Temperature 1 calibration.
-30 ... 1000 °C Calibration of temperature 2 in celsius. 1 = 1 °C / 1 = 1 °C
 Parameters 371

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
35.30 FPTC configuration Activates FPTC-xx thermistor protection modules - / uint16
word installed on the control unit of the drive. Using this
word, it is also possible to suppress the warnings (but
not faults) from each module.
b0 Module in slot 1 1 = Yes: Module installed in slot 1.
b1 Disable slot 1 1 = Yes: Warnings from the module in slot 1 suppressed.
warning
b2 Module in slot 2 1 = Yes: Module installed in slot 2.
b3 Disable slot 2 1 = Yes: Warnings from the module in slot 2
warning suppressed.
b4 Module in slot 3 1 = Yes: Module installed in slot 3.
b5 Disable slot 3 1 = Yes: Warnings from the module in slot 3
warning suppressed.
b6…15 Reserved
0000h…FFFFh 1=1
35.50 Motor ambient Defines the ambient temperature of the motor for the 20 ° / real32
temperature motor thermal protection model. The unit (°C or °F) is
selected by parameter 96.16 Unit selection.
The motor thermal protection model estimates the
motor temperature on the basis of parameters
35.50…35.55. The motor temperature increases if it
operates in the region above the load curve, and
decreases if it operates in the region below the load
curve.

WARNING!
The model cannot protect the motor if the
motor does not cool properly because of dust,
dirt, etc.

-60 ... 100 ° Ambient temperature. 1=1°/1=1°

372 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
35.51 Motor load curve Defines the motor load curve together with parameters 100 % / uint16
35.52 Zero speed load and 35.53 Break point. The load
curve is used by the motor thermal protection model
to estimate the motor temperature.
When the parameter is set to 100%, the maximum load
is taken as the value of parameter 99.6 Motor nominal
current (higher loads heat up the motor). The load
curve level should be adjusted if the ambient
temperature differs from the nominal value set in 35.50
Motor ambient temperature.

I/IN
(%)
I = Motor current
IN = Nominal motor current

150

35.51
100

50
35.52

35.53 Drive output

frequency

50 ... 150 % Maximum load for the motor load curve. 1=1%/1=1%
35.52 Zero speed load Defines the motor load curve together with parameters 70 % / uint16
35.51 Motor load curve and 35.53 Break point. Defines
the maximum motor load at zero speed of the load
curve. A higher value can be used if the motor has an
external motor fan to boost the cooling. See the motor
manufacturer's recommendations.
See parameter 35.51 Motor load curve.
25 ... 150 % Zero speed load for the motor load curve. 1=1%/1=1%
35.53 Break point Defines the motor load curve together with parameters 45.00 Hz / uint16
35.51 Motor load curve and 35.52 Zero speed load.
Defines the break point frequency of the load curve
i.e. the point at which the motor load curve begins to
decrease from the value of parameter 35.51 Motor load
curve towards the value of parameter 35.52 Zero speed
load.
See parameter 35.51 Motor load curve.
1.00 ... 500.00 Hz Break point for the motor load curve. For 16-bit scaling, - / 100 = 1 Hz
see parameter 46.2.
 Parameters 373

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
35.54 Motor nominal Defines the temperature rise of the motor above 80 ° / real32
temperature rise ambient when the motor is loaded with nominal
current. See the motor manufacturer's
recommendations.
The unit (°C or °F) is selected by parameter 96.16 Unit
selection.

Temperature

Motor nominal
temperature
rise

Ambient temperature

Time

0 ... 300 ° Temperature rise. 1=1°/1=1°

35.55 Motor thermal time Defines the thermal time constant for use with the 256 s / uint16
constant motor thermal protection model, defined as the time
to reach 63% of the nominal motor temperature. See
the motor manufacturer's recommendations.

Motor current

100%

Time
Temperature rise

100%

63%

Motor thermal time Time

100 ... 10000 s Motor thermal time constant. 1=1s/1=1s

35.56 Motor overload Selects the action taken when motor overload is No action / uint16
action detected.
See section Motor overload protection (page 94).
374 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
No action No action taken. 0
Warning only Drive generates warning A783 Motor overload when 1
the motor is overloaded to the warning level, that is,
parameter 35.5 Motor overload level reaches value
88.0%.
Warning and fault Drive generates warning A783 Motor overload when 2
the motor is overloaded to the warning level, that is,
parameter 35.5 Motor overload level reaches value
88.0%.
Drive trips on fault 7122 Motor overload when the
motor is overloaded to the fault level, that is,
parameter 35.5 Motor overload level reaches value
100.0%.
35.57 Motor overload Defines the motor overload class to be used. The class Class 20 / uint16
class of protection is specified by the user as the time for
tripping at 7.2 times (IEC 60947-4-1) or 6 times (NEMA
ICS) the tripping level current.
See section Motor overload protection (page 94).
Class 5 Motor overload class 5. 0
Class 10 Motor overload class 10. 1
Class 20 Motor overload class 20. 2
Class 30 Motor overload class 30. 3
Class 40 Motor overload class 40. 4
35.60 Cable temperature Shows the calculated temperature of the motor cable. 0.0 % / real32
See section Thermal protection of motor
cable (page 95).
102% = overtemperature warning (A480 Motor cable
overload)
106% = overtemperature fault (4000 Motor cable
overload)
This parameter is read-only.
0.0 ... 200.0 % Calculated temperature of motor cable. 1 = 1 % / 10 = 1 %
35.61 Cable nominal Specifies the continuous current of the motor cable 10000.00 A / real32
current for the thermal protection function in the control
program.

WARNING!
The value entered in this parameter must be
limited according to all factors affecting the
loadability of the cable, such as ambient
temperature, cabling arrangement, and
shrouding. Refer to the technical data from the
cable manufacturer.

0.00 ... 10000.00 A Continuous current-carrying capacity of motor cable. 1 = 1 A / 100 = 1 A

 Parameters 375

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
35.62 Cable thermal rise Specifies the thermal time of the motor cable for the 1 s / uint16
time thermal protection function in the control program.
This value is defined as the time to reach 63% of the
nominal cable temperature when the cable is loaded
with nominal current (parameter 35.61 Cable nominal
current).
0 s = Thermal protection of motor cable disabled.
Refer to the technical data from the cable
manufacturer.

Cable current

100%

Time
Temperature rise

100%

63%

Cable thermal time Time

0 ... 50000 s 0 s → Thermal protection of motor cable disabled. 1=1s/1=1s

1…50000 s → Motor cable thermal time constant.
35.100 DOL starter control Parameters 35.100…35.106 configure a monitored Off, 06.16 b6 (95.20
source start/stop control logic for external equipment such b6) / uint32
as a contactor controlled motor cooling fan.
This parameter selects the signal that starts and stops
the fan.
0 = Stop
1 = Start
The output controlling the fan contactor is to be
connected to parameter 35.105, bit 1. On and off delays
can be set for the fan by 35.101 and 35.102 respectively.
A feedback signal from the fan can be connected to
an input selected by 35.103; the loss of the feedback
will optionally trigger a warning or fault (see 35.104
and 35.106).
Off 0 (function disabled). 0
On 1. 1
Running Bit 6 of 6.16 Drive status word 1 (page 158). 2
376 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Other [bit] See Terms and abbreviations (page 134).
35.101 DOL starter on Defines a start delay for the motor fan. - / uint32
delay The delay timer starts when the control source selected
by parameter 35.100 switches on. After the delay, bit
1 of 35.105 switches on.
0 ... 42949673 s Motor fan start delay. 1 = 1 s / 100 = 1 s
35.102 DOL starter off Defines a stop delay for the motor fan. 20 min / uint32
delay The delay timer starts when the control source selected
by parameter 35.100 switches off. After the delay, bit
1 of 35.105 switches off.
0 ... 715828 min Motor fan stop delay. 1 = 1 min / 1 = 1 min
35.103 DOL starter Selects the input for motor fan feedback signal. Not selected; DI5
feedback source 0 = Stopped (95.20 b6) / uint32
1 = Running
After the fan is started (bit 1 of 35.105 switches on),
feedback is expected within the time set by 35.104.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
35.104 DOL starter Defines a feedback delay for the motor fan. 0; 5 (95.20 b6) s /
feedback delay The delay timer starts when bit 1 of 35.105 switches uint32
on. If no feedback is received from the fan until the
delay elapses, the action selected by 35.106 is taken.

Note: This delay is only applied at start. If the feedback

signal is lost during run, the action selected by 35.106
is taken immediately.

0 ... 42949673 s Motor fan start delay. 1=1s/1=1s

35.105 DOL starter status Status of the motor fan control logic. - / uint16
word Bit 1 is the control output for the fan, to be selected
as the source of, for example, a digital or relay output.
The other bits indicate the statuses of the selected
control and feedback sources, and the fault status.
This parameter is read-only.
 Parameters 377

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b0 Start command: Status of fan control source selected by 35.100.
0 = Stop requested
1 = Start requested
b1 Delayed start Fan control bit (delays observed). Select this bit as the
command: source of the output controlling the fan.
0 = Stopped
1 = Started
b2 DOL feedback: Status of fan feedback (source selected by 35.103).
0 = Stopped
1 = Running
b3 DOL fault (-1): Fault status.
0 = Fault (fan feedback missing). The action taken is
selected by 35.106.
1 = No fault
b4…15 Reserved
0000h…FFFFh 1=1
35.106 DOL starter event Selects the action taken when missing fan feedback Fault / uint16
type is detected by the motor fan control logic.
No action No action taken. 0
Warning The drive generates a warning (A781 Motor fan). 1
Fault Drive trips on 71B1 Motor fan. 2
378 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
36 Load analyzer Peak value and amplitude logger settings.
See also section Load analyzer (page 100).
36.1 PVL signal source Selects the signal to be monitored by the peak value Power inu out /
logger. uint32
The signal is filtered using the filtering time specified
by parameter 36.2 PVL filter time.
The peak value is stored, along with other pre-selected
signals at the time, into parameters 36.12…36.15.
The peak value logger can be reset using parameter
36.9 Reset loggers. The logger is also reset whenever
the signal source is changed. The date and time of the
last reset are stored into parameters 36.16 and 36.17
respectively.
Zero None 0
Motor speed used 1.1 Motor speed used (page 138). 1
Output frequency 1.6 Output frequency (page 138). 3
Motor current 1.7 Motor current (page 138). 4
Motor torque 1.10 Motor torque (page 138). 6
DC voltage 1.11 DC voltage (page 139). 7
Power inu out 1.14 Output power (page 139). 8
Speed ref ramp in 23.1 Speed ref ramp input (page 278). 10
Speed ref ramp out 23.2 Speed ref ramp output (page 278). 11
Speed ref used 24.1 Used speed reference (page 285). 12
Torq ref used 26.2 Torque reference used (page 304). 13
Freq ref used 28.2 Frequency ref ramp output (page 313). 14
Process PID out 40.1 Process PID output actual (page 387). 16
Process PID fbk 40.2 Process PID feedback actual (page 387). 17
Process PID act 40.3 Process PID setpoint actual (page 387). 18
Process PID dev 40.4 Process PID deviation actual (page 387). 19
Other [value] See Terms and abbreviations (page 134).
36.2 PVL filter time Defines a filtering time for the peak value logger. See 2.00 s / real32
parameter 36.1 PVL signal source.
0.00 ... 120.00 s Peak value logger filtering time. 100 = 1 s / 100 = 1 s
36.6 AL2 signal source Selects the signal to be monitored by amplitude logger Ambient
2. The signal is sampled at 200 ms intervals, and can temperature / uint32
be scaled using parameter 36.7 AL2 signal scaling.
The results are displayed by parameters 36.40…36.49.
Each parameter represents an amplitude range, and
shows what portion of the samples fall within that
range.
Amplitude logger 2 can be reset using parameter 36.9
Reset loggers. The logger is also reset whenever the
signal source or scaling is changed. The date and time
of the last reset are stored into parameters 36.50 and
36.51 respectively.
 Parameters 379

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Zero None 0
Motor speed used 1.1 Motor speed used (page 138). 1
Output frequency 1.6 Output frequency (page 138). 3
Motor current 1.7 Motor current (page 138). 4
Motor torque 1.10 Motor torque (page 138). 6
DC voltage 1.11 DC voltage (page 139). 7
Power inu out 1.14 Output power (page 139). 8
Speed ref ramp in 23.1 Speed ref ramp input (page 278). 10
Speed ref ramp out 23.2 Speed ref ramp output (page 278). 11
Speed ref used 24.1 Used speed reference (page 285). 12
Torq ref used 26.2 Torque reference used (page 304). 13
Freq ref used 28.2 Frequency ref ramp output (page 313). 14
Process PID out 40.1 Process PID output actual (page 387). 16
Process PID fbk 40.2 Process PID feedback actual (page 387). 17
Process PID act 40.3 Process PID setpoint actual (page 387). 18
Process PID dev 40.4 Process PID deviation actual (page 387). 19
Other [value] See Terms and abbreviations (page 134).
Ambient 1.70 Ambient temperature % (page 141). 20
temperature The amplitude range of 0…100% corresponds to
0…60 °C or 32…140 °F.
36.7 AL2 signal scaling Defines the signal value that corresponds to 100% 100.00 / real32
amplitude.
0.00 ... 32767.00 Signal value corresponding to 100%. 1 = 1 / 100 = 1
36.8 Logger function Determines whether amplitude loggers 1 and 2 are - / uint16
active continuously or only when the drive is
modulating.
b0 AL1 0 = Amplitude logger 1 active continuously
1 = Amplitude logger 1 active only when the drive is
modulating
b1 AL2 0 = Amplitude logger 2 active continuously
1 = Amplitude logger 2 active only when the drive is
modulating
b2…15 Reserved
0000h…FFFFh 1=1
36.9 Reset loggers Resets the peak value logger and/or amplitude logger Done / uint16
2.
(Amplitude logger 1 cannot be reset.)
Done Reset completed or not requested (normal operation). 0
All Reset both the peak value logger and amplitude logger 1
2.
PVL Reset the peak value logger. 2
380 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
AL2 Reset amplitude logger 2. 3
36.10 PVL peak value Displays the peak value recorded by the peak value - / real32
logger.
-32768.00 ... Peak value. 1 = 1 / 100 = 1
32767.00
36.11 PVL peak date Displays the date on which the peak value was 0 / uint16
recorded.
36.12 PVL peak time Displays the time at which the peak value was 0 / uint32
recorded.
00:00:00…23:59:59 Peak occurrence time. 1=1
36.13 PVL current at peak Displays the motor current at the moment the peak - / real32
value was recorded.
-32768.00 ... Motor current at peak. 1 = 1 A / 100 = 1 A
32767.00 A
36.14 PVL DC voltage at Displays the voltage in the intermediate DC circuit of - / real32
peak the drive at the moment the peak value was recorded.
0.00 ... 2000.00 V DC voltage at peak. 10 = 1 V / 100 = 1 V
36.15 PVL speed at peak Displays the motor speed at the moment the peak - / real32
value was recorded.
-32768.00 ... Motor speed at peak. For 16-bit scaling, see parameter - / 100 = 1 rpm
32767.00 rpm 46.1.
36.16 PVL reset date Displays the date on which the peak value logger was 0 / uint16
last reset.
36.17 PVL reset time Displays the time at which the peak value logger was 0 / uint32
last reset.
00:00:00…23:59:59 Last reset time of the peak value logger. 1=1
36.20 AL1 below 10% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that were below 10%. Note that
this percentage also includes the samples that had a
negative value.
0.00 ... 100.00 % Amplitude logger 1 samples below 10%. 1 = 1 % / 100 = 1 %
36.21 AL1 10 to 20% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 10 and 20 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 10 and 20 %. 1 = 1 % / 100 = 1 %
36.22 AL1 20 to 30% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 20 and 30 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 20 and 30 %. 1 = 1 % / 100 = 1 %
36.23 AL1 30 to 40% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 30 and 40 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 30 and 40 %. 1 = 1 % / 100 = 1 %
36.24 AL1 40 to 50% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 40 and 50 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 40 and 50 %. 1 = 1 % / 100 = 1 %
 Parameters 381

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
36.25 AL1 50 to 60% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 50 and 60 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 50 and 60 %. 1 = 1 % / 100 = 1 %
36.26 AL1 60 to 70% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 60 and 70 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 60 and 70 %. 1 = 1 % / 100 = 1 %
36.27 AL1 70 to 80% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 70 and 80 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 70 and 80 %. 1 = 1 % / 100 = 1 %
36.28 AL1 80 to 90% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that fall between 80 and 90 %.
0.00 ... 100.00 % Amplitude logger 1 samples between 80 and 90 %. 1 = 1 % / 100 = 1 %
36.29 AL1 over 90% Displays the percentage of samples recorded by - / real32
amplitude logger 1 that exceed 90 %.
0.00 ... 100.00 % Amplitude logger 1 samples over 90 %. 1 = 1 % / 100 = 1 %
36.40 AL2 below 10% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that were below 10 %. Note that
this percentage also includes the samples that had a
negative value.
0.00 ... 100.00 % Amplitude logger 2 samples below 10 %. 1 = 1 % / 100 = 1 %
36.41 AL2 10 to 20% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 10 and 20 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 10 and 20 %. 1 = 1 % / 100 = 1 %
36.42 AL2 20 to 30% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 20 and 30 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 20 and 30 %. 1 = 1 % / 100 = 1 %
36.43 AL2 30 to 40% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 30 and 40 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 30 and 40 %. 1 = 1 % / 100 = 1 %
36.44 AL2 40 to 50% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 40 and 50 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 40 and 50 %. 1 = 1 % / 100 = 1 %
36.45 AL2 50 to 60% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 50 and 60 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 50 and 60 %. 1 = 1 % / 100 = 1 %
36.46 AL2 60 to 70% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 60 and 70 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 60 and 70 %. 1 = 1 % / 100 = 1 %
36.47 AL2 70 to 80% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 70 and 80 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 70 and 80 %. 1 = 1 % / 100 = 1 %
382 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
36.48 AL2 80 to 90% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that fall between 80 and 90 %.
0.00 ... 100.00 % Amplitude logger 2 samples between 80 and 90 %. 1 = 1 % / 100 = 1 %
36.49 AL2 over 90% Displays the percentage of samples recorded by - / real32
amplitude logger 2 that exceed 90 %.
0.00 ... 100.00 % Amplitude logger 2 samples over 90 %. 1 = 1 % / 100 = 1 %
36.50 AL2 reset date Displays the date on which amplitude logger 2 was 0 / uint16
last reset.
36.51 AL2 reset time Displays the time at which amplitude logger 2 was last 0 / uint32
reset.
00:00:00…23:59:59 Last reset time of amplitude logger 2. 1=1
 Parameters 383

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
37 User load curve Settings for user load curve.
See also section User load curve.
37.1 ULC output status Displays the status of the monitored signal. (The - / uint16
word status word is independent of the actions and delays
selected by parameters 37.3, 37.4, 37.41 and 37.42.)
This parameter is read-only.
b0 Under load limit 1 = Monitored signal is below the underload curve
b1 Reserved
b2 Over load limit 1 = Monitored signal is above the overload curve
b3…15 Reserved
0000h…FFFFh 1=1
37.2 ULC supervision Selects the signal to be monitored. The function Not selected / uint32
signal compares the absolute value of the signal against the
load curve.
Not selected No signal selected (monitoring disabled). 0
Motor current % 1.7 Motor current (page 138). 2
Motor torque % 1.10 Motor torque (page 138). 3
Output power % of 1.15 Output power % of motor nom (page 139). 4
motor nominal
Other [value] See Terms and abbreviations (page 134).
37.3 ULC overload Selects how the drive reacts if the absolute value of Disabled / uint16
actions the monitored signal stays above the overload curve
for longer than the value of 37.41 ULC overload timer.
Disabled No action taken. 0
Warning The drive generates a warning (A8BE ULC overload). 1
Fault Drive trips on 8002 ULC overload. 2
Warning/Fault The drive generates a warning (A8BE ULC overload) if 3
the signal stays continuously above the overload curve
for half of the time defined by 37.41 ULC overload
timer.
The drive trips on 8002 ULC overload if the signal stays
continuously above the overload curve for the time
defined by 37.41 ULC overload timer.
37.4 ULC underload Selects how the drive reacts if the absolute value of Disabled / uint16
actions the monitored signal stays below the underload curve
for longer than the value of 37.42 ULC underload timer.
Disabled No action taken. 0
Warning The drive generates a warning (A8BF ULC underload). 1
Fault Drive trips on 8001 ULC underload. 2
384 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Warning/Fault The drive generates a warning (A8BF ULC underload) 3
if the signal stays continuously below the underload
curve for half of the time defined by 37.42 ULC
underload timer.
The drive trips on 8001 ULC underload if the signal
stays continuously below the underload curve for the
time defined by 37.42 ULC underload timer.
37.11 ULC speed table Defines the 1st speed point on the X-axis of the user 150.0 rpm / real32
point 1 load curve.
The speed points are used in DTC motor control mode,
and in scalar motor control mode when speed control
is being used.
The five points must be in order from lowest to
highest. The points are defined as positive values, but
the range is symmetrically effective also in the negative
direction. The monitoring is not active outside these
two areas.
0.0 ... 30000.0 rpm Speed. 1 = 1 rpm / 10 = 1
rpm
37.12 ULC speed table Defines the 2nd speed point on the X-axis of the user 750.0 rpm / real32
point 2 load curve.
0.0 ... 30000.0 rpm Speed. 1 = 1 rpm / 10 = 1
rpm
37.13 ULC speed table Defines the 3rd speed point on the X-axis of the user 1290.0 rpm / real32
point 3 load curve.
0.0 ... 30000.0 rpm Speed. 1 = 1 rpm / 10 = 1
rpm
37.14 ULC speed table Defines the 4th speed point on the X-axis of the user 1500.0 rpm / real32
point 4 load curve.
0.0 ... 30000.0 rpm Speed. 1 = 1 rpm / 10 = 1
rpm
37.15 ULC speed table Defines the 5th speed point on the X-axis of the user 1800.0 rpm / real32
point 5 load curve.
0.0 ... 30000.0 rpm Speed. 1 = 1 rpm / 10 = 1
rpm
37.16 ULC frequency table Defines the 1st frequency point on the X-axis of the 5.0 Hz / real32
point 1 user load curve.
The frequency points are used in scalar motor control
mode when frequency control is being used.
The five points must be in order from lowest to
highest. The points are defined as positive values, but
the range is symmetrically effective also in the negative
direction. The monitoring is not active outside these
two areas.
0.0 ... 598.0 Hz Frequency. 1 = 1 Hz / 10 = 1 Hz
37.17 ULC frequency table Defines the 2nd frequency point on the X-axis of the 25.0 Hz / real32
point 2 user load curve.
0.0 ... 598.0 Hz Frequency. 1 = 1 Hz / 10 = 1 Hz
 Parameters 385

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
37.18 ULC frequency table Defines the 3rd frequency point on the X-axis of the 43.0 Hz / real32
point 3 user load curve.
0.0 ... 598.0 Hz Frequency. 1 = 1 Hz / 10 = 1 Hz
37.19 ULC frequency table Defines the 4th frequency point on the X-axis of the 50.0 Hz / real32
point 4 user load curve.
0.0 ... 598.0 Hz Frequency. 1 = 1 Hz / 10 = 1 Hz
37.20 ULC frequency table Defines the 5th frequency point on the X-axis of the 60.0 Hz / real32
point 5 user load curve.
0.0 ... 598.0 Hz Frequency. 1 = 1 Hz / 10 = 1 Hz
37.21 ULC underload Defines the 1st point of the underload curve. 10.0 % / real32
point 1 Each point of the underload curve must have a lower
value than the corresponding overload point.
0.0 ... 1600.0 % Underload point. 1 = 1 % / 10 = 1 %
37.22 ULC underload Defines the 2nd point of the underload curve. 15.0 % / real32
point 2
0.0 ... 1600.0 % Underload point. 1 = 1 % / 10 = 1 %
37.23 ULC underload Defines the 3rd point of the underload curve. 25.0 % / real32
point 3
0.0 ... 1600.0 % Underload point. 1 = 1 % / 10 = 1 %
37.24 ULC underload Defines the 4th point of the underload curve. 30.0 % / real32
point 4
0.0 ... 1600.0 % Underload point. 1 = 1 % / 10 = 1 %
37.25 ULC underload Defines the 5th point of the underload curve. 30.0 % / real32
point 5
0.0 ... 1600.0 % Underload point. 1 = 1 % / 10 = 1 %
37.31 ULC overload point Defines the 1st point of the overload curve. 300.0 % / real32
1 Each point of the overload curve must have a higher
value than the corresponding underload point.
0.0 ... 1600.0 % Overload point. 1 = 1 % / 10 = 1 %
37.32 ULC overload point Defines the 2nd point of the overload curve. 300.0 % / real32
2
0.0 ... 1600.0 % Overload point. 1 = 1 % / 10 = 1 %
37.33 ULC overload point Defines the 3rd point of the overload curve. 300.0 % / real32
3
0.0 ... 1600.0 % Overload point. 1 = 1 % / 10 = 1 %
37.34 ULC overload point Defines the 4th point of the overload curve. 300.0 % / real32
4
0.0 ... 1600.0 % Overload point. 1 = 1 % / 10 = 1 %
37.35 ULC overload point Defines the 5th point of the overload curve. 300.0 % / real32
5
0.0 ... 1600.0 % Overload point. 1 = 1 % / 10 = 1 %
386 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
37.41 ULC overload timer Defines the time for which the monitored signal must 20.0 s / real32
continuously stay above the overload curve before the
drive takes the action selected by 37.3 ULC overload
actions.
0.0 ... 10000.0 s Overload timer. 1 = 1 s / 10 = 1 s
37.42 ULC underload Defines the time for which the monitored signal must 20.0 s / real32
timer continuously stay below the underload curve before
the drive takes the action selected by 37.4 ULC
underload actions.
0.0 ... 10000.0 s Underload timer. 1 = 1 s / 10 = 1 s
 Parameters 387

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40 Process PID set 1 Parameter values for process PID control.
The drive contains a single active PID controller for
process use, however two separate complete set-ups
can be programmed and stored.
The first set is made up of parameters 40.07…40.56*,
the second set is defined by the parameters in group
41 Process PID set 2. The binary source that defines
which set is used is selected by parameter 40.57 PID
set1/set2 selection.
See section Process PID control (page 71), and the
control chain diagrams on pages 668 and 669.
*The remaining parameters in this group are common
for both sets.
40.1 Process PID output Displays the output of the process PID controller. See - / real32
actual the control chain diagram on page 669.
This parameter is read-only. The unit is selected by
parameter 40.12 Set 1 unit selection.
-32768.0 ... 32767.0 Process PID controller output. 1 = 1 / 10 = 1
40.2 Process PID Displays the value of process feedback after source - / real32
feedback actual selection, mathematical function (parameter 40.10 Set
1 feedback function), and filtering. See the control
chain diagram on page 668.
This parameter is read-only. The unit is selected by
parameter 40.12 Set 1 unit selection.
-32768.00 ... Process feedback. 1 = 1 / 100 = 1
32767.00
40.3 Process PID Displays the value of process PID setpoint after source - / real32
setpoint actual selection, mathematical function (40.18 Set 1 setpoint
function), limitation and ramping. See the control chain
diagram on page 669.
This parameter is read-only. The unit is selected by
parameter 40.12 Set 1 unit selection.
-32768.00 ... Setpoint for process PID controller. 1 = 1 / 100 = 1
32767.00
40.4 Process PID Displays the process PID deviation. By default, this - / real32
deviation actual value equals setpoint - feedback, but deviation can be
inverted by parameter 40.31 Set 1 deviation inversion.
See the control chain diagram on page 669.
This parameter is read-only. The unit is selected by
parameter 40.12 Set 1 unit selection.
-32768.00 ... PID deviation. 1 = 1 / 100 = 1
32767.00
40.5 Process PID trim Displays the trimmed reference output. See the control - / real32
output act chain diagram on page 669.
This parameter is read-only. The unit is selected by
parameter 40.12 Set 1 unit selection.
-32768 ... 32767 Trimmed reference. 1=1/1=1
40.6 Process PID status Displays status information on process PID control. - / uint16
word This parameter is read-only.
b0 PID active 1 = Process PID control active.
388 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b1 Setpoint frozen 1 = Process PID setpoint frozen.
b2 Output frozen 1 = Process PID controller output frozen.
b3 PID sleep mode 1 = Sleep mode active.
b4 Sleep boost 1 = Sleep boost active.
b5 Trim mode 1 = Trim function active.
b6 Tracking mode 1 = Tracking function active.
b7 Output limit high 1 = PID output is being limited by par. 40.37.
b8 Output limit low 1 = PID output is being limited by par. 40.36.
b9 Deadband active 1 = Deadband active (see par. 40.39)
b10 PID set 0 = Parameter set 1 in use. 1 = Parameter set 2 in use.
b11 Reserved
b12 Internal setpoint 1 = Internal setpoint active (see par. 40.16…40.24)
active
b13…15 Reserved
0000h…FFFFh 1=1
40.7 Set 1 PID operation Activates/deactivates process PID control. See also Off / uint16
mode parameter 40.60 Set 1 PID activation source.

Note: Process PID control is only available in external

control; see section Local control vs. external control.

Off Process PID control inactive. 0

On Process PID control active. 1
On when drive Process PID control is active when the drive is running. 2
running
40.8 Set 1 feedback 1 Selects the first source of process feedback. See the AI1 scaled / uint32
source control chain diagram on page 668.
Not selected None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
Freq in scaled 11.39 Freq in 1 scaled. 3
Motor current 1.7 Motor current. 5
Power inu out 1.14 Output power. 6
Motor torque 1.10 Motor torque (page 138). 7
Feedback data 40.91 Feedback data storage (page 400). 10
storage
Other [value] See Terms and abbreviations (page 134).
40.9 Set 1 feedback 2 Selects the second source of process feedback. Not selected / uint32
source For the selections, see parameter 40.8 Set 1 feedback
1 source.
 Parameters 389

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40.10 Set 1 feedback Defines how process feedback is calculated from the In1 / uint16
function two feedback sources selected by parameters 40.8
Set 1 feedback 1 source and 40.9 Set 1 feedback 2
source.
In1 Source 1. 0
In1+In2 Sum of sources 1 and 2. 1
In1-In2 Source 2 subtracted from source 1. 2
In1*In2 Source 1 multiplied by source 2. 3
In1/In2 Source 1 divided by source 2. 4
MIN(In1,In2) Smaller of the two sources. 5
MAX(In1,In2) Greater of the two sources. 6
AVE(In1,In2) Average of the two sources. 7
sqrt(In1) Square root of source 1. 8
sqrt(In1-In2) Square root of (source 1 - source 2). 9
sqrt(In1+In2) Square root of (source 1 + source 2). 10
sqrt(In1)+sqrt(In2) Square root of source 1 + square root of source 2. 11
40.11 Set 1 feedback filter Defines the filter time constant for process feedback. 0.000 s / real32
time
0.000 ... 30.000 s Feedback filter time. 1 = 1 s / 1000 = 1 s
40.12 Set 1 unit selection Defines the unit for parameters 40.01…40.05, % / uint16
40.21…40.24 and 40.47.
rpm rpm. 7
% %. 4
Hz Hz. 3
PID user unit 1 User-definable unit 1. The name of the unit can be 250
edited on the control panel by choosing Menu –
Settings – Edit texts.
40.14 Set 1 setpoint Defines, together with parameter 40.15 Set 1 output 100.00 / real32
scaling scaling, a general scaling factor for the process PID
control chain.
The scaling can be utilized when, for example, the
process setpoint is input in Hz, and the output of the
PID controller is used as an rpm value in speed control.
In this case, this parameter might be set to 50, and
parameter 40.15 to the nominal motor speed at 50 Hz.
In effect, the output of the PID controller = [40.15]
when deviation (setpoint - feedback) = [40.14] and
[40.32] = 1.

Note: The scaling is based on the ratio between 40.14

and 40.15. For example, the values 50 and 1500 would
produce the same scaling as 1 and 30.

-32768.00 ... Process setpoint base. 1 = 1 / 100 = 1

32767.00
390 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40.15 Set 1 output scaling See parameter 40.14 Set 1 setpoint scaling. 1500.00; 1800.00
(95.20 b0) / real32
-32768.00 ... Process PID controller output base. 1 = 1 / 100 = 1
32767.00
40.16 Set 1 setpoint 1 Selects the first source of process PID setpoint. This Internal setpoint /
source setpoint is available in parameter 40.25 Set 1 setpoint uint32
selection as setpoint 1. See the control chain diagram
on page 668.
Not selected None. 0
Control panel 3.1 Panel reference (page 144). See section Local control 1
vs. external control (page 23).
Internal setpoint Internal setpoint. See parameter 40.19 Set 1 internal 2
setpoint sel1.
AI1 scaled 12.12 AI1 scaled value (page 192). 3
AI2 scaled 12.22 AI2 scaled value (page 194). 4
Motor 22.80 Motor potentiometer ref act (output of the 8
potentiometer motor potentiometer).
Freq in scaled 11.39 Freq in 1 scaled. 10
Setpoint data 40.92 Setpoint data storage (page 401). 24
storage
Other [value] See Terms and abbreviations (page 134).
40.17 Set 1 setpoint 2 Selects the second source of process setpoint. This Not selected / uint32
source setpoint is available in parameter 40.25 Set 1 setpoint
selection as setpoint 2.
For the selections, see parameter 40.16 Set 1 setpoint
1 source.
40.18 Set 1 setpoint Selects a mathematical function between the setpoint In1 or In2 / uint16
function sources selected by parameters 40.16 Set 1 setpoint
1 source and 40.17 Set 1 setpoint 2 source.
In1 or In2 No mathematical function applied. The source selected 0
by parameter 40.25 Set 1 setpoint selection is used.
In1+In2 Sum of sources 1 and 2. 1
In1-In2 Source 2 subtracted from source 1. 2
In1*In2 Source 1 multiplied by source 2. 3
In1/In2 Source 1 divided by source 2. 4
MIN(In1,In2) Smaller of the two sources. 5
MAX(In1,In2) Greater of the two sources. 6
AVE(In1,In2) Average of the two sources. 7
sqrt(In1) Square root of source 1. 8
sqrt(In1-In2) Square root of (source 1 - source 2). 9
sqrt(In1+In2) Square root of (source 1 + source 2). 10
sqrt(In1)+sqrt(In2) Square root of source 1 + square root of source 2. 11
 Parameters 391

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40.19 Set 1 internal Selects, together with 40.20 Set 1 internal setpoint Not selected / uint32
setpoint sel1 sel2, the internal setpoint out of the presets defined
by parameters 40.21…40.24.
Source defined by Source defined by Setpoint
par. 40.19 par. 40.20 preset active

0 0 1 (par. 40.21)

1 0 2 (par. 40.22)

0 1 3 (par. 40.23)

1 1 4 (par. 40.24)

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
40.20 Set 1 internal Selects, together with 40.19 Set 1 internal setpoint Not selected / uint32
setpoint sel2 sel1, the internal setpoint out of the presets defined
by parameters 40.21…40.24. See table at 40.19 Set 1
internal setpoint sel1.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
392 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40.21 Set 1 internal Defines process setpoint preset 1. See parameter 40.19 - / real32
setpoint 1 Set 1 internal setpoint sel1.
The unit is selected by parameter 40.12 Set 1 unit
selection.
-32768.00 ... Process setpoint preset 1. 1 = 1 / 100 = 1
32767.00
40.22 Set 1 internal Defines process setpoint preset 2. See parameter 40.19 - / real32
setpoint 2 Set 1 internal setpoint sel1.
The unit is selected by parameter 40.12 Set 1 unit
selection.
-32768.00 ... Process setpoint preset 2. 1 = 1 / 100 = 1
32767.00
40.23 Set 1 internal Defines process setpoint preset 3. See parameter 40.19 - / real32
setpoint 3 Set 1 internal setpoint sel1.
The unit is selected by parameter 40.12 Set 1 unit
selection.
-32768.00 ... Process setpoint preset 3. 1 = 1 / 100 = 1
32767.00
40.24 Set 1 internal Defines process setpoint preset 4. See parameter 40.19 - / real32
setpoint 4 Set 1 internal setpoint sel1.
The unit is selected by parameter 40.12 Set 1 unit
selection.
-32768.00 ... Process setpoint preset 4. 1 = 1 / 100 = 1
32767.00
40.25 Set 1 setpoint Configures the selection between setpoint sources 1 Setpoint source 1 /
selection (40.16) and 2 (40.17). uint32
This parameter is only effective when parameter 40.18
Set 1 setpoint function is set to In1 or In2.
0 = Setpoint source 1
1 = Setpoint source 2
Setpoint source 1 0. 0
Setpoint source 2 1. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
40.26 Set 1 setpoint min Defines a minimum limit for the process PID controller 0.00 / real32
setpoint.
 Parameters 393

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-32768.00 ... Minimum limit for process PID controller setpoint. 1 = 1 / 100 = 1
32767.00
40.27 Set 1 setpoint max Defines a maximum limit for the process PID controller 32767.00 / real32
setpoint.
-32768.00 ... Maximum limit for process PID controller setpoint. 1 = 1 / 100 = 1
32767.00
40.28 Set 1 setpoint Defines the minimum time it takes for the setpoint to 0.0 s / real32
increase time increase from 0% to 100%.
0.0 ... 1800.0 s Setpoint increase time. 1 = 1 s / 10 = 1 s
40.29 Set 1 setpoint Defines the minimum time it takes for the setpoint to 0.0 s / real32
decrease time decrease from 100% to 0%.
0.0 ... 1800.0 s Setpoint decrease time. 1 = 1 s / 10 = 1 s
40.30 Set 1 setpoint Freezes, or defines a source that can be used to freeze, Not selected / uint32
freeze enable the setpoint of the process PID controller. This feature
is useful when the reference is based on a process
feedback connected to an analog input, and the sensor
must be serviced without stopping the process.
1 = Process PID controller setpoint frozen
See also parameter 40.38 Set 1 output freeze enable.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
40.31 Set 1 deviation Inverts the input of the process PID controller. Not inverted (Ref -
inversion 0 = Deviation not inverted (Deviation = Setpoint - Fbk) / uint32
Feedback)
1 = Deviation inverted (Deviation = Feedback -
Setpoint)
See also section Process PID control (page 71).
Not inverted (Ref - 0. 0
Fbk)
Inverted (Fbk - Ref) 1. 1
Other [bit] See Terms and abbreviations (page 134).
40.32 Set 1 gain Defines the gain for the process PID controller. See 1.00 / real32
parameter 40.33 Set 1 integration time.
394 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.10 ... 100.00 Gain for PID controller. 100 = 1 / 100 = 1
40.33 Set 1 integration Defines the integration time for the process PID 60.0 s / real32
time controller.
This time needs to be set to the same order of
magnitude as the reaction time of the process being
controlled, otherwise instability will result.

Error/Controller output

O
I

GxI

GxI

Time
Ti

I = controller input (error)

O = controller output
G = gain
Ti = integration time

Note: Setting this value to 0 disables the “I” part,

turning the PID controller into a PD controller.

0.0 ... 32767.0 s Integration time. 1 = 1 s / 10 = 1 s

40.34 Set 1 derivation Defines the derivation time of the process PID 0.000 s / real32
time controller. The derivative component at the controller
output is calculated on basis of two consecutive error
values (EK-1 and EK) according to the following formula:
PID DERIV TIME × (EK - EK-1)/TS, in which
TS = 2 ms sample time
E = Error = Process reference - process feedback.
0.000 ... 10.000 s Derivation time. 1000 = 1 s / 1000 = 1
s
 Parameters 395

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40.35 Set 1 derivation Defines the time constant of the 1-pole filter used to 0.0 s / real32
filter time smooth the derivative component of the process PID
controller.

Unfiltered signal

100

63
Filtered signal

Time
T

O = I × (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant
0.0 ... 10.0 s Filter time constant. 10 = 1 s / 10 = 1 s
40.36 Set 1 output min Defines the minimum limit for the process PID 0.0 / real32
controller output. Using the minimum and maximum
limits, it is possible to restrict the operation range.
-32768.0 ... 32767.0 Minimum limit for process PID controller output. 1 = 1 / 10 = 1
40.37 Set 1 output max Defines the maximum limit for the process PID 1500.0; 1800.0
controller output. See parameter 40.36 Set 1 output (95.20 b0) / real32
min.
-32768.0 ... 32767.0 Maximum limit for process PID controller output. 1 = 1 / 10 = 1
40.38 Set 1 output freeze Freezes (or defines a source that can be used to freeze) Not selected / uint32
enable the output of the process PID controller, keeping the
output at the value it was before freeze was enabled.
This feature can be used when, for example, a sensor
providing process feedback must to be serviced
without stopping the process.
1 = Process PID controller output frozen
See also parameter 40.30 Set 1 setpoint freeze enable.
Not selected Process PID controller output not frozen. 0
Selected Process PID controller output frozen. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
396 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
40.39 Set 1 deadband Defines a deadband around the setpoint. Whenever 0.0 / real32
range process feedback enters the deadband, a delay timer
starts. If the feedback remains within the deadband
longer than the delay (40.40 Set 1 deadband delay),
the PID controller output is frozen. Normal operation
resumes after the feedback value leaves the deadband.

40.39 Set 1
deadband range

Setpoint

Feedback

PID controller
output

PID controller
output frozen

40.40 Set 1 deadband delay

Time

0.0 ... 32767.0 Deadband range. 1 = 1 / 10 = 1

40.40 Set 1 deadband Delay for the deadband. See parameter 40.39 Set 1 0.0 s / real32
delay deadband range.
0.0 ... 3600.0 s Delay for deadband area. 1 = 1 s / 10 = 1 s
40.41 Set 1 sleep mode Selects the mode of the sleep function. Not selected / uint16
See also section Process PID control (page 71).
Not selected Sleep function disabled. 0
Internal The output of the PID controller is compared to the 1
value of 40.43 Set 1 sleep level.
If the PID controller output remains below the sleep
level longer than the sleep delay (40.44 Set 1 sleep
delay), the drive enters sleep mode.
Parameters 40.44…40.48 are in force.
External The sleep function is activated by the source selected 2
by parameter 40.42 Set 1 sleep enable.
Parameters 40.44…40.46 and 40.48 are in force.
40.42 Set 1 sleep enable Defines a source that is used to activate the PID sleep Not selected / uint32
function when parameter 40.41 Set 1 sleep mode is
set to External.
0 = Sleep function disabled
1 = Sleep function activated
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
 Parameters 397

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
40.43 Set 1 sleep level Defines the start limit for the sleep function when 0.0 / real32
parameter 40.41 Set 1 sleep mode is set to Internal.
0.0 ... 32767.0 Sleep start level. 1 = 1 / 10 = 1
40.44 Set 1 sleep delay Defines a delay before the sleep function actually 60.0 s / real32
becomes enabled, to prevent nuisance sleeping.
The delay timer starts when the sleep condition
selected by parameter 40.41 Set 1 sleep mode becomes
true, and resets if the condition becomes false.
0.0 ... 3600.0 s Sleep start delay. 1 = 1 s / 10 = 1 s
40.45 Set 1 sleep boost Defines a boost time for the sleep boost step. See 0.0 s / real32
time parameter 40.46 Set 1 sleep boost step.
0.0 ... 3600.0 s Sleep boost time. 1 = 1 s / 10 = 1 s
40.46 Set 1 sleep boost When the drive is entering sleep mode, the process 0.0 / real32
step setpoint is increased by this value for the time defined
by parameter 40.45 Set 1 sleep boost time.
If active, sleep boost is aborted when the drive wakes
up.
0.0 ... 32767.0 Sleep boost step. 1 = 1 / 10 = 1
40.47 Set 1 wake-up When 40.41 Set 1 sleep mode is set to Internal, this - / real32
deviation parameter defines the wake-up level as deviation
between process setpoint and feedback. The unit is
selected by parameter 40.12 Set 1 unit selection.
When the deviation exceeds the value of this
parameter, and remains there for the duration of the
wake-up delay (40.48 Set 1 wake-up delay), the drive
wakes up.
See also parameter 40.31 Set 1 deviation inversion.
-32768.00 ... Wake-up level (as deviation between process setpoint 1 = 1 bar/Pa/psi /
32767.00 and feedback). 100 = 1 bar/Pa/psi
bar/Pa/psi
40.48 Set 1 wake-up delay Defines a wake-up delay for the sleep function to 0.50 s / real32
prevent nuisance wake-ups. See parameter 40.47 Set
1 wake-up deviation.
The delay timer starts when the deviation exceeds the
wakeup level (40.47 Set 1 wake-up deviation), and
resets if the deviation falls below the wake-up level.
0.00 ... 60.00 s Wake-up delay. 1 = 1 s / 100 = 1 s
398 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40.49 Set 1 tracking mode Activates (or selects a source that activates) tracking Not selected / uint32
mode. In tracking mode, the value selected by
parameter 40.50 Set 1 tracking ref selection is
substituted for the PID controller output. See also
section Process PID control (page 71).
1 = Tracking mode enabled
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
40.50 Set 1 tracking ref Selects the value source for tracking mode. See Not selected / uint32
selection parameter 40.49 Set 1 tracking mode.
Not selected None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FB A ref1 3.5 FB A reference 1 (page 144). 3
FB A ref2 3.6 FB A reference 2 (page 144). 4
Other [value] See Terms and abbreviations (page 134).
40.51 Set 1 trim mode Activates the trim function and selects between direct Off / uint16
and proportional trimming (or a combination of both).
With trimming, it is possible to apply a corrective
factor to the drive reference (setpoint). The output
after trimming is available as parameter 40.5 Process
PID trim output act.
See the control chain diagram on page 669.
Off The trim function is inactive. 0
Direct The trim function is active. The trimming factor is 1
relative to the maximum speed, torque or frequency;
the selection between these is made by parameter
40.52 Set 1 trim selection.
Proportional The trim function is active. The trimming factor is 2
relative to the reference selected by parameter 40.53
Set 1 trimmed ref pointer.
 Parameters 399

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Combined The trim function is active. The trimming factor is a 3
combination of both Direct and Proportional modes;
the proportions of each are defined by parameter
40.54 Set 1 trim mix.
40.52 Set 1 trim selection Selects whether trimming is used for correcting the Torque / uint16
speed, torque or frequency reference.
Torque Torque reference trimming. 1
Speed Speed reference trimming. 2
Frequency Frequency reference trimming. 3
40.53 Set 1 trimmed ref Selects the signal source for the trim reference. Not selected / uint32
pointer
Not selected None. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FB A ref1 3.5 FB A reference 1 (page 144). 3
FB A ref2 3.6 FB A reference 2 (page 144). 4
Other [value] See Terms and abbreviations (page 134).
40.54 Set 1 trim mix When parameter 40.51 Set 1 trim mode is set to 0.000 / real32
Combined, defines the effect of direct and
proportional trim sources in the final trimming factor.
0.000 = 100% proportional
0.500 = 50% proportional, 50% direct
1.000 = 100% direct
0.000 ... 1.000 Trim mix. 1 = 1 / 1000 = 1
40.55 Set 1 trim adjust Defines a multiplier for the trimming factor. This value 1.000 / real32
is multiplied by the result of parameter 40.51 Set 1 trim
mode.
Consequently, the result of the multiplication is used
to multiply the result of parameter 40.56 Set 1 trim
source.
-100.000 ... 100.000 Multiplier for trimming factor. 1 = 1 / 1000 = 1
40.56 Set 1 trim source Selects the reference to be trimmed. PID ref / uint16
PID ref PID setpoint. 1
PID output PID controller output. 2
40.57 PID set1/set2 Selects the source that determines whether process Not selected / uint32
selection PID parameter set 1 (parameters 40.07…40.56) or set
2 (group 41 Process PID set 2) is used.
0 = Process PID parameter set 1 in use
1 = Process PID parameter set 2 in use
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
400 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
40.60 Set 1 PID activation Selects a source that enables/disables process PID On / uint32
source control.
See also parameter 40.7 Set 1 PID operation mode.
0 = Process PID control disabled.
1 = Process PID control enabled.
Off 0. 0
On 1. 1
Follow Ext1/Ext2 Process PID control is disabled when external control 2
selection location
EXT1 is active, and enabled when external control
location
EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 12
1).
Other [bit] See Terms and abbreviations (page 134).
40.91 Feedback data Storage parameter for receiving a process feedback 0.00 / real32
storage value eg. through the embedded fieldbus interface.
The value can be sent to the drive as Modbus I/O data.
Set the target selection parameter of that particular
data (58.101…58.124) to Feedback data storage. In
40.8 Set 1 feedback 1 source (or 40.9 Set 1 feedback 2
source), select Feedback data storage.
-327.68 ... 327.67 Storage parameter for process feedback. 100 = 1 / 100 = 1
 Parameters 401

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
40.92 Setpoint data Storage parameter for receiving a process setpoint 0.00 / real32
storage value eg. through the embedded fieldbus interface.
The value can be sent to the drive as Modbus I/O data.
Set the target selection parameter of that particular
data (58.101…58.124) to Setpoint data storage. In 40.16
Set 1 setpoint 1 source (or 40.17 Set 1 setpoint 2
source), select Setpoint data storage.
-327.68 ... 327.67 Storage parameter for process setpoint. 100 = 1 / 100 = 1
402 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
41 Process PID set 2 A second set of parameter values for process PID
control.
The selection between this set and first set (parameter
group 40 Process PID set 1) is made by parameter
40.57 PID set1/set2 selection.
See section Process PID control (page 71). See also
parameters 40.01…40.06, 40.91, 40.92, and the control
chain diagrams on pages 668 and 669.
41.7 Set 2 PID operation See parameter 40.7 Set 1 PID operation mode. Off / uint16
mode
41.8 Set 2 feedback 1 See parameter 40.8 Set 1 feedback 1 source. AI1 scaled / uint32
source
41.9 Set 2 feedback 2 See parameter 40.9 Set 1 feedback 2 source. Not selected / uint32
source
41.10 Set 2 feedback See parameter 40.10 Set 1 feedback function. In1 / uint16
function
41.11 Set 2 feedback filter See parameter 40.11 Set 1 feedback filter time. 0.000 s / real32
time
41.12 Set 2 unit selection Defines the unit for parameters 41.21…41.24 and 41.47. % / uint16
rpm rpm. 7
% %. 4
Hz Hz. 3
PID user unit 2 User-definable unit 2. The name of the unit can be 249
edited on the control panel by choosing Menu –
Settings – Edit texts.
41.14 Set 2 setpoint See parameter 40.14 Set 1 setpoint scaling. 100.00 / real32
scaling
41.15 Set 2 output scaling See parameter 40.15 Set 1 output scaling. 1500.00; 1800.00
(95.20 b0) / real32
41.16 Set 2 setpoint 1 See parameter 40.16 Set 1 setpoint 1 source. Internal setpoint /
source uint32
41.17 Set 2 setpoint 2 See parameter 40.17 Set 1 setpoint 2 source. Not selected / uint32
source
41.18 Set 2 setpoint See parameter 40.18 Set 1 setpoint function. In1 or In2 / uint16
function
41.19 Set 2 internal See parameter 40.19 Set 1 internal setpoint sel1. Not selected / uint32
setpoint sel1
41.20 Set 2 internal See parameter 40.20 Set 1 internal setpoint sel2. Not selected / uint32
setpoint sel2
41.21 Set 2 internal See parameter 40.21 Set 1 internal setpoint 1. - / real32
setpoint 1
41.22 Set 2 internal See parameter 40.22 Set 1 internal setpoint 2. - / real32
setpoint 2
41.23 Set 2 internal See parameter 40.23 Set 1 internal setpoint 3. - / real32
setpoint 3
 Parameters 403

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
41.24 Set 2 internal See parameter 40.24 Set 1 internal setpoint 4. - / real32
setpoint 4
41.25 Set 2 setpoint See parameter 40.25 Set 1 setpoint selection. Setpoint source 1 /
selection uint32
41.26 Set 2 setpoint min See parameter 40.26 Set 1 setpoint min. 0.00 / real32
41.27 Set 2 setpoint max See parameter 40.27 Set 1 setpoint max. 32767.00 / real32
41.28 Set 2 setpoint See parameter 40.28 Set 1 setpoint increase time. 0.0 s / real32
increase time
41.29 Set 2 setpoint See parameter 40.29 Set 1 setpoint decrease time. 0.0 s / real32
decrease time
41.30 Set 2 setpoint See parameter 40.30 Set 1 setpoint freeze enable. Not selected / uint32
freeze enable
41.31 Set 2 deviation See parameter 40.31 Set 1 deviation inversion. Not inverted (Ref -
inversion Fbk) / uint32
41.32 Set 2 gain See parameter 40.32 Set 1 gain. 1.00 / real32
41.33 Set 2 integration See parameter 40.33 Set 1 integration time. 60.0 s / real32
time
41.34 Set 2 derivation See parameter 40.34 Set 1 derivation time. 0.000 s / real32
time
41.35 Set 2 derivation See parameter 40.35 Set 1 derivation filter time. 0.0 s / real32
filter time
41.36 Set 2 output min See parameter 40.36 Set 1 output min. 0.0 / real32
41.37 Set 2 output max See parameter 40.37 Set 1 output max. 1500.0; 1800.0
(95.20 b0) / real32
41.38 Set 2 output freeze See parameter 40.38 Set 1 output freeze enable. Not selected / uint32
enable
41.39 Set 2 deadband See parameter 40.39 Set 1 deadband range. 0.0 / real32
range
41.40 Set 2 deadband See parameter 40.40 Set 1 deadband delay. 0.0 s / real32
delay
41.41 Set 2 sleep mode See parameter 40.41 Set 1 sleep mode. Not selected / uint16
41.42 Set 2 sleep enable See parameter 40.42 Set 1 sleep enable. Not selected / uint32
41.43 Set 2 sleep level See parameter 40.43 Set 1 sleep level. 0.0 / real32
41.44 Set 2 sleep delay See parameter 40.44 Set 1 sleep delay. 60.0 s / real32
41.45 Set 2 sleep boost See parameter 40.45 Set 1 sleep boost time. 0.0 s / real32
time
41.46 Set 2 sleep boost See parameter 40.46 Set 1 sleep boost step. 0.0 / real32
step
41.47 Set 2 wake-up See parameter 40.47 Set 1 wake-up deviation. - / real32
deviation
41.48 Set 2 wake-up delay See parameter 40.48 Set 1 wake-up delay. 0.50 s / real32
41.49 Set 2 tracking mode See parameter 40.49 Set 1 tracking mode. Not selected / uint32
404 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
41.50 Set 2 tracking ref See parameter 40.50 Set 1 tracking ref selection. Not selected / uint32
selection
41.51 Set 2 trim mode See parameter 40.51 Set 1 trim mode. Off / uint16
41.52 Set 2 trim selection See parameter 40.52 Set 1 trim selection. Torque / uint16
41.53 Set 2 trimmed ref See parameter 40.53 Set 1 trimmed ref pointer. Not selected / uint32
pointer
41.54 Set 2 trim mix See parameter 40.54 Set 1 trim mix. 0.000 / real32
41.55 Set 2 trim adjust See parameter 40.55 Set 1 trim adjust. 1.000 / real32
41.56 Set 2 trim source See parameter 40.56 Set 1 trim source. PID ref / uint16
41.60 Set 2 PID activation See parameter 40.60 Set 1 PID activation source. On / uint32
source
 Parameters 405

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
43 Brake chopper Settings for the internal brake chopper.
See also section DC voltage control (page 80).
43.1 Brake resistor Displays the estimated temperature of the brake - / real32
temperature resistor, or how close the brake resistor is to being
too hot.
The value is given in percent where 100% is the
eventual temperature the resistor would reach when
loaded long enough with its rated maximum load
capacity (43.9 Brake resistor max cont power).
The temperature calculation is based on the values of
parameters 43.08, 43.09 and 43.10, and on the
assumption that the resistor is installed as instructed
by the manufacturer (ie. it cools down as expected).
This parameter is read-only.
0.0 ... 120.0 % Estimated brake resistor temperature. 1 = 1 % / 1000 = 1 %
43.6 Brake chopper Enables brake chopper control and selects the brake Disabled / uint16
function resistor overload protection method (calculation or
measurement).

Note: Before enabling brake chopper control, ensure

that

• A brake resistor is connected,

• Overvoltage control is switched off (parameter

30.30 Overvoltage control), and

• The supply voltage range (parameter 95.1 Supply

voltage) has been selected correctly.

Disabled Brake chopper control disabled. 0

Enabled with Brake chopper control enabled with resistor overload 1
thermal model protection based on a thermal model. If you select this,
you must also specify the values needed by the model,
ie. parameters 43.08…43.12. See the resistor data
sheet.
Enabled without Brake chopper control enabled without resistor 2
thermal model overload protection based on a thermal model. This
setting can be used, for example, if the resistor is
equipped with a thermal circuit breaker that is wired
to stop the drive if the resistor overheats.
Before using this setting, ensure that overvoltage
control is switched off (parameter 30.30 Overvoltage
control)
406 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Overvoltage peak Brake chopper starts to conduct at 100% pulse width 3
protection whenever

• The DC voltage exceeds the overvoltage fault limit

(a hysteresis applies), and

• The drive is not modulating (for example, during

a coast stop).
The thermal model-based resistor overload protection
is not active.
This setting is intended for situations where

• The braking chopper is not needed for runtime

operation, ie. to dissipate the inertial energy of
the motor,

• The motor is able to store a considerable amount

of magnetic energy in its windings, and

• The motor might, deliberately or inadvertently,

be stopped by coasting.
In such a situation, the motor would potentially
discharge enough magnetic energy towards the drive
to cause damage.
To protect the drive, the brake chopper can be used
with a small resistor dimensioned merely to handle
the magnetic energy (not the inertial energy) of the
motor.
43.7 Brake chopper run Selects the source for quick brake chopper on/off On / uint32
enable control.
0 = Brake chopper IGBT pulses are cut off
1 = Normal brake chopper IGBT modulation allowed.
This parameter can be used to enable chopper
operation only when the supply is missing from a drive
with a regenerative supply unit.
Off 0. 0
On 1. 1
Other [bit] See Terms and abbreviations (page 134).
43.8 Brake resistor Defines the thermal time constant for the brake 0 s / real32
thermal tc resistor thermal model.
0 ... 10000 s Brake resistor thermal time constant, ie. the rated time 1=1s/1=1s
to achieve 63% temperature.
43.9 Brake resistor max Defines the maximum continuous load of the brake 0.00 kW / real32
cont power resistor which will eventually raise the resistor
temperature to the maximum allowed value (=
continuous heat dissipation capacity of the resistor
in kW) but not above it. The value is used in the resistor
overload protection based on the thermal model. See
parameter 43.6 Brake chopper function, and the brake
resistor data sheet.
0.00 ... 10000.00 kW Maximum continuous load of the brake resistor. 1 = 1 kW / 1 = 1 kW
 Parameters 407

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
43.10 Brake resistance Defines the resistance value of the brake resistor. The 0.0 Ohm / real32
value is used for the brake chopper protection based
on the thermal model. See parameter 43.6 Brake
chopper function.
0.0 ... 1000.0 Ohm Brake resistor resistance value. 1 = 1 Ohm / 1 = 1
Ohm
43.11 Brake resistor fault Selects the fault limit for the brake resistor protection 105 % / real32
limit based on the thermal model. See parameter 43.6 Brake
chopper function. When the limit is exceeded, the drive
trips on fault 7183 BR excess temperature.
The value is given in percent of the temperature the
resistor reaches when loaded with the power defined
by parameter 43.9 Brake resistor max cont power.
0 ... 150 % Brake resistor temperature fault limit. 1 = 1 % / 1= 1 %
43.12 Brake resistor Selects the warning limit for the brake resistor 95 % / real32
warning limit protection based on the thermal model. See parameter
43.6 Brake chopper function. When the limit is
exceeded, the drive generates a A793 BR excess
temperature warning.
The value is given in percent of the temperature the
resistor reaches when loaded with the power defined
by parameter 43.9 Brake resistor max cont power.
0 ... 150 % Brake resistor temperature warning limit. 1 = 1 % / 1= 1 %
408 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
44 Mechanical brake Configuration of mechanical brake control.
control See also section Mechanical brake control (page 75).
44.1 Brake control status Displays the mechanical brake control status word. - / uint16
This parameter is read-only.
b0 Open command Close/open command to brake actuator (0 = close, 1
= open).
Connect this bit to desired output.
b1 Opening torque 1 = Opening torque requested from drive logic
request
b2 Hold stopped 1 = Hold requested from drive logic
request
b3 Ramp to stopped 1 = Ramping down to zero speed requested from drive
logic
b4 Enabled 1 = Brake control is enabled
b5 Closed 1 = Brake control logic in BRAKE CLOSED state.
See also section Mechanical brake control (page 75).
b6 Opening 1 = Brake control logic in BRAKE OPENING state.
See section Mechanical brake control (page 75).
b7 Open 1 = Brake control logic in BRAKE OPEN state.
See section Mechanical brake control (page 75).
b8 Closing 1 = Brake control logic in BRAKE CLOSING state.
See section Mechanical brake control (page 75).
b9…15 Reserved
0000h…FFFFh 1=1
44.2 Brake torque Displays the torque (in percent) at the instant of the - / real32
memory previous brake close command.
This value can be used as a reference for the brake
open torque. See parameters 44.9 Brake open torque
source and 44.10 Brake open torque.
A filtering time for this value can be defined using 44.21
Filter time brake torque memory.
-1600.0 ... 1600.0 % Torque at brake closure. For 16-bit scaling, see - / 10 = 1 %
parameter 46.3.
44.3 Brake open torque Displays the currently active brake open torque. See - / real32
reference parameters 44.9 Brake open torque source and 44.10
Brake open torque.
This parameter is read-only.
-1600.0 ... 1600.0 % Currently active brake open torque. For 16-bit scaling, - / 10 = 1 %
see parameter 46.3.
44.6 Brake control Activates/deactivates (or selects a source that Not selected / uint32
enable activates/deactivates) the mechanical brake control
logic.
0 = Brake control inactive
1 = Brake control active

Note: This parameter cannot be changed while the

drive is running.
 Parameters 409

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
44.7 Brake acknowledge Activates/deactivates (and selects the source for) No acknowledge /
selection brake open/close status (acknowledgement) uint32
supervision.
When a brake control error (unexpected state of the
acknowledgement signal) is detected, the drive reacts
as defined by parameter 44.17 Brake fault function.
0 = Brake closed
1 = Brake open
Off 0. 0
On 1. 1
No acknowledge Brake open/closed supervision disabled. 2
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 3
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 4
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 5
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 6
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 7
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 8
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 11
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 12
1).
Other [bit] See Terms and abbreviations (page 134).
410 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
44.8 Brake open delay Defines the brake open delay, ie. the delay between 0.00 s / real32
the internal open brake command and the release of
motor speed control. The delay timer starts when the
drive has magnetized the motor and increased the
motor torque to the level required for brake release
(parameter 44.3 Brake open torque reference).
Simultaneously with the timer start, the brake control
logic energizes the brake control output and the brake
starts to open.
Set this parameter to the value of mechanical opening
delay specified by the brake manufacturer.
0.00 ... 5.00 s Brake open delay. 100 = 1 s / 100 = 1 s
44.9 Brake open torque Defines a source that is used as a brake opening torque Brake open torque /
source reference if uint32

• its absolute value is greater than the setting of

parameter 44.10 Brake open torque, and

• its sign is the same as the setting of 44.10 Brake

open torque.
See parameter 44.10 Brake open torque.
Zero Zero. 0
AI1 scaled 12.12 AI1 scaled value (page 192). 1
AI2 scaled 12.22 AI2 scaled value (page 194). 2
FBA ref1 3.5 FB A reference 1 (page 144). 3
FBA ref2 3.6 FB A reference 2 (page 144). 4
Brake torque Parameter 44.2 Brake torque memory. 7
memory
Brake open torque Parameter 44.10 Brake open torque. 8
Other [value] See Terms and abbreviations (page 134).
44.10 Brake open torque Defines the sign (ie. direction of rotation) and 0.0 % / real32
minimum absolute value of the brake open torque
(motor torque requested at brake release in percent
of motor nominal torque).
The value of the source selected by parameter 44.9
Brake open torque source is used as the brake open
torque only if it has the same sign as this parameter
and has a greater absolute value.

Note: This parameter is not effective in scalar motor

control mode.

-1600.0 ... 1600.0 % Minimum torque at brake release. For 16-bit scaling, - / 10 = 1 %
see parameter 46.3.
44.11 Keep brake closed Selects a source that prevents the brake from opening. Not selected / uint32
0 = Normal brake operation
1 = Keep brake closed

Note: This parameter cannot be changed while the

drive is running.
 Parameters 411

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
44.12 Brake close request Selects the source of an external brake close request Not selected / uint32
signal.
When on, the signal overrides the internal logic and
closes the brake.
0 = Normal operation/No external close signal
connected
1 = Close brake

Note:

• In an open-loop (encoderless) application, if the

brake is kept closed by a brake close request
against a modulating drive for longer than 5
seconds, the brake is forced to close and the drive
trips on a fault, 71A5 Mech brk opening not
allowed.

• This parameter cannot be changed while the drive

is running.

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
412 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
44.13 Brake close delay Defines a delay between a close command (that is, 0.00 s / real32
when the brake control output is de-energized) and
when the drive stops modulating. This is to keep the
motor live and under control until the brake actually
closes.
Set this parameter equal to the value specified by the
brake manufacturer as the mechanical make-up time
of the brake.
0.00 ... 60.00 s Brake close delay. 100 = 1 s / 100 = 1 s
44.14 Brake close level Defines the brake close speed as an absolute value. 10.00 rpm / real32
After motor speed remains below this level for the
duration of the brake close level delay (44.15 Brake
close level delay), a close command is given.

Note: Check the compatibility of this setting with 21.3

Stop mode (and the applicable deceleration time).

0.00 ... 1000.00 rpm Brake close speed. For 16-bit scaling, see parameter - / 100 = 1 rpm
46.1.
44.15 Brake close level Defines a brake close level delay. See parameter 44.14 0.00 s / real32
delay Brake close level.
0.00 ... 10.00 s Brake close level delay. 100 = 1 s / 100 = 1 s
44.16 Brake reopen delay Defines a minimum time between brake closure and 0.00 s / real32
a subsequent open command.
0.00 ... 10.00 s Brake reopen delay. 100 = 1 s / 100 = 1 s
44.17 Brake fault function Determines how the drive reacts upon a mechanical Fault / uint16
brake control error.

Note: If parameter 44.7 Brake acknowledge selection

is set to No acknowledge, acknowledgement status
supervision is disabled altogether and will generate
no warnings or faults. However, the brake open
conditions are always supervised.

Fault The drive trips on a 71A2 Mech brake closing failed / 0

71A3 Mech brake opening failed fault if the status of
the acknowledgement does not match the status
presumed by the brake control logic.
The drive trips on a 71A5 Mech brk opening not allowed
fault if the brake open conditions cannot be fulfilled
(for example, the required motor starting torque is
not achieved).
Warning The drive generates a A7A1 Mechanical brake closing 1
failed / A7A2 Mechanical brake opening failed warning
if the status of the acknowledgement does not match
the status presumed by the brake control logic.
The drive generates a A7A5 Mechanical brake opening
not allowed warning if the brake open conditions
cannot be fulfilled (for example, the required motor
starting torque is not achieved).
 Parameters 413

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Open fault Upon closing the brake, the drive generates a A7A1 2
Mechanical brake closing failed warning if the status
of the acknowledgement does not match the status
presumed by the brake control logic.
Upon opening the brake, the drive trips on a 71A3 Mech
brake opening failed fault if the status of the
acknowledgement does not match the status
presumed by the brake control logic.
The drive trips on a 71A5 Mech brk opening not allowed
fault if the brake open conditions cannot be fulfilled
(for example, the required motor starting torque is
not achieved).
44.18 Brake fault delay Defines a close fault delay, ie. time between brake 0.00 s / real32
closure and brake close fault trip.
0.00 ... 60.00 s Brake close fault delay. 100 = 1 s / 100 = 1 s
44.21 Filter time brake Defines a filtering time for parameter 44.2 Brake 100 ms / real32
torque memory torque memory (actual torque value used as open
torque reference).
0 ... 100 ms Filtering time. 100 = 1 ms / 1 = 1 ms
414 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
45 Energy efficiency Settings for the energy saving calculators.
See also section Energy saving calculators (page 100).
45.1 Saved GW hours Displays the energy saved in GWh compared to 0 GWh / uint16
direct-on-line motor connection. This parameter is
incremented when 45.2 Saved MW hours.
This parameter is read-only (see parameter 45.21
Energy calculations reset).
0 ... 65535 GWh Energy savings in GWh. 1 = 1 GWh / 1 = 1 GWh
45.2 Saved MW hours Displays the energy saved in MWh compared to 0 MWh / uint16
direct-on-line motor connection. This parameter is
incremented when 45.3 Saved kW hours rolls over.
When this parameter rolls over, parameter 45.1 Saved
GW hours is incremented.
This parameter is read-only (see parameter 45.21
Energy calculations reset).
0 ... 999 MWh Energy savings in MWh. 1 = 1 MWh / 1 = 1
MWh
45.3 Saved kW hours Displays the energy saved in kWh compared to 0.0 kWh / uint16
direct-on-line motor connection.
If the internal brake chopper of the drive is enabled,
all energy fed by the motor to the drive is assumed to
be converted into heat, but the calculation still records
savings made by controlling the speed. If the chopper
is disabled, then regenerated energy from the motor
is also recorded here.
When this parameter rolls over, parameter 45.2 Saved
MW hours is incremented.
This parameter is read-only (see parameter 45.21
Energy calculations reset).
0.0 ... 999.9 kWh Energy savings in kWh. 10 = 1 kWh / 10 = 1
kWh
45.5 Saved money x1000 Displays the monetary savings in thousands compared 0 thousands / uint32
to direct-on-line motor connection. This parameter is
incremented when 45.6 Saved money rolls over.
The currency is defined by parameter 45.17 Tariff
currency unit.
This parameter is read-only (see parameter 45.21
Energy calculations reset).
0 ... 4294967295 Monetary savings in thousands of units. - / 1 = 1 thousands
thousands
45.6 Saved money Displays the monetary savings compared to 0.00 units / uint32
direct-on-line motor connection. This value is a
calculated by multiplying the saved energy in kWh by
the currently active energy tariff (45.14 Tariff
selection).
When this parameter rolls over, parameter 45.5 Saved
money x1000 is incremented.
The currency is defined by parameter 45.17 Tariff
currency unit.
This parameter is read-only (see parameter 45.21
Energy calculations reset).
 Parameters 415

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.00 ... 999.99 units Monetary savings. 1 = 1 units / 100 = 1
units
45.8 CO2 reduction in Displays the reduction in CO2 emissions in metric 0 metric_kiloton /
kilotons kilotons compared to direct-on-line motor connection. uint16
This value is incremented when parameter 45.9 CO2
reduction in tons rolls over.
This parameter is read-only (see parameter 45.21
Energy calculations reset).
0 ... 65535 Reduction in CO2 emissions in metric kilotons. 1 = 1 metric_kiloton
metric_kiloton / 1 = 1 metric_kiloton
45.9 CO2 reduction in Displays the reduction in CO2 emissions in metric tons 0.0 metric_ton /
tons compared to direct-on-line motor connection. This uint16
value is calculated by multiplying the saved energy in
MWh by the value of parameter 45.18 CO2 conversion
factor (by default, 0.5 metric tons/MWh).
When this parameter rolls over, parameter 45.8 CO2
reduction in kilotons is incremented.
This parameter is read-only (see parameter 45.21
Energy calculations reset).
0.0 ... 999.9 Reduction in CO2 emissions in metric tons. 1 = 1 metric_ton / 10
metric_ton = 1 metric_ton
45.11 Energy optimizer Enables/disables the energy optimization function. Disable / uint16
The function optimizes the motor flux so that total
energy consumption and motor noise level are reduced
when the drive operates below the nominal load. The
total efficiency (motor and drive) can be improved by
1…20 % depending on load torque and speed.

Note:

• In DTC motor control mode with a permanent

magnet motor or a synchronous reluctance
motor, energy optimization is always enabled
regardless of this parameter.

• In scalar motor control mode with an

asynchronous motor, the function optimizes the
motor flux as described below. Also with a sine
filter connected the motor flux is optimized.

• In scalar motor control mode with a permanent

magnet motor, the function minimizes the motor
current. Motor current is also minimized when a
sine filter is connected. A model-based optimizer
can be enabled by activating parameter 98.1 User
motor model mode and giving motor values.

Disable Energy optimization disabled. 0

Enable Energy optimization enabled. 1
416 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
45.12 Energy tariff 1 Defines energy tariff 1 (price of energy per kWh). 1.000 units / uint32
Depending on the setting of parameter 45.14 Tariff
selection, either this value or 45.13 Energy tariff 2 is
used for reference when monetary savings are
calculated.
The currency is defined by parameter 45.17 Tariff
currency unit.

Note: Tariffs are read only at the instant of selection,

and are not applied retroactively.

0.000 ... Energy tariff 1. - / 1000 = 1 units

4294967.295 units
45.13 Energy tariff 2 Defines energy tariff 2 (price of energy per kWh). 2.000 units / uint32
See parameter 45.12 Energy tariff 1.
0.000 ... Energy tariff 2. - / 1000 = 1 units
4294967.295 units
45.14 Tariff selection Selects (or defines a source that selects) which Energy tariff 1 /
pre-defined energy tariff is used. uint32
0 = 45.12 Energy tariff 1
1 = 45.13 Energy tariff 2
Energy tariff 1 0. 0
Energy tariff 2 1. 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
45.17 Tariff currency unit Specifies the currency used for the savings EUR / uint16
calculations.
EUR Euro. 101
USD Dollar. 102
Local currency Local currency. The name of the currency can be edited 100
by choosing Menu - Settings - Edit texts on the control
panel.
45.18 CO2 conversion Defines a factor for conversion of saved energy into 0.500 tn_MWh /
factor CO2 emissions (kg/kWh or tn/MWh). uint16
0.000 ... 65.535 Factor for conversion of saved energy into CO2 1 = 1 tn_MWh / 100 =
tn_MWh emissions. 1 tn_MWh
 Parameters 417

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
45.19 Comparison power Actual power that the motor absorbs when connected 0.0 kW / real32
direct on-line and operating the application. The value
is used for reference when energy savings are
calculated.

Note: The accuracy of the energy savings calculation

is directly dependent on the accuracy of this value. If
nothing is entered here, then the nominal motor power
is used by the calculation, but that may inflate the
energy savings reported as many motors do not
absorb nameplate power.

0.0 ... 100000.0 kW Motor power. For 16-bit scaling, see parameter 46.4. - / 10 = 1 kW
45.21 Energy calculations Resets the savings counter parameters 45.1…45.9 Done / uint16
reset
Done Reset not requested (normal operation), or reset 0
complete.
Reset Reset the savings counter parameters. The value 1
reverts automatically to Done.
418 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
46 Monitoring/scaling Speed supervision settings; actual signal filtering;
settings general scaling settings.

Note: The 16-bit scalings apply when parameter values

are read or written directly. With protocol- and
profile-specific read/write commands (eg.
communication objects), the scaling depends on the
protocol or profile. See the documentation of the
adapter module.

46.1 Speed scaling Defines the maximum speed value used to define the 1500.00; 1800.00
acceleration ramp rate and the initial speed value used rpm (95.20 b0) rpm
to define the deceleration ramp rate (see parameter / real32
group 23 Speed reference ramp). The speed
acceleration and deceleration ramp times are therefore
related to this value (not to parameter 30.12 Maximum
speed).
Also defines the 16-bit scaling of speed-related
parameters.
The value of this parameter corresponds to 20000 in
fieldbus, master/follower etc. communication.
0.10 ... 30000.00 Acceleration/deceleration terminal/initial speed. 1 = 1 rpm / 100 = 1
rpm rpm
46.2 Frequency scaling Defines the maximum frequency value used to define 50.00 Hz; 60.00 Hz
the acceleration ramp rate and the initial frequency (95.20 b0) Hz /
value used to define deceleration ramp rate (see real32
parameter group 28 Frequency reference chain). The
frequency acceleration and deceleration ramp times
are therefore related to this value (not to parameter
30.14 Maximum frequency).
Also defines the 16-bit scaling of frequency-related
parameters. The value of this parameter corresponds
to 20000 in fieldbus, master/follower etc.
communication.
0.10 ... 1000.00 Hz Acceleration/deceleration terminal/initial frequency. 10 = 1 Hz / 100 Hz
46.3 Torque scaling Defines the 16-bit scaling of torque parameters. The 100.0 % / real32
value of this parameter (in percent of nominal motor
torque) corresponds to 10000 in fieldbus,
master/follower etc. communication.
See also parameter 46.42 Torque decimals.
0.1 ... 1000.0 % Torque corresponding to 10000 on fieldbus. 10 = 1 % / 10 = 1 %
46.4 Power scaling Defines the output power value that corresponds to 1000.00 kW or hp /
10000 in fieldbus, master/follower etc. real32
communication. The unit is selected by parameter
96.16 Unit selection.
0.10 ... 30000.00 kW Power corresponding to 10000 on fieldbus. 1 = 1 kW or hp / 100
or hp = 1 kW or hp
46.5 Current scaling Defines the 16-bit scaling of current parameters. The 10000 A / real32
value of this parameter corresponds to 10000 in
fieldbus, master/follower etc. communication.
0 ... 30000 A Current corresponding to 10000 on fieldbus. 1=1A/1=1A
 Parameters 419

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
46.6 Speed ref zero Defines a speed corresponding to a zero reference 0.00 rpm / real32
scaling received from fieldbus (either the embedded fieldbus
interface, or interface FBA A or FBA B). For example,
with a setting of 500, the fieldbus reference range of
0…20000 would correspond to a speed of 500…[46.1]
rpm.

Note: This parameter is effective only with the ABB

Drives communication profile.

0.00 ... 30000.00 Speed corresponding to minimum fieldbus reference. 1 = 1 rpm / 100 = 1
rpm rpm
46.7 Frequency ref zero Defines a frequency corresponding to a zero reference 0.00 Hz / real32
scaling received from fieldbus (either the embedded fieldbus
interface, or interface FBA A or FBA B). For example,
with a setting of 30, the fieldbus reference range of
0…20000 would correspond to a speed of 30…[46.2]
Hz.

Note: This parameter is effective only with the ABB

Drives communication profile.

0.00 ... 1000.00 Hz Frequency corresponding to minimum fieldbus 10 = 1 Hz / 100 = 1 Hz

reference.
46.11 Filter time motor Defines a filter time for signals 1.1 Motor speed used, 500 ms / real32
speed 1.2 Motor speed estimated, 1.4 Encoder 1 speed filtered
and 1.5 Encoder 2 speed filtered.
0 ... 20000 ms Motor speed signal filter time. 1 = 1 ms / 1 = 1 ms
46.12 Filter time output Defines a filter time for signal 1.6 Output frequency. 500 ms / real32
frequency
0 ... 20000 ms Output frequency signal filter time. 1 = 1 ms / 1 = 1 ms
46.13 Filter time motor Defines a filter time for signal 1.10 Motor torque. 100 ms / real32
torque
0 ... 20000 ms Motor torque signal filter time. 1 = 1 ms / 1 = 1 ms
46.14 Filter time power Defines a filter time for signal 1.14 Output power. 100 ms / real32
out
0 ... 20000 ms Output power signal filter time. 1 = 1 ms / 1 = 1 ms
420 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
46.21 At speed hysteresis Defines the “at setpoint” limits for speed control of 100.00 rpm / real32
the drive.
When the absolute difference between reference (22.87
Speed reference act 7) and actual speed (90.1 Motor
speed for control) becomes smaller than half the value
of 46.21 At speed hysteresis, the drive is considered
to be “at setpoint”.
This is indicated by bit 8 of 6.11 Main status word.
The bit switches off when the absolute difference
between reference and actual speed exceeds the value
of 46.21 At speed hysteresis.

90.01 (rpm)

22.87 + 46.21 (rpm)

Hysteresis
22.87 + 0.5 x 46.21 (rpm)

Drive at setpoint
22.87 (rpm)
(06.11 bit 8 = 1)

22.87 - 0.5 x 46.21 (rpm)

Hysteresis
22.87 - 46.21 (rpm)

0 (rpm)

0.00 ... 30000.00 Limit for “at setpoint” indication in speed control. For - / 100 = 1 rpm
rpm 16-bit scaling, see parameter 46.1.
 Parameters 421

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
46.22 At frequency Defines the “at setpoint” limits for frequency control 10.00 Hz / real32
hysteresis of the drive. When the absolute difference between
reference (28.96 Frequency ref act 7) and actual
frequency (1.6 Output frequency) is smaller than 46.22
At frequency hysteresis, the drive is considered to be
“at setpoint”. This is indicated by bit 8 of 6.11 Main
status word.

01.06 (Hz)

28.96 + 46.22 (Hz)

Drive at setpoint
28.96 (Hz)
(06.11 bit 8 = 1)

28.96 - 46.22 (Hz)

0 (Hz)

0.00 ... 1000.00 Hz Limit for “at setpoint” indication in frequency control. - / 100 = 1 Hz
For 16-bit scaling, see parameter 46.2.
46.23 At torque hysteresis Defines the “at setpoint” limits for torque control of 10.0 % / real32
the drive.
When the absolute difference between reference (26.73
Torque reference act 4) and actual torque (1.10 Motor
torque) is smaller than 46.23 At torque hysteresis, the
drive is considered to be “at setpoint”. This is indicated
by bit 8 of 6.11 Main status word.

01.10 (%)

26.73 + 46.23 (%)

Drive at setpoint
26.73 (%)
(06.11 bit 8 = 1)

26.73 - 46.23 (%)

0 (%)

0.0 ... 300.0 % Limit for “at setpoint” indication in torque control. For -/1=1%
16-bit scaling, see parameter 46.3.
46.31 Above speed limit Defines the trigger level for “above limit” indication in 1500.00 rpm / real32
speed control. When actual speed exceeds the limit,
bit 10 of 6.17 Drive status word 2 is set.
422 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.00 ... 30000.00 “Above limit” indication trigger level for speed control. - / 100 = 1 rpm
rpm For 16-bit scaling, see parameter 46.1.
46.32 Above frequency Defines the trigger level for “above limit” indication in 50.00 Hz / real32
limit frequency control. When actual frequency exceeds the
limit, bit 10 of 6.17 Drive status word 2 is set.
0.00 ... 1000.00 Hz “Above limit” indication trigger level for frequency - / 100 = 1 Hz
control. For 16-bit scaling, see parameter 46.2.
46.33 Above torque limit Defines the trigger level for “above limit” indication in 300.0 % / real32
torque control. When actual torque exceeds the limit,
bit 10 of 6.17 Drive status word 2 is set.
0.0 ... 1600.0 % “Above limit” indication trigger level for torque control. - / 10 = 1 %
For 16-bit scaling, see parameter 46.3.
46.42 Torque decimals Defines the number of decimal places of torque-related 1 / uint16
parameters.
0 ... 2 Number of decimal places of torque parameters. 1=1/1=1
 Parameters 423

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
47 Data storage Data storage parameters that can be written to and
read from using other parameters’ source and target
settings.
Note that there are different storage parameters for
different data types. Integer-type storage parameters
cannot be used as the source of other parameters.
See also section Data storage parameters (page 105).
47.1 DataStorage 1 Data storage parameter 1. - / real32
real32 Parameters 47.1…47.8 are real 32-bit numbers that
can be used as source values of other parameters.
Storage parameters 47.1…47.8 can be used as the
target of received 16-bit data (parameter group 62
D2D and DDCS receive data) or the source of
transmitted 16-bit data (parameter group 61 D2D and
DDCS transmit data). The scaling and range are
defined by parameters 47.31…47.38.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.31.
47.2 DataStorage 2 Data storage parameter 2. - / real32
real32 See also parameter 47.1 DataStorage 1 real32.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.32.
47.3 DataStorage 3 Data storage parameter 3. - / real32
real32 See also parameter 47.1 DataStorage 1 real32.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.33.
47.4 DataStorage 4 Data storage parameter 4. - / real32
real32 See also parameter 47.1 DataStorage 1 real32.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.34.
47.5 DataStorage 5 Data storage parameter 5. - / real32
real32 See also parameter 47.1 DataStorage 1 real32.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.35.
47.6 DataStorage 6 Data storage parameter 6. - / real32
real32 See also parameter 47.1 DataStorage 1 real32.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.36.
47.7 DataStorage 7 Data storage parameter 7. - / real32
real32 See also parameter 47.1 DataStorage 1 real32.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.37.
47.8 DataStorage 8 Data storage parameter 8. - / real32
real32 See also parameter 47.1 DataStorage 1 real32.
-32768.000 ... 32-bit real (floating point) number. For 16-bit scaling, - / 1000 = 1
32767.000 see parameter 47.38.
47.11 DataStorage 1 int32 Data storage parameter 9. - / int32
424 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-2147483648 ... 32-bit integer. -/1=1
2147483647
47.12 DataStorage 2 int32 Data storage parameter 10. - / int32
-2147483648 ... 32-bit integer. -/1=1
2147483647
47.13 DataStorage 3 int32 Data storage parameter 11. - / int32
-2147483648 ... 32-bit integer. -/1=1
2147483647
47.14 DataStorage 4 int32 Data storage parameter 12. - / int32
-2147483648 ... 32-bit integer. -/1=1
2147483647
47.15 DataStorage 5 int32 Data storage parameter 13. - / int32
-2147483648 ... 32-bit integer. -/1=1
2147483647
47.16 DataStorage 6 int32 Data storage parameter 14. - / int32
-2147483648 ... 32-bit integer -/1=1
2147483647
47.17 DataStorage 7 int32 Data storage parameter 15. - / int32
-2147483648 ... 32-bit integer. -/1=1
2147483647
47.18 DataStorage 8 int32 Data storage parameter 16. - / int32
-2147483648 ... 32-bit integer. -/1=1
2147483647
47.21 DataStorage 1 int16 Data storage parameter 17. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
47.22 DataStorage 2 int16 Data storage parameter 18. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
47.23 DataStorage 3 int16 Data storage parameter 19. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
47.24 DataStorage 4 int16 Data storage parameter 20. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
47.25 DataStorage 5 int16 Data storage parameter 21. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
47.26 DataStorage 6 int16 Data storage parameter 22. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
47.27 DataStorage 7 int16 Data storage parameter 23. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
47.28 DataStorage 8 int16 Data storage parameter 24. - / int16
-32768 ... 32767 16-bit integer. 1=1/1=1
 Parameters 425

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
47.31 DataStorage 1 Defines the scaling of parameter 47.1 DataStorage 1 Unscaled / uint16
real32 type real32 to and from 16-bit integer format. This scaling
is used when the data storage parameter is the target
of received 16-bit data (defined in parameter group
62 D2D and DDCS receive data), or when the data
storage parameter is the source of transmitted 16-bit
data (defined in parameter group 61 D2D and DDCS
transmit data).
The setting also defines the visible range of the
storage parameter.
Unscaled Data storage only. Range: -2147483.264 … 2147473.264. 0
Transparent Scaling: 1 = 1. Range: -32768 … 32767. 1
General Scaling: 1 = 100. Range: -327.68 … 327.67. 2
Torque The scaling is defined by parameter 46.3 Torque 3
scaling.
Range: -1600.0 … 1600.0.
Speed The scaling is defined by parameter 46.1 Speed scaling. 4
Range: -30000.00 … 30000.00.
Frequency The scaling is defined by parameter 46.2 Frequency 5
scaling.
Range: -600.00…600.00.
47.32 DataStorage 2 Defines the 16-bit scaling of parameter 47.2 Unscaled / uint16
real32 type DataStorage 2 real32.
See parameter 47.31 DataStorage 1 real32 type.
47.33 DataStorage 3 Defines the 16-bit scaling of parameter 47.3 Unscaled / uint16
real32 type DataStorage 3 real32.
See parameter 47.31 DataStorage 1 real32 type.
47.34 DataStorage 4 Defines the 16-bit scaling of parameter 47.4 Unscaled / uint16
real32 type DataStorage 4 real32.
See parameter 47.31 DataStorage 1 real32 type.
47.35 DataStorage 5 Defines the 16-bit scaling of parameter 47.5 Unscaled / uint16
real32 type DataStorage 5 real32.
See parameter 47.31 DataStorage 1 real32 type.
47.36 DataStorage 6 Defines the 16-bit scaling of parameter 47.6 Unscaled / uint16
real32 type DataStorage 6 real32.
See parameter 47.31 DataStorage 1 real32 type.
47.37 DataStorage 7 Defines the 16-bit scaling of parameter 47.7 Unscaled / uint16
real32 type DataStorage 7 real32.
See parameter 47.31 DataStorage 1 real32 type.
47.38 DataStorage 8 Defines the 16-bit scaling of parameter 47.8 Unscaled / uint16
real32 type DataStorage 8 real32.
See parameter 47.31 DataStorage 1 real32 type.
426 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
49 Panel port Communication settings for the control panel port on
communication the drive.
49.1 Node ID number Defines the node ID of the drive. All devices connected 1 / uint32
to the network must have a unique node ID.

Note: For networked drives, it is advisable to reserve

ID 1 for spare/replacement drives.

1 ... 32 Node ID. 1=1/1=1

49.3 Baud rate Defines the transfer rate of the link. 230.4 kbps / uint32
38.4 kbps 38.4 kbit/s. 1
57.6 kbps 57.6 kbit/s. 2
86.4 kbps 86.4 kbit/s. 3
115.2 kbps 115.2 kbit/s. 4
230.4 kbps 230.4 kbit/s. 5
49.4 Communication Sets a timeout for control panel (or PC tool) 10.0 s / uint32
loss time communication. If a communication break lasts longer
than the timeout, the action specified by parameter
49.5 Communication loss action is taken.
0.3 ... 3000.0 s Panel/PC tool communication timeout. 10 = 1 s / 1000 = 1 s
49.5 Communication Selects how the drive reacts to a control panel (or PC Fault / uint16
loss action tool) communication break.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 49.6 Refresh settings.
See also parameters 49.7 Panel comm supervision
force and 49.8 Secondary comm. loss action.
No action No action taken. 0
Fault Drive trips on 7081 Control panel loss. This only occurs 1
if control is expected from the control panel (it is
selected as source of start/stop/reference in the
currently active control location), or if supervision is
forced using parameter 49.7 Panel comm supervision
force.
Last speed Drive generates an A7EE Control panel loss warning 2
and freezes the speed to the level the drive was
operating at. This only occurs if control is expected
from the control panel, or if supervision is forced using
parameter 49.7 Panel comm supervision force.
The speed is determined on the basis of actual speed
using 850 ms low-pass filtering.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.
 Parameters 427

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Speed ref safe Drive generates an A7EE Control panel loss warning 3
and sets the speed to the speed defined by parameter
22.41 Speed ref safe (or 28.41 Frequency ref safe when
frequency reference is being used). This only occurs if
control is expected from the control panel, or if
supervision is forced using parameter 49.7 Panel comm
supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Warning Drive generates an A7EE Control panel loss warning. 5

This only occurs if control is expected from the control
panel, or if supervision is forced using parameter 49.7
Panel comm supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

49.6 Refresh settings Applies the settings of parameters 49.1 Node ID Done / uint16
number…49.5.

Note: Refreshing may cause a communication break,

so reconnecting the drive may be required.

Done Refresh done or not requested. 0

Refresh Refresh parameters 49.1 Node ID number…49.5. The 1
value reverts automatically to Done.
49.7 Panel comm Activates control panel communication monitoring - / uint16
supervision force separately for each control location (see section Local
control vs. external control (page 23)).
The parameter is primarily intended for monitoring
the communication with the panel when it is connected
to the application program and not selected as a
control source by drive parameters.
b0 Ext 1 1 = Communication monitoring active when Ext 1 is
being used.
b1 Ext 2 1 = Communication monitoring active when Ext 2 is
being used.
b2 Local 1 = Communication monitoring active when local
control is being used.
b3…15 Reserved
0000h…FFFFh 1=1
428 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
49.8 Secondary comm. Selects how the drive reacts to a control panel (or PC No action / uint16
loss action tool) communication break. This action is taken when

• the panel is parametrized as an alternative control

or reference source but is not currently the active
source, and

• communication supervision for the active control

location is not forced by parameter 49.7 Panel
comm supervision force.

No action No action taken. 0

Warning Drive generates an A7EE Control panel loss warning. 5

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

49.14 Panel speed Defines the unit for speed reference when given from rpm / uint16
reference unit the control panel.
rpm rpm. 0
% Percent of parameter 46.1 Speed scaling. 1
49.15 Minimum ext speed Defines a minimum limit for control panel speed -30000.00 rpm /
ref panel reference in external control. real32
In local control, the limits in parameter group 30 Limits
are in force. See section Local control vs. external
control (page 23).
-30000.00 ... Minimum speed reference. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
49.16 Maximum ext speed Defines a maximum limit for control panel speed 30000.00 rpm /
ref panel reference in external control. real32
In local control, the limits in parameter group 30 Limits
are in force. See section Local control vs. external
control (page 23).
-30000.00 ... Maximum speed reference. For 16-bit scaling, see - / 100 = 1 rpm
30000.00 rpm parameter 46.1.
49.17 Minimum ext Defines a minimum limit for control panel frequency -500.00 Hz / real32
frequency ref panel reference in external control.
In local control, the limits in parameter group 30 Limits
are in force. See section Local control vs. external
control (page 23).
-598.00 ... 598.00 Minimum frequency reference. For 16-bit scaling, see - / 100 = 1 Hz
Hz parameter 46.2.
49.18 Maximum ext Defines a maximum limit for control panel frequency 500.00 Hz / real32
frequency ref panel reference in external control.
In local control, the limits in parameter group 30 Limits
are in force. See section Local control vs. external
control (page 23).
-598.00 ... 598.00 Maximum frequency reference. For 16-bit scaling, see - / 100 = 1 Hz
Hz parameter 46.2.
 Parameters 429

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
49.24 Panel actual source Selects an actual value to be displayed in the top right Automatic / uint32
corner of the control panel. This parameter is only
effective when the control panel is not an active
reference source.
Automatic The active reference is displayed. 0
Process PID 40.3 Process PID setpoint actual. 1
setpoint actual
Other [value] See Terms and abbreviations (page 134).
430 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
50 Fieldbus adapter Fieldbus communication configuration.
(FBA) See also chapter Fieldbus control through a fieldbus
adapter.
50.1 FBA A enable Enables/disables communication between the drive Disable / uint16
and fieldbus adapter A, and specifies the slot the
adapter is installed into.

Note: This parameter cannot be changed while the

drive is running.

Disable Communication between drive and fieldbus adapter 0

A disabled.
Option slot 1 Communication between drive and fieldbus adapter 1
A enabled. The adapter is in slot 1.
Option slot 2 Communication between drive and fieldbus adapter 2
A enabled. The adapter is in slot 2.
Option slot 3 Communication between drive and fieldbus adapter 3
A enabled. The adapter is in slot 3.
50.2 FBA A comm loss Selects how the drive reacts upon a fieldbus No action / uint16
func communication break. A time delay for the action can
be defined by parameter 50.3 FBA A comm loss t out.
See also parameter 50.26 FBA A comm supervision
force.
No action No action taken. 0
Fault Drive trips on 7510 FBA A communication. This only 1
occurs if control is expected from the FBA A interface
(FBA A selected as source of start/stop/reference in
the currently active control location), or if supervision
is forced using parameter 50.26 FBA A comm
supervision force.
Last speed Drive generates an A7C1 FBA A communication warning 2
and freezes the speed to the level the drive was
operating at. This only occurs if control is expected
from the FBA A interface, or if supervision is forced
using parameter 50.26 FBA A comm supervision force.
The speed is determined on the basis of actual speed
using 850 ms low-pass filtering.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.
 Parameters 431

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Speed ref safe Drive generates an A7C1 FBA A communication warning 3
and sets the speed to the value defined by parameter
22.41 Speed ref safe (when speed reference is being
used) or 28.41 Frequency ref safe (when frequency
reference is being used).
This only occurs if control is expected from the FBA A
interface, or if supervision is forced using parameter
50.26 FBA A comm supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Fault always Drive trips on 7510 FBA A communication. This occurs 4

even though no control is expected from the FBA A
interface.
Warning Drive generates an A7C1 FBA A communication 5
warning. This only occurs if control is expected from
the FBA A interface, or if supervision is forced using
parameter 50.26 FBA A comm supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

50.3 FBA A comm loss t Defines the time delay before the action defined by 0.3 s / uint16
out parameter 50.2 FBA A comm loss func is taken. Time
count starts when the communication link fails to
update the message. As a rule of thumb, this
parameter should be set to at least 3 times the
transmit interval of the master.

Note: There is a 60-second boot-up delay immediately

after power-up. During the delay, the communication
break monitoring is disabled (but communication itself
can be active).

0.1 ... 6553.5 s Time delay. 10 = 1 s / 10 = 1 s

50.4 FBA A ref1 type Selects the type and scaling of reference 1 received Auto / uint16
from fieldbus adapter A.

Note: Fieldbus-specific communication profiles may

use different scalings. For more information, see the
manual of the fieldbus adapter.

Auto Type and scaling are chosen automatically according 0

to which reference chain (see settings Torque, Speed,
Frequency) the incoming reference is connected to. If
the reference is not connected to any chain, no scaling
is applied (as with setting Transparent).
Transparent No scaling is applied (the 16-bit scaling is 1 = 1 unit). 1
General Generic reference with a 16-bit scaling of 100 = 1 (ie. 2
integer and two decimals).
432 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Torque The scaling is defined by parameter 46.3 Torque 3
scaling.
Speed The scaling is defined by parameter 46.1 Speed scaling. 4
Frequency The scaling is defined by parameter 46.2 Frequency 5
scaling.
50.5 FBA A ref2 type Selects the type and scaling of reference 2 received Auto / uint16
from fieldbus adapter A.
See parameter 50.4 FBA A ref1 type.
50.7 FBA A actual 1 type Selects the type/source and scaling of actual value 1 Auto / uint16
transmitted to the fieldbus network through fieldbus
adapter A.

Note: Fieldbus-specific communication profiles may

use different scalings. For more information, see the
manual of the fieldbus adapter.

Auto Type/source and scaling follow the type of reference 0

1 selected by parameter 50.4 FBA A ref1 type. See the
individual settings below for the sources and scalings.
Transparent The value selected by parameter 50.10 FBA A act1 1
transparent source is sent as actual value 1. No scaling
is applied (the 16-bit scaling is 1 = 1 unit).
General The value selected by parameter 50.10 FBA A act1 2
transparent source is sent as actual value 1 with a
16-bit scaling of 100 = 1 unit (ie. integer and two
decimals).
Torque 1.10 Motor torque is sent as actual value 1. The scaling 3
is defined by parameter 46.3 Torque scaling.
Speed 1.1 Motor speed used is sent as actual value 1. The 4
scaling is defined by parameter 46.1 Speed scaling.
Frequency 1.6 Output frequency is sent as actual value 1. The 5
scaling is defined by parameter 46.2 Frequency scaling.
Position Motor position is sent as actual value 1. See parameter 6
90.6 Motor position scaled.
50.8 FBA A actual 2 type Selects the type/source and scaling of actual value 2 Auto / uint16
transmitted to the fieldbus network through fieldbus
adapter A.
See parameter 50.7 FBA A actual 1 type.
50.9 FBA A SW Selects the source of the fieldbus status word when Not selected / uint32
transparent source the fieldbus adapter is set to a transparent
communication profile eg. by its configuration
parameters (group 51 FBA A settings).
Not selected No source selected. 0
Other [value] See Terms and abbreviations (page 134).
50.10 FBA A act1 When parameter 50.7 FBA A actual 1 type is set to Not selected / uint32
transparent source Transparent or General, this parameter selects the
source of actual value 1 transmitted to the fieldbus
network through fieldbus adapter A.
 Parameters 433

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Not selected No source selected. 0
Other [value] See Terms and abbreviations (page 134).
50.11 FBA A act2 When parameter 50.8 FBA A actual 2 type is set to Not selected / uint32
transparent source Transparent or General, this parameter selects the
source of actual value 2 transmitted to the fieldbus
network through fieldbus adapter A.
Not selected No source selected. 0
Other [value] See Terms and abbreviations (page 134).
50.12 FBA A debug mode Enables the display of raw (unmodified) data received Disable / uint16
from and sent to fieldbus adapter A in parameters
50.13…50.18.
This functionality should only be used for debugging.

Note: This parameter cannot be changed while the

drive is running.

Disable Display of raw data from fieldbus adapter A disabled. 0

Fast Display of raw data from fieldbus adapter A enabled. 1
50.13 FBA A control word Displays the raw (unmodified) control word sent by 0 / uint32
the master (PLC) to fieldbus adapter A if debugging
is enabled by parameter 50.12 FBA A debug mode.
This parameter is read-only.
00000000…FFFFFFFFh Control word sent by master to fieldbus adapter A. 1=1
50.14 FBA A reference 1 Displays raw (unmodified) reference REF1 sent by the - / int32
master (PLC) to fieldbus adapter A if debugging is
enabled by parameter 50.12 FBA A debug mode.
This parameter is read-only.
50.15 FBA A reference 2 Displays raw (unmodified) reference REF2 sent by the - / int32
master (PLC) to fieldbus adapter A if debugging is
enabled by parameter 50.12 FBA A debug mode.
This parameter is read-only.
50.16 FBA A status word Displays the raw (unmodified) status word sent by 0 / uint32
fieldbus adapter A to the master (PLC) if debugging
is enabled by parameter 50.12 FBA A debug mode.
This parameter is read-only.
00000000…FFFFFFFFh Status word sent by fieldbus adapter A to master. 1=1
50.17 FBA A actual value 1 Displays raw (unmodified) actual value ACT1 sent by - / int32
fieldbus adapter A to the master (PLC) if debugging
is enabled by parameter 50.12 FBA A debug mode.
This parameter is read-only.
50.18 FBA A actual value 2 Displays raw (unmodified) actual value ACT2 sent by - / int32
fieldbus adapter A to the master (PLC) if debugging
is enabled by parameter 50.12 FBA A debug mode.
This parameter is read-only.
434 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
50.21 FBA A timelevel sel Selects the communication time levels. Normal / uint16
In general, lower time levels of read/write services
reduce CPU load. The table below shows the time levels
of the read/write services for cyclic high and cyclic low
data with each parameter setting.
Selection Cyclic high * Cyclic low **

Monitoring 10 ms 2 ms

Normal 2 ms 10 ms

Fast 500 μs 2 ms

Very fast 250 μs 2 ms

* Cyclic high data consists of fieldbus Status word,

Act1 and Act2.
** Cyclic low data consists of the parameter data
mapped to parameter groups 52 FBA A data in and 53
FBA A data out, and acyclic data.
Control word, Ref1 and Ref2 are handled as interrupts
generated on receipt of cyclic high messages.

Note: This parameter cannot be changed while the

drive is running.

Normal Normal speed. 0

Fast Fast speed. 1
Very fast Very fast speed. 2
Monitoring Low speed. Optimized for PC tool communication and 3
monitoring usage.
50.26 FBA A comm Activates fieldbus communication monitoring - / uint16
supervision force separately for each control location (see section Local
control vs. external control (page 23) on page 20).
The parameter is primarily intended for monitoring
the communication with FBA A when it is connected
to the application program and not selected as a
control source by drive parameters.
b0 Ext 1 1 = Communication monitoring active when Ext 1 is
being used.
b1 Ext 2 1 = Communication monitoring active when Ext 2 is
being used.
b2 Local 1 = Communication monitoring active when local
control is being used.
b3…15 Reserved
0000h…FFFFh 1=1
50.31 FBA B enable Enables/disables communication between the drive Disable / uint16
and fieldbus adapter B, and specifies the slot the
adapter is installed into.

Note: This parameter cannot be changed while the

drive is running.
 Parameters 435

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Disable Communication between drive and fieldbus adapter 0
B disabled.
Option slot 1 Communication between drive and fieldbus adapter 1
B enabled. The adapter is in slot 1.
Option slot 2 Communication between drive and fieldbus adapter 2
B enabled. The adapter is in slot 2.
Option slot 3 Communication between drive and fieldbus adapter 3
B enabled. The adapter is in slot 3.
50.32 FBA B comm loss Selects how the drive reacts upon a fieldbus No action / uint16
func communication break. A time delay for the action can
be defined by parameter 50.33 FBA B comm loss
timeout.
See also parameter 50.56 FBA B comm supervision
force.
No action No action taken. 0
Fault Drive trips on 7520 FBA B communication. This only 1
occurs if control is expected from the FBA B interface
(FBA B selected as source of start/stop/reference in
the currently active control location), or if supervision
is forced using parameter 50.56 FBA B comm
supervision force.
Last speed Drive generates an A7C2 FBA B communication warning 2
and freezes the speed to the level the drive was
operating at. This only occurs if control is expected
from the FBA B interface, or if supervision is forced
using parameter 50.56 FBA B comm supervision force.
The speed is determined on the basis of actual speed
using 850 ms low-pass filtering.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Speed ref safe Drive generates an A7C2 FBA B communication warning 3

and sets the speed to the value defined by parameter
22.41 Speed ref safe (when speed reference is being
used) or 28.41 Frequency ref safe (when frequency
reference is being used).
This only occurs if control is expected from the FBA B
interface, or if supervision is forced using parameter
50.56 FBA B comm supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Fault always Drive trips on 7520 FBA B communication. This occurs 4

even though no control is expected from the FBA B
interface.
436 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Warning Drive generates an A7C2 FBA B communication 5
warning. This only occurs if control is expected from
the FBA B interface, or if supervision is forced using
parameter 50.56 FBA B comm supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

50.33 FBA B comm loss Defines the time delay before the action defined by 0.3 s / uint16
timeout parameter 50.32 FBA B comm loss func is taken. Time
count starts when the communication link fails to
update the message.
As a rule of thumb, this parameter should be set to at
least 3 times the transmit interval of the master.

Note: There is a 60-second boot-up delay immediately

after power-up. During the delay, the communication
break monitoring is disabled (but communication itself
can be active).

0.1 ... 6553.5 s Time delay. 10 = 1 s / 10 = 1 s

50.34 FBA B ref1 type Selects the type and scaling of reference 1 received Auto / uint16
from fieldbus adapter B.
See parameter 50.4 FBA A ref1 type.
50.35 FBA B ref2 type Selects the type and scaling of reference 2 received Auto / uint16
from fieldbus adapter B.
See parameter 50.4 FBA A ref1 type.
50.37 FBA B actual 1 type Selects the type/source and scaling of actual value 1 Auto / uint16
transmitted to the fieldbus network through fieldbus
adapter B.
See parameter 50.7 FBA A actual 1 type.
50.38 FBA B actual 2 type Selects the type/source and scaling of actual value 2 Auto / uint16
transmitted to the fieldbus network through fieldbus
adapter B.
See parameter 50.8 FBA A actual 2 type.
50.39 FBA B SW Selects the source of the fieldbus status word when Not selected / uint32
transparent source the fieldbus adapter is set to a transparent
communication profile eg. by its configuration
parameters (group 54 FBA B settings).
Not selected No source selected. 0
Other [value] See Terms and abbreviations (page 134).
50.40 FBA B act1 When parameter 50.37 FBA B actual 1 type is set to Not selected / uint32
transparent source Transparent or General, this parameter selects the
source of actual value 1 transmitted to the fieldbus
network through fieldbus adapter B.
Not selected No source selected. 0
Other [value] See Terms and abbreviations (page 134).
 Parameters 437

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
50.41 FBA B act2 When parameter 50.38 FBA B actual 2 type is set to Not selected / uint32
transparent source Transparent or General, this parameter selects the
source of actual value 2 transmitted to the fieldbus
network through fieldbus adapter B.
Not selected No source selected. 0
Other [value] See Terms and abbreviations (page 134).
50.42 FBA B debug mode Enables the display of raw (unmodified) data received Disable / uint16
from and sent to fieldbus adapter B in parameters
50.43…50.48.
This functionality should only be used for debugging.

Note: This parameter cannot be changed while the

drive is running.

Disable Display of raw data from fieldbus adapter B disabled. 0

Fast Display of raw data from fieldbus adapter B enabled. 1
50.43 FBA B control word Displays the raw (unmodified) control word sent by 0 / uint32
the master (PLC) to fieldbus adapter B if debugging
is enabled by parameter 50.42 FBA B debug mode.
This parameter is read-only.
00000000…FFFFFFFFh Control word sent by master to fieldbus adapter B. 1=1
50.44 FBA B reference 1 Displays raw (unmodified) reference REF1 sent by the - / int32
master (PLC) to fieldbus adapter B if debugging is
enabled by parameter 50.42 FBA B debug mode.
This parameter is read-only.
50.45 FBA B reference 2 Displays raw (unmodified) reference REF2 sent by the - / int32
master (PLC) to fieldbus adapter B if debugging is
enabled by parameter 50.42 FBA B debug mode.
This parameter is read-only.
50.46 FBA B status word Displays the raw (unmodified) status word sent by 0 / uint32
fieldbus adapter B to the master (PLC) if debugging
is enabled by parameter 50.42 FBA B debug mode.
This parameter is read-only.
00000000…FFFFFFFFh Status word sent by fieldbus adapter B to master. 1=1
50.47 FBA B actual value 1 Displays raw (unmodified) actual value ACT1 sent by - / int32
fieldbus adapter B to the master (PLC) if debugging
is enabled by parameter 50.42 FBA B debug mode.
This parameter is read-only.
50.48 FBA B actual value 2 Displays raw (unmodified) actual value ACT2 sent by - / int32
fieldbus adapter B to the master (PLC) if debugging
is enabled by parameter 50.42 FBA B debug mode.
This parameter is read-only.
438 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
50.51 FBA B timelevel sel Selects the communication time levels. Normal / uint16
In general, lower time levels of read/write services
reduce CPU load. The table below shows the time levels
of the read/write services for cyclic high and cyclic low
data with each parameter setting.
Selection Cyclic high * Cyclic low **

Monitoring 10 ms 2 ms

Normal 2 ms 10 ms

Fast 500 μs 2 ms

Very fast 250 μs 2 ms

* Cyclic high data consists of fieldbus Status word,

Act1 and Act2.
** Cyclic low data consists of the parameter data
mapped to parameter groups 55 FBA B data in and 56
FBA B data out, and acyclic data.
Control word, Ref1 and Ref2 are handled as interrupts
generated on receipt of cyclic high messages.

Note: This parameter cannot be changed while the

drive is running.

Normal Normal speed. 0

Fast Fast speed. 1
Very fast Very fast speed. 2
Monitoring Low speed. Optimized for PC tool communication and 3
monitoring usage.
50.56 FBA B comm Activates fieldbus communication monitoring - / uint16
supervision force separately for each control location (see section Local
control vs. external control (page 23)).
The parameter is primarily intended for monitoring
the communication with FBA B when it is connected
to the application program and not selected as a
control source by drive parameters.
b0 Ext 1 1 = Communication monitoring active when Ext 1 is
being used.
b1 Ext 2 1 = Communication monitoring active when Ext 2 is
being used.
b2 Local 1 = Communication monitoring active when local
control is being used.
b3…15 Reserved
0000h…FFFFh 1=1
50.99 FBA automatic Enables/disables the FBA automatic detection. Enable / uint16
detection
Note: FBA automatic detection works with one fieldbus
adapter only.

Disable FBA automatic detection is disabled. 0

Enable FBA automatic detection is enabled. 1
 Parameters 439

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
51 FBA A settings Fieldbus adapter A configuration.
51.1 FBA A type Displays the type of the connected fieldbus adapter None / uint16
module.
0 = Module is not found or is not properly connected,
or is disabled by parameter 50.1 FBA A enable; 1 =
FPBA; 32 = FCAN; 37 = FDNA; 101 = FCNA, 128 =
FENA-11/21; 135 = FECA; 136 = FEPL; 485 = FSCA.
This parameter is read-only.
51.2 FBA A Par2 Parameters 51.02…51.26 are adapter module-specific. - / uint16
For more information, see the documentation of the
fieldbus adapter module. Note that not all of these
parameters are necessarily in use.
0 ... 65535 Fieldbus adapter configuration parameter. 1=1/1=1
… … … …
51.26 FBA A Par26 See parameter 51.2 FBA A Par2. - / uint16
0 ... 65535 Fieldbus adapter configuration parameter. 1=1/1=1
51.27 FBA A par refresh Validates any changed fieldbus adapter module Done / uint16
configuration settings. After refreshing, the value
reverts automatically to Done.

Note: This parameter cannot be changed while the

drive is running.

Done Refreshing done. 0

Refresh Refreshing. 1
51.28 FBA A par table ver Displays the parameter table revision of the fieldbus 0 / uint16
adapter module mapping file (stored in the memory
of the drive).
In format axyz, where ax = major table revision number;
yz = minor table revision number.
This parameter is read-only.
0000…FFFFh Parameter table revision of adapter module. 1=1
51.29 FBA A drive type Displays the drive type code in the fieldbus adapter - / uint16
code module mapping file (stored in the memory of the
drive).
This parameter is read-only.
51.30 FBA A mapping file Displays the fieldbus adapter module mapping file - / uint16
ver revision stored in the memory of the drive in decimal
format.
This parameter is read-only.
51.31 D2FBA A comm Displays the status of the fieldbus adapter module Not configured /
status communication. uint16
Not configured Adapter is not configured. 0
Initializing Adapter is initializing. 1
Time out A timeout has occurred in the communication between 2
the adapter and the drive.
440 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Configuration error Adapter configuration error: mapping file not found 3
in the file system of the drive, or mapping file upload
has failed more than three times.
Off-line Fieldbus communication is off-line. 4
On-line Fieldbus communication is on-line, or fieldbus adapter 5
has been configured not to detect a communication
break. For more information, see the documentation
of the fieldbus adapter.
Reset Adapter is performing a hardware reset. 6
51.32 FBA A comm SW ver Displays the patch and build versions of the adapter 0 / uint16
module firmware in format xxyy, where xx = patch
version number, yy = build version number.
Example: C802 = 200.02 (patch version 200, build
version 2).
0000…FFFFh Patch and build versions of adapter module firmware. 1=1
51.33 FBA A appl SW ver Displays the major and minor versions of the adapter 0 / uint16
module firmware in format xyy, where x = major
revision number, yy = minor revision number.
Example: 300 = 3.00 (major version 3, minor version
00).
0000…FFFFh Major and minor versions of adapter module firmware. 1=1
 Parameters 441

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
52 FBA A data in Selection of data to be transferred from drive to
fieldbus controller through fieldbus adapter A.

Note: 32-bit values require two consecutive

parameters. Whenever a 32-bit value is selected in a
data parameter, the next parameter is automatically
reserved.

52.1 FBA A data in1 Parameters 52.01…52.12 select data to be transferred None / uint32
from the drive to the fieldbus controller through
fieldbus adapter A.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
Ref2 16bit Reference REF2 (16 bits) 3
SW 16bit Status Word (16 bits) 4
Act1 16bit Actual value ACT1 (16 bits) 5
Act2 16bit Actual value ACT2 (16 bits) 6
CW 32bit Control Word (32 bits) 11
Ref1 32bit Reference REF1 (32 bits) 12
Ref2 32bit Reference REF2 (32 bits) 13
SW 32bit Status Word (32 bits) 14
Act1 32bit Actual value ACT1 (32 bits) 15
Act2 32bit Actual value ACT2 (32 bits) 16
SW2 16bit Status Word 2 (16 bits) 24
Other [value] See Terms and abbreviations (page 134).
… … … …
52.12 FBA A data in12 See parameter 52.1 FBA A data in1. None / uint32
442 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
53 FBA A data out Selection of data to be transferred from fieldbus
controller to drive through fieldbus adapter A.

Note: 32-bit values require two consecutive

parameters. Whenever a 32-bit value is selected in a
data parameter, the next parameter is automatically
reserved.

53.1 FBA data out1 Parameters 53.01…53.12 select data to be transferred None / uint32
from the fieldbus controller to the drive through
fieldbus adapter A.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
Ref2 16bit Reference REF2 (16 bits) 3
CW 32bit Control Word (32 bits) 11
Ref1 32bit Reference REF1 (32 bits) 12
Ref2 32bit Reference REF2 (32 bits) 13
CW2 16bit Control Word 2 (16 bits) 21
Other [value] See Terms and abbreviations (page 134).
53.2 FBA data out2 Parameters 53.01…53.12 select data to be transferred None / uint32
from the fieldbus controller to the drive through
fieldbus adapter A.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
Ref2 16bit Reference REF2 (16 bits) 3
CW 32bit Control Word (32 bits) 11
Ref1 32bit Reference REF1 (32 bits) 12
Ref2 32bit Reference REF2 (32 bits) 13
CW2 16bit Control Word 2 (16 bits) 21
Other [value] See Terms and abbreviations (page 134).
… … … …
53.12 FBA data out12 See parameter 53.1 FBA data out1. None / uint32
 Parameters 443

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
54 FBA B settings Fieldbus adapter B configuration.
54.1 FBA B type Displays the type of the connected fieldbus adapter None / uint16
module. 0 = Module is not found or is not properly
connected, or is disabled by parameter 50.31 FBA B
enable; 1 = FPBA; 32 = FCAN; 37 = FDNA; 101 = FCNA,
128 = FENA-11/21; 135 = FECA; 136 = FEPL; 485 = FSCA.
This parameter is read-only.
54.2 FBA B Par2 Parameters 54.02…54.26 are adapter module-specific. - / uint16
For more information, see the documentation of the
fieldbus adapter module. Note that not all of these
parameters are necessarily in use.
0.0 ... 65535.0 Fieldbus adapter configuration parameter. 1=1/1=1
… … … …
54.26 FBA B Par26 See parameter 54.2 FBA B Par2. - / uint16
0.0 ... 65535.0 Fieldbus adapter configuration parameter. 1=1/1=1
54.27 FBA B par refresh Validates any changed fieldbus adapter module Done / uint16
configuration settings. After refreshing, the value
reverts automatically to Done.

Note: This parameter cannot be changed while the

drive is running.

Done Refreshing done. 0

Refresh Refreshing. 1
54.28 FBA B par table ver Displays the parameter table revision of the fieldbus 0 / uint16
adapter module mapping file (stored in the memory
of the drive). In format axyz, where ax = major table
revision number; yz = minor table revision number.
This parameter is read-only.
0000…FFFFh Parameter table revision of adapter module. 1=1
54.29 FBA B drive type Displays the drive type code in the fieldbus adapter - / uint16
code module mapping file (stored in the memory of the
drive).
This parameter is read-only.
0 ... 65535 Drive type code stored in the mapping file. 1=1/1=1
54.30 FBA B mapping file Displays the fieldbus adapter module mapping file - / uint16
ver revision stored in the memory of the drive in decimal
format.
This parameter is read-only.
0 ... 65535 Mapping file revision. 1=1/1=1
54.31 D2FBA B comm Displays the status of the fieldbus adapter module Not configured /
status communication. uint16
Not configured Adapter is not configured. 0
Initializing Adapter is initializing. 1
Time out A timeout has occurred in the communication between 2
the adapter and the drive.
444 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Configuration error Adapter configuration error: mapping file not found 3
in the file system of the drive, or mapping file upload
has failed more than three times.
Off-line Fieldbus communication is off-line. 4
On-line Fieldbus communication is on-line, or fieldbus adapter 5
has been configured not to detect a communication
break. For more information, see the documentation
of the fieldbus adapter.
Reset Adapter is performing a hardware reset. 6
54.32 FBA B comm SW ver Displays the patch and build versions of the adapter 0 / uint16
module firmware in format xxyy, where xx = patch
version number, yy = build version number.
Example: C802 = 200.02 (patch version 200, build
version 2).
0000…FFFFh Patch and build versions of adapter module firmware. 1=1
54.33 FBA B appl SW ver Displays the major and minor versions of the adapter 0 / uint16
module firmware in format xyy, where x = major
revision number, yy = minor revision number.
Example: 300 = 3.00 (major version 3, minor version
00).
0000…FFFFh Major and minor versions of adapter module firmware. 1=1
 Parameters 445

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
55 FBA B data in Selection of data to be transferred from drive to
fieldbus controller through fieldbus adapter B.
55.1 FBA B data in1 Parameters 55.01…55.12 select data to be transferred None / uint32
from the drive to the fieldbus controller through
fieldbus adapter B.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
Ref2 16bit Reference REF2 (16 bits) 3
SW 16bit Status Word (16 bits) 4
Act1 16bit Actual value ACT1 (16 bits) 5
Act2 16bit Actual value ACT2 (16 bits) 6
CW 32bit Control Word (32 bits) 11
Ref1 32bit Reference REF1 (32 bits) 12
Ref2 32bit Reference REF2 (32 bits) 13
SW 32bit Status Word (32 bits) 14
Act1 32bit Actual value ACT1 (32 bits) 15
Act2 32bit Actual value ACT2 (32 bits) 16
SW2 16bit Status Word 2 (16 bits) 24
Other [value] See Terms and abbreviations (page 134).
… … … …
55.12 FBA B data in12 See parameter 55.1 FBA B data in1. None / uint32
446 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
56 FBA B data out Selection of data to be transferred from fieldbus
controller to drive through fieldbus adapter B.
56.1 FBA B data out1 Parameters 56.01…56.12 select data to be transferred None / uint32
from the fieldbus controller to the drive through
fieldbus adapter B.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
Ref2 16bit Reference REF2 (16 bits) 3
CW 32bit Control Word (32 bits) 11
Ref1 32bit Reference REF1 (32 bits) 12
Ref2 32bit Reference REF2 (32 bits) 13
CW2 16bit Control Word 2 (16 bits) 21
Other [value] See Terms and abbreviations (page 134).
… … … …
56.12 FBA B data out12 See parameter 56.1 FBA B data out1. None / uint32
 Parameters 447

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
58 Embedded Configuration of the embedded fieldbus (EFB)
fieldbus interface.
See also chapter Fieldbus control through the
embedded fieldbus interface (EFB).
58.1 Protocol enable Enables/disables the embedded fieldbus interface None / uint16
and selects the protocol to use.

Note:

• When the embedded fieldbus interface is enabled,

the drive-to-drive link functionality is
automatically disabled.

• This parameter cannot be changed while the drive

is running.

None None (communication disabled). 0

Modbus RTU Embedded fieldbus interface is enabled and uses the 1
Modbus RTU protocol.
58.2 Protocol ID Displays the protocol ID and revision. 0 / uint16
This parameter is read-only.
0000…FFFFh Protocol ID and revision. 1=1
58.3 Node address Defines the node address of the drive on the fieldbus 1 / uint16
link. Values 1…247 are allowable. Two devices with the
same address are not allowed on-line.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
0 ... 255 Node address (values 1…247 are allowable). 1=1/1=1
58.4 Baud rate Selects the transfer rate of the fieldbus link. 19.2 kbps / uint16
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
4.8 kbps 4.8 kbit/s. 1
9.6 kbps 9.6 kbit/s. 2
19.2 kbps 19.2 kbit/s. 3
38.4 kbps 38.4 kbit/s. 4
57.6 kbps 57.6 kbit/s. 5
76.8 kbps 76.8 kbit/s. 6
115.2 kbps 115.2 kbit/s. 7
58.5 Parity Selects the type of parity bit and the number of stop 8 EVEN 1 / uint16
bits.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
8 NONE 1 Eight data bits, no parity bit, one stop bit. 0
8 NONE 2 Eight data bits, no parity bit, two stop bits. 1
448 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
8 EVEN 1 Eight data bits, even parity bit, one stop bit. 2
8 ODD 1 Eight data bits, odd parity bit, one stop bit. 3
58.6 Communication Validates any changes in the EFB settings, or activates Enabled / uint16
control silent mode.
Enabled Normal operation. 0
Refresh settings Validates any changed EFB configuration settings. 1
Reverts automatically to Enabled.
Silent mode Activates silent mode (no messages are transmitted). 2
Silent mode can be terminated by activating the
Refresh settings selection of this parameter.
58.7 Communication Displays the status of the EFB communication. - / uint16
diagnostics This parameter is read-only.
b0 Init failed 1 = EFB initialization failed
b1 Addr config err 1 = Node address not allowed by protocol
b2 Silent mode 1 = Drive not allowed to transmit
0 = Drive allowed to transmit
b3 Autobauding Reserved
b4 Wiring error 1 = Errors detected (A/B wires possibly swapped)
b5 Parity error 1 = Error detected: check parameters 58.04 and 58.05
b6 Baud rate error 1 = Error detected: check parameters 58.05 and 58.04
b7 No bus activity 1 = 0 bytes received during last 5 seconds
b8 No packets 1 = 0 packets (addressed to any device) detected
during last 5 seconds
b9 Noise or addressing 1 = Errors detected (interference, or another device
error with the same address on line)
b10 Comm loss 1 = 0 packets addressed to the drive received within
timeout (58.16)
b11 CW/Ref loss 1 = No control word or references received within
timeout (58.16)
b12 Not active Reserved
b13 Protocol 1 1 = Protocol-dependent status information
b14 Protocol 2 1 = Protocol-dependent status information
b15 Internal error 1 = Problem with calls to drive control program
0000h…FFFFh 1=1
58.8 Received packets Displays a count of valid packets addressed to the 0 / uint32
drive.
During normal operation, this number increases
constantly.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 Number of received packets addressed to the drive. 1=1/1=1
 Parameters 449

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
58.9 Transmitted Displays a count of valid packets transmitted by the 0 / uint32
packets drive.
During normal operation, this number increases
constantly.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 Number of transmitted packets. 1=1/1=1
58.10 All packets Displays a count of valid packets addressed to any 0 / uint32
device on the bus. During normal operation, this
number increases constantly.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 Number of all received packets. 1=1/1=1
58.11 UART errors Displays a count of character errors received by the 0 / uint32
drive. An increasing count indicates a configuration
problem on the bus.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 Number of UART errors. 1=1/1=1
58.12 CRC errors Displays a count of packets with a CRC error received 0 / uint32
by the drive. An increasing count indicates interference
on the bus.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0 ... 4294967295 Number of CRC errors. 1=1/1=1
58.14 Communication Selects how the drive reacts to an EFB communication Fault / uint16
loss action break.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
See also parameters 58.15 Communication loss mode
and 58.16 Communication loss time.
No No action taken (monitoring disabled). 0
Fault Drive trips on 6681 EFB communication loss. This only 1
occurs if control is expected from the EFB (EFB
selected as source of start/stop/reference in the
currently active control location), or if supervision is
forced using parameter 58.36 EFB comm supervision
force.
Last speed Drive generates an A7CE EFB comm loss warning and 2
freezes the speed to the level the drive was operating
at. This only occurs if control is expected from the EFB,
or if supervision is forced using parameter 58.36 EFB
comm supervision force.
The speed is determined on the basis of actual speed
using 850 ms low-pass filtering.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.
450 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Speed ref safe Drive generates an A7CE EFB comm loss warning and 3
sets the speed to the speed defined by parameter
22.41 Speed ref safe (or 28.41 Frequency ref safe when
frequency reference is being used). This only occurs if
control is expected from the EFB, or if supervision is
forced using parameter 58.36 EFB comm supervision
force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Fault always Drive trips on 6681 EFB communication loss. This 4

occurs even though no control is expected from the
EFB.
Warning Drive generates an A7CE EFB comm loss warning. This 5
only occurs if control is expected from the EFB, or if
supervision is forced using parameter 58.36 EFB comm
supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

58.15 Communication Defines which message types reset the timeout Cw / Ref1 / Ref2 /
loss mode counter for detecting an EFB communication loss. uint16
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
See also parameters 58.14 Communication loss action
and 58.16 Communication loss time.
Any message Any message addressed to the drive resets the 1
timeout.
Cw / Ref1 / Ref2 A write of the control word or a reference from the 2
fieldbus resets the timeout.
58.16 Communication Sets a timeout for EFB communication. If a 3.0 s / uint16
loss time communication break lasts longer than the timeout,
the action specified by parameter 58.14
Communication loss action is taken.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.

Note: There is a 30-second boot-up delay immediately

after power-up. During the delay, the communication
break monitoring is disabled (but communication itself
can be active).
See also parameter 58.15 Communication loss mode.

0.0 ... 6000.0 s EFB communication timeout. 1 = 1 s / 10 = 1 s

 Parameters 451

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
58.17 Transmit delay Defines a minimum response delay in addition to any 0 ms / uint16
fixed delay imposed by the protocol.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
0 ... 65535 ms Minimum response delay. 1 = 1 ms / 1 = 1 ms
58.18 EFB control word Displays the raw (unmodified) control word sent by 0 / uint32
the Modbus controller to the drive. For debugging
purposes.
This parameter is read-only.
00000000…FFFFFFFFh Control word sent by Modbus controller to the drive. 1=1
58.19 EFB status word Displays the raw (unmodified) status word sent by the 0 / uint32
drive to the Modbus controller. For debugging
purposes.
This parameter is read-only.
00000000…FFFFFFFFh Status word sent by the drive to the Modbus controller. 1=1
58.25 Control profile Defines the control profile used by the protocol. ABB Drives / uint16
ABB Drives ABB Drives profile (with a 16-bit control word) with 0
registers in the classic format for backward
compatibility.
Transparent Transparent profile (16-bit or 32-bit control word) with 2
registers in the classic format.
58.26 EFB ref1 type Selects the type and scaling of reference 1 received Auto / uint16
through the embedded fieldbus interface.
The scaled reference is displayed by 3.9 EFB reference
1.
Auto Type and scaling are chosen automatically according 0
to which reference chain (see settings Torque, Speed,
Frequency) the incoming reference is connected to. If
the reference is not connected to any chain, no scaling
is applied (as with setting Transparent).
Transparent No scaling is applied. 1
General Generic reference with a scaling of 100 = 1 (ie. integer 2
and two decimals).
Torque The scaling is defined by parameter 46.3 Torque 3
scaling.
Speed The scaling is defined by parameter 46.1 Speed scaling. 4
Frequency The scaling is defined by parameter 46.2 Frequency 5
scaling.
58.27 EFB ref2 type Selects the type and scaling of reference 2 received Torque / uint16
through the embedded fieldbus interface.
The scaled reference is displayed by 3.10 EFB reference
2.
For the selections, see parameter 58.26 EFB ref1 type.
58.28 EFB act1 type Selects the type/source and scaling of actual value 1 Auto / uint16
transmitted to the fieldbus network through the
embedded fieldbus interface.
452 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Auto Type/source and scaling follow the type of reference 0
1 selected by parameter 58.26 EFB ref1 type. See the
individual settings below for the sources and scalings.
Transparent The value selected by parameter 58.31 EFB act1 1
transparent source is sent as actual value 1. No scaling
is applied (the 16- bit scaling is 1 = 1 unit).
General The value selected by parameter 58.31 EFB act1 2
transparent source is sent as actual value 1 with a
16-bit scaling of 100 = 1 unit (ie. integer and two
decimals).
Torque 1.10 Motor torque is sent as actual value 1. The scaling 3
is defined by parameter 46.3 Torque scaling.
Speed 1.1 Motor speed used is sent as actual value 1. The 4
scaling is defined by parameter 46.1 Speed scaling.
Frequency 1.6 Output frequency is sent as actual value 1. The 5
scaling is defined by parameter 46.2 Frequency scaling.
Position Motor position is sent as actual value 1. See parameter 6
90.6 Motor position scaled.
58.29 EFB act2 type Selects the type/source and scaling of actual value 2 Torque / uint16
transmitted to the fieldbus network through the
embedded fieldbus interface.
Auto Type/source and scaling follow the type of reference 0
2 selected by parameter 58.27 EFB ref2 type. See the
individual settings below for the sources and scalings.
Transparent The value selected by parameter 58.32 EFB act2 1
transparent source is sent as actual value 2. No scaling
is applied (the 16- bit scaling is 1 = 1 unit).
General The value selected by parameter 58.32 EFB act2 2
transparent source is sent as actual value 2 with a
16-bit scaling of 100 = 1 unit (ie. integer and two
decimals).
Torque 1.10 Motor torque is sent as actual value 2. The scaling 3
is defined by parameter 46.3 Torque scaling.
Speed 1.1 Motor speed used is sent as actual value 2. The 4
scaling is defined by parameter 46.1 Speed scaling.
Frequency 1.6 Output frequency is sent as actual value 2. The 5
scaling is defined by parameter 46.2 Frequency scaling.
Position Motor position is sent as actual value 1. See parameter 6
90.6 Motor position scaled.
58.30 EFB status word Selects the source of the status word when 58.25 Not selected / uint32
transparent source Control profile is set to Transparent.
Not selected None. 0
Other [value] See Terms and abbreviations (page 134).
58.31 EFB act1 Selects the source of actual value 1 when 58.28 EFB Not selected / uint32
transparent source act1 type is set to Transparent or General.
Not selected None. 0
 Parameters 453

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Other [value] See Terms and abbreviations (page 134).
58.32 EFB act2 Selects the source of actual value 1 when 58.29 EFB Not selected / uint32
transparent source act2 type is set to Transparent or General.
Not selected None. 0
Other [value] See Terms and abbreviations (page 134).
58.33 Addressing mode Defines the mapping between parameters and holding Mode 0 / uint16
registers in the 400101…465535 Modbus register
range.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
Mode 0 16-bit values (groups 1…99, indexes 1…99): 0
Register address = 400000 + 100 × parameter group
+ parameter index. For example, parameter 22.80
would be mapped to register 400000 + 2200 + 80 =
402280.
32-bit values (groups 1…99, indexes 1…99):
Register address = 420000 + 200 × parameter group
+ 2 × parameter index. For example, parameter 22.80
would be mapped to register 420000 + 4400 + 160 =
424560.
Mode 1 16-bit values (groups 1…255, indexes 1…255): 1
Register address = 400000 + 256 × parameter group
+ parameter index. For example, parameter 22.80
would be mapped to register 400000 + 5632 + 80 =
405712.
Mode 2 32-bit values (groups 1…127, indexes 1…255): 2
Register address = 400000 + 512 × parameter group
+ 2 × parameter index. For example, parameter 22.80
would be mapped to register 400000 + 11264 + 160 =
411424.
58.34 Word order Selects in which order 16-bit registers of 32-bit LO-HI / uint16
parameters are transferred.
For each register, the first byte contains the high order
byte and the second byte contains the low order byte.
Changes to this parameter take effect after the control
unit is rebooted or the new settings validated by
parameter 58.6 Communication control.
HI-LO The first register contains the high order word, the 0
second contains the low order word.
LO-HI The first register contains the low order word, the 1
second contains the high order word.
58.36 EFB comm Activates fieldbus communication monitoring - / uint16
supervision force separately for each control location (see section Local
control vs. external control (page 23)).
The parameter is primarily intended for monitoring
the communication with EFB when it is connected to
the application program and not selected as a control
source by drive parameters.
454 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b0 Ext 1 1 = Communication monitoring active when Ext 1 is
being used.
b1 Ext 2 1 = Communication monitoring active when Ext 2 is
being used.
b2 Local 1 = Communication monitoring active when local
control is being used.
b3…15 Reserved
0000h…FFFFh 1=1
58.101 Data I/O 1 Defines the address in the drive which the Modbus CW 16bit / uint32
master accesses when it reads from or writes to
register address 400001.
The master defines the type of the data (input or
output). The value is transmitted in a Modbus frame
consisting of two 16- bit words. If the value is 16-bit,
it is transmitted in the LSW (least significant word). If
the value is 32-bit, the subsequent parameter is also
reserved for it and must be set to None.
None None. 0
CW 16bit Control Word (16 bits). 1
Ref1 16bit Reference REF1 (16 bits). 2
Ref2 16bit Reference REF2 (16 bits). 3
SW 16bit Status Word (16 bits). 4
Act1 16bit Actual value ACT1 (16 bits). 5
Act2 16bit Actual value ACT2 (16 bits). 6
CW 32bit Control Word (32 bits). 11
Ref1 32bit Reference REF1 (32 bits). 12
Ref2 32bit Reference REF2 (32 bits). 13
SW 32bit Status Word (32 bits). 14
Act1 32bit Actual value ACT1 (32 bits). 15
Act2 32bit Actual value ACT2 (32 bits). 16
CW2 16bit Control Word 2 (16 bits). 21
When a 32-bit control word is used, this setting means
the most-significant 16 bits.
SW2 16bit Status Word 2 (16 bits). 24
When a 32-bit control word is used, this setting means
the most-significant 16 bits.
RO/DIO control Parameter 10.99 RO/DIO control word. 31
word
AO1 data storage Parameter 13.91 AO1 data storage. 32
AO2 data storage Parameter 13.92 AO2 data storage. 33
Feedback data Parameter 40.91 Feedback data storage. 40
storage
 Parameters 455

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Setpoint data Parameter 40.92 Setpoint data storage. 41
storage
Other [value] See Terms and abbreviations (page 134).
58.102 Data I/O 2 Defines the address in the drive which the Modbus Ref1 16bit / uint32
master accesses when it reads from or writes to
register address 400002.
For the selections, see parameter 58.101 Data I/O 1.
58.103 Data I/O 3 Defines the address in the drive which the Modbus Ref2 16bit / uint32
master accesses when it reads from or writes to
register address 400003.
For the selections, see parameter 58.101 Data I/O 1.
58.104 Data I/O 4 Defines the address in the drive which the Modbus SW 16bit / uint32
master accesses when it reads from or writes to
register address 400004.
For the selections, see parameter 58.101 Data I/O 1.
58.105 Data I/O 5 Defines the address in the drive which the Modbus Act1 16bit / uint32
master accesses when it reads from or writes to
register address 400005.
For the selections, see parameter 58.101 Data I/O 1.
58.106 Data I/O 6 Defines the address in the drive which the Modbus Act2 16bit / uint32
master accesses when it reads from or writes to
register address 400006.
For the selections, see parameter 58.101 Data I/O 1.
58.107 Data I/O 7 Parameter selector for Modbus register address None / uint32
400007.
For the selections, see parameter 58.101 Data I/O 1.
… … … …
58.124 Data I/O 24 Parameter selector for Modbus register address None / uint32
400024.
For the selections, see parameter 58.101 Data I/O 1.
456 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60 DDCS DDCS communication configuration.
communication The DDCS protocol is used in the communication
between

• drives in a master/follower configuration (see

page 34),

• the drive and an external controller such as the

AC 800M (see page 42), or

• the drive (or more precisely, an inverter unit) and

the supply unit of the drive system (see page 44).
All of the above utilize a fiber optic link which also
requires an FDCO module (typically with ZCU control
units) or an RDCO module (with BCU control units).
Master/follower and external controller
communication can also be implemented through
shielded twisted-pair cable connected to the XD2D
connector of the drive.
This group also contains parameters for drive-to-drive
(D2D) communication supervision.
60.1 M/F Selects the connection used by the master/follower Not in use / uint16
communication functionality.
port
Not in use None (communication disabled). 0
Slot 1A Channel A on FDCO module in slot 1 (with ZCU control 1
unit only).
Slot 2A Channel A on FDCO module in slot 2 (with ZCU control 2
unit only).
Slot 3A Channel A on FDCO module in slot 3 (with ZCU control 3
unit only).
Slot 1B Channel B on FDCO module in slot 1 (with ZCU control 4
unit only).
Slot 2B Channel B on FDCO module in slot 2 (with ZCU control 5
unit only).
Slot 3B Channel B on FDCO module in slot 3 (with ZCU control 6
unit only).
RDCO CH 2 Channel 2 on RDCO module (with BCU control unit 12
only).
XD2D Connector XD2D. 7

Note: This connection cannot co-exist, and is not to

be confused with, drive-to-drive (D2D) communication
implemented by application programming (detailed
in Drive application programming manual (IEC 61131-3),
3AUA0000127808 [English]).
 Parameters 457

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60.2 M/F node address Selects the node address of the drive for 1 / uint16
master/follower communication. No two nodes on-line
may have the same address.

Note: The allowable addresses for the master are 0

and 1. The allowable addresses for followers are 2…60.

1 ... 254 Node address. -/-

60.3 M/F mode Defines the role of the drive on the master/follower Not in use / uint16
or drive-to-drive link.
Not in use Master/follower functionality not active. 0
DDCS master The drive is the master on the master/follower (DDCS) 1
link.
DDCS follower The drive is a follower on the master/follower (DDCS) 2
link.
D2D master The drive is the master on the master/follower (D2D) 3
link.

Note: This setting is only to be used with D2D

communication implemented by application
programming. If you are using the master/follower
functionality (see page 34) through the XD2D
connector, select DDCS master instead.

D2D follower The drive is a follower on the master/follower (D2D) 4

link.

Note: This setting is only to be used with D2D

communication implemented by application
programming. If you are using the master/follower
functionality (see page 34) through the XD2D
connector, select DDCS follower instead.

DDCS forcing The role of the drive on the master/follower (DDCS) 5

link is defined by parameters 60.15 Force master and
60.16 Force follower.
D2D forcing The role of the drive on the master/follower (D2D) link 6
is defined by parameters 60.15 Force master and 60.16
Force follower.

Note: This setting is only to be used with D2D

communication implemented by application
programming. If you are using the master/follower
functionality (see page 34) through the XD2D
connector, select DDCS forcing instead.

60.5 M/F HW connection Selects the topology of the master/follower link. Ring / uint16

Note: Use the setting Star if using the master/follower

functionality (see page 34) through the XD2D
connector (as opposed to a fiber optic link).

Ring The devices are connected in a ring topology. 0

Forwarding of messages is enabled.
458 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Star The devices are connected in a star topology (for 1
example, through a branching unit). Forwarding of
messages is disabled.
60.7 M/F link control Defines the light intensity of the transmission LED of 10 / uint16
RDCO module channel CH2. (This parameter is effective
only when parameter 60.1 M/F communication port is
set to RDCO CH 2. FDCO modules have a hardware
transmitter current selector.)
In general, use higher values with longer fiber optic
cables.
The maximum setting is applicable to the maximum
length of the fiber optic link. See Master/follower
functionality (page 34).
1 ... 15 Light intensity. -/-
60.8 M/F comm loss Sets a timeout for master/follower (DDCS) 100 ms / uint16
timeout communication. If a communication break lasts longer
than the timeout, the action specified by parameter
60.9 M/F comm loss function is taken.
As a rule of thumb, this parameter should be set to at
least 3 times the transmit interval of the master.
0 ... 65535 ms Master/follower communication timeout. -/-
60.9 M/F comm loss Selects how the drive reacts to a master/follower Fault / uint16
function communication break.
NoAction No action taken. 0
Warning The drive generates an A7CB M/F comm loss warning. 1
This only occurs if control is expected from the
master/follower link, or if supervision is forced using
parameter 60.32 M/F comm supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Fault Drive trips on 7582 M/F comm loss. This only occurs 2
if control is expected from the master/follower link,
or if supervision is forced using parameter 60.32 M/F
comm supervision force.
Fault always Drive trips on 7582 M/F comm loss. This occurs even 3
though no control is expected from the
master/follower link.
60.10 M/F ref1 type Selects the type and scaling of reference 1 received Auto / uint16
from the master/follower link. The resulting value is
shown by 3.13 M/F or D2D ref1.
Auto Type and scaling are chosen automatically according 0
to which reference chain (see settings Torque, Speed,
Frequency) the incoming reference is connected to. If
the reference is not connected to any chain, no scaling
is applied (as with setting Transparent).
Transparent No scaling is applied. 1
 Parameters 459

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
General Generic reference with a scaling of 100 = 1 (ie. integer 2
and two decimals).
Torque The scaling is defined by parameter 46.3 Torque 3
scaling.
Speed The scaling is defined by parameter 46.1 Speed scaling. 4
Frequency The scaling is defined by parameter 46.2 Frequency 5
scaling.
60.11 M/F ref2 type Selects the type and scaling of reference 2 received Torque / uint16
from the master/follower link. The resulting value is
shown by 3.14 M/F or D2D ref2.
For the selections, see parameter 60.10 M/F ref1 type.
60.12 M/F act1 type Selects the type/source and scaling of actual value Auto / uint16
ACT1 transmitted to the master/follower link.
Auto Type/source and scaling follow the type of reference 0
1 selected by parameter 60.10 M/F ref1 type. See the
individual settings below for the sources and scalings.
Transparent Reserved 1
General Reserved 2
Torque 1.10 Motor torque is sent as actual value 1. The scaling 3
is defined by parameter 46.3 Torque scaling.
Speed 1.1 Motor speed used is sent as actual value 1. The 4
scaling is defined by parameter 46.1 Speed scaling.
Frequency 1.6 Output frequency is sent as actual value 1. The 5
scaling is defined by parameter 46.2 Frequency scaling.
60.13 M/F act2 type Selects the type/source and scaling of actual value Auto / uint16
ACT2 transmitted to the master/follower link.
Auto Type/source and scaling follow the type of reference 0
2 selected by parameter 60.11 M/F ref2 type. See the
individual settings below for the sources and scalings.
Transparent Reserved 1
General Reserved 2
Torque 1.10 Motor torque is sent as actual value 2. The scaling 3
is defined by parameter 46.3 Torque scaling.
Speed 1.1 Motor speed used is sent as actual value 2. The 4
scaling is defined by parameter 46.1 Speed scaling.
Frequency 1.6 Output frequency is sent as actual value 2. The 5
scaling is defined by parameter 46.2 Frequency scaling.
60.14 M/F follower (Effective in the master only.) Defines the followers None / uint32
selection from which data is read. See also parameters
62.28…62.33.
Follower node 2 Data is read from the follower with node address 2. 2
Follower node 3 Data is read from the follower with node address 3. 4
Follower node 4 Data is read from the follower with node address 4. 8
460 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Follower nodes 2+3 Data is read from the followers with node addresses 6
2 and 3.
Follower nodes 2+4 Data is read from the followers with node addresses 10
2 and 4.
Follower nodes 3+4 Data is read from the followers with node addresses 12
3 and 4.
Follower nodes Data is read from the followers with node addresses 14
2+3+4 2, 3 and 4.
None None. 0
60.15 Force master When parameter 60.3 M/F mode is set to DDCS forcing FALSE / uint32
or D2D forcing, this parameter selects a source that
forces the drive to be the master on the
master/follower link.
1 = Drive is master on the master/follower link
FALSE 0. 0
TRUE 1. 1
Other [bit] See Terms and abbreviations (page 134).
60.16 Force follower When parameter 60.3 M/F mode is set to DDCS forcing FALSE / uint32
or D2D forcing, this parameter selects a source that
forces the drive to be a follower on the
master/follower link.
1 = Drive is follower on the master/follower link
FALSE 0. 0
TRUE 1. 1
Other [bit] See Terms and abbreviations (page 134).
60.17 Follower fault (Effective in the master only.) Selects how the drive Fault / uint16
action reacts to a fault in a follower.
See also parameter 60.23 M/F status supervision sel
1.

Note: Each follower must be configured to transmit

its status word as one of the three data words in
parameters 60.1…60.3. In the master, the
corresponding target parameter (62.4…62.12) must
be set to Follower SW.

No action No action taken. Unaffected drives on the 0

master/follower link will continue running.
Warning The drive generates a warning (AFE7 Follower). 1
Fault Drive trips on FF7E Follower. All followers will be 2
stopped.
 Parameters 461

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60.18 Follower enable Interlocks the starting of the master to the status of Always / uint16
the followers.
See also parameter 60.23 M/F status supervision sel
1.

Note: Each follower must be configured to transmit

its status word as one of the three data words in
parameters 60.1…60.3. In the master, the
corresponding target parameter (62.4…62.12) must
be set to Follower SW.

MSW bit 0 The master can only be started if all followers are ready 0
to switch on (bit 0 of 6.11 Main status word in each
follower is on).
MSW bit 1 The master can only be started if all followers are ready 1
to operate (bit 1 of 6.11 Main status word in each
follower is on).
MSW bits 0 + 1 The master can only be started if all followers are ready 2
to switch on and ready to operate (bits 0 and 1 of 6.11
Main status word in each follower are on).
Always The starting of the master is not interlocked to the 3
status of the followers.
MSW bit 12 The master can only be started if user-definable bit 12 4
of 6.11 Main status word in each follower is on. See
parameter 6.31 MSW bit 12 sel.
MSW bits 0 + 12 The master can only be started if both bit 0 and bit 12 5
of 6.11 Main status word in each follower are on.
MSW bits 1 + 12 The master can only be started if both bit 1 and bit 12 6
of 6.11 Main status word in each follower are on.
60.19 M/F comm Parameters 60.19…60.28 are only effective when the - / uint16
supervision sel 1 drive is the master on a D2D (drive-to-drive) link,
implemented by application programming. See
parameters 60.1 M/F communication port and 60.3
M/F mode, and Drive (IEC 61131-3) application
programming manual (3AUA0000127808 [English]).
In the master, parameters 60.19 M/F comm supervision
sel 1 and 60.20 M/F comm supervision sel 2 specify
the followers that are monitored for loss of
communication.
This parameter selects which followers (out of
followers 1…16) are monitored. Each of the selected
followers is polled by the master. If no reply is received,
the action specified in 60.9 M/F comm loss function
is taken.
The status of communication is shown by 62.37 M/F
communication status 1 and 62.38 M/F communication
status 2.
b0 Follower 1 1 = Follower 1 is polled by the master.
b1 Follower 2 1 = Follower 2 is polled by the master.
b2 Follower 3 1 = Follower 3 is polled by the master.
b3 Follower 4 1 = Follower 4 is polled by the master.
462 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b4 Follower 5 1 = Follower 5 is polled by the master.
b5 Follower 6 1 = Follower 6 is polled by the master.
b6 Follower 7 1 = Follower 7 is polled by the master.
b7 Follower 8 1 = Follower 8 is polled by the master.
b8 Follower 9 1 = Follower 9 is polled by the master.
b9 Follower 10 1 = Follower 10 is polled by the master.
b10 Follower 11 1 = Follower 11 is polled by the master.
b11 Follower 12 1 = Follower 12 is polled by the master.
b12 Follower 13 1 = Follower 13 is polled by the master.
b13 Follower 14 1 = Follower 14 is polled by the master.
b14 Follower 15 1 = Follower 15 is polled by the master.
b15 Follower 16 1 = Follower 16 is polled by the master.
0000h…FFFFh 1=1
60.20 M/F comm Selects which followers (out of followers 17…32) are - / uint16
supervision sel 2 monitored for loss of communication. See parameter
60.19 M/F comm supervision sel 1.
b0 Follower 17 1 = Follower 17 is polled by the master.
b1 Follower 18 1 = Follower 18 is polled by the master.
b2 Follower 19 1 = Follower 19 is polled by the master.
b3 Follower 20 1 = Follower 20 is polled by the master.
b4 Follower 21 1 = Follower 21 is polled by the master.
b5 Follower 22 1 = Follower 22 is polled by the master.
b6 Follower 23 1 = Follower 23 is polled by the master.
b7 Follower 24 1 = Follower 24 is polled by the master.
b8 Follower 25 1 = Follower 25 is polled by the master.
b9 Follower 26 1 = Follower 26 is polled by the master.
b10 Follower 27 1 = Follower 27 is polled by the master.
b11 Follower 28 1 = Follower 28 is polled by the master.
b12 Follower 29 1 = Follower 29 is polled by the master.
b13 Follower 30 1 = Follower 30 is polled by the master.
b14 Follower 31 1 = Follower 31 is polled by the master.
b15 Follower 32 1 = Follower 32 is polled by the master.
0000h…FFFFh 1=1
 Parameters 463

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60.23 M/F status (This parameter is only effective when the drive is the - / uint16
supervision sel 1 master on a D2D link. See parameters 60.1 M/F
communication port and 60.3 M/F mode.)
In the master, parameters 60.23 M/F status
supervision sel 1 and 60.24 M/F status supervision sel
2 specify the followers whose status word is monitored
by the master.
This parameter selects the followers (out of followers
1…16) whose status words are monitored by the
master.
If a follower reports a fault (bit 3 of the status word is
on), the action specified in 60.17 Follower fault action
is taken. Bits 0 and 1 of the status word (ready states)
are handled as defined by 60.18 Follower enable.
Using 60.27 M/F status supv mode sel 1 and 60.28 M/F
status supv mode sel 2, it is possible to define whether
any given follower is only monitored when it is
stopped.

Note: Also activate communication supervision for the

same followers in parameter 60.19 M/F comm
supervision sel 1.
The status of communication is shown by 62.37 M/F
communication status 1 and 62.38 M/F communication
status 2.
b0 Follower 1 Status of follower 1 is monitored.
b1 Follower 2 Status of follower 2 is monitored.
b2 Follower 3 Status of follower 3 is monitored.
b3 Follower 4 Status of follower 4 is monitored.
b4 Follower 5 Status of follower 5 is monitored.
b5 Follower 6 Status of follower 6 is monitored.
b6 Follower 7 Status of follower 7 is monitored.
b7 Follower 8 Status of follower 8 is monitored.
b8 Follower 9 Status of follower 9 is monitored.
b9 Follower 10 Status of follower 10 is monitored.
b10 Follower 11 Status of follower 11 is monitored.
b11 Follower 12 Status of follower 12 is monitored.
b12 Follower 13 Status of follower 13 is monitored.
b13 Follower 14 Status of follower 14 is monitored.
b14 Follower 15 Status of follower 15 is monitored.
b15 Follower 16 Status of follower 16 is monitored.
0000h…FFFFh 1=1
464 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60.24 M/F status Selects the followers (out of followers 17…32) whose - / uint16
supervision sel 2 status words are monitored by the D2D master.

Note: Also activate communication supervision for the

same followers in parameter 60.20 M/F comm
supervision sel 2.
See parameter 60.23 M/F status supervision sel 1.
b0 Follower 17 1 = Status of follower 17 is monitored.
b1 Follower 18 1 = Status of follower 18 is monitored.
b2 Follower 19 1 = Status of follower 19 is monitored.
b3 Follower 20 1 = Status of follower 20 is monitored.
b4 Follower 21 1 = Status of follower 21 is monitored.
b5 Follower 22 1 = Status of follower 22 is monitored.
b6 Follower 23 1 = Status of follower 23 is monitored.
b7 Follower 24 1 = Status of follower 24 is monitored.
b8 Follower 25 1 = Status of follower 25 is monitored.
b9 Follower 26 1 = Status of follower 26 is monitored.
b10 Follower 27 1 = Status of follower 27 is monitored.
b11 Follower 28 1 = Status of follower 28 is monitored.
b12 Follower 29 1 = Status of follower 29 is monitored.
b13 Follower 30 1 = Status of follower 30 is monitored.
b14 Follower 31 1 = Status of follower 31 is monitored.
b15 Follower 32 1 = Status of follower 32 is monitored.
0000h…FFFFh 1=1
60.27 M/F status supv In the D2D master, parameters 60.27 M/F status supv - / uint16
mode sel 1 mode sel 1 and 60.28 M/F status supv mode sel 2
specify the mode of follower status word monitoring.
Each follower can individually be set to be monitored
continuously, or only when it is in stopped state.
This parameter selects the mode of status word
monitoring of followers 1…16.
b0 Follower 1 0 = Status of follower 1 is monitored continuously.
1 = Status of follower 1 is monitored only when it is in
stopped state.
b1 Follower 2 0 = Status of follower 2 is monitored continuously.
1 = Status of follower 2 is monitored only when it is in
stopped state.
b2 Follower 3 0 = Status of follower 3 is monitored continuously.
1 = Status of follower 3 is monitored only when it is in
stopped state.
b3 Follower 4 0 = Status of follower 4 is monitored continuously.
1 = Status of follower 4 is monitored only when it is in
stopped state.
 Parameters 465

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b4 Follower 5 0 = Status of follower 5 is monitored continuously.
1 = Status of follower 5 is monitored only when it is in
stopped state.
b5 Follower 6 0 = Status of follower 6 is monitored continuously.
1 = Status of follower 6 is monitored only when it is in
stopped state.
b6 Follower 7 0 = Status of follower 7 is monitored continuously.
1 = Status of follower 7 is monitored only when it is in
stopped state.
b7 Follower 8 0 = Status of follower 8 is monitored continuously.
1 = Status of follower 8 is monitored only when it is in
stopped state.
b8 Follower 9 0 = Status of follower 9 is monitored continuously.
1 = Status of follower 9 is monitored only when it is in
stopped state.
b9 Follower 10 0 = Status of follower 10 is monitored continuously.
1 = Status of follower 10 is monitored only when it is
in stopped state.
b10 Follower 11 0 = Status of follower 11 is monitored continuously.
1 = Status of follower 11 is monitored only when it is
in stopped state.
b11 Follower 12 0 = Status of follower 12 is monitored continuously.
1 = Status of follower 12 is monitored only when it is
in stopped state.
b12 Follower 13 0 = Status of follower 13 is monitored continuously.
1 = Status of follower 13 is monitored only when it is
in stopped state.
b13 Follower 14 0 = Status of follower 14 is monitored continuously.
1 = Status of follower 14 is monitored only when it is
in stopped state.
b14 Follower 15 0 = Status of follower 15 is monitored continuously.
1 = Status of follower 15 is monitored only when it is
in stopped state.
b15 Follower 16 0 = Status of follower 16 is monitored continuously.
1 = Status of follower 16 is monitored only when it is
in stopped state.
0000h…FFFFh 1=1
60.28 M/F status supv Selects the mode of status word monitoring of - / uint16
mode sel 2 followers 17…32.
b0 Follower 17 0 = Status of follower 17 is monitored continuously.
1 = Status of follower 17 is monitored only when it is
in stopped state.
b1 Follower 18 0 = Status of follower 18 is monitored continuously.
1 = Status of follower 18 is monitored only when it is
in stopped state.
b2 Follower 19 0 = Status of follower 19 is monitored continuously.
1 = Status of follower 19 is monitored only when it is
in stopped state.
466 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b3 Follower 20 0 = Status of follower 20 is monitored continuously.
1 = Status of follower 20 is monitored only when it is
in stopped state.
b4 Follower 21 0 = Status of follower 21 is monitored continuously.
1 = Status of follower 21 is monitored only when it is
in stopped state.
b5 Follower 22 0 = Status of follower 22 is monitored continuously.
1 = Status of follower 22 is monitored only when it is
in stopped state.
b6 Follower 23 0 = Status of follower 23 is monitored continuously.
1 = Status of follower 23 is monitored only when it is
in stopped state.
b7 Follower 24 0 = Status of follower 24 is monitored continuously.
1 = Status of follower 24 is monitored only when it is
in stopped state.
b8 Follower 25 0 = Status of follower 25 is monitored continuously.
1 = Status of follower 25 is monitored only when it is
in stopped state.
b9 Follower 26 0 = Status of follower 26 is monitored continuously.
1 = Status of follower 26 is monitored only when it is
in stopped state.
b10 Follower 27 0 = Status of follower 27 is monitored continuously.
1 = Status of follower 27 is monitored only when it is
in stopped state.
b11 Follower 28 0 = Status of follower 28 is monitored continuously.
1 = Status of follower 28 is monitored only when it is
in stopped state.
b12 Follower 29 0 = Status of follower 29 is monitored continuously.
1 = Status of follower 29 is monitored only when it is
in stopped state.
b13 Follower 30 0 = Status of follower 30 is monitored continuously.
1 = Status of follower 30 is monitored only when it is
in stopped state.
b14 Follower 31 0 = Status of follower 31 is monitored continuously.
1 = Status of follower 31 is monitored only when it is
in stopped state.
b15 Follower 32 0 = Status of follower 32 is monitored continuously.
1 = Status of follower 32 is monitored only when it is
in stopped state.
0000h…FFFFh 1=1
60.31 M/F wake up delay Defines a wake-up delay during which no 60.0 s / uint16
master/follower communication faults or warnings
are generated. This is to allow all drives on the
master/follower link to power up.
The master cannot be started until the delay elapses
or all monitored followers are found to be ready.
0.0 ... 180.0 s Master/follower wake-up delay. 10 = 1 s / 10 = 1 s
 Parameters 467

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60.32 M/F comm Activates master/follower communication monitoring - / uint16
supervision force separately for each control location (see section Local
control vs. external control (page 23)).
The parameter is primarily intended for monitoring
the communication with master or follower when it is
connected to the application program and not selected
as a control source by drive parameters.
b0 Ext 1 1 = Communication monitoring active when Ext 1 is
being used.
b1 Ext 2 1 = Communication monitoring active when Ext 2 is
being used.
b2 Local 1 = Communication monitoring active when local
control is being used.
b3…15 Reserved
0000h…FFFFh 1=1
60.41 Extension adapter Selects the channel used for connecting an optional Not in use / uint16
com port FEA-xx extension adapter.
Not in use None (communication disabled). 0
Slot 1A Channel A on FDCO module in slot 1. 1
Slot 2A Channel A on FDCO module in slot 2. 2
Slot 3A Channel A on FDCO module in slot 3. 3
Slot 1B Channel B on FDCO module in slot 1. 4
Slot 2B Channel B on FDCO module in slot 2. 5
Slot 3B Channel B on FDCO module in slot 3. 6
RDCO CH 3 Channel CH 3 on RDCO module (with BCU control unit 13
only).
60.50 DDCS controller In ModuleBus communication, defines whether the ABB engineered
drive type drive is of the “engineered” or “standard” type. drive / uint16

Note: This parameter cannot be changed while the

drive is running.

ABB engineered The drive is an “engineered drive” (data sets 10…25 0

drive are used).
ABB standard drive The drive is a “standard drive” (data sets 1…4 are 1
used).
60.51 DDCS controller Selects the DDCS channel used for connecting an Not in use / uint16
comm port external controller (such as an AC 800M).
Not in use None (communication disabled). 0
Slot 1A Channel A on FDCO module in slot 1. 1
Slot 2A Channel A on FDCO module in slot 2. 2
Slot 3A Channel A on FDCO module in slot 3. 3
Slot 1B Channel B on FDCO module in slot 1. 4
Slot 2B Channel B on FDCO module in slot 2. 5
468 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Slot 3B Channel B on FDCO module in slot 3. 6
RDCO CH 0 Channel 0 on RDCO module (with BCU control unit 10
only).
XD2D Connector XD2D. 7
60.52 DDCS controller Selects the node address of the drive for 1 / uint16
node address communication with the external controller. No two
nodes on-line may have the same address.
With an AC 800M (CI858) DriveBus connection, drives
must be addressed 1…24; with an AC 80 DriveBus
connection, drives must be addressed 1…12. Note that
the BusManager function must be disabled in the
DriveBus controller.
With optical ModuleBus, the drive address is set
according to the position value as follows:

1. Multiply the hundreds of the position value by 16.

2. Add the tens and ones of the position value to

the result.
For example, if the position value is 101, this parameter
must be set to 1×16 + 1 = 17.
1 ... 254 Node address. -/-
60.55 DDCS controller HW Selects the topology of the fiber optic link with an Star / uint16
connection external controller.
Ring The devices are connected in a ring topology. 0
Forwarding of messages is enabled.
Star The devices are connected in a star topology (for 1
example, through a branching unit). Forwarding of
messages is disabled.
60.56 DDCS controller Selects the communication speed of the channel 4 mbps / uint16
baud rate selected by parameter 60.51 DDCS controller comm
port.
1 mbps 1 megabit/second. 1
2 mbps 2 megabit/second. 2
4 mbps 4 megabit/second. 4
8 mbps 8 megabit/second. 8
60.57 DDCS controller link Defines the light intensity of the transmission LED of 10 / uint16
control RDCO module channel CH0. (This parameter is
effective only when parameter 60.51 DDCS controller
comm port is set to RDCO CH 0. FDCO modules have
a hardware transmitter current selector.)
In general, use higher values with longer fiber optic
cables.
The maximum setting is applicable to the maximum
length of the fiber optic link. See Master/follower
functionality (page 34).
1 ... 15 Light intensity. -/-
 Parameters 469

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60.58 DDCS controller Sets a timeout for communication with the external 100 ms / uint16
comm loss time controller.
If a communication break lasts longer than the
timeout, the action specified by parameter 60.59 DDCS
controller comm loss function is taken.
As a rule of thumb, this parameter should be set to at
least 3 times the transmit interval of the controller.

Note:

• There is a 60-second boot-up delay immediately

after power-up. During the delay, the
communication break monitoring is disabled (but
communication itself can be active).

• With an AC 800M controller, the controller detects

a communication break immediately but
re-establishing the communication is done at
9-second idle intervals. Also note that the sending
interval of a data set is not the same as the
execution interval of the application task. On
ModuleBus, the sending interval is defined by
controller parameter Scan Cycle Time (by default,
100 ms).

0 ... 60000 ms Timeout for communication with external controller. -/-

60.59 DDCS controller Selects how the drive reacts to a communication break Fault / uint16
comm loss function between the drive and the external controller.
No action No action taken (monitoring disabled). 0
Fault Drive trips on 7581 DDCS controller comm loss. This 1
only occurs if control is expected from the external
controller, or if supervision is forced using parameter
60.65 DDCS controller comm supervision force.
Last speed Drive generates an A7CA DDCS controller comm loss 2
warning and freezes the speed to the level the drive
was operating at. This only occurs if control is
expected from the external controller, or if supervision
is forced using parameter 60.65 DDCS controller comm
supervision force.
The speed is determined on the basis of actual speed
using 850 ms low-pass filtering.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.
470 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Speed ref safe Drive generates an A7CA DDCS controller comm loss 3
warning and sets the speed to the speed defined by
parameter 22.41 Speed ref safe (or 28.41 Frequency
ref safe when frequency reference is being used). This
only occurs if control is expected from the external
controller, or if supervision is forced using parameter
60.65 DDCS controller comm supervision force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

Fault always Drive trips on 7581 DDCS controller comm loss. This 4
occurs even though no control is expected from the
external controller.
Warning Drive generates an A7CA DDCS controller comm loss 5
warning. This only occurs if control is expected from
the external controller, or if supervision is forced using
parameter 60.65 DDCS controller comm supervision
force.

WARNING!
Make sure that it is safe to continue operation
in case of a communication break.

60.60 DDCS controller ref1 Selects the type and scaling of reference 1 received Auto / uint16
type from the external controller. The resulting value is
shown by 3.11 DDCS controller ref 1.
Auto Type and scaling are chosen automatically according 0
to which reference chain (see settings Torque, Speed,
Frequency) the incoming reference is connected to. If
the reference is not connected to any chain, no scaling
is applied (as with setting Transparent).
Transparent No scaling is applied. 1
General Generic reference with a scaling of 100 = 1 (ie. integer 2
and two decimals).
Torque The scaling is defined by parameter 46.3 Torque 3
scaling.
Speed The scaling is defined by parameter 46.1 Speed scaling. 4
Frequency The scaling is defined by parameter 46.2 Frequency 5
scaling.
60.61 DDCS controller Selects the type and scaling of reference 2 received Auto / uint16
ref2 type from the external controller. The resulting value is
shown by 3.12 DDCS controller ref 2.
For the selections, see parameter 60.60 DDCS
controller ref1 type.
60.62 DDCS controller Selects the type/source and scaling of actual value Auto / uint16
act1 type ACT1 transmitted to the external controller.
 Parameters 471

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Auto Type/source and scaling follow the type of reference 0
1 selected by parameter 60.60 DDCS controller ref1
type. See the individual settings below for the sources
and scalings.
Transparent Reserved. 1
General Reserved. 2
Torque 1.10 Motor torque is sent as actual value 1. The scaling 3
is defined by parameter 46.3 Torque scaling.
Speed 1.1 Motor speed used is sent as actual value 1. The 4
scaling is defined by parameter 46.1 Speed scaling.
Frequency 1.6 Output frequency is sent as actual value 1. The 5
scaling is defined by parameter 46.2 Frequency scaling.
60.63 DDCS controller Selects the type/source and scaling of actual value Auto / uint16
act2 type ACT2 transmitted to the external controller.
Auto Type/source and scaling follow the type of reference 0
2 selected by parameter 60.61 DDCS controller ref2
type. See the individual settings below for the sources
and scalings.
Transparent Reserved. 1
General Reserved. 2
Torque 1.10 Motor torque is sent as actual value 2. The scaling 3
is defined by parameter 46.3 Torque scaling.
Speed 1.1 Motor speed used is sent as actual value 2. The 4
scaling is defined by parameter 46.1 Speed scaling.
Frequency 1.6 Output frequency is sent as actual value 2. The 5
scaling is defined by parameter 46.2 Frequency scaling.
60.64 Mailbox dataset Selects the pair of data sets used by the mailbox 0 / uint16
selection service in the drive/controller communication.
See section External controller interface (page 42).
0 ... 1 Data sets 32 and 33. -/-
60.65 DDCS controller Activates DDCS controller communication monitoring - / uint16
comm supervision separately for each control location (see section Local
force control vs. external control (page 23).
The parameter is primarily intended for monitoring
the communication with the controller when it is
connected to the application program and not selected
as a control source by drive parameters.
b0 Ext 1 1 = Communication monitoring active when Ext 1 is
being used.
b1 Ext 2 1 = Communication monitoring active when Ext 2 is
being used.
b2 Local 1 = Communication monitoring active when local
control is being used.
b3…15 Reserved
0000h…FFFFh 1=1
472 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
60.71 INU-LSU (Only visible when supply unit control activated by Not in use / uint16
communication 95.20)
port Selects the DDCS channel used for connecting to
another converter (such as a supply unit).
The selections available, as well as the default, depend
on drive hardware.
See also section Control of a supply unit
(LSU) (page 44).
Not in use None (communication disabled). 0
RDCO CH 1 Channel 1 on RDCO module. 11
DDCS via BC Connector X201. 15
60.77 INU-LSU link control (Only visible when supply unit control activated by 10 / uint16
95.20)
Defines the light intensity of the transmission LED of
RDCO module channel CH1. (This parameter is effective
only when parameter 60.71 INU-LSU communication
port is set to RDCO CH 1. FDCO modules have a
hardware transmitter current selector.)
In general, use higher values with longer fiber optic
cables.
The maximum setting is applicable to the maximum
length of the fiber optic link. See Master/follower
functionality.
1 ... 15 Light intensity. -/-
60.78 INU-LSU comm loss (Only visible when supply unit control activated by 100 ms / uint16
timeout 95.20)
Sets a timeout for communication with another
converter (such as the supply unit). If a communication
break lasts longer than the timeout, the action
specified by parameter 60.79 INU-LSU comm loss
function is taken.
0 ms Timeout for communication between converters. -/-
60.79 INU-LSU comm loss (Only visible when supply unit control activated by Fault / uint16
function 95.20)
Selects how the inverter unit reacts to a
communication break between the inverter unit and
the other converter (typically the supply unit).

WARNING!
With settings other than Fault, the inverter unit
will continue operating based on the status
information that was last received from the
other converter. Make sure this does not cause
danger.

No action No action taken. 0

Warning The drive generates a warning (AF80 INU-LSU comm 1
loss).
Fault Drive trips on 7580 INU-LSU comm loss. 2
 Parameters 473

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
61 D2D and DDCS Defines the data sent to the DDCS link.
transmit data See also parameter group 60 DDCS communication.
61.1 M/F data 1 Preselects the data to be sent as word 1 onto the Follower CW / uint32
selection master/follower link.
See also parameter 61.25 M/F data 1 value, and section
Master/follower functionality (page 34).
None None. 0
CW 16bit Control Word (16 bits) 1
SW 16bit Status Word (16 bits) 4
Act1 16bit Actual value ACT1 (16 bits) 5

Note: Using this setting to send a reference to the

follower is not recommended as the source signal is
filtered. Use the “reference” selections instead.

Act2 16bit Actual value ACT2 (16 bits) 6

Note: Using this setting to send a reference to the

follower is not recommended as the source signal is
filtered. Use the “reference” selections instead.

Follower CW A word consisting of bits 0…11 of 6.1 Main control 27

word and the bits selected by parameters
06.45…06.48.

Note: Bit 3 of the follower control word is kept on as

long as the master is modulating, and when it switches
to 0, the follower coasts to a stop.

Used speed 24.1 Used speed reference (page 285). 6145

reference
Torque reference 26.75 Torque reference act 5 (page 312). 6731
act 5
Torque reference 26.2 Torque reference used (page 304). 6658
used
ACS800 System ctrl A follower status word compatible with an ACS800 28
SW (System Control Program) master. With this setting,
status word bit 0 is cleared whenever the run enable
signal is missing.
Follower CW B6 Otherwise identical to selection Follower CW, but bit 29
high 6 of the follower control word is also kept on as long
as the master is modulating. This will allow the follower
to stop along the stop ramp of the master.
D2D position Virtual address for Control word for the follower units, 809013
bit 6 high as long as the drive modulates

Note: This setting cannot be used in 61.03 M/F data

3 selection because the 32-bit value requires two
consecutive words.
474 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
D2D velocity Scaled velocity value as displayed by 88.54 D2D velocity 22582
send.

Note: Occasionally, below data are also sent to the

follower:

• 32768-Position initialization or position send type

changed.

• 32767-Latch 1 triggered in master.

Other [value] See Terms and abbreviations (page 134).

61.2 M/F data 2 Preselects the data to be sent as word 2 onto the Used speed
selection master/follower link. reference / uint32
See also parameter 61.26 M/F data 2 value.
For the selections, see parameter 61.1 M/F data 1
selection.

Note: If the parameters 61.2 is set to the value other

than Used speed reference and 60.10 to Auto, the
follower drive do not follow master drive.

61.3 M/F data 3 Preselects the data to be sent as word 3 onto the Torque reference act
selection master/follower link. 5 / uint32
See also parameter 61.27 M/F data 3 value.
For the selections, see parameter 61.1 M/F data 1
selection.
61.25 M/F data 1 value Displays the data to be sent onto the master/follower - / uint16
link as word 1 as an integer.
If no data has been preselected by 61.1 M/F data 1
selection, the value to be sent can be written directly
into this parameter.
0 ... 65535 Data to be sent as word 1 in master/follower -/-
communication.
61.26 M/F data 2 value Displays the data to be sent onto the master/follower - / uint16
link as word 2 as an integer.
If no data has been preselected by 61.2 M/F data 2
selection, the value to be sent can be written directly
into this parameter.
0 ... 65535 Data to be sent as word 2 in master/follower -/-
communication.
61.27 M/F data 3 value Displays the data to be sent onto the master/follower - / uint16
link as word 3 as an integer.
If no data has been preselected by 61.3 M/F data 3
selection, the value to be sent can be written directly
into this parameter.
0 ... 65535 Data to be sent as word 3 in master/follower -/-
communication.
 Parameters 475

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
61.45 Data set 2 data 1 Parameters 61.45…61.50 preselect data to be sent in None / uint32
selection data sets 2 and 4 to the external controller. These data
sets are used in ModuleBus communication with a
“standard drive” (60.50 DDCS controller drive type =
ABB standard drive). Parameters 61.95…61.100 display
the data to be sent to the external controller. If no data
has been preselected, the value to be sent can be
written directly into these parameters. For example,
this parameter preselects the data for word 1 of data
set 2. Parameter 61.95 Data set 2 data 1 value displays
the selected data in integer format. If no data is
preselected, the value to be sent can be written directly
into parameter 61.95.
None None. 0
CW 16bit Control Word (16 bits) 1
SW 16bit Status Word (16 bits) 4
Act1 16bit Actual value ACT1 (16 bits) 5
Act2 16bit Actual value ACT2 (16 bits) 6
Other [value] See Terms and abbreviations (page 134).
61.46 Data set 2 data 2 Preselects the data to be sent as word 2 of data set 2 None / uint32
selection to the external controller.
See also parameter 61.96 Data set 2 data 2 value.
For the selections, see parameter 61.45 Data set 2 data
1 selection.
61.47 Data set 2 data 3 See parameter 61.45 Data set 2 data 1 selection. None / uint32
selection
… … … …
61.50 Data set 4 data 3 See parameter 61.45 Data set 2 data 1 selection. None / uint32
selection
61.51 Data set 11 data 1 Parameters 61.51…61.74 preselect data to be sent in None / uint32
selection data sets 11, 13, 15, 17, 19, 21, 23 and 25 to the external
controller.
Parameters 61.101…61.124 display the data to be sent
to the external controller. If no data has been
preselected, the value to be sent can be written directly
into these parameters.
For example, this parameter preselects the data for
word 1 of data set 11. Parameter 61.101 Data set 11 data
1 value displays the selected data in integer format. If
no data is preselected, the value to be sent can be
written directly into parameter 61.101.
None None. 0
CW 16bit Control Word (16 bits) 1
SW 16bit Status Word (16 bits) 4
Act1 16bit Actual value ACT1 (16 bits) 5
Act2 16bit Actual value ACT2 (16 bits) 6
Other [value] See Terms and abbreviations (page 134).
476 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
61.52 Data set 11 data 2 Preselects the data to be sent as word 2 of data set 11 None / uint32
selection to the external controller.
See also parameter 61.102 Data set 11 data 2 value.
For the selections, see parameter 61.51 Data set 11
data 1 selection.
61.53 Data set 11 data 3 Preselects the data to be sent as word 3 of data set 11 None / uint32
selection to the external controller.
See also parameter 61.103 Data set 11 data 3 value.
For the selections, see parameter 61.51 Data set 11
data 1 selection.
61.54 Data set 13 data 1 See parameter 61.51 Data set 11 data 1 selection. None / uint32
selection
… … … …
61.74 Data set 25 data 3 See parameter 61.51 Data set 11 data 1 selection. None / uint32
selection
61.95 Data set 2 data 1 Displays (in integer format) the data to be sent to the 0 / uint16
value external controller as word 1 of data set 2.
If no data has been preselected by 61.45 Data set 2
data 1 selection, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 1 of data set 2. -/-
61.96 Data set 2 data 2 Displays (in integer format) the data to be sent to the 0 / uint16
value external controller as word 2 of data set 2.
If no data has been preselected by 61.46 Data set 2
data 2 selection, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 2 of data set 2. -/-
61.97 Data set 2 data 3 Displays (in integer format) the data to be sent to the 0 / uint16
value external controller as word 3 of data set 2.
If no data has been preselected by 61.47 Data set 2
data 3 selection, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 3 of data set 2. -/-
… … … …
61.100 Data set 4 data 3 Displays (in integer format) the data to be sent to the 0 / uint16
value external controller as word 3 of data set 4.
If no data has been selected by 61.50 Data set 4 data
3 selection, the value to be sent can be written directly
into this parameter.
0 ... 65535 Data to be sent as word 3 of data set 4. -/-
61.101 Data set 11 data 1 Displays (in integer format) the data to be sent to the - / uint16
value external controller as word 1 of data set 11.
If no data has been preselected by 61.51 Data set 11
data 1 selection, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 1 of data set 11. -/-
 Parameters 477

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
61.102 Data set 11 data 2 Displays (in integer format) the data to be sent to the - / uint16
value external controller as word 2 of data set 11.
If no data has been preselected by 61.52 Data set 11
data 2 selection, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 2 of data set 11. -/-
61.103 Data set 11 data 3 Displays (in integer format) the data to be sent to the - / uint16
value external controller as word 3 of data set 11.
If no data has been selected by 61.53 Data set 11 data
3 selection, the value to be sent can be written directly
into this parameter.
0 ... 65535 Data to be sent as word 3 of data set 11. -/-
61.104 Data set 13 data 1 Displays (in integer format) the data to be sent to the - / uint16
value external controller as word 1 of data set 13.
If no data has been selected by 61.54 Data set 13 data
1 selection, the value to be sent can be written directly
into this parameter.
0 ... 65535 Data to be sent as word 1 of data set 13. -/-
… … … …
61.124 Data set 25 data 3 Displays (in integer format) the data to be sent to the - / uint16
value external controller as word 3 of data set 25.
If no data has been selected by 61.74 Data set 25 data
3 selection, the value to be sent can be written directly
into this parameter.
0 ... 65535 Data to be sent as word 3 of data set 25. -/-
61.151 INU-LSU data set 10 (Parameters 61.151…61.203 only visible when supply LSU CW / uint32
data 1 sel unit control activated by 95.20)
Parameters 61.151…61.153 preselect data to be sent
in data set 10 to another converter (typically the supply
unit of the drive).
Parameters 61.201…61.203 display the data to be sent
to the other converter. If no data has been preselected,
the value to be sent can be written directly into these
parameters.
For example, this parameter preselects the data for
word 1 of data set 10. Parameter 61.201 INU-LSU data
set 10 data 1 value displays the selected data in integer
format. If no data is preselected, the value to be sent
can be written directly into parameter 61.201.
None None. 0
LSU CW Control word for the supply unit. 22
DC voltage 94.20 DC voltage reference (page 514). 24084
reference
Reactive power 94.30 Reactive power reference (page 515). 24094
reference
Other [value] See Terms and abbreviations (page 134).
478 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
61.152 INU-LSU data set 10 Preselects the data to be sent as word 2 of data set DC voltage reference
data 2 sel 10 to the other converter. / uint32
See also parameter 61.202 INU-LSU data set 10 data 2
value.
For the selections, see parameter 61.151 INU-LSU data
set 10 data 1 sel.
61.153 INU-LSU data set 10 Preselects the data to be sent as word 3 of data set Reactive power
data 3 sel 10 to the other converter. reference / uint32
See also parameter 61.203 INU-LSU data set 10 data 3
value.
For the selections, see parameter 61.151 INU-LSU data
set 10 data 1 sel.
61.201 INU-LSU data set 10 Displays (in integer format) the data to be sent to the - / uint16
data 1 value other converter as word 1 of data set 10.
If no data has been preselected by 61.151 INU-LSU data
set 10 data 1 sel, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 1 of data set 10. -/-
61.202 INU-LSU data set 10 Displays (in integer format) the data to be sent to the - / uint16
data 2 value other converter as word 2 of data set 10.
If no data has been preselected by 61.152 INU-LSU data
set 10 data 2 sel, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 2 of data set 10. -/-
61.203 INU-LSU data set 10 Displays (in integer format) the data to be sent to the - / uint16
data 3 value other converter as word 3 of data set 10.
If no data has been selected by 61.153 INU-LSU data
set 10 data 3 sel, the value to be sent can be written
directly into this parameter.
0 ... 65535 Data to be sent as word 3 of data set 10. -/-
 Parameters 479

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
62 D2D and DDCS Mapping of data received through the DDCS link.
receive data See also parameter group 60 DDCS communication.
62.1 M/F data 1 (Follower only) Defines a target for the data received None / uint32
selection as word 1 from the master through the
master/follower link.
See also parameter 62.25 M/F data 1 value.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
Ref2 16bit Reference REF2 (16 bits) 3
M/F velocity Scaled velocity value. 4

Note: This selection should be chosen for the same

data word as was set to D2D velocity in the master.

M/F position 32-bit position value. 30

Note: This selection should be chosen for the same

data word as was set to D2D position in the master.
(The setting will automatically reserve two consecutive
data words.)

Other [value] See Terms and abbreviations (page 134).

62.2 M/F data 2 (Follower only) Defines a target for the data received None / uint32
selection as word 2 from the master through the
master/follower link.
See also parameter 62.26 M/F data 2 value.
For the selections, see parameter 62.1 M/F data 1
selection.
62.3 M/F data 3 (Follower only) Defines a target for the data received None / uint32
selection as word 3 from the master through the
master/follower link.
See also parameter 62.27 M/F data 3 value.
For the selections, see parameter 62.1 M/F data 1
selection.
62.4 Follower node 2 Defines a target for the data received as word 1 from Follower SW / uint32
data 1 sel the first follower (ie. the follower with node address
2) through the master/follower link.
See also parameter 62.28 Follower node 2 data 1 value.
None None. 0
Follower SW Status word of the follower. See also parameter 60.18 26
Follower enable.
Other [value] See Terms and abbreviations (page 134).
62.5 Follower node 2 Defines a target for the data received as word 2 from None / uint32
data 2 sel the first follower (ie. the follower with node address
2) through the master/follower link.
See also parameter 62.29 Follower node 2 data 2 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
480 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
62.6 Follower node 2 Defines a target for the data received as word 3 from None / uint32
data 3 sel the first follower (ie. the follower with node address
2) through the master/follower link.
See also parameter 62.30 Follower node 2 data 3 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
62.7 Follower node 3 Defines a target for the data received as word 1 from Follower SW / uint32
data 1 sel the second follower (ie. the follower with node address
3) through the master/follower link.
See also parameter 62.31 Follower node 3 data 1 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
62.8 Follower node 3 Defines a target for the data received as word 2 from None / uint32
data 2 sel the second follower (ie. the follower with node address
3) through the master/follower link.
See also parameter 62.32 Follower node 3 data 2 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
62.9 Follower node 3 Defines a target for the data received as word 3 from None / uint32
data 3 sel the second follower (ie. the follower with node address
3) through the master/follower link.
See also parameter 62.33 Follower node 3 data 3 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
62.10 Follower node 4 Defines a target for the data received as word 1 from Follower SW / uint32
data 1 sel the third follower (ie. the follower with node address
4) through the master/follower link.
See also parameter 62.34 Follower node 4 data 1 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
62.11 Follower node 4 Defines a target for the data received as word 2 from None / uint32
data 2 sel the third follower (ie. the follower with node address
4) through the master/follower link.
See also parameter 62.35 Follower node 4 data 2 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
62.12 Follower node 4 Defines a target for the data received as word 3 from None / uint32
data 3 sel the third follower (ie. the follower with node address
4) through the master/follower link.
See also parameter 62.36 Follower node 4 data 3 value.
For the selections, see parameter 62.4 Follower node
2 data 1 sel.
62.25 M/F data 1 value (Follower only) Displays, in integer format, the data - / uint16
received from the master as word 1.
Parameter 62.1 M/F data 1 selection can be used to
select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 1 in master/follower -/-
communication.
 Parameters 481

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
62.26 M/F data 2 value (Follower only) Displays, in integer format, the data - / uint16
received from the master as word 2.
Parameter 62.2 M/F data 2 selection can be used to
select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 2 in master/follower -/-
communication.
62.27 M/F data 3 value (Follower only) Displays, in integer format, the data - / uint16
received from the master as word 3.
Parameter 62.3 M/F data 3 selection can be used to
select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 3 in master/follower -/-
communication.
62.28 Follower node 2 Displays, in integer format, the data received from the - / uint16
data 1 value first follower (ie. follower with node address 2) as word
1.
Parameter 62.4 Follower node 2 data 1 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 1 from follower with node -/-
address 2.
62.29 Follower node 2 Displays, in integer format, the data received from the - / uint16
data 2 value first follower (ie. follower with node address 2) as word
2.
Parameter 62.5 Follower node 2 data 2 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 2 from follower with node -/-
address 2.
62.30 Follower node 2 Displays, in integer format, the data received from the - / uint16
data 3 value first follower (ie. follower with node address 2) as word
3.
Parameter 62.6 Follower node 2 data 3 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 3 from follower with node -/-
address 2.
62.31 Follower node 3 Displays, in integer format, the data received from the - / uint16
data 1 value second follower (ie. follower with node address 3) as
word 1.
Parameter 62.7 Follower node 3 data 1 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
482 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0 ... 65535 Data received as word 1 from follower with node -/-
address 3.
62.32 Follower node 3 Displays, in integer format, the data received from the - / uint16
data 2 value second follower (ie. follower with node address 3) as
word 2.
Parameter 62.8 Follower node 3 data 2 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 2 from follower with node -/-
address 3.
62.33 Follower node 3 Displays, in integer format, the data received from the - / uint16
data 3 value second follower (ie. follower with node address 3) as
word 3.
Parameter 62.9 Follower node 3 data 3 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 3 from follower with node -/-
address 3.
62.34 Follower node 4 Displays, in integer format, the data received from the - / uint16
data 1 value third follower (ie. follower with node address 4) as
word 1.
Parameter 62.10 Follower node 4 data 1 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 1 from follower with node -/-
address 4.
62.35 Follower node 4 Displays, in integer format, the data received from the - / uint16
data 2 value third follower (ie. follower with node address 4) as
word 2.
Parameter 62.11 Follower node 4 data 2 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 2 from follower with node -/-
address 4.
62.36 Follower node 4 Displays, in integer format, the data received from the - / uint16
data 3 value third follower (ie. follower with node address 4) as
word 3.
Parameter 62.12 Follower node 4 data 3 sel can be used
to select a target for the received data. This parameter
can also be used as a signal source by other
parameters.
0 ... 65535 Data received as word 3 from follower with node -/-
address 4.
 Parameters 483

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
62.37 M/F In the master, displays the status of the - / uint16
communication communication with followers specified by parameter
status 1 60.19 M/F comm supervision sel 1.
In a follower, bit 0 indicates the status of the
communication with the master.
b0 Follower 1 / Foll 1 (in the master) = Communication with follower 1 OK.
1 (in a follower) = Communication with master OK.
b1 Follower 2 1 = Communication with follower 2 OK.
b2 Follower 3 1 = Communication with follower 3 OK.
b3 Follower 4 1 = Communication with follower 4 OK.
b4 Follower 5 1 = Communication with follower 5 OK.
b5 Follower 6 1 = Communication with follower 6 OK.
b6 Follower 7 1 = Communication with follower 7 OK.
b7 Follower 8 1 = Communication with follower 8 OK.
b8 Follower 9 1 = Communication with follower 9 OK.
b9 Follower 10 1 = Communication with follower 10 OK.
b10 Follower 11 1 = Communication with follower 11 OK.
b11 Follower 12 1 = Communication with follower 12 OK.
b12 Follower 13 1 = Communication with follower 13 OK.
b13 Follower 14 1 = Communication with follower 14 OK.
b14 Follower 15 1 = Communication with follower 15 OK.
b15 Follower 16 1 = Communication with follower 16 OK.
0000h…FFFFh 1=1
62.38 M/F In the master, displays the status of the - / uint16
communication communication with followers specified by parameter
status 2 60.20 M/F comm supervision sel 2.
b0 Follower 17 1 = Communication with follower 17 OK.
b1 Follower 18 1 = Communication with follower 18 OK.
b2 Follower 19 1 = Communication with follower 19 OK.
b3 Follower 20 1 = Communication with follower 20 OK.
b4 Follower 21 1 = Communication with follower 21 OK.
b5 Follower 22 1 = Communication with follower 22 OK.
b6 Follower 23 1 = Communication with follower 23 OK.
b7 Follower 24 1 = Communication with follower 24 OK.
b8 Follower 25 1 = Communication with follower 25 OK.
b9 Follower 26 1 = Communication with follower 26 OK.
b10 Follower 27 1 = Communication with follower 27 OK.
b11 Follower 28 1 = Communication with follower 28 OK.
b12 Follower 29 1 = Communication with follower 29 OK.
484 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b13 Follower 30 1 = Communication with follower 30 OK.
b14 Follower 31 1 = Communication with follower 31 OK.
b15 Follower 32 1 = Communication with follower 32 OK.
0000h…FFFFh 1=1
62.41 M/F follower ready In the master, displays the ready status of the - / uint16
status 1 communication with followers specified by parameter
60.23 M/F status supervision sel 1.
b0 Follower 1 1 = Follower 1 ready.
b1 Follower 2 1 = Follower 2 ready.
b2 Follower 3 1 = Follower 3 ready.
b3 Follower 4 1 = Follower 4 ready.
b4 Follower 5 1 = Follower 5 ready.
b5 Follower 6 1 = Follower 6 ready.
b6 Follower 7 1 = Follower 7 ready.
b7 Follower 8 1 = Follower 8 ready.
b8 Follower 9 1 = Follower 9 ready.
b9 Follower 10 1 = Follower 10 ready.
b10 Follower 11 1 = Follower 11 ready.
b11 Follower 12 1 = Follower 12 ready.
b12 Follower 13 1 = Follower 13 ready.
b13 Follower 14 1 = Follower 14 ready.
b14 Follower 15 1 = Follower 15 ready.
b15 Follower 16 1 = Follower 16 ready.
0000h…FFFFh 1=1
62.42 M/F follower ready In the master, displays the ready status of the - / uint16
status 2 communication with followers specified by parameter
60.24 M/F status supervision sel 2.
b0 Follower 17 1 = Follower 17 ready.
b1 Follower 18 1 = Follower 18 ready.
b2 Follower 19 1 = Follower 19 ready.
b3 Follower 20 1 = Follower 20 ready.
b4 Follower 21 1 = Follower 21 ready.
b5 Follower 22 1 = Follower 22 ready.
b6 Follower 23 1 = Follower 23 ready.
b7 Follower 24 1 = Follower 24 ready.
b8 Follower 25 1 = Follower 25 ready.
b9 Follower 26 1 = Follower 26 ready.
b10 Follower 27 1 = Follower 27 ready.
 Parameters 485

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b11 Follower 28 1 = Follower 28 ready.
b12 Follower 29 1 = Follower 29 ready.
b13 Follower 30 1 = Follower 30 ready.
b14 Follower 31 1 = Follower 31 ready.
b15 Follower 32 1 = Follower 32 ready.
0000h…FFFFh 1=1
62.45 Data set 1 data 1 Parameters 62.45…62.50 define a target for the data None / uint32
selection received in data sets 1 and 3 from the external
controller. These data sets are used in ModuleBus
communication with a “standard drive” (60.50 DDCS
controller drive type = ABB standard drive).
Parameters 62.95…62.100 display the data received
from the external controller in integer format, and can
be used as sources by other parameters.
For example, this parameter selects a target for word
1 of data set 1. Parameter 62.95 Data set 1 data 1 value
displays the received data in integer format, and can
also be used as a source by other parameters.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
Ref2 16bit Reference REF2 (16 bits) 3
Other [value] See Terms and abbreviations (page 134).
62.46 Data set 1 data 2 Defines a target for the data received as word 2 of None / uint32
selection data set 1.
See also parameter 62.96 Data set 1 data 2 value.
For the selections, see parameter 62.45 Data set 1 data
1 selection.
62.47 Data set 1 data 3 See parameter 62.45 Data set 1 data 1 selection. None / uint32
selection
… … … …
62.50 Data set 3 data 3 See parameter 62.45 Data set 1 data 1 selection. None / uint32
selection
62.51 Data set 10 data 1 Parameters 62.51…62.74 define a target for the data None / uint32
selection received in data sets 10, 12, 14, 16, 18, 20, 22 and 24
from the external controller.
Parameters 62.101…62.124 display the data received
from the external controller in integer format, and can
be used as sources by other parameters.
For example, this parameter selects a target for word
1 of data set 10. Parameter 62.101 Data set 10 data 1
value displays the received data in integer format, and
can also be used as a source by other parameters.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
486 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Ref2 16bit Reference REF2 (16 bits) 3
Other [value] See Terms and abbreviations (page 134).
62.52 Data set 10 data 2 Defines a target for the data received as word 2 of None / uint32
selection data set 10.
See also parameter 62.102 Data set 10 data 2 value.
For the selections, see parameter 62.51 Data set 10
data 1 selection.
62.53 Data set 10 data 3 Defines a target for the data received as word 3 of None / uint32
selection data set 10.
See also parameter 62.103 Data set 10 data 3 value.
For the selections, see parameter 62.51 Data set 10
data 1 selection.
62.54 Data set 12 data 1 See parameter 62.51 Data set 10 data 1 selection. None / uint32
selection
… … … …
62.74 Data set 24 data 3 See parameter 62.51 Data set 10 data 1 selection. None / uint32
selection
62.95 Data set 1 data 1 Displays (in integer format) the data received from 0 / uint16
value the external controller as word 1 of data set 1.
A target for this data can be selected by parameter
62.45 Data set 1 data 1 selection. The value can also be
used as a source by another parameter.
0 ... 65535 Data received as word 1 of data set 1. -/-
62.96 Data set 1 data 2 Displays (in integer format) the data received from 0 / uint16
value the external controller as word 2 of data set 1.
A target for this data can be selected by parameter
62.46 Data set 1 data 2 selection. The value can also
be used as a source by another parameter.
0 ... 65535 Data received as word 2 of data set 1. -/-
62.97 Data set 1 data 3 Displays (in integer format) the data received from 0 / uint16
value the external controller as word 3 of data set 1.
A target for this data can be selected by parameter
62.47 Data set 1 data 3 selection. The value can also
be used as a source by another parameter.
0 ... 65535 Data received as word 3 of data set 1. -/-
… … … …
62.100 Data set 3 data 3 Displays (in integer format) the data received from 0 / uint16
value the external controller as word 3 of data set 3.
A target for this data can be selected by parameter
62.50 Data set 3 data 3 selection. The value can also
be used as a source by another parameter.
0 ... 65535 Data received as word 3 of data set 3. -/-
62.101 Data set 10 data 1 Displays (in integer format) the data received from - / uint16
value the external controller as word 1 of data set 10.
A target for this data can be selected by parameter
62.51 Data set 10 data 1 selection. The value can also
be used as a source by another parameter.
 Parameters 487

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0 ... 65535 Data received as word 1 of data set 10. -/-
62.102 Data set 10 data 2 Displays (in integer format) the data received from - / uint16
value the external controller as word 2 of data set 10.
A target for this data can be selected by parameter
62.52 Data set 10 data 2 selection. The value can also
be used as a source by another parameter.
0 ... 65535 Data received as word 2 of data set 10. -/-
62.103 Data set 10 data 3 Displays (in integer format) the data received from - / uint16
value the external controller as word 3 of data set 10.
A target for this data can be selected by parameter
62.53 Data set 10 data 3 selection. The value can also
be used as a source by another parameter.
0 ... 65535 Data received as word 3 of data set 10. -/-
62.104 Data set 12 data 1 Displays (in integer format) the data received from - / uint16
value the external controller as word 1 of data set 12.
A target for this data can be selected by parameter
62.54 Data set 12 data 1 selection. The value can also
be used as a source by another parameter.
0 ... 65535 Data received as word 1 of data set 12. -/-
… … … …
62.124 Data set 24 data 3 Displays (in integer format) the data received from - / uint16
value the external controller as word 3 of data set 24.
A target for this data can be selected by parameter
62.74 Data set 24 data 3 selection. The value can also
be used as a source by another parameter.
0 ... 65535 Data received as word 3 of data set 24. -/-
62.151 INU-LSU data set 11 (Parameters 62.151…62.203 only visible when supply LSU SW / uint32
data 1 sel unit control activated by 95.20)
Parameters 62.151…62.153 define a target for the data
received in data set 11 from another converter (typically
the supply unit of the drive).
Parameters 62.201…62.203 display the data received
from the other converter in integer format, and can
be used as sources by other parameters.
For example, this parameter selects a target for word
1 of data set 11. Parameter 62.201 INU-LSU data set 11
data 1 value displays the received data in integer
format, and can also be used as a source by other
parameters.
None None. 0
LSU SW Status word of the supply unit. 4
Other [value] See Terms and abbreviations (page 134).
62.152 INU-LSU data set 11 Defines a target for the data received as word 2 of None / uint32
data 2 sel data set 11.
See also parameter 62.202 INU-LSU data set 11 data 2
value.
For the selections, see parameter 62.151 INU-LSU data
set 11 data 1 sel.
488 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
62.153 INU-LSU data set 11 Defines a target for the data received as word 3 of None / uint32
data 3 sel data set 11.
See also parameter 62.203 INU-LSU data set 11 data 3
value.
For the selections, see parameter 62.151 INU-LSU data
set 11 data 1 sel.
62.201 INU-LSU data set 11 Displays (in integer format) the data received from - / uint16
data 1 value the other converter as word 1 of data set 11.
A target for this data can be selected by parameter
62.151 INU-LSU data set 11 data 1 sel. The value can
also be used as a source by another parameter.
0 ... 65535 Data received as word 1 of data set 11. -/-
62.202 INU-LSU data set 11 Displays (in integer format) the data received from - / uint16
data 2 value the other converter as word 2 of data set 11.
A target for this data can be selected by parameter
62.152 INU-LSU data set 11 data 2 sel. The value can
also be used as a source by another parameter.
0 ... 65535 Data received as word 2 of data set 11. -/-
62.203 INU-LSU data set 11 Displays (in integer format) the data received from - / uint16
data 3 value the other converter as word 3 of data set 11.
A target for this data can be selected by parameter
62.153 INU-LSU data set 11 data 3 sel. The value can
also be used as a source by another parameter.
0 ... 65535 Data received as word 3 of data set 11. -/-
 Parameters 489

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
90 Feedback Motor and load feedback configuration.
selection See also section Encoder support (page 53), and the
diagram on page 655.
90.1 Motor speed for Displays the estimated or measured motor speed that - / real32
control is used for speed control, ie. final motor speed
feedback selected by parameter 90.41 Motor feedback
selection and filtered by 90.42 Motor speed filter time.
In case measured feedback is selected, it is also scaled
by the motor gear function (90.43 Motor gear
numerator and 90.44 Motor gear denominator).
Estimated speed is always used in scalar control.

Note: This parameter is read-only.

-32768.00 ... Motor speed used for control. - / 100 = 1 rpm

32767.00 rpm For 16-bit scaling, see parameter 46.1.
90.2 Motor position Displays the motor position (within one revolution) - / real32
received from the source selected by parameter 90.41
Motor feedback selection.
In case measured feedback is selected, it is also scaled
by the motor gear function (90.43 Motor gear
numerator and 90.44 Motor gear denominator).

Note: This parameter is read-only.

0.00000000 ... Motor position. 32767 = 1 rev /

1.00000000 rev 100000000 = 1 rev
90.3 Load speed Displays the estimated or measured load speed that - / real32
is used for motor control, ie. final load speed feedback
selected by parameter 90.51 Load feedback selection
and filtered by 90.52 Load speed filter time.
In case measured feedback is selected, it is also scaled
by the load gear function (90.53 Load gear numerator
and 90.54 Load gear denominator).
In case motor feedback or estimated feedback is used,
it is inversely scaled by 90.61 Gear numerator and 90.62
Gear denominator (ie. 90.62 divided by 90.61).

Note: This parameter is read-only.

-32768.00 ... Load speed. - / 100 = 1 rpm

32767.00 rpm For 16-bit scaling, see parameter 46.1.
90.4 Load position Displays the load position received from the source - / int32
selected by parameter 90.51 Load feedback selection.
The value is multiplied as specified by parameter 90.57
Load position resolution.
In case measured feedback is selected, it is also scaled
by the load gear function (90.53 Load gear numerator
and 90.54 Load gear denominator).
In case motor feedback or estimated feedback is used,
it is inversely scaled by 90.61 Gear numerator and 90.62
Gear denominator (ie. 90.62 divided by 90.61).
An offset can be defined by 90.56 Load position offset.

Note: This parameter is read-only.

490 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
90.5 Load position Displays the scaled load position in decimal format. - / real32
scaled The position is relative to the initial position set by
parameters 90.65 and 90.66.
The number of decimal places is defined by parameter
90.38 Pos counter decimals.

Note: This is a floating point parameter, and the

accuracy is compromised near the ends of the range.
Consider using parameter 90.7 Load position scaled
int instead of this parameter.

Note: This parameter is read-only.

-2147483.648 ... Scaled load position in decimal format. - / 100000 = 1

2147483.647
90.6 Motor position Displays the calculated motor position. - / int32
scaled The axis mode (linear or rollover) and resolution are
defined by parameters 90.48 Motor position axis mode
and 90.49 Motor position resolution respectively.

Note: The position value can be sent on a fast time

level to the fieldbus controller by selecting Position in
either 50.7 FBA A actual 1 type, 50.8 FBA A actual 2
type, 50.37 FBA B actual 1 type or 50.38 FBA B actual 2
type.

Note: This parameter is read-only.

-2147483.648 ... Motor position. 1 = 1 / 1000 = 1

2147483.647
90.7 Load position Displays the output of the position counter function - / int32
scaled int as an integer, enabling backwards compatibility with
ACS 600 and ACS800 drives. The position is relative
to the initial position set by parameters 90.58 and
90.59. See section Position counter (page 55), and the
block diagram on page 656.

Note: This parameter is read-only.

90.10 Encoder 1 speed Displays encoder 1 speed in rpm. - / real32

Note: This parameter is read-only.

-32768.00 ... Encoder 1 speed. - / 100 = 1 rpm

32767.00 rpm For 16-bit scaling, see parameter 46.1.
90.11 Encoder 1 position Displays the actual position of encoder 1 within one - / real32
revolution.

Note: This parameter is read-only.

0.00000000 ... Encoder 1 position within one revolution. 32767 = 1 rev /

1.00000000 rev 100000000 = 1 rev
 Parameters 491

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
90.12 Encoder 1 multiturn Displays the revolutions of (multiturn) encoder 1 within - / uint32
revolutions its value range (see parameter 92.14 Revolution data
width).

Note: This parameter is read-only.

0 ... 16777215 Encoder 1 revolutions. -/1=1

90.13 Encoder 1 Displays the revolution count extension for encoder - / int32
revolution 1.
extension With a single-turn encoder, the counter is incremented
when encoder position (parameter 90.11) wraps around
in the positive direction, and decremented in the
negative direction.
With a multiturn encoder, the counter is incremented
when the revolutions count (parameter 90.12) exceeds
the value range in the positive direction, and
decremented in the negative direction.

Note: This parameter is read-only.

-2147483648 ... Encoder 1 revolution count extension. -/1=1

2147483647
90.14 Encoder 1 position Displays the raw measurement data of encoder 1 - / uint32
raw position (within one revolution) as a 24-bit unsigned
integer received from the encoder interface.

Note: This parameter is read-only.

0 ... 16777215 Raw encoder 1 position within one revolution. -/1=1

90.15 Encoder 1 Displays the revolutions of (multiturn) encoder 1 within - / uint32
revolutions raw its value range (see parameter 92.14 Revolution data
width) as a raw measurement.

Note: This parameter is read-only.

0 ... 16777215 Raw encoder 1 revolution count. -/1=1

90.20 Encoder 2 speed Displays encoder 2 speed in rpm. - / real32

Note: This parameter is read-only.

-32768.00 ... Encoder 2 speed. - / 100 = 1 rpm

32767.00 rpm For 16-bit scaling, see parameter 46.1.
90.21 Encoder 2 position Displays the actual position of encoder 2 within one - / real32
revolution.

Note: This parameter is read-only.

0.00000000 ... Encoder 2 position within one revolution. - / 100000000 = 1

1.00000000 rev rev
90.22 Encoder 2 multiturn Displays the revolutions of (multiturn) encoder 2 within - / uint32
revolutions its value range (see parameter 93.14 Revolution data
width).

Note: This parameter is read-only.

0 ... 16777215 Encoder 2 revolutions. -/1=1

492 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
90.23 Encoder 2 Displays the revolution count extension for encoder - / int32
revolution 2.
extension With a single-turn encoder, the counter is incremented
when encoder position (parameter 90.21) wraps
around in the positive direction, and decremented in
the negative direction.
With a multiturn encoder, the counter is incremented
when the revolutions count (parameter 90.22) exceeds
the value range in the positive direction, and
decremented in the negative direction.

Note: This parameter is read-only.

90.24 Encoder 2 position Displays the raw measurement data of encoder 2 - / uint32
raw position (within one revolution) as a 24-bit unsigned
integer received from the encoder interface.

Note: This parameter is read-only.

0 ... 16777215 Raw encoder 2 position within one revolution. -/1=1

90.25 Encoder 2 Displays the revolutions of (multiturn) encoder 2 within - / uint32
revolutions raw its value range (see parameter 93.14 Revolution data
width) as a raw measurement.

Note: This parameter is read-only.

0 ... 16777215 Raw encoder 2 revolution count. -/1=1

90.26 Motor revolution Displays the motor revolution count extension. - / int32
extension The counter is incremented when the position selected
by 90.41 Motor feedback selection wraps around in
the positive direction, and decremented in the negative
direction.

Note: This parameter is read-only.

-2147483648 ... Motor revolution count extension. -/1=1

2147483647
90.27 Load revolution Displays the load revolution count extension. - / int32
extension The counter is incremented when the position selected
by 90.51 Load feedback selection wraps around in the
positive direction, and decremented in the negative
direction.

Note: This parameter is read-only.

-2147483648 ... Load revolution count extension. -/1=1

2147483647
90.35 Pos counter status Status information related to the position counter - / uint16
function. See section Position counter (page 55).

Note: This parameter is read-only.

b0 Encoder 1 feedback 1 = Encoder 1 selected as load feedback source

b1 Encoder 2 feedback 1 = Encoder 2 selected as load feedback source
 Parameters 493

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b2 Internal position 1 = Internal load position estimate selected as load
feedback feedback source
b3 Motor feedback 1 = Motor feedback selected as load feedback source
b4 Pos counter init 0 = Position counter not initialized, or encoder
ready feedback was lost. Fresh counter initialization
recommended.
1 = Position counter successfully initialized
b5 Position counter 1 = Position counter initialization is being prevented
re-init disabled by par. 90.68
b6 Position data 1 = Encoder feedback intermittent or lost. (If the drive
inaccurate is running, estimated position is used whenever
encoder feedback is unavailable. If the drive is in
stopped state, position counting will continue based
on encoder data after the connection is restored.)
b7…15 Reserved
0000h…FFFFh 1=1
90.38 Pos counter Scales the values of parameters 90.5 Load position 3 / uint16
decimals scaled and 90.65 Pos counter init value when accessed
from an external source (eg. fieldbus). The setting
corresponds to the number of decimal places.
For example, with the setting of 3, an integer value of
66770 written into 90.65 Pos counter init value is
divided by 1000, so the final value applied will be
66.770. Likewise, the value of 90.5 Load position scaled
is multiplied by 1000 when read.
0 ... 9 Number of position counter decimal places. 1=1/1=1
90.41 Motor feedback Selects the motor speed feedback value used during Estimate / uint16
selection motor control.

Note: With a permanent magnet motor, make sure an

autophasing routine (see page 63) is performed using
the selected encoder. If necessary, set parameter 99.13
ID run requested to Autophasing to request a fresh
autophasing routine.

Estimate A calculated speed estimate generated from the DTC 0

core is used.
Encoder 1 Actual speed measured by encoder 1. The encoder is 1
set up by the parameters in group 92 Encoder 1
configuration.
Encoder 2 Actual speed measured by encoder 2. The encoder is 2
set up by the parameters in group 93 Encoder 2
configuration.
90.42 Motor speed filter Defines a filter time for motor speed feedback used 3 ms / real32
time for speed control (90.1 Motor speed for control).
0 ... 10000 ms Motor speed filter time. 1 = 1 ms / 1 = 1 ms
494 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
90.43 Motor gear Parameters 90.43 and 90.44 define a gear function 1 / int32
numerator between the motor speed feedback and motor control.
The gear is used to correct a difference between the
motor and encoder speeds for example if the encoder
is not mounted directly on the motor shaft.
90.43 Motor speed
=
90.44 Encoder speed
See also section Load and motor feedback (page 54).

Note: This parameter cannot be changed while the

drive is running.

-2147483648 ... Motor gear numerator. -/1=1

2147483647
90.44 Motor gear See parameter 90.43 Motor gear numerator. 1 / int32
denominator
Note: This parameter cannot be changed while the
drive is running.

-2147483648 ... Motor gear denominator. -/1=1

2147483647
90.45 Motor feedback Selects how the drive reacts to loss of measured motor Fault / uint16
fault feedback.
Fault Drive trips on a 7301 Motor speed feedback or 7381 0
Encoder fault.
Warning Drive generates an A798 Encoder option comm loss, 1
A7B0 Motor speed feedback or A7E1 Encoder warning
and continues operation using estimated feedbacks.

Note: Before using this setting, test the stability of

the speed control loop with estimated feedback by
running the drive on estimated feedback (see 90.41
Motor feedback selection).

90.46 Force open loop Forces the DTC motor model to use estimated motor No / uint16
speed as feedback. This parameter can be activated
when the encoder data is obviously unreliable because
of slippage, for example.

Note: This parameter only affects the selection of

feedback for the motor model, not for the speed
controller.

No The motor model uses the feedback selected by 90.41 0

Motor feedback selection.
Yes The motor model uses the calculated speed estimate 1
(regardless of the setting of 90.41 Motor feedback
selection, which in case only selects the source of
feedback for the speed controller).
90.48 Motor position axis Selects the axis type for motor position measurement. Rollover / uint16
mode
Linear Linear. 0
 Parameters 495

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Rollover The value is between 0 and 1 revolutions, and rolls over 1
at 360 degrees.
90.49 Motor position Defines how many bits are used for motor position 24 / uint16
resolution count within one revolution. For example, with the
setting of 24, the position value is multiplied by
16777216 for display in parameter 90.6 Motor position
scaled (or for fieldbus).
0 ... 31 Motor position resolution. -/1=1
90.51 Load feedback Selects the source of load speed and position None / uint16
selection feedbacks used in control.
None No load feedback selected. 0
Encoder 1 Load feedbacks are updated based on the speed and 1
position values read from encoder 1.
The values are scaled by the load gear function (90.53
Load gear numerator and 90.54 Load gear
denominator).
The encoder is set up by the parameters in group 92
Encoder 1 configuration.
Encoder 2 Load feedbacks are updated based on the speed and 2
position values read from encoder 2.
The values are scaled by the load gear function (90.53
Load gear numerator and 90.54 Load gear
denominator).
The encoder is set up by the parameters in group 93
Encoder 2 configuration.
Estimate Calculated speed and position estimates are used. The 3
values are scaled from the motor side to the load side
using the inverted ratio between 90.61 Gear numerator
and 90.62 Gear denominator (ie. 90.62 divided by
90.61).
Motor feedback The source selected by parameter 90.41 Motor 4
feedback selection for motor feedback is also used
for load feedback.
Any difference between the motor and load speeds
(and positions) can be compensated by using the
inverted ratio between 90.61 Gear numerator and 90.62
Gear denominator (ie. 90.62 divided by 90.61).
90.52 Load speed filter Defines a filter time for load speed feedback (90.3 4 ms / real32
time Load speed).
0 ... 10000 ms Load speed filter time. - / 1 = 1 ms
496 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
90.53 Load gear Parameters 90.53 and 90.54 define a gear function 1 / int32
numerator between the load (ie. driven equipment) speed and
the encoder feedback selected by parameter 90.51
Load feedback selection. The gear can be used to
correct a difference between the load and encoder
speeds for example if the encoder is not mounted
directly on the rotated machinery.
90.53 Load speed
=
90.54 Encoder speed
See also section Load and motor feedback (page 54).

Note: This parameter cannot be changed while the

drive is running.

-2147483648 ... Load gear numerator. -/1=1

2147483647
90.54 Load gear See parameter 90.53 Load gear numerator. 1 / int32
denominator
Note: This parameter cannot be changed while the
drive is running.

-2147483648 ... Load gear denominator. -/1=1

2147483647
90.55 Load feedback fault Selects how the drive reacts to loss of load feedback. Fault / uint16
Fault Drive trips on a 73A1 Load position feedback fault. 0
Warning Drive generates an A798 Encoder option comm loss 1
or A7B1 Load speed feedback warning and continues
operation using estimated feedbacks.
90.56 Load position Defines a load-side position offset. The resolution is - / int32
offset determined by parameter 90.57 Load position
resolution.
-2147483648 ... Load-side position offset. - / 1 = 1 rev
2147483647 rev
90.57 Load position Defines how many bits are used for load position count 16 / uint16
resolution within one revolution. For example, with the setting
of 18, the position value is multiplied by 65536 for
display in parameter 90.4 Load position.
0 ... 31 Load position resolution. -/1=1
90.58 Pos counter init Defines an initial position (or distance) for the position - / int32
value int counter (as an integer value) when parameter 90.59
Pos counter init value int source is set to Pos counter
init value int.
See also section Position counter (page 55).
-2147483648 ... Initial integer value for position counter. -/1=1
2147483647
90.59 Pos counter init Selects the source of the initial position integer value. Pos counter init
value int source When the source selected by 90.67 Pos counter init value int / uint32
cmd source activates, the value selected in this
parameter is assumed to be the position of the load.
Zero 0. 0
 Parameters 497

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Pos counter init Parameter 90.58 Pos counter init value int. 1
value int
Other [value] See Terms and abbreviations (page 134).
90.60 Pos counter error Selects how the position counter reacts to loss of load Request
and boot action feedback. re-initialization /
uint16
Request Bit 4 of 90.35 Pos counter status is cleared. 0
re-initialization Reinitialization of position counter is recommended.
Continue from Position counting resumes from the previous value 1
previous value over a loss of load feedback or control unit reboot. Bit
4 of 90.35 Pos counter status is not cleared, but bit 6
is set to indicate that an error has occurred.

Note: If load feedback is lost when the drive is in

stopped state or not powered, the counter is not
updated even if the load moves.

90.61 Gear numerator Parameter 90.61 and 90.62 define a gear function 1 / int32
between the motor and load speeds.
90.61 Motor speed
=
90.62 Load speed
See also section Load and motor feedback (page 54).
-2147483648 ... Gear numerator (motor-side). -/1=1
2147483647
90.62 Gear denominator See parameter 90.61 Gear numerator. 1 / int32
-2147483648 ... Gear denominator (load-side). -/1=1
2147483647
90.63 Feed constant Parameters 90.63 and 90.64 define the feed constant 1 / int32
numerator for the position calculation:
90.63
90.64
The feed constant converts rotational motion into
translatory motion. The feed constant is the distance
the load moves during one turn of the motor shaft.
The translatory load position is shown by parameter
90.7 Load position scaled int. Note that the load
position is only updated after new position input data
is received.
-2147483648 ... Feed constant numerator. -/1=1
2147483647
90.64 Feed constant See parameter 90.63 Feed constant numerator. 1 / int32
denominator
-2147483648 ... Feed constant denominator. -/1=1
2147483647
498 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
90.65 Pos counter init Defines an initial position (or distance) for the position 0.000 / real32
value counter (as a decimal number) when parameter 90.66
Pos counter init value source is set to Pos counter init
value.
The number of decimal places is defined by parameter
90.38 Pos counter decimals.
-2147483.648 ... Initial value for position counter. -/1=1
2147483.647
90.66 Pos counter init Selects the source of the initial position value. When Pos counter init
value source the source selected by 90.67 Pos counter init cmd value / uint32
source activates, the value selected in this parameter
is assumed to be the position of the load (in decimal
format).
Zero 0. 0
Pos counter init Parameter 90.65 Pos counter init value. 1
value
Other [value] See Terms and abbreviations (page 134).
90.67 Pos counter init Selects a digital source (for example, a limit switch Not selected / uint32
cmd source connected to a digital input) that initializes the
position counter. When the digital source activates,
the value selected by 90.66 Pos counter init value
source is assumed to be the position of the load.

Note: Position counter initialization can be prevented

by parameter 90.68 Disable pos counter initialization.

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
90.68 Disable pos counter Selects a source that prevents the initialization of the Not selected / uint32
initialization position counter.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
 Parameters 499

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
90.69 Reset pos counter Selects a source that enables a new initialization of Not selected / uint32
init ready the position counter, ie. resets bit 4 of 90.35 Pos
counter status.
Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
500 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
91 Encoder module Configuration of encoder interface modules.
settings
91.1 FEN DI status Displays the status of the digital inputs of FEN-xx - / uint16
encoder interface modules.

Note: This parameter is read-only.

b0 DI1 /module 1 DI1 of interface module 1 (see parameters 91.11 and

91.12)
b1 DI2 /module 1 DI2 of interface module 1 (see parameters 91.11 and
91.12)
b2…3 Reserved
b4 DI1 /module 2 DI1 of interface module 2 (see parameters 91.13 and
91.14)
b5 DI2 /module 2 DI2 of interface module 2 (see parameters 91.13 and
91.14)
b6…15 Reserved
0000h…FFFFh 1=1
91.2 Module 1 status Displays the type of the interface module found in the No option / uint16
location specified by parameter 91.12 Module 1
location.

Note: This parameter is read-only.

No option No module detected in the specified slot. 0

No communication A module has been detected but cannot be 1
communicated with.
Unknown The module type is unknown. 2
FEN-01 An FEN-01 module has been detected and is active. 16
FEN-11 An FEN-11 module has been detected and is active. 17
FEN-21 An FEN-21 module has been detected and is active. 18
FEN-31 An FEN-31 module has been detected and is active. 21
FSE-31 An FSE-31 module has been detected and is active. 25
91.3 Module 2 status Displays the type of the interface module found in the No option / uint16
location specified by parameter 91.14 Module 2
location.
For the indications, see parameter 91.2 Module 1
status.

Note: This parameter is read-only.

91.4 Module 1 Displays the temperature measured through the - / real32

temperature sensor input of interface module 1. The unit (°C or °F)
is selected by parameter 96.16 Unit selection.

Note: With a PTC sensor, the unit is ohms.

Note: This parameter is read-only.

 Parameters 501

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0 ... 1000 °C Temperature measured through interface module 1. -/-
91.6 Module 2 Displays the temperature measured through the - / real32
temperature sensor input of interface module 2. The unit (°C or °F)
is selected by parameter 96.16 Unit selection.

Note: With a PTC sensor, the unit is ohms.

Note: This parameter is read-only.

0 ... 1000 °C Temperature measured through interface module 2. -/-

91.10 Encoder parameter Validates any changed encoder interface module Done / uint16
refresh parameters. This is needed for any parameter changes
in groups 90…93 to take effect.
After refreshing, the value reverts automatically to
Done.

• Permanent magnet motors only: The drive will

perform a fresh autophasing routine (see page
63) at next start if the motor feedback encoder
settings have been changed.

• The parameter cannot be changed while the drive

is running.

Done Refreshing done. 0

Refresh Refreshing. 1
91.11 Module 1 type Defines the type of the module used as interface None / uint16
module 1.
None None (communication disabled). 0
FEN-01 FEN-01. 1
FEN-11 FEN-11. 2
FEN-21 FEN-21. 3
FEN-31 FEN-31. 4
FSE-31 FSE-31. 5
91.12 Module 1 location Specifies the slot (1…3) on the control unit of the drive 2 / uint16
into which the interface module is installed.
Alternatively, specifies the node ID of the slot on an
FEA-03 extension adapter.
1 ... 254 Slot 1 = 1; Slot 2 = 2; Slot 3 = 3 1=1/1=1
4…254: Node ID of the slot on the FEA-03 extension
adapter
91.13 Module 2 type Defines the type of the module used as interface None / uint16
module 2.
None None (communication disabled). 0
FEN-01 FEN-01. 1
FEN-11 FEN-11. 2
FEN-21 FEN-21. 3
FEN-31 FEN-31. 4
502 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
FSE-31 FSE-31. 5
91.14 Module 2 location Specifies the slot (1…3) on the control unit of the drive 3 / uint16
into which the interface module is installed.
Alternatively, specifies the node ID of the slot on an
FEA-03 extension adapter.
1 ... 254 Slot 1 = 1; Slot 2 = 2; Slot 3 = 3 1=1/1=1
4…254: Node ID of the slot on the FEA-03 extension
adapter
91.21 Module 1 temp Specifies the type of temperature sensor connected None / uint16
sensor type to interface module 1. Note that the module must also
be activated by parameters 91.11 … 91.12.
None None. 0
PTC PTC. (The unit is ohms.) 1
KTY-84 KTY84. (The unit is selected by parameter 96.16 Unit 2
selection.)
Pt1000 Pt1000 (The unit is selected by parameter 96.16 Unit 3
selection).

Note: Pt1000 sensor supports FEN-11 and FEN-31

encoder modules only.

91.22 Module 1 temp filter Defines a filtering time for the temperature 1500 ms / real32
time measurement through interface module 1.
0 ... 10000 ms Filtering time for temperature measurement. -/-
91.24 Module 2 temp Specifies the type of temperature sensor connected None / uint16
sensor type to interface module 2. Note that the module must also
be activated by parameters 91.13 … 91.14.
None None. 0
PTC PTC. (The unit is ohms.) 1
KTY-84 KTY84. (The unit is selected by parameter 96.16 Unit 2
selection.)
Pt1000 Pt1000 (The unit is selected by parameter 96.16 Unit 3
selection).

Note: Pt1000 sensor supports FEN-11 and FEN-31

encoder modules only.

91.25 Module 2 temp filter Defines a filtering time for the temperature 1500 ms / real32
time measurement through interface 2.
0 ... 10000 ms Filtering time for temperature measurement. - / 1 = 1 ms
91.31 Module 1 TTL Selects the encoder input on interface module 1 whose Not selected / uint16
output source signal is echoed by or emulated to the TTL output.
See also section Encoder support (page 53).
Not selected TTL output not in use. 0
Module input 1 Input 1 is echoed by or emulated to the TTL output. 1
Module input 2 Input 2 is echoed by or emulated to the TTL output. 2
 Parameters 503

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
91.32 Module 1 emulation Defines the number of TTL pulses per revolution for - / uint16
pulses/rev encoder emulation output of interface module 1.
0 ... 65535 Number of TTL pulses for emulation. 1=1/-
91.33 Module 1 emulated With interface module 1, defines when zero pulses are - / real32
Z-pulse offset emulated in relation to zero position received from
the encoder.
For example, with a value of 0.50000, a zero pulse is
emulated whenever the encoder position passes 0.5
revolutions. With a value of 0.00000, a zero pulse is
emulated whenever the encoder position passes zero
position.
0.00000 ... 1.00000 Position of emulated zero pulses. 32767 = 1 rev /
rev 100000 rev
91.41 Module 2 TTL Selects the encoder input on interface module 2 whose Not selected / uint16
output source signal is echoed by or emulated to the TTL output.
See also section Encoder support (page 53).
Not selected TTL output not in use. 0
Module input 1 Input 1 is echoed by or emulated to the TTL output. 1
Module input 2 Input 2 is echoed by or emulated to the TTL output. 2
91.42 Module 2 emulation Defines the number of TTL pulses per revolution for - / uint16
pulses/rev encoder emulation output of interface module 2.
0 ... 65535 Number of TTL pulses for emulation. 1=1/1=1
91.43 Module 2 emulated With interface module 2, defines when zero pulses are - / real32
Z-pulse offset emulated in relation to zero position received from
the encoder.
For example, with a value of 0.50000, a zero pulse is
emulated whenever the encoder position passes 0.5
revolutions. With a value of 0.00000, a zero pulse is
emulated whenever the encoder position passes zero
position.
0.00000 ... 1.00000 Position of emulated zero pulses. 32767 = 1 rev /
rev 100000 rev
504 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
92 Encoder 1 Settings for encoder 1.
configuration
Note: The contents of this parameter group vary
according to the selected encoder type.

Note: It is recommended that encoder connection 1

(this group) is used whenever possible since the data
received through that interface is fresher than the data
received through connection 2 (group 93 Encoder 2
configuration).

92.1 Encoder 1 type Selects the type of encoder/resolver 1. None configured /

uint16
None configured None. 0
TTL TTL. Module type (input): FEN-01 (X31), FEN-11 (X41) 1
or FEN-21 (X51).
TTL+ TTL+. Module type (input): FEN-01 (X32). 2
Absolute encoder Absolute encoder. Module type (input): FEN-11 (X42). 3
Resolver Resolver. Module type (input): FEN-21 (X52). 4
HTL HTL. Module type (input): FEN-31 (X82). 5
HTL 1 HTL. Module type (input): FSE-31 (X31). 6
HTL 2 HTL. Module type (input): FSE-31 (X32). Not supported 7
at the time of publication.
92.2 Encoder 1 source Selects the interface module that the encoder is Module 1 / uint16
connected to.
(The physical locations and types of encoder interface
modules are defined in parameter group 91 Encoder
module settings.
Module 1 Interface module 1. 0
Module 2 Interface module 2. 1
92.10 Excitation signal (Visible when 92.1 Encoder 1 type = Resolver) 1 kHz / uint16
frequency Defines the frequency of the excitation signal.

Note: With an EnDat or HIPERFACE encoder and FEN-11

FPGA version VIE12200 or later, this parameter is
automatically set upon validation of encoder settings
(91.10 Encoder parameter refresh).

1 ... 20 kHz Excitation signal frequency. 1 = 1 kHz / 1 = 1 kHz

92.10 Sine/cosine number (Visible when 92.1 Encoder 1 type = Absolute encoder) 0 / uint16
Defines the number of sine/cosine wave cycles within
one revolution.

Note: This parameter need not be set when an EnDat

or SSI encoder is used in continuous mode. See
parameter 92.30 Serial link mode.

0 ... 65535 Number of sine/cosine wave cycles within one -/1=1

revolution.
 Parameters 505

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
92.10 Pulses/revolution (Visible when 92.1 Encoder 1 type = HTL 1) 2048 / uint16
Defines the pulse number per revolution.
0 ... 65535 Number of pulses. -/1=1
92.11 Excitation signal (Visible when 92.1 Encoder 1 type = Resolver) 4.0 V / uint16
amplitude Defines the rms amplitude of the excitation signal.
4.0 ... 12.0 V Excitation signal amplitude. 10 = 1 V / 100 = 1 V
92.11 Absolute position (Visible when 92.1 Encoder 1 type = Absolute encoder) None / uint16
source Selects the source of the absolute position
information.
None Not selected. 0
Commut. signals Commutation signals. 1
EnDat Serial interface: EnDat encoder. 2
Hiperface Serial interface: HIPERFACE encoder. 3
SSI Serial interface: SSI encoder. 4
Tamagawa Serial interface: Tamagawa 17/33-bit encoder. 5
92.11 Pulse encoder type (Visible when 92.1 Encoder 1 type = HTL 1) Quadrature / uint16
Selects the type of encoder.
Quadrature Quadrature encoder (with two channels, A and B). 0
Single track Single-track encoder (with one channel, A). 1

Note: With this setting, the measured speed value is

always positive regardless of direction of rotation.

92.12 Resolver polepairs (Visible when 92.1 Encoder 1 type = Resolver) 1 / uint16
Defines the number of pole pairs of the resolver.
1 ... 32 Number of resolver pole pairs. 1=1/1=1
92.12 Zero pulse enable (Visible when 92.1 Encoder 1 type = Absolute encoder) Disable / uint16
Enables the encoder zero pulse for the absolute
encoder input (X42) of the FEN-11 interface module.

Note: No zero pulse exists with serial interfaces, ie.

when parameter 92.11 Absolute position source is set
to EnDat, Hiperface, SSI or Tamagawa.

Disable Zero pulse disabled. 0

Enable Zero pulse enabled. 1
92.12 Speed calculation (Visible when 92.1 Encoder 1 type = HTL 1) Auto rising / uint16
mode Selects the speed calculation mode.
*With a single-track encoder (parameter 92.11 Pulse
encoder type is set to Single track), the speed is always
positive.
A&B all Channels A and B: Rising and falling edges are used 0
for speed calculation.
*Channel B: Defines the direction of rotation.

Note: With a single-track encoder (parameter 92.11

Pulse encoder typee, this setting acts like setting A all.
506 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
A all Channel A: Rising and falling edges are used for speed 1
calculation.
*Channel B: Defines the direction of rotation.
A rising Channel A: Rising edges are used for speed calculation. 2
*Channel B: Defines the direction of rotation.
A falling Channel A: Falling edges are used for speed calculation. 3
*Channel B: Defines the direction of rotation.
Auto rising One of the above modes is selected automatically 4
depending on the pulse frequency as follows:

Pulse frequency of the

Used mode
channel(s)

< 2442 Hz A&B all

2442…4884 Hz A all

> 4884 Hz A rising

Auto falling One of the above modes is selected automatically 5

depending on the pulse frequency as follows:

Pulse frequency of the

Used mode
channel(s)

< 2442 Hz A&B all

2442…4884 Hz A all

> 4884 Hz A falling

92.13 Position data width (Visible when 92.1 Encoder 1 type = Absolute encoder) 0 / uint16
Defines the number of bits used to indicate position
within one revolution. For example, a setting of 15 bits
corresponds to 32768 positions per revolution.
The value is used when parameter 92.11 Absolute
position source is set to EnDat, Hiperface or SSI. When
parameter 92.11 Absolute position source is set to
Tamagawa, this parameter is internally set to 17.

Note: With an EnDat or HIPERFACE encoder and FEN-11

FPGA version VIE12200 or later, this parameter is
automatically set upon validation of encoder settings
(91.10 Encoder parameter refresh).

0 ... 32 Number of bits used in position indication within one 1=1/1=1

revolution.
92.13 Position estimation (Visible when 92.1 Encoder 1 type = HTL 1) Enable / uint16
enable Selects whether position estimation is used with
encoder 1 to increase position data resolution or not.
 Parameters 507

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Disable Measured position used. (The resolution is 4 × pulses 0
per revolution for quadrature encoders, 2 × pulses per
revolution for single-track encoders.)
Enable Estimated position used. (Uses position interpolation; 1
extrapolated at the time of data request.)
92.14 Revolution data (Visible when 92.1 Encoder 1 type = Absolute encoder) 0 / uint16
width Defines the number of bits used in revolution counting
with a multiturn encoder. For example, a setting of 12
bits would support counting up to 4096 revolutions.
The value is used when parameter 92.11 Absolute
position source is set to EnDat, Hiperface or SSI. When
parameter 92.11 Absolute position source is set to
Tamagawa, setting this parameter to a non-zero value
activates multiturn data requesting.

Note: With an EnDat or HIPERFACE encoder and FEN-11

FPGA version VIE12200 or later, this parameter is
automatically set upon validation of encoder settings
(91.10 Encoder parameter refresh).

0 ... 32 Number of bits used in revolution count. 1=1/1=1

92.14 Speed estimation (Visible when 92.1 Encoder 1 type = HTL 1) Disable / uint16
enable Selects whether calculated or estimated speed is used.
Estimation increases the speed ripple in steady state
operation, but improves the dynamics.

Note: This parameter is not effective with FEN-xx

modules with FPGA version VIEx 2000 or later.

Disable Last calculated speed used. (The calculation interval 0

is 62.5 microseconds to 4 milliseconds.)
Enable Estimated speed (estimated at the time of data 1
request) is used.
92.15 Transient filter (Visible when 92.1 Encoder 1 type = HTL 1) 4880Hz / uint16
Activates transient filtering for the encoder (changes
in direction of rotation are ignored above the selected
pulse frequency).
4880Hz Change in direction of rotation allowed below 4880 Hz. 0
2440Hz Change in direction of rotation allowed below 2440 Hz. 1
1220Hz Change in direction of rotation allowed below 1220 Hz. 2
Disabled Change in direction of rotation allowed at any pulse 3
frequency.
92.17 Accepted pulse freq (Visible when 92.1 Encoder 1 type = HTL 1) 0 kHz / uint16
of encoder 1 Defines the maximum pulse frequency of encoder 1.
0 ... 300 kHz Pulse frequency. 1 = 1 kHz / 1 = 1 kHz
92.21 Encoder cable fault (Visible when 92.1 Encoder 1 type = HTL 1) A, B / uint16
mode Selects which encoder cable channels and wires are
monitored for wiring faults.
A+, A-, B+, B-, Z+, Z- A and B. 0
508 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
A, B, Z A, B and Z. 1
A+, A-, B+, B- A+, A-, B+ and B-. 2
A+, A-, B+, B-, Z+, Z- A+, A-, B+, B-, Z+ and Z-. 3
92.24 Pulse edge filtering (Visible when 92.1 Encoder 1 type = HTL) No filtering / uint16
Enables pulse edge filtering. Pulse edge filtering can
improve the reliability of measurements especially
from encoders with a single-ended connection.

Note: Pulse edge filtering is only supported by FEN-31

modules with FPGA version VIE3 2200 or later.

Note: Pulse edge filtering decreases the maximum

pulse frequency. With 2 µs filtering time, the maximum
pulse frequency is 200 kHz.

No filtering Filtering disabled. 0

1 µs Filtering time: 1 microsecond. 1
2 µs Filtering time: 2 microseconds. 2
92.30 Serial link mode (Visible when 92.1 Encoder 1 type = Absolute encoder) Initial position /
Selects the serial link mode with an EnDat or SSI uint16
encoder.
Initial position Single position transfer mode (initial position). 0
Continuous Continuous position data transfer mode. 1

Note: Motor control is forced internally as a open loop

and estimated speed used.

Continuous speed Continuous speed and position data transfer mode. 2

and position This setting is intended for EnDat 2.2 encoders without
sin/cos signals.

Note: This setting requires an FEN-11 interface revision

H or later.

92.31 EnDat max (Visible when 92.1 Encoder 1 type = Absolute encoder) 50 ms / uint16
calculation time Selects the maximum encoder calculation time for an
EnDat encoder.

Note: This parameter needs to be set only when an

EnDat encoder is used in continuous mode, ie. without
incremental sin/cos signals (supported only as encoder
1). See also parameter 92.30 Serial link mode.

10 us 10 microseconds. 0
100 us 100 microseconds. 1
1 ms 1 millisecond. 2
50 ms 50 milliseconds. 3
 Parameters 509

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
92.32 SSI cycle time (Visible when 92.1 Encoder 1 type = Absolute encoder) 100 us / uint16
Selects the transmission cycle for an SSI encoder.

Note: This parameter needs to be set only when an SSI

encoder is used in continuous mode, ie. without
incremental sin/cos signals (supported only as encoder
1). See also parameter 92.30 Serial link mode.

50 us 50 microseconds. 0
100 us 100 microseconds. 1
200 us 200 microseconds. 2
500 us 500 microseconds. 3
1 ms 1 millisecond. 4
2 ms 2 milliseconds. 5
92.33 SSI clock cycles (Visible when 92.1 Encoder 1 type = Absolute encoder) 2 / uint16
Defines the length of an SSI message. The length is
defined as the number of clock cycles. The number of
cycles can be calculated by adding 1 to the number of
bits in an SSI message frame.
2 ... 127 SSI message length. -/1=1
92.34 SSI position msb (Visible when 92.1 Encoder 1 type = Absolute encoder) 1 / uint16
With an SSI encoder, defines the location of the MSB
(most significant bit) of the position data within an
SSI message.
1 ... 126 Position data MSB location (bit number). -/1=1
92.35 SSI revolution msb (Visible when 92.1 Encoder 1 type = Absolute encoder) 1 / uint16
With an SSI encoder, defines the location of the MSB
(most significant bit) of the revolution count within
an SSI message.
1 ... 126 Revolution count MSB location (bit number). -/1=1
92.36 SSI data format (Visible when 92.1 Encoder 1 type = Absolute encoder) Binary / uint16
Selects the data format for an SSI encoder.
Binary Binary code. 0
Gray Gray code. 1
92.37 SSI baud rate (Visible when 92.1 Encoder 1 type = Absolute encoder) 100 kBit/s / uint16
Selects the baud rate for an SSI encoder.
10 kBit/s 10 kbit/s. 0
50 kBit/s 50 kbit/s. 1
100 kBit/s 100 kbit/s. 2
200 kBit/s 200 kbit/s. 3
500 kBit/s 500 kbit/s. 4
1000 kBit/s 1000 kbit/s. 5
510 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
92.40 SSI zero phase (Visible when 92.1 Encoder 1 type = Absolute encoder) 315-45 deg / uint16
Defines the phase angle within one sine/cosine signal
period that corresponds to the value of zero on the
SSI serial link data. The parameter is used to adjust
the synchronization of the SSI position data and the
position based on sine/cosine incremental signals.
Incorrect synchronization may cause an error of ±1
incremental period.

Note: This parameter needs to be set only when an SSI

encoder is used in initial position mode (see parameter
92.30 Serial link mode).

315-45 deg 315-45 degrees. 0

45-135 deg 45-135 degrees. 1
135-225 deg 135-225 degrees. 2
225-315 deg 225-315 degrees. 3
92.45 Hiperface parity (Visible when 92.1 Encoder 1 type = Absolute encoder) Odd / uint16
Defines the use of parity and stop bits with a
HIPERFACE encoder.
Typically this parameter need not be set.
Odd Odd parity indication bit, one stop bit. 0
Even Even parity indication bit, one stop bit. 1
92.46 Hiperface baud rate (Visible when 92.1 Encoder 1 type = Absolute encoder) 4800 bits/s / uint16
Defines the transfer rate of the link with a HIPERFACE
encoder.
Typically this parameter need not be set.
4800 bits/s 4800 bit/s. 0
9600 bits/s 9600 bit/s. 1
19200 bits/s 19200 bit/s. 2
38400 bits/s 38400 bit/s. 3
92.47 Hiperface node (Visible when 92.1 Encoder 1 type = Absolute encoder) 64 / uint16
address Defines the node address for a HIPERFACE encoder.
Typically this parameter need not be set.
0 ... 255 HIPERFACE encoder node address. -/1=1
 Parameters 511

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
93 Encoder 2 Settings for encoder 2.
configuration
Note: The contents of the parameter group vary
according to the selected encoder type.

Note: It is recommended that encoder connection 1

(group 92 Encoder 1 configuration) is used whenever
possible since the data received through that interface
is fresher than the data received through connection
2 (this group).

93.1 Encoder 2 type Selects the type of encoder/resolver 2. None configured /

uint16
None configured None. 0
TTL TTL. Module type (input): FEN-01 (X31), FEN-11 (X41) 1
or FEN-21 (X51).
TTL+ TTL+. Module type (input): FEN-01 (X32). 2
Absolute encoder Absolute encoder. Module type (input): FEN-11 (X42). 3
Resolver Resolver. Module type (input): FEN-21 (X52). 4
HTL HTL. Module type (input): FEN-31 (X82). 5
HTL 1 HTL. Module type (input): FSE-31 (X31). 6
HTL 2 HTL. Module type (input): FSE-31 (X32). Not supported 7
at the time of publication.
93.2 Encoder 2 source Selects the interface module that the encoder is Module 1 / uint16
connected to. (The physical locations and types of
encoder interface modules are defined in parameter
group 91 Encoder module settings.)
Module 1 Interface module 1. 1
Module 2 Interface module 2. 2
93.10 Excitation signal (Visible when 93.1 Encoder 2 type = Resolver) 1 kHz / uint16
frequency See parameter 92.10 Excitation signal frequency.
93.10 Sine/cosine number (Visible when 93.1 Encoder 2 type = Absolute encoder) 0 / uint16
See parameter 92.10 Sine/cosine number.
93.10 Pulses/revolution (Visible when 93.1 Encoder 2 type = HTL 1) 2048 / uint16
See parameter 92.10 Pulses/revolution.
93.11 Excitation signal (Visible when 93.1 Encoder 2 type = Resolver) 40.0 V / uint16
amplitude See parameter 92.11 Excitation signal amplitude.
93.11 Absolute position (Visible when 93.1 Encoder 2 type = Absolute encoder) None / uint16
source See parameter 92.11 Absolute position source.
93.11 Pulse encoder type (Visible when 93.1 Encoder 2 type = HTL 1) Quadrature / uint16
See parameter 92.11 Pulse encoder type.
93.12 Resolver polepairs (Visible when 93.1 Encoder 2 type = Resolver) 1 / uint16
See parameter 92.12 Resolver polepairs.
93.12 Zero pulse enable (Visible when 93.1 Encoder 2 type = Absolute encoder) Disable / uint16
See parameter 92.12 Zero pulse enable.
512 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
93.12 Speed calculation (Visible when 93.1 Encoder 2 type = HTL 1) Auto rising / uint16
mode See parameter 92.12 Speed calculation mode.
93.13 Position data width (Visible when 93.1 Encoder 2 type = Absolute encoder) 0 / uint16
See parameter 92.13 Position data width.
93.13 Position estimation (Visible when 93.1 Encoder 2 type = HTL 1) Enable / uint16
enable See parameter 92.13 Position estimation enable.
93.14 Revolution data (Visible when 93.1 Encoder 2 type = Absolute encoder) 0 / uint16
width See parameter 92.14 Revolution data width.
93.14 Speed estimation (Visible when 93.1 Encoder 2 type = HTL 1) Disable / uint16
enable See parameter 92.14 Speed estimation enable.
93.15 Transient filter (Visible when 93.1 Encoder 2 type = HTL 1) 4880Hz / uint16
See parameter 92.15 Transient filter.
93.17 Accepted pulse freq (Visible when 93.1 Encoder 2 type = HTL 1) 300 kHz / uint16
of encoder 2 See parameter 92.17 Accepted pulse freq of encoder
1.
93.21 Encoder cable fault (Visible when 93.1 Encoder 2 type = HTL 1) A, B / uint16
mode See parameter 92.21 Encoder cable fault mode.
93.24 Pulse edge filtering (Visible when 93.1 Encoder 2 type = HTL) No filtering / uint16
See parameter 92.24 Pulse edge filtering.
93.30 Serial link mode (Visible when 93.1 Encoder 2 type = Absolute encoder) Initial position /
See parameter 92.30 Serial link mode. uint16
93.31 EnDat calc time (Visible when 93.1 Encoder 2 type = Absolute encoder) 50 ms / uint16
See parameter 92.31 EnDat max calculation time.
93.32 SSI cycle time (Visible when 93.1 Encoder 2 type = Absolute encoder) 100 us / uint16
See parameter 92.32 SSI cycle time.
93.33 SSI clock cycles (Visible when 93.1 Encoder 2 type = Absolute encoder) 2 / uint16
See parameter 92.33 SSI clock cycles.
93.34 SSI position msb (Visible when 93.1 Encoder 2 type = Absolute encoder) 1 / uint16
See parameter 92.34 SSI position msb.
93.35 SSI revolution msb (Visible when 93.1 Encoder 2 type = Absolute encoder) 1 / uint16
See parameter 92.35 SSI revolution msb.
93.36 SSI data format (Visible when 93.1 Encoder 2 type = Absolute encoder) Binary / uint16
See parameter 92.36 SSI data format.
93.37 SSI baud rate (Visible when 93.1 Encoder 2 type = Absolute encoder) 100 kBit/s / uint16
See parameter 92.37 SSI baud rate.
93.40 SSI zero phase (Visible when 93.1 Encoder 2 type = Absolute encoder) 315-45 deg / uint16
See parameter 92.40 SSI zero phase.
93.45 Hiperface parity (Visible when 93.1 Encoder 2 type = Absolute encoder) Odd / uint16
See parameter 92.45 Hiperface parity.
93.46 Hiperface baud rate (Visible when 93.1 Encoder 2 type = Absolute encoder) 4800 bits/s / uint16
See parameter 92.46 Hiperface baud rate.
93.47 Hiperface node (Visible when 93.1 Encoder 2 type = Absolute encoder) 64 / uint16
address See parameter 92.47 Hiperface node address.
 Parameters 513

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
94 LSU control Control of the supply unit of the drive, such as DC
voltage and reactive power reference.
Note that the references defined here must also be
selected as the reference source in the supply control
program to be effective.
This group is only visible when supply unit control has
been activated by parameter 95.20 HW options word
1.
See also section Control of a supply unit
(LSU) (page 44).
94.1 LSU Control Enables/disables the internal INU-LSU state machine. On / uint16
When the state machine is enabled, the inverter unit
(INU) controls the supply unit (LSU) and prevents the
inverter unit from starting until the supply unit is ready.
When the state machine is disabled, the status of the
supply unit is ignored by the inverter unit.
Off INU-LSU state machine disabled. 0
On INU-LSU state machine enabled. 1
94.2 LSU panel Enables/disables control panel and PC tool access to Disable / uint16
communication the supply unit (line-side converter) via the inverter
unit (motor-side converter).

Note: This feature is only supported by the following

drives:
• ACS880-11
• ACS880-31
• ACS880-17 based on an integrated drive module
• ACS880-37 based on an integrated drive module.

Disable Control panel and PC tool access to supply unit via 0

inverter unit disabled.
Enable Control panel and PC tool access to supply unit via 1
inverter unit enabled.
94.4 INU-LSU status (Only visible with certain drive types.) ABB single drives
word profile Selects the functionality of bit 1 of 6.11 Main status standard SW / uint16
word.
ABB single drives The drive sets bit 1 of 6.11 Main status word after the 0
standard SW DC link is charged.
Backwards The drive sets bit 1 of 6.11 Main status word after the 1
compatible SW main contactor is closed and the supply unit (line-side
converter) is running.
This setting can be used eg. when installing the drive
into an existing set-up with other ACS880 as well as
ACS800 drives.
514 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
94.5 LSU external start (Only visible when IGBT supply unit control activated Not selected / uint32
command by 95.20)
Selects the source for LSU external start command.
This parameter is visible only if INU-ISU communication
is enabled in 95.20 bit 15.

Note: If LSU is stopped using parameter 94.5 LSU

external start command, LSU continues to run during
the time defined by 94.11 LSU stop delay.

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
DIIL DIIL input (10.2 DI delayed status, bit 15). 30
94.10 LSU max charging Defines the maximum time the supply unit (LSU) is 15 s / uint16
time allowed for charging before a fault, 7584 LSU charge
failedis generated.
0 ... 65535 s Maximum charging time. 1=1s/1=1s
94.11 LSU stop delay Defines a stop delay for the supply unit. This parameter 600.0 s / uint16
can be used to delay the opening of the main
breaker/contactor when a restart is expected.
0.0 ... 3600.0 s Supply unit stop delay. 10 = 1 s / 10 = 1 s
94.20 DC voltage (Only visible when IGBT supply unit control activated - / real32
reference by 95.20)
Displays the DC voltage reference sent to the supply
unit.

Note: This parameter is read-only.

0.0 ... 2000.0 V DC voltage reference sent to supply unit. 10 = 1 V / 10 = 1 V

94.21 DC voltage ref (Only visible when IGBT supply unit control activated User ref / uint32
source by 95.20)
Selects the source of the DC voltage reference to be
sent to the supply unit.
Zero None. 0
User ref 94.22 User DC voltage reference. 1
Other [value] See Terms and abbreviations (page 134).
 Parameters 515

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
94.22 User DC voltage (Only visible when IGBT supply unit control activated 0.0 V / real32
reference by 95.20)
Defines the DC voltage reference for the supply unit
when 94.21 DC voltage ref source is set to User ref.
0.0 ... 2000.0 V User DC reference. 10 = 1 V / 10 = 1 V
94.30 Reactive power (Only visible when IGBT supply unit control activated - / real32
reference by 95.20)
Displays the reactive power reference sent to the
supply unit.

Note: This parameter is read-only.

-3276.8 ... 3276.7 Reactive power reference sent to the supply unit. 10 = 1 kVAr / 10 = 1
kVAr kVAr
94.31 Reactive power ref (Only visible when IGBT supply unit control activated User ref / uint32
source by 95.20)
Selects the source of the reactive power reference to
be sent to the supply unit.
Zero None. 0
User ref 94.32 User reactive power reference. 1
Other [value] See Terms and abbreviations (page 134).
94.32 User reactive power (Only visible when IGBT supply unit control activated 0.0 kVAr / real32
reference by 95.20)
Defines the reactive power reference for the supply
unit when 94.31 Reactive power ref source is set to
User ref.
-3276.8 ... 3276.7 User reactive power reference. 10 = 1 kVAr / 10 = 1
kVAr kVAr
94.40 Power mot limit on Defines the maximum shaft power for motoring mode 600.00 % / real32
net loss upon a supply network failure when IGBT supply unit
control is active (bit 15 of 95.20 HW options word 1 is
on).
The value is given in percent of nominal motor power.

Note: With a diode supply unit (bit 11 of 95.20 is on),

the motoring shaft power is limited to 2% upon a
network failure regardless of this parameter.

0.00 ... 600.00 % Maximum shaft power for motoring mode upon a 1 = 1 % / 100 = 1 %
supply network failure.
94.41 Power gen limit on Defines the maximum shaft power for generating upon -600.00 % / real32
net loss a supply network failure when supply unit control is
active (bit 15 of 95.20 HW options word 1 is on).
The value is given in percent of nominal motor power.

Note: With a diode supply unit (bit 11 of 95.20 is on),

the motoring shaft power is limited to 2% upon a
network failure regardless of this parameter.

-600.00 ... 0.00 % Maximum shaft power for generating mode upon a 1 = 1 % / 100 = 1 %
supply network failure.
516 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
94.50 LSU weak grid Enables LSU weak grid detection on Not selected / uint32
enable ACS880-11/31/14/34/17/37 drives to improve stability
in weak grids and when the drive is supplied by a
generator.

Note: This parameter can be used only with

ACS880-11/31/14/34/17/37 frames R3, R6, R8, and R11.

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
 Parameters 517

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
95 HW configuration Various hardware-related settings.
95.1 Supply voltage Selects the supply voltage range. This parameter is Not given / uint16
used by the drive to determine the nominal voltage of
the supply network. The parameter also affects the
current ratings and the DC voltage control functions
(trip and brake chopper activation limits) of the drive.

WARNING! An incorrect setting may cause the

motor to rush uncontrollably, or the brake
chopper or resistor to overload.

Note: The selections shown depend on the hardware

of the drive. If only one voltage range is valid for the
drive in question, it is selected by default.

Note: This parameter cannot be changed while the

drive is running.

Not given No voltage range selected. The drive will not start 0
modulating before a range is selected.
208...240 V 208…240 V 1
380...415 V 380...415 V 2
440...480 V 440...480 V 3
500 V 500 V 4
525...600 V 525...600 V 5
660...690 V 660...690 V 6
95.2 Adaptive voltage Enables adaptive voltage limits. Disable; Enable
limits Adaptive voltage limits can be used if, for example, an (95.20 b15) / uint16
IGBT supply unit is used to raise the DC voltage level.
If the communication between the inverter and the
IGBT supply unit is active (95.20 HW options word 1),
the voltage limits are related to the DC voltage
reference transmitted to the supply unit (94.20 DC
voltage reference) assuming that the reference is high
enough. Otherwise, the limits are calculated based on
the measured DC voltage at the end of the
pre-charging sequence.
This function is also useful if the AC supply voltage to
the drive is high, as the warning levels are raised
accordingly.
*Affected by 95.20 HW options word 1, bit 15.
Disable Adaptive voltage limits disabled. 0
Enable Adaptive voltage limits enabled. 1
95.4 Control board Specifies how the control unit of the drive is powered. Internal 24V (ZCU);
supply *The default value depends on the type of control unit External 24V (BCU;
and the setting of parameter 95.20 HW options word 95.20 b4) / uint16
1, bit 4.
518 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Internal 24V The drive control unit is powered from the drive power 0
unit it is connected to.

Note: If reduced run is required, select External 24V or

Redundant external 24V instead.

External 24V The drive control unit is powered from an external 1

power supply. The drive power unit and power unit
link faults are masked when the drive is in stopped
state, so the main circuit can be powered down
without faults while the control unit is powered.
Redundant external (Type BCU control units only) 2
24V The drive control unit is powered from two redundant
external power supplies. The loss of one of the supplies
generates a warning (AFEC External power signal
missing). The drive power unit and power unit link
faults are masked when the drive is in stopped state,
so the main circuit can be powered down without
faults while the control unit is powered.
 Parameters 519

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
95.8 DC switch (Only visible with a ZCU control unit) Disable; Enable
monitoring Enables/disables DC switch monitoring via the DIIL (95.20 b5) / uint16
input. This setting is intended for use with inverter
modules with an internal charging circuit that are
connected to the DC bus through a DC switch.
An auxiliary contact of the DC switch must be wired
to the DIIL input so that the input switches off when
the DC switch is opened.

DC bus

DC switch

DIIL
+24 V
Inverter module

Charging
Charging logic
contactor

If the DC switch is opened with the inverter running,

the inverter is given a coast-to-stop command, and
its charging circuit activated.
Starting the inverter is prevented until the DC switch
is closed and the DC circuit in the inverter unit
recharged.

Note: By default, DIIL is the input for the Run enable

signal. Adjust 20.12 Run enable 1 source if necessary.

Note: An internal charging circuit is standard on some

inverter module types but optional on others; check
with your local ABB representative.

Disable DC switch monitoring through the DIIL input disabled. 0

Enable DC switch monitoring through the DIIL input enabled. 1
520 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
95.9 Switch fuse (Only visible with a BCU control unit) - / uint16
controller Activates communication to a BSFC charging
controller. This setting is intended for use with inverter
modules that are connected to a DC bus through a DC
switch/charging circuit controlled by a charging
controller. On units without a DC switch, this
parameter should be set to Disable.
The charging controller monitors the charging of the
inverter unit, and sends an enable command when the
charging has finished (ie. DC switch is closed after the
'charging OK' lamp lights, and charging switch
opened).
For more information, see BSFC documentation.
Disable Communication with BSFC disabled. 0
Enable Communication with BSFC enabled. 1
95.12 Reduced run mask (Only visible with BCU control unit) - / uint16
Specifies which converter modules have been removed
from the converter configuration. A value other than
0 activates the reduced run function.
See section Reduced run function (page 105).
b0 Module 1 removed Module 1 has been removed.
b1 Module 2 removed Module 2 has been removed.
b2 Module 3 removed Module 3 has been removed.
b3 Module 4 removed Module 4 has been removed.
b4 Module 5 removed Module 5 has been removed.
b5 Module 6 removed Module 6 has been removed.
b6 Module 7 removed Module 7 has been removed.
b7 Module 8 removed Module 8 has been removed.
b8 Module 9 removed Module 9 has been removed.
b9 Module 10 removed Module 10 has been removed.
b10 Module 11 removed Module 11 has been removed.
b11 Module 12 removed Module 12 has been removed.
b12…15 Reserved
0000h…FFFFh 1=1
95.13 Reduced run mode (Only visible with a BCU control unit) - / uint16
Specifies the number of inverter modules available.
This parameter must be set if reduced run is required.
A value other than 0 activates the reduced run function.
If the control program cannot detect the number of
modules specified by this parameter, a fault (5695
Reduced run) is generated.
See section Reduced run function (page 105).
0 = Reduced run disabled
1…12 = Number of modules available

Note: This parameter cannot be changed while the

drive is running.
 Parameters 521

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0 ... 65535 Number of inverter modules available. -/-
95.14 Connected modules (Only visible with a BCU control unit) - / uint16
Shows which of the parallel-connected inverter
modules have been detected by the control program.

Note: This parameter is read-only.

b0 Module 1 Module 1 has been detected.

b1 Module 2 Module 2 has been detected.
b2 Module 3 Module 3 has been detected.
b3 Module 4 Module 4 has been detected.
b4 Module 5 Module 5 has been detected.
b5 Module 6 Module 6 has been detected.
b6 Module 7 Module 7 has been detected.
b7 Module 8 Module 8 has been detected.
b8 Module 9 Module 9 has been detected.
b9 Module 10 Module 10 has been detected.
b10 Module 11 Module 11 has been detected.
b11 Module 12 Module 12 has been detected.
b12…15 Reserved
0000h…FFFFh 1=1
95.15 Special HW settings Contains hardware-related settings that can be - / uint16
enabled and disabled by toggling the specific bits.

Note: The installation of the hardware specified by

this parameter may require derating of drive output,
or impose other limitations. Refer to the hardware
manual of the drive.

Note: This parameter cannot be changed while the

drive is running.

b0 EX motor 1 = The driven motor is an Ex motor provided by ABB

for potentially explosive atmospheres. This sets the
required minimum switching frequency for ABB Ex
motors.

Note: For non-ABB Ex motors, contact your local ABB

representative.

b1 ABB sine filter 1 = An ABB sine filter is connected to the output of the
drive/inverter.
b2 High speed mode 1 = Minimum switching frequency limit adaptation to
output frequency active. This setting improves control
performance at high output frequencies (typically
above 120 Hz.
522 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b3 Custom sine filter 1 = A custom sine filter is connected to the output of
the drive/inverter. See also parameters 97.1, 97.2, 99.18,
99.19.
b4…15 Reserved
0000h…FFFFh 1=1
95.16 Router mode (Only visible with a BCU control unit) Off / uint32
Enables/disables router mode of the BCU control unit.
When router mode is active, the PSL2 channels
connected to another BCU (ie. those selected by 95.17
Router channel config) are routed to the power units
(converter modules) connected to this BCU.
See section Router mode for BCU control
unit (page 108).

Note: This parameter cannot be changed while the

drive is running.

Off Router mode inactive. 0

On Router mode active. 1
Other [bit] See Terms and abbreviations (page 134).
95.17 Router channel (Only visible with a BCU control unit) - / uint16
config Selects which PSL2 channels on the BCU control unit
are connected to another BCU and routed to a local
power unit.

Note: The local power units are to be connected to

successive channels starting from CH1. The other BCU
is then connected to one or more successive channels
starting from the first free channel.

Note: The lowest channel selected in this parameter

is routed to the local power unit with the lowest
number, etc.

Note: There must be at least as many local power

modules as there are routed channels.

Note: This parameter cannot be changed while the

drive is running.
See section Router mode for BCU control
unit (page 108).
b0 ch1 0
b1 ch2 1 = Channel CH2 is routed to the local power unit
(which is connected to CH1)
b2 ch3 1 = Channel CH3 is routed to the local power unit
(which is connected to CH1)
b3 ch4 1 = Channel CH4 is routed to a local power unit
b4 ch5 1 = Channel CH5 is routed to a local power unit
b5 ch6 1 = Channel CH6 is routed to a local power unit
 Parameters 523

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b6 ch7 1 = Channel CH7 is routed to a local power unit
b7 ch8 1 = Channel CH8 is routed to a local power unit
b8 ch9 1 = Channel CH9 is routed to a local power unit
b9 ch10 1 = Channel CH10 is routed to a local power unit
b10 ch11 1 = Channel CH11 is routed to a local power unit
b11 ch12 1 = Channel CH12 is routed to a local power unit
b12…15 Reserved
0000h…FFFFh 1=1
95.20 HW options word 1 Specifies hardware-related options that require - / uint16
differentiated parameter defaults. Activating a bit in
this parameter makes the necessary changes in other
parameters. For example, activating an emergency
stop option reserves a digital input. In many cases,
the differentiated parameters will also be
write-protected.
This parameter, as well as the changes in other
parameters implemented by it, are not affected by a
parameter restore.

WARNING! After switching any bits in this word,

recheck the values of the affected parameters.

Note: This parameter cannot be changed while the

drive is running.
*See section Control of a supply unit (LSU) (page 44).
b0 Supply frequency 0 = 50 Hz; 1 = 60 Hz. Affects 11.45, 11.59, 12.20, 13.18,
60 Hz 30.11, 30.12, 30.13, 30.14, 31.26, 31.27, 40.15, 40.37, 41.15,
41.37, 46.1, 46.2.
b1 Emergency stop Cat 1 = Emergency stop, Category 0, without FSO module.
0 Affects 21.4, 21.5, 23.11.
b2 Emergency stop Cat 1 = Emergency stop, Category 1, without FSO module.
1 Affects 10.24, 21.4, 21.5, 23.11.
b3 RO2 for -07 cabinet 1 = Control of cabinet cooling fan (used only with
cooling fan specific ACS880-07 hardware). Affects 10.27, 10.28,
10.29.
b4 Externally powered 1 = Control unit powered externally. Affects 95.4. (Only
control unit visible with a ZCU control unit)
b5 DC supply switch 1 = DC switch monitoring active. Affects 20.12, 31.3,
95.8. (Only visible with a ZCU control unit)
b6 DOL motor switch 1 = Motor fan control active. Affects 10.24, 35.100,
35.103, 35.104.
b7 xSFC-01fuse switch 1 = xSFC-01 fuse switch controller. Affects 95.9. (Only
controller visible with a BCU control unit)
b8 Service switch or 1 = Service switch or PTC/Pt100 relay connected.
PTC/Pt100 relay Affects 31.1, 31.2.
524 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b9 Output contactor 1 = Output contactor present. Affects 10.24, 20.12.
b10 Brake resistor, sine 1 = Status (eg. thermal) switches connected to DIIL
filter, IP54 fan input. Affects 20.11, 20.12.
b11 INU-DSU *1 = Diode supply unit control by inverter unit active.
communication Makes several parameters visible in groups 6, 60, 61,
62 and 94. (Only visible with a BCU control unit)
b12 Reserved
b13 du/dt filter 1 = Active: An external du/dt filter is connected to the
activation drive output. The setting will limit the output switching
frequency. With inverter module frame sizes R5i to R7i,
the fan of the module will be forced to full speed.

Note: This bit is to be left at 0 if the drive/inverter

module is equipped with internal du/dt filtering (eg.
frame R8i inverter modules with option +E205).

b14 DOL fan activation 1 = The inverter unit consists of frame R8i modules
with direct-on-line cooling fans (option +C188).
Disables fan feedback monitoring and changes fan
control to ON/OFF type.
b15 INU-ISU *1 = IGBT supply unit control by inverter unit active.
communication Affects 31.23 and 95.2. Makes several parameters
visible in groups 1, 5, 6, 7, 30, 31, 60, 61, 62, 94 and 96.
Bit 15 sets also 195.01 Supply voltage in ISU to the
same value as 95.1 in INU is set.
0000h…FFFFh 1=1
95.21 HW options word 2 Specifies more hardware-related options that require - / uint16
differentiated parameter defaults. See parameter
95.20 HW options word 1.

WARNING! After switching any bits in this word,

recheck the values of the affected parameters.

Note: This parameter cannot be changed while the

drive is running.

b0 Dual use 1 = Dual use active. For drives with option +N8200.
(Allows higher output speeds/frequencies and
speed/frequency reference limits.)
b1 SynRM 1 = Synchronous reluctance motor used. Affects 25.2,
25.3, 25.15, 99.3.
b2 Salient PM 1 = Salient-pole permanent magnet motor used. Affects
25.2, 25.3, 25.15, 99.3.
b3 LV Synchro 1 = Externally-excited synchronous motor used.
Requires a license. Contact your local ABB
representative for more information.
b4 Aux fan 1 1 = Auxiliary fan 1 installed and supervised.
supervision
 Parameters 525

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b5 Aux fan 2 1 = Auxiliary fan 2 installed and supervised.
supervision
b6…15 Reserved
0000h…FFFFh 1=1
95.30 Parallel type list (Only visible with a BCU control unit) No filter / uint16
filter Filters the list of drive/inverter types listed by
parameter 95.31 Parallel type configuration.

Note: This parameter cannot be changed while the

drive is running.

No filter All types listed. 1

400 V -3 (380…415 V) types listed. 2
500 V -5 (380…500 V) types listed. 3
690 V -7 (525…690 V) types listed. 4
-7 LC (525-690V) Liquid-cooled -7 (525…690 V) types listed. 5
95.31 Parallel type (Only visible with a BCU control unit) Not selected / uint16
configuration Defines the drive/inverter type if it consists of
parallel-connected modules.
If the drive/inverter consists of a single module, leave
the value at Not selected.

Note: This parameter cannot be changed while the

drive is running.

Not selected The drive/inverter does not consist of 0

parallel-connected modules, or type not selected.
[Drive/inverter Drive/inverter type consisting of parallel-connected -
type] modules.
95.40 Transformation Defines the ratio of the step-up transformer. 0.000 / real32
ratio
0.000 ... 100.000 Step-up transformer ratio. 1000 = 1 / 1000 = 1
526 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
96 System Language selection; access levels; macro selection;
parameter save and restore; control unit reboot; user
parameter sets; unit selection; data logger triggering;
parameter checksum calculation; user lock.
96.1 Language Selects the language of the parameter interface and Not selected / uint16
other displayed information when viewed on the
control panel.

Note: Not all languages listed below are necessarily

supported.

Note: This parameter does not affect the languages

visible in the Drive Composer PC tool. (Those are
specified under View – Settings.)

Deutsch German. 1031

Italiano Italian. 1040
Español Spanish. 3082
Português Portuguese. 2070
Nederlands Dutch. 1043
Français French. 1036
Dansk Danish. 1030
Suomi Finnish. 1035
Svenska Swedish. 1053
Русский Russian. 1049
Not selected None. 0
Polski Polish. 1045
Česky Czech. 1029
Chinese (Simplified, Simplified Chinese. 2052
PRC)
Türkçe Turkish. 1055
Japanese Japanese. 1041
English English. 1033
 Parameters 527

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
96.2 Pass code Pass codes can be entered into this parameter to 0 / uint32
activate further access levels (see parameter 96.3
Access levels active) or to configure the user lock.
Entering "358" toggles the parameter lock, which
prevents the changing of all other parameters through
the control panel or the Drive Composer PC tool.
Entering the user pass code (by default, "10000000")
enables parameters 96.100…96.102, which can be used
to define a new user pass code and to select the
actions that are to be prevented.
Entering an invalid pass code will close the user lock
if open, i.e. hide parameters 96.100…96.102. After
entering the code, check that the parameters are in
fact hidden. If they are not, enter another (random)
pass code.
Entering several invalid pass codes introduces a delay
before a new attempt can be made. Entering further
invalid codes will progressively lengthen the delay.

Note: You must change the default user pass code to

maintain a high level of cybersecurity. Store the code
in a safe place – the protection cannot be disabled
even by ABB if the code is lost.
See also section User lock (page 104).
0…99999999 Pass code. 1=1
96.3 Access levels active Shows which access levels have been activated by pass - / uint16
codes entered into parameter 96.2 Pass code.

Note: This parameter is read-only.

b0 End user End user.

b1 Service Service.
b2 Advanced Advanced programmer.
programmer
b3 Reserved
b11 OEM access level 1 OEM access level 1.
b12 OEM access level 2 OEM access level 2.
b13 OEM access level 3 OEM access level 3.
b14 Parameter lock Parameter lock.
b15 Reserved
0000h…FFFFh 1=1
96.4 Macro select Selects the application macro. See chapter Application Done / uint16
macros for more information.
After a selection is made, the parameter reverts
automatically to Done.

Note: This parameter cannot be changed while the

drive is running.

Done Macro selection complete; normal operation. 0

528 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Factory Factory macro (see 114). 1
Hand/Auto Hand/Auto macro (see page 117). 2
PID-CTRL PID control macro (see page 120). 3
T-CTRL Torque control macro (see page 125). 4
Sequence control Sequential control macro (see page 128). 5
FIELDBUS Reserved. 6
96.5 Macro active Shows which application macro is currently selected. Factory / uint16
To change the macro, use parameter 96.4 Macro select.
Factory Factory macro (see 114). 1
Hand/Auto Hand/Auto macro (see page 117). 2
PID-CTRL PID control macro (see page 120). 3
T-CTRL Torque control macro (see page 125). 4
Sequence control Sequential control macro (see page 128). 5
FIELDBUS Reserved. 6
96.6 Parameter restore Restores the original settings of the control program, Done / uint16
i.e. parameter default values.

Note: This parameter cannot be changed while the

drive is running.

Done Restoring is completed. 0

Restore defaults All editable parameter values are restored to default 8
values, except

• motor data and ID run results

• parameter 31.42 Overcurrent fault limit

• control panel/PC communication settings

• I/O extension module settings

• fieldbus adapter settings

• encoder configuration data

• application macro selection and the parameter

defaults implemented by it

• parameter 95.21 HW options word 2

• parameter 95.9 Switch fuse controller

• differentiated defaults implemented by

parameters 95.20 HW options word 1 and 95.21
HW options word 2

• user lock configuration parameters

96.100 … 96.102.
 Parameters 529

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Clear all All editable parameter values are restored to default 62
values, except

• control panel/PC communication settings

• application macro selection and the parameter

defaults implemented by it

• parameter 95.1 Supply voltage

• parameter 95.9 Switch fuse controller

• differentiated defaults implemented by

parameters 95.20 HW options word 1 and 95.21
HW options word 2

• user lock configuration parameters

96.100 … 96.102.
PC tool communication is interrupted during the
restoring.

Note: Activating this selection will restore the default

settings of the fieldbus adapter if one is connected,
potentially including settings that cannot be accessed
through drive parameters.

Reset all fieldbus Fieldbus adapter and embedded fieldbus interface 32

settings settings (parameter groups 50…58) are restored to
default values. This will also restore the default
settings of the fieldbus adapter if one is connected,
potentially including settings that cannot be accessed
through drive parameters.
96.7 Parameter save Saves the valid parameter values to permanent Done / uint16
manually memory. This parameter should be used to store values
sent from a fieldbus, or when using an external power
supply to the control board as the supply might have
a very short hold-up time when powered off.

Note: A new parameter value is saved automatically

when changed from the PC tool or control panel but
not when altered through a fieldbus adapter
connection.

Done Save completed. 0

Save Start save, or save in progress. 1
96.8 Control board boot Changing the value of this parameter to 1 reboots the - / uint16
control unit (without requiring a power off/on cycle
of the complete drive module).
The value reverts to 0 automatically.

Note: This parameter cannot be changed while the

drive is running.

0 ... 1 1 = Reboot the control unit. 1=1/1=1

530 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
96.9 FSO reboot Changing the value of (or the source selected by) this False / uint32
parameter from 0 to 1 reboots the optional FSO-xx
safety functions module.

Note: The value does not revert to 0 automatically.

False 0. 0
True 1. 1
Other [bit] See Terms and abbreviations (page 134).
96.10 User set status Shows the status of the user parameter sets. n/a / uint16

Note: This parameter is read-only.

See also section User parameter sets (page 102).
n/a No user parameter sets have been saved. 0
Loading A user set is being loaded. 1
Saving A user set is being saved. 2
Faulted Invalid parameter set. 3
User set 1 User set 1 has been loaded. 4
User set 2 User set 2 has been loaded. 5
User set 3 User set 3 has been loaded. 6
User set 4 User set 4 has been loaded. 7
96.11 User set save/load Enables the saving and restoring of up to four custom No action / uint16
sets of parameter settings. See section User parameter
sets (page 102).
The set that was in use before powering down the
drive is in use after the next power-up.

Note: Hardware configuration settings such as I/O

extension module, fieldbus and encoder configuration
parameters (groups 14…16, 51…56, 58 and 92…93,
and parameters 50.1 and 50.31), and forced
input/output values (such as 10.3 and 10.4) are not
included in user parameter sets.

Note: Parameter changes made after loading a set are

not automatically stored – they must be saved using
this parameter.

Note: If no sets have been saved, attempting to load

a set will create all sets from the currently active
parameter settings.

Note: Switching between sets is only possible with

the drive stopped.

No action Load or save operation complete; normal operation. 0

User set I/O mode Load user parameter set using parameters 96.12 and 1
96.13.
Load set 1 Load user parameter set 1. 2
 Parameters 531

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Load set 2 Load user parameter set 2. 3
Load set 3 Load user parameter set 3. 4
Load set 4 Load user parameter set 4. 5
Save to set 1 Save user parameter set 1. 18
Save to set 2 Save user parameter set 2. 19
Save to set 3 Save user parameter set 3. 20
Save to set 4 Save user parameter set 4. 21
96.12 User set I/O mode When parameter 96.11 is set to User set I/O mode, Not selected / uint32
in1 selects the user parameter set together with
parameter 96.13 as follows:

Status of Status of
User parameter
source defined source defined
set selected
by 96.12 by 96.13

0 0 Set 1

1 0 Set 2

0 1 Set 3

1 1 Set 4

Not selected 0 0
Selected 1 1
DI1 Digital input DI1 (10.2 DI delayed status, bit 0). 2
DI2 Digital input DI2 (10.2 DI delayed status, bit 1). 3
DI3 Digital input DI3 (10.2 DI delayed status, bit 2). 4
DI4 Digital input DI4 (10.2 DI delayed status, bit 3). 5
DI5 Digital input DI5 (10.2 DI delayed status, bit 4). 6
DI6 Digital input DI6 (10.2 DI delayed status, bit 5). 7
DIO1 Digital input/output DIO1 (11.2 DIO delayed status, bit 10
0).
DIO2 Digital input/output DIO2 (11.2 DIO delayed status, bit 11
1).
Other [bit] See Terms and abbreviations (page 134).
96.13 User set I/O mode See parameter 96.12 User set I/O mode in1. Not selected / uint32
in2
96.16 Unit selection Selects the unit of parameters indicating power, - / uint16
temperature and torque.
b0 Power unit 0 = kW
1 = hp
b1 Reserved
532 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b2 Temperature unit 0 = C (°C)
1 = F (°F)
b3 Reserved
b4 Torque unit 0 = Nm (N·m)
1 = lbft (lbf·ft)
b5…15 Reserved
0000h…FFFFh 1=1
96.20 Time sync primary Defines the 1st priority external source for DDCS Controller /
source synchronization of the drive's time and date. uint16
The date and time can also be directly set into
96.24 … 96.26 in which case this parameter is ignored.
Internal No external source selected. 0
DDCS Controller External controller. 1
Fieldbus A or B Fieldbus interface A or B. 2
Fieldbus A Fieldbus interface A. 3
Fieldbus B Fieldbus interface B. 4
D2D or M/F The master station on a master/follower or 5
drive-to-drive link.
Embedded FB Embedded fieldbus interface. 6
Panel link Control panel, or Drive Composer PC tool connected 8
to the control panel.
Ethernet tool link Drive Composer PC tool through an FENA module. 9
96.23 M/F and D2D clock In the master drive, activates clock synchronization Inactive / uint16
synchronization for master/follower and drive-to-drive communication.
Inactive Clock synchronization not active. 0
Active Clock synchronization active. 1
96.24 Full days since 1st Number of full days passed since beginning of the year 12055 days / uint16
Jan 1980 1980. This parameter, together with 96.25 Time in
minutes within 24 h and 96.26 Time in ms within one
minute makes it possible to set the date and time in
the drive via the parameter interface from a fieldbus
or application program. This may be necessary if the
fieldbus protocol does not support time
synchronization.
1 ... 59999 days Days count. 1 = 1st January 1980. 1 = 1 days / 1 = 1 days
96.25 Time in minutes Number of full minutes passed since midnight. For 0 min / uint16
within 24 h example, the value 860 corresponds to 2:20 pm.
See parameter 96.24 Full days since 1st Jan 1980.
0 ... 1439 min Minutes since midnight. 1 = 1 min / 1 = 1 min
96.26 Time in ms within Number of milliseconds passed since last minute. 0 ms / uint16
one minute See parameter 96.24 Full days since 1st Jan 1980.
0 ... 59999 ms Number of milliseconds since last minute. 1 = 1 ms / 1 = 1 ms
 Parameters 533

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
96.29 Time sync source Time source status word. - / uint16
status
Note: This parameter is read-only.

b0 Time tick received 1 = 1st priority tick received: Tick has been received
from 1st priority source (or from 96.24 … 96.26).
b1 Aux Time tick 1 = 2nd priority tick received: Tick has been received
received from 2nd priority source.
b2 Tick interval is too 1 = Yes: Tick interval too long (accuracy compromised).
long
b3 DDCS controller 1 = Tick received: Tick has been received from an
external controller.
b4 Master/Follower 1 = Tick received: Tick has been received through the
master/follower link.
b5 Reserved
b6 D2D 1 = Tick received: Tick has been received through the
drive-to-drive link.
b7 FbusA 1 = Tick received: Tick has been received through
fieldbus interface A.
b8 FbusB 1 = Tick received: Tick has been received through
fieldbus interface B.
b9 EFB 1 = Tick received: Tick has been received through the
embedded fieldbus interface.
b10 Reserved
b11 Panel link 1 = Tick received: Tick has been received from the
control panel, or Drive Composer PC tool connected
to the control panel.
b12 Ethernet tool link 1 = Tick received: Tick has been received from Drive
Composer PC tool through an FENA module.
b13 Parameter setting 1 = Tick received: Tick has been set by parameters
96.24 … 96.26.
b14 RTC 1 = RTC time in use: Time and date have been read from
the real-time clock.
b15 Drive On-Time 1 = Drive on-time in use: Time and date are displaying
drive on-time.
0000h…FFFFh 1=1
96.31 Drive ID number Specifies an ID number for the drive. The ID can be 0 / uint16
read by an external controller through DDCS, for
example, for comparison with an ID contained by the
controller's application.
0 ... 32767 ID number. 1=1/1=1
96.39 Power up event Enables/disables power-up logging. When enabled, Enable / uint16
logging an event (B5A2 Power up) is logged by the drive upon
each power-up.
Disable Power-up event logging disabled. 0
Enable Power-up event logging enabled. 1
534 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
96.51 Clear fault and Clears the contents of the event logs. See section - / uint16
event logger Warning/fault history and analysis (page 561).
0 ... 65535 00001 = Clear the event logs. (The value will 1=1/1=1
automatically revert to 00000.)
96.53 Actual checksum Displays the actual parameter configuration checksum. 0 / uint32
The checksum is generated and updated whenever an
action is selected in 96.54 Checksum action.
The parameters included in the calculation have been
pre-selected, but the selection can be edited using the
Drive customizer PC tool.
See also section Parameter checksum
calculation (page 102).
00000000…FFFFFFFFh Actual checksum. 1=1
96.54 Checksum action Selects how the drive reacts if the parameter checksum No action / uint16
(96.53 Actual checksum) does not match any of the
active approved checksums (96.56 … 96.59). The active
checksums are selected by 96.55 Checksum control
word.
No action No action taken. (The checksum feature is not in use.) 0
Pure event The drive generates an event log entry (B686 Checksum 1
mismatch).
Warning The drive generates a warning (A686 Checksum 2
mismatch).
Warning and The drive generates a warning (A686 Checksum 3
prevent start mismatch). Starting the drive is prevented.
Fault The drive trips on 6200 Checksum mismatch. 4
96.55 Checksum control Bits 0…3 select to which approved checksums (out of - / uint16
word 96.56 … 96.59) the actual checksum (96.53) is
compared.
Bits 4…7 select an approved (reference) checksum
parameter (96.56 … 96.59) into which the actual
checksum from parameter 96.53 is copied.
b0 Approved checksum 1 = Enabled: Checksum 1 (96.56) is observed.
1
b1 Approved checksum 1 = Enabled: Checksum 2 (96.57) is observed.
2
b2 Approved checksum 1 = Enabled: Checksum 3 (96.58) is observed.
3
b3 Approved checksum 1 = Enabled: Checksum 4 (96.59) is observed.
4
b4 Set approved 1 = Set: Copy value of 96.53 into 96.56.
checksum 1
b5 Set approved 1 = Set: Copy value of 96.53 into 96.57.
checksum 2
b6 Set approved 1 = Set: Copy value of 96.53 into 96.58.
checksum 3
 Parameters 535

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b7 Set approved 1 = Set: Copy value of 96.53 into 96.59.
checksum 4
b8…15 Reserved
0000h…FFFFh 1=1
96.56 Approved checksum Approved (reference) checksum 1. 0 / uint32
1
00000000…FFFFFFFFh Approved checksum 1. 1=1
96.57 Approved checksum Approved (reference) checksum 2. 0 / uint32
2
00000000…FFFFFFFFh Approved checksum 2. 1=1
96.58 Approved checksum Approved (reference) checksum 3. 0 / uint32
3
00000000…FFFFFFFFh Approved checksum 3. 1=1
96.59 Approved checksum Approved (reference) checksum 4. 0 / uint32
4
00000000…FFFFFFFFh Approved checksum 4. 1=1
96.61 User data logger Provides status information on the user data logger. - / uint16
status word See section Warning/fault history and
analysis (page 561).

Note: This parameter is read-only.

b0 Running 1 = The user data logger is running. The bit is cleared

after the post-trigger time has passed.
b1 Triggered 1 = The user data logger has been triggered. The bit is
cleared when the logger is restarted.
b2 Data available 1 = The user data logger contains data that can be
read. Note that the bit is not cleared because the data
is saved to the memory unit.
b3 Configured 1 = The user data logger has been configured. Note
that the bit is not cleared because the configuration
data is saved to the memory unit.
b4…15 Reserved
0000h…FFFFh 1=1
96.63 User data logger Triggers, or selects a source that triggers, the user Off / uint32
trigger data logger.
Off 0. 0
On 1. 1
Other [bit] See Terms and abbreviations (page 134).
96.64 User data logger Starts, or selects a source that starts, the user data Off / uint32
start logger.
Off 0. 0
On 1. 1
Other [bit] See Terms and abbreviations (page 134).
536 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
96.65 Factory data logger Selects the sampling interval for the factory data 500us / uint16
time level logger. See section Warning/fault history and
analysis (page 561).
500us 500 microseconds. 500
2ms 2 milliseconds. 2000
10ms 10 milliseconds. 10000
96.70 Disable adaptive Disables/enables the adaptive program (if present). No / uint16
program See also section Adaptive programming (page 31).

Note: This parameter cannot be changed while the

drive is running.

No Adaptive program enabled. 0

Yes Adaptive program disabled. 1
96.100 Change user pass (Visible when user lock is open) 10000000 / uint32
code To change the current user pass code, enter a new
code into this parameter as well as 96.101 Confirm
user pass code. A warning will be active until the new
pass code is confirmed. To cancel changing the pass
code, close the user lock without confirming. To close
the lock, enter an invalid pass code in parameter 96.2
Pass code, activate parameter 96.8 Control board boot,
or cycle the power.
See also section User lock (page 104).
10000000…99999999 New user pass code. 1=1
96.101 Confirm user pass (Visible when user lock is open) 10000000 / uint32
code Confirms the new user pass code entered in 96.100
Change user pass code (page 536).
10000000…99999999 Confirmation of new user pass code. 1=1
96.102 User lock (Visible when user lock is open) - / uint16
functionality Selects the actions or functionalities to be prevented
by the user lock. Note that the changes made take
effect only when the user lock is closed. See parameter
96.2 Pass code.

Note: We recommend you select all the actions and

functionalities unless otherwise required by the
application.

b0 Disable ABB access 1 = ABB access levels (service, advanced programmer,

levels etc. [see 96.3]) disabled
b1 Freeze parameter 1 = Changing the parameter lock state prevented, ie.
lock state pass code 358 has no effect
 Parameters 537

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
b2 Disable file 1 = Loading of files to drive prevented. This applies to
download
• firmware upgrades

• safety functions module (FSO-xx) configuration

• parameter restore

• loading an adaptive program

• loading and debugging an application program

• changing home view of control panel

• editing drive texts

• editing the favorite parameters list on control

panel

• configuration settings made through control

panel such as time/date formats and
enabling/disabling clock display.

b3 Disable FB write to 1 = Access to parameters on disabled access levels

hidden from fieldbus prevented
b4…5 Reserved
b6 Protect AP 1 = Creating a backup and restoring from a backup
prevented
b7 Disable panel 1 = Bluetooth disabled on ACS-AP-W control panel. If
bluetooth the drive is part of a panel bus, Bluetooth is disabled
on all panels.
b8…10 Reserved
b11 Disable OEM access 1 = OEM access level 1 disabled
level 1
b12 Disable OEM access 1 = OEM access level 2 disabled
level 2
b13 Disable OEM access 1 = OEM access level 3 disabled
level 3
b14…15 Reserved
0000h…FFFFh 1=1
96.108 LSU control board (Visible when IGBT supply unit control activated by 0 / uint16
boot 95.20)
Changing the value of this parameter to 1 reboots the
supply control unit (without requiring a power off/on
cycle of the drive system). The value reverts to 0
automatically.
0 ... 1 1 = Reboot the supply control unit. 1=1/1=1
538 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
97 Motor control Motor model settings.
97.1 Switching When parameter 97.9 Switching freq mode is set to 4.500 kHz / real32
frequency reference Custom, defines the switching frequency when it is
not otherwise being internally limited.

Note: This is an expert level parameter and should not

be adjusted without appropriate skill.

0.000 ... 24.000 kHz Switching frequency reference. 1000 = 1 kHz / 1000
= 1 kHz
97.2 Minimum switching When parameter 97.9 Switching freq mode is set to 1.500 kHz / real32
frequency Custom, defines a minimum switching frequency
reference. The actual switching frequency will not fall
below this limit under any circumstances.

Note: This is an expert level parameter and should not

be adjusted without appropriate skill.

Note: The drive has internal switching frequency limits

that may override the value entered here.

0.000 ... 24.000 kHz Minimum switching frequency. 1000 = 1 kHz / 1000
= 1 kHz
97.3 Slip gain Defines the slip gain which is used to improve the 100 % / real32
estimated motor slip. 100% means full slip gain; 0%
means no slip gain. The default value is 100%. Other
values can be used if a static speed error is detected
despite having the setting at full slip gain.
Example (with nominal load and nominal slip of 40
rpm): A 1000 rpm constant speed reference is given
to the drive. Despite having full slip gain (= 100%), a
manual tachometer measurement from the motor axis
gives a speed value of 998 rpm. The static speed error
is 1000 rpm - 998 rpm = 2 rpm. To compensate the
error, the slip gain should be increased to 105%
(2 rpm / 40 rpm = 5%).
0 ... 200 % Slip gain. 1 = 1 % / 100 = 1 %
97.4 Voltage reserve Defines the minimum allowed voltage reserve. When -2 % / real32
the voltage reserve has decreased to the set value, the
drive enters the field weakening area.

Note: This is an expert level parameter and should not

be adjusted without appropriate skill.
If the intermediate circuit DC voltage Udc = 550 V and
the voltage reserve is 5%, the rms value of the
maximum output voltage in steady-state operation is
0.95 × 550 V / sqrt(2) = 369 V
The dynamic performance of the motor control in the
field weakening area can be improved by increasing
the voltage reserve value, but the drive enters the field
weakening area earlier.

Note: The default value for ACS880-11/31/14/34 and

R8, R11 of ACS880-17/37 is -3%.
 Parameters 539

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
-5 ... 50 % Voltage reserve. 1 = 1 % / 100 = 1 %
97.5 Flux braking Defines the level of flux braking power. (Other stopping Disabled / uint16
and braking modes can be configured in parameter
group 21 Start/stop mode).
See section Flux braking (page 66).

Note: This is an expert level parameter and should not

be adjusted without appropriate skill.

Disabled Flux braking is disabled. 0

Moderate Flux level is limited during the braking. Deceleration 1
time is longer compared to full braking.
Full Maximum braking power. Almost all available current 2
is used to convert the mechanical braking energy to
thermal energy in the motor.
97.6 Flux reference Defines the source of flux reference. User flux reference /
select uint32
Note: This is an expert level parameter and should not
be adjusted without appropriate skill.

Zero None. 0
User flux reference Parameter 97.7 User flux reference. 1
Other [value] See Terms and abbreviations (page 134).
97.7 User flux reference Defines the flux reference when parameter 97.6 Flux 100.00 % / real32
reference select is set to User flux reference.
0.00 ... 200.00 % User-defined flux reference. 100 = 1 % / 100 = 1 %
97.8 Optimizer minimum This parameter can be used to improve the control 0.0 % / real32
torque dynamics of a synchronous reluctance motor or a
salient permanent magnet synchronous motor.
As a rule of thumb, define a level to which the output
torque must rise with minimum delay. This will increase
the motor current and improve the torque response
at low speeds.
0.0 ... 1600.0 % Optimizer torque limit. 10 = 1 % / 10 %
97.9 Switching freq An optimization setting for balancing between control Normal / uint16
mode performance and motor noise level.

Note: This is an expert level parameter and should not

be adjusted without appropriate skill.

Note: Other settings than Normal may require

derating. Refer to the rating data in the hardware
manual of the drive.

Note: To improve the control performance, the

switching frequency reference is automatically
increased with ABB sine filter if the motor/drive
current ratio is less than 0.55.

Normal Control performance optimized for long motor cables. 0

Low noise Minimizes motor noise. 1
540 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Cyclic Control performance optimized for cyclic load 2
applications.
Custom This setting is to be used by ABB-authorized service 3
personnel only.
97.10 Signal injection Enables signal injection. A high-frequency alternating Disabled / uint16
signal is injected into the motor at low speeds to
improve the stability of torque control. Signal injection
can be enabled with different amplitude levels.

Note: This is an expert level parameter and should not

be adjusted without appropriate skill.

Note: Use as low a level as possible that gives

satisfactory performance.

Note: Signal injection cannot be applied to

asynchronous motors.

Disabled Signal injection disabled. 0

Enabled (5 %) Signal injection enabled with an amplitude level of 5%. 1
Enabled (10 %) Signal injection enabled with an amplitude level of 2
10%.
Enabled (15 %) Signal injection enabled with an amplitude level of 3
15%.
Enabled (20 %) Signal injection enabled with an amplitude level of 4
20%.
97.11 TR tuning Rotor time constant tuning. 100 % / real32
This parameter can be used to improve torque
accuracy in closed-loop control of an induction motor.
Normally, the motor identification run provides
sufficient torque accuracy, but manual fine-tuning can
be applied in exceptionally demanding applications to
achieve optimal performance.

Note: This is an expert level parameter and should not

be adjusted without appropriate skill.

25 ... 400 % Rotor time constant tuning. 1 = 1 % / 100 = 1 %

 Parameters 541

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
97.12 IR comp step-up IR compensation (i.e. output voltage boost) can be 0.0 Hz / real32
frequency used in step-up applications to compensate for
resistive losses in the step-up transformer, cabling
and motor. As voltage cannot be fed through a step-up
transformer at 0 %, a specific type of IR compensation
should be used.
This parameter adds a frequency breakpoint for
parameter 97.13 IR compensation as shown.

U / UN
(%)
Relative output voltage with IR compensation

100%

97.13

f (Hz)
97.12 Field weakening
point

0.0 Hz = Breakpoint disabled.

Note: This parameter cannot be changed while the

drive is running.

0.0 ... 50.0 Hz IR compensation breakpoint for step-up applications. 1 = 1 Hz / 10 = 1 Hz

97.13 IR compensation Defines the relative output voltage boost at zero speed 0.00 % / real32
(IR compensation). The function is useful in
applications with a high break-away torque where
direct torque control (DTC mode) cannot be applied.

U / UN
(%)

Relative output voltage with IR compensation

100%

97.13 Relative output voltage. No IR

compensation
f (Hz)
Field weakening
point

50% of nominal
frequency

See also section IR compensation for scalar motor

control (page 63).
542 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.00 ... 50.00 % Voltage boost at zero speed in percent of nominal 1 = 1 % / 10000 = 1 %
motor voltage.
97.15 Motor model Selects whether the temperature-dependent Disabled / uint16
temperature parameters (such as stator or rotor resistance) of the
adaptation motor model adapt to actual (measured or estimated)
temperature or not.
See parameter group 35 Motor thermal protection for
selection of temperature measurement sources.
Disabled Temperature adaptation of motor model disabled. 0
Estimated Estimated temperature (35.1 Motor estimated 1
temperature temperature) used for adaptation of motor model.
Measured Measured temperature 1 (35.2 Measured temperature 2
temperature 1 1) used for adaptation of motor model.
Measured Measured temperature 2 (35.3 Measured temperature 3
temperature 2 2) used for adaptation of motor model.
97.18 Hexagonal field Activates hexagonal motor flux pattern in the field Off / uint16
weakening weakening area, i.e. above the limit defined by
parameter 97.19 Hexagonal field weakening point.

Note: This parameter is only effective in scalar motor

control mode.
See also section Hexagonal motor flux
pattern (page 69).
Off The rotating flux vector follows a circular pattern. 0
On The flux vector follows a circular pattern below, and a 1
hexagonal pattern above, the hexagonal field
weakening point (97.19).
97.19 Hexagonal field Defines the activation limit for hexagonal field 120.0 % / real32
weakening point weakening (in percent of the field weakening point,
i.e. the frequency at which maximum output voltage
is reached). See parameter 97.18 Hexagonal field
weakening.

Note: This parameter is only effective in scalar motor

control mode.

0.0 ... 500.0 % Activation limit for hexagonal field weakening. 1 = 1 % / 1000 = 1 %
97.32 Motor torque Unfiltered motor torque in percent of the nominal 0.0 % / real32
unfiltered motor torque.

Note: This parameter is read-only.

-1600.0 ... 1600.0 % Unfiltered motor torque. - / 10 = 1 %

For 16-bit scaling, see parameter 46.3.
97.33 Speed estimate Defines a filtering time for estimated speed See the 5.00 ms / real32
filter time diagram on page 655.
0.00 ... 100.00 ms Filtering time for estimated speed. 1 = 1 ms / 100 ms
 Parameters 543

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
97.78 Maximum flux Defines the maximum allowed stator flux assistance 0.00 % / real32
reference reference for boosting the flux when needed.
assistance Stator flux assistance improves the efficiency of the
drive in high load conditions with externally-excited
synchronous motors.
The function is activated when a non-zero value is set
to parameter 97.78. The flux is boosted between
parameters 97.7 and 97.7 + 97.78, when needed.
0.00 ... 200.00 % Maximum flux reference assistance. 1 = 1 % / 100 = 1 %
544 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
98 User motor Motor values supplied by the user that are used in the
parameters motor model.
These parameters are useful for non-standard motors,
or to just get more accurate motor control of the
motor on site. A better motor model always improves
the shaft performance.
98.1 User motor model Activates the motor model parameters 98.2 … 98.14 Not selected / uint16
mode and the rotor angle offset parameter 98.15.

Note: Parameter value is automatically set to zero

when ID run is selected by parameter 99.13 ID run
requested. The values of parameters 98.2 … 98.15 are
then updated according to the motor characteristics
identified during the ID run.

Note: Measurements made directly from the motor

terminals during the ID run are likely to produce slightly
different values than those on a datasheet from a
motor manufacturer.

Note: This parameter cannot be changed while the

drive is running.

Not selected The values detected during the ID run are being used. 0
Motor parameters The values of parameters 98.2 … 98.14 are used in the 1
motor model.
Position offset The value of parameter 98.15 is used as the rotor angle 2
offset. Parameters 98.2 … 98.14 are inactive.
Motor parameters The values of parameters 98.2 … 98.14 are used in the 3
& position offset motor model, and the value of parameter 98.15 is used
as the rotor angle offset.
98.2 Rs user Defines the stator resistance RS of the motor model. 0.00000 pu / real32
With a star-connected motor, RS is the resistance of
one winding. With a delta-connected motor, RS is
one-third of the resistance of one winding.
Resistance value is given at 20 °C (68 °F).
0.00000 ... 0.50000 Stator resistance in per unit. - / 100000 = 1 pu
pu
98.3 Rr user Defines the rotor resistance RR of the motor model. 0.00000 pu / real32
Resistance value is given at 20 °C (68 °F).

Note: This parameter is valid only for asynchronous

motors.

0.00000 ... 0.50000 Rotor resistance in per unit. - / 100000 = 1 pu

pu
98.4 Lm user Defines the main inductance LM of the motor model. 0.00000 pu / real32

Note: This parameter is valid only for asynchronous

motors.

0.00000 ... Main inductance in per unit. - / 100000 = 1 pu

10.00000 pu
 Parameters 545

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
98.5 SigmaL user Defines the leakage inductance σLS. 0.00000 pu / real32

Note: This parameter is valid only for asynchronous

motors.

0.00000 ... 1.00000 Leakage inductance in per unit. - / 100000 = 1 pu

pu
98.6 Ld user Defines the direct axis (synchronous) inductance. 0.00000 pu / real32

Note: This parameter is valid only for permanent

magnet motors and SynRM. With SynRM the value can
be used to tune the saturation curve.

0.00000 ... Direct axis inductance in per unit. - / 100000 = 1 pu

10.00000 pu
98.7 Lq user Defines the quadrature axis (synchronous) inductance. 0.00000 pu / real32

Note: This parameter is valid only for permanent

magnet motors and SynRM. With SynRM the value can
be used to tune the saturation curve.

0.00000 ... Quadrature axis inductance in per unit. - / 100000 = 1 pu

10.00000 pu
98.8 PM flux user Defines the permanent magnet flux. 0.00000 pu / real32

Note: This parameter is valid only for permanent

magnet motors.

0.00000 ... 2.00000 Permanent magnet flux in per unit. - / 100000 = 1 pu

pu
98.9 Rs user SI Defines the stator resistance RS of the motor model. 0.00000 Ohm /
Resistance value is given at 20 °C (68 °F). real32
0.00000 ... Stator resistance. - / 100000 = 1 Ohm
100.00000 Ohm
98.10 Rr user SI Defines the rotor resistance RR of the motor model. 0.00000 Ohm /
Resistance value is given at 20 °C (68 °F). real32

Note: This parameter is valid only for asynchronous

motors.

0.00000 ... Rotor resistance. 100 = 1 Ohm /

100.00000 Ohm 100000 = 1 Ohm
98.11 Lm user SI Defines the main inductance LM of the motor model. 0.00 mH / real32

Note: This parameter is valid only for asynchronous

motors.

0.00 ... 100000.00 Main inductance. 10 = 1 mH / 100 mH

mH
98.12 SigmaL user SI Defines the leakage inductance σLS. 0.00 mH / real32

Note: This parameter is valid only for asynchronous

motors.
546 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.00 ... 100000.00 Leakage inductance. 10 = 1 mH / 100 mH
mH
98.13 Ld user SI Defines the direct axis (synchronous) inductance. 0.00 mH / real32

Note: This parameter is valid only for permanent

magnet motors.

0.00 ... 100000.00 Direct axis inductance. 10 = 1 mH / 100 mH

mH
98.14 Lq user SI Defines the quadrature axis (synchronous) inductance. 0.00 mH / real32

Note: This parameter is valid only for permanent

magnet motors.

0.00 ... 100000.00 Quadrature axis inductance. 10 = 1 mH / 100 mH

mH
98.15 Position offset user Defines an angle offset between the zero position of 0.0 deg / real32
the synchronous motor and the zero position of the
position sensor.
This value is initially set by the autophasing routine
when an absolute encoder or an incremental encoder
with Z-pulse is used. The value can be fine-tuned by
setting 98.1 User motor model mode to Position offset
or Motor parameters & position offset.

Note: The value is in electrical degrees. The electrical

angle equals the mechanical angle multiplied by the
number of motor pole pairs.

Note: This parameter is valid only for permanent

magnet motors.

0.0 ... 360.0 deg Angle offset. 1 = 1 deg / 1 = 1 deg

 Parameters 547

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
99 Motor data Motor configuration settings.
99.3 Motor type Selects the motor type. Asynchronous
motor; SynRM (95.21
Note: This parameter cannot be changed while the b1); Permanent
drive is running. magnet motor (95.21
b2) / uint16
Asynchronous Standard squirrel cage AC induction motor 0
motor (asynchronous induction motor).
Permanent magnet Permanent magnet motor. Three-phase AC 1
motor synchronous motor with permanent magnet motor
and sinusoidal BackEMF voltage.
SynRM Synchronous reluctance motor. Three-phase AC 2
synchronous motor with salient pole rotor without
permanent magnets.
99.4 Motor control mode Selects the motor control mode. DTC / uint16

Note: This parameter cannot be changed while the

drive is running.

DTC Direct torque control. This mode is suitable for most 0

applications.

Note: Instead of direct torque control, scalar control

is also available, and should be used in the following
situations:

• with multimotor applications

1. if the load is not equally shared between the

motors,

2. if the motors are of different sizes, or

3. if the motors are going to be changed after

the motor identification (ID) run

• if the nominal current of the motor is less than

1/6 of the nominal output current of the drive

• if the drive is used with no motor connected (for

example, for test purposes).

See also section Operating modes of the

drive (page 26).
548 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Scalar Scalar control. The outstanding motor control accuracy 1
of DTC cannot be achieved in scalar control.
Refer to the selection DTC above for a list of
applications where scalar control should definitely be
used.

Note:

• Correct motor operation requires that the

magnetizing current of the motor does not
exceed 90% of the nominal current of the inverter.

• Some standard features are disabled in scalar

control mode.

See also section Scalar motor control (page 62) and

section Operating modes of the drive (page 26).
99.6 Motor nominal Defines the nominal motor current. This setting must 0.0 A / real32
current match the value on the rating plate of the motor. If
multiple motors are connected to the drive, enter the
total current of the motors.

Note: Correct motor operation requires that the

magnetizing current of the motor does not exceed
90% of the nominal current of the drive.

Note: This parameter cannot be changed while the

drive is running.

0.0 ... 10000.0 A Nominal current of the motor. The allowable range is 10 = 1 A / 10 = 1 A
1/6…2 × IN (nominal current) of the drive and 0…2 × IN
with scalar control mode.
99.7 Motor nominal Defines the nominal motor voltage supplied to the 0.0 V / real32
voltage motor. This setting must match the value on the rating
plate of the motor.

Note: With permanent magnet motors, the nominal

voltage is the BackEMF voltage at nominal speed of
the motor. If the voltage is given as voltage per rpm,
e.g. 60 V per 1000 rpm, the voltage for a nominal speed
of 3000 rpm is 3 × 60 V = 180 V. Note that nominal
voltage is not the same as equivalent DC motor voltage
(EDCM) given by some manufacturers. The nominal
voltage can be calculated by dividing the EDCM voltage
by 1.7 (or square root of 3).

Note: The stress on the motor insulation is always

dependent on the drive supply voltage. This also
applies to the case where the motor voltage rating is
lower than that of the drive and the supply.

Note: This parameter cannot be changed while the

drive is running.
 Parameters 549

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
0.0 ... 1500.0 V Nominal voltage of the motor. The allowable range is 10 = 1 V / 10 = 1 V
1/6…2 × UN (nominal voltage) of the drive. UN equals
the upper bound of the supply voltage range selected
by parameter 95.1 Supply voltage.
99.8 Motor nominal Defines the nominal motor frequency. This setting 50.00 Hz / real32
frequency must match the value on the rating plate of the motor.

Note: This parameter cannot be changed while the

drive is running.

0.00 ... 1000.00 Hz Nominal frequency of the motor. 10 = 1 Hz / 100 = 1 Hz

99.9 Motor nominal Defines the nominal motor speed. The setting must 0 rpm / real32
speed match the value on the rating plate of the motor.

Note: This parameter cannot be changed while the

drive is running.

Note: (Asynchronous generator) Nominal speed needs

to be adjusted as running the generator as a motor.

0 ... 30000 rpm Nominal speed of the motor. 1 = 1 rpm / 1 = 1 rpm

99.10 Motor nominal Defines the nominal motor power. The setting must - / real32
power match the value on the rating plate of the motor. If
nominal power is not shown on the rating plate,
nominal torque can be entered instead in parameter
99.12.
If multiple motors are connected to the drive, enter
the total power of the motors.
The unit is selected by parameter 96.16 Unit selection.

Note: This parameter cannot be changed while the

drive is running.

0.00 ... 26000.00 kW Nominal power of the motor. 1 = 1 kW or hp / 100

or hp = 1 kW or hp
99.11 Motor nominal cos Defines the cosphi of the motor for a more accurate 0.00 / real32
φ motor model. The value is not obligatory, but is useful
with an asynchronous motor, especially when
performing a standstill identification run. With a
permanent magnet or synchronous reluctance motor,
this value is not needed.

Note: Do not enter an estimated value. If you do not

know the exact value, leave the parameter at zero.

Note: This parameter cannot be changed while the

drive is running.

0.00 ... 1.00 Cosphi of the motor. 100 = 1 / 100 = 1

550 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
99.12 Motor nominal Defines the nominal motor shaft torque. This value 0.000 Nm or lb·ft /
torque can be given instead of nominal power (99.10) if shown uint32
on the rating plate of the motor.
The unit is selected by parameter 96.16 Unit selection.

Note: This setting is an alternative to the nominal

power value (99.10). If both are entered, 99.12 takes
priority.

Note: This parameter cannot be changed while the

drive is running.

0.000 ... Nominal motor torque. 1 = 1 Nm or lb·ft /

4000000.000 Nm 1000 = 1 Nm or lb·ft
or lb·ft
 Parameters 551

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
99.13 ID run requested Selects the type of the motor identification routine None; Standstill
(ID run) performed at the next start of the drive. During (95.21 b1/b2) /
the ID run, the drive will identify the characteristics of uint16
the motor for optimum motor control.
If no ID run has been performed yet (or if default
parameter values have been restored using parameter
96.6 Parameter restore), this parameter is
automatically set to Standstill, signifying that an ID
run must be performed.
After the ID run, the drive stops and this parameter is
automatically set to None.

Note: For the Advanced ID run, the machinery must

always be de-coupled from the motor.

Note: Before activating the ID run, configure motor

temperature measurement (if used) in parameter
group 35 Motor thermal protection, and in parameter
97.15.

Note: If a sine filter is installed, set the appropriate bit

in parameter 95.15 Special HW settings before
activating the ID run. With a non-ABB (custom) filter,
set also 99.18 and 99.19.

Note: With scalar control mode (99.4 Motor control

mode = Scalar), the ID run is not requested
automatically. However, an ID run can be performed
for more accurate torque estimation.

Note: Once the ID run is activated, it can be canceled

by stopping the drive.

Note: The ID run must be performed every time any of

the motor parameters (99.4, 99.6 … 99.12) have been
changed.

Note: Make sure that the Safe torque off and

emergency stop circuits (if any) are closed during the
ID run.

Note: Mechanical brake (if present) is not opened by

the logic for the ID run.

Note: For the permanent magnet and SynRM, the

Reduced, Normal, and Advanced ID runs are the same.
In addition, the Standstill and Advanced Standstill ID
runs are identical.

Note: This parameter cannot be changed while the

drive is running.
552 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
None No motor ID run is requested. This mode can be 0
selected only if the ID run (Normal, Reduced, Standstill,
Advanced, Advanced Standstill) has already been
performed once.
Normal Normal ID run: 1

• supports all motor types

• load to be decoupled

• good performance.
Guarantees good control accuracy for all cases. This
mode should be selected whenever it is possible.

Note: If the load torque will be higher than 20% of

motor nominal torque, or if the machinery is not able
to withstand the nominal torque transient during the
ID run, then the driven machinery must be de-coupled
from the motor during a Normal ID run. With the
permanent magnet or SynRM motors the transient
torque value can be up to two times the nominal
torque.

Note: Check the direction of rotation of the motor

before starting the ID run. During the run, the motor
will rotate in the forward direction.

WARNING! The motor will run at up to

approximately 50…100% of the nominal speed
during the ID run. MAKE SURE THAT IT IS SAFE
TO RUN THE MOTOR BEFORE PERFORMING
THE ID RUN!
 Parameters 553

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Reduced Reduced ID run: 2

• supports only induction motors

• especially for conical rotor brake motors used in

crane applications

• load to be decoupled

• good performance.
This mode should be selected instead of the Normal
or Advanced ID run if

• mechanical losses are higher than 20% (i.e. the

motor cannot be de-coupled from the driven
equipment), or if

• flux reduction is not allowed while the motor is

running (i.e. in case of a motor with an integrated
brake supplied from the motor terminals).
With this ID run mode, the resultant motor control in
the field weakening area or at high torques is not
necessarily as accurate as motor control following a
Normal ID run. Reduced ID run is completed faster than
the Normal ID run ( < 90 seconds).

Note: Check the direction of rotation of the motor

before starting the ID run. During the run, the motor
will rotate in the forward direction.

WARNING! The motor will run at up to

approximately 50…100% of the nominal speed
during the ID run. MAKE SURE THAT IT IS SAFE
TO RUN THE MOTOR BEFORE PERFORMING
THE ID RUN!

Standstill Standstill ID run: 3

• supports all motor types

• not necessary to decouple the load

• moderate performance.
The motor is injected with DC current. With an AC
induction (asynchronous) motor, the motor shaft is
not rotated. With a permanent magnet motor or
synchronous reluctance motor, the shaft can rotate
up to half a revolution.

Note: A standstill ID run should be selected only if the

Normal, Reduced or Advanced ID run is not possible
because of the restrictions caused by the connected
mechanics (e.g. with lift or crane applications.
See also selection Advanced Standstill.
554 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Autophasing The autophasing routine determines the start angle 4
of a permanent magnet or synchronous reluctance
motor (see section Autophasing (page 63)).
Autophasing does not update the other motor model
values.
Autophasing is automatically performed as part of the
Normal, Reduced, Standstill, Advanced or Advanced
Standstill ID runs. Using this setting, it is possible to
perform autophasing alone. This is useful after
changes in the feedback configuration, such as the
replacement or addition of an absolute encoder,
resolver, or pulse encoder with commutation signals.

Note: This setting can only be used after a Normal,

Reduced, Standstill, Advanced or Advanced Standstill
ID run has already been performed.

Note: Depending on the selected autophasing mode,

the shaft can rotate during autophasing. See
parameter 21.13 Autophasing mode.

Current Requests current measurement calibration, i.e. 5

measurement identification of current measurement offset and gain
calibration errors.
The calibration will be performed at next start.
Advanced Advanced ID run: 6

• supports only induction motors

• load to be decoupled

• highest level of performance

• takes more time.

Guarantees the best possible control accuracy. The ID
run can take a couple of minutes. This mode should
be selected when top performance is needed across
the whole operating area.

Note: If the load torque is higher than 20% of motor

nominal torque, or if the machinery is not able to
withstand the nominal torque transient during the ID
run, then the driven machinery must be de-coupled
from the motor during a Advanced ID run.

Note: Check the direction of rotation of the motor

before starting the ID run. During the run, the motor
will rotate in the forward direction.

WARNING! The motor will run at up to

approximately 50…100% of the nominal speed
during the ID run. Several accelerations and
decelerations are done. MAKE SURE THAT IT IS
SAFE TO RUN THE MOTOR BEFORE
PERFORMING THE ID RUN!
 Parameters 555

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
Advanced Standstill Advanced Standstill ID run: 7

• only for Induction motors

• recommended <50 kW

• not necessary to decouple the load

• good performance

• takes more time.

This selection is recommended with AC induction
motors up to 75 kW instead of the Standstill ID run if

• the exact nominal ratings of the motor are not

known, or

• the control performance of the motor is not

satisfactory after a Standstill ID run.

Note: The time it takes for the Advanced Standstill ID

run to complete varies according to motor size. With
a small motor, the ID run typically completes within 5
minutes; with a large motor, the ID run may take up to
an hour.

99.14 Last ID run Displays the type of ID run that was performed last. None / uint16
performed For more information about the different modes, see
the selections of parameter 99.13 ID run requested.
None No ID run has been performed. 0
Normal Normal ID run. 1
Reduced Reduced ID run. 2
Standstill Standstill ID run. 3
Autophasing Autophasing. 4
Current Current measurement calibration. 5
measurement
calibration
Advanced Advanced ID run. 6
Advanced Standstill Advanced Standstill ID run. 7
99.15 Motor polepairs Calculated number of pole pairs in the motor. 0 / uint16
calculated This parameter is read-only.
0 ... 1000 Number of pole pairs. 1=1/1=1
556 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
99.16 Motor phase order Switches the rotation direction of the motor. This U V W / uint16
parameter can be used if the motor turns in the wrong
direction (for example, because of the wrong phase
order in the motor cable), and correcting the cabling
is considered impractical.

Note: Changing this parameter does not affect speed

reference polarities, so positive speed reference will
rotate the motor forward. The phase order selection
just ensures that "forward" is in fact the correct
direction.

Note: After changing this parameter, the sign of

encoder feedback (if any) must be checked. This can
be done by setting parameter 90.41 Motor feedback
selection to Estimate, and comparing the sign of 90.1
Motor speed for control to 90.10 Encoder 1 speed (or
90.20 Encoder 2 speed). If the sign of the measurement
is incorrect, the encoder wiring must be corrected or
the sign of 90.43 Motor gear numerator reversed.

Note: This parameter cannot be changed while the

drive is running.

UVW Normal. 0
UWV Reversed rotation direction. 1
99.18 Sine filter Defines the inductance of a custom sine filter, i.e. when 0.000 mH / real32
inductance parameter 95.15 Special HW settings bit 3 is activated.

Note: For an ABB sine filter (95.15 Special HW settings

bit 1), this parameter is set automatically and should
not be adjusted.

0.000 ... Inductance of custom sine filter. 1000 = 1 mH / 1 = 1

100000.000 mH mH
 Parameters 557

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
99.19 Sine filter Defines the capacitance of a custom sine filter, i.e. 0.00 uF / real32
capacitance when parameter 95.15 Special HW settings bit 3 is
activated.
If the capacitors are star/wye-connected, enter the
capacitance of one leg into the parameter.

M
3~

Drive C C C

Sine filter 99.19 = C

If the capacitors are delta-connected, multiply the

capacitance of one leg by 3 and enter the result into
the parameter.

M
3~

Drive
C C

Sine filter C 99.19 = 3 × C

Note: For an ABB sine filter (95.15 Special HW settings

bit 1), this parameter is set automatically and should
not be adjusted.

0.00 ... 100000.00 Capacitance of custom sine filter. 100 = 1 uF / 1 = 1 uF

uF

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
200 Safety FSO-xx settings.
This group contains parameters related to the optional
FSO-xx safety functions module. For details, refer to
the documentation of the FSO-xx module.

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
206 I/O bus Distributed I/O bus settings.
configuration This group is only visible with a BCU control unit.
This group contains parameters related to the
distributed I/O bus, which is used with some drives
for monitoring the cooling fans of the cabinet system.
For details, refer to CIO-01 I/O module for distributed
I/O bus control user’s manual (3AXD50000126880
[English]).
558 Parameters

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
207 I/O bus service Distributed I/O bus settings.
This group is only visible with a BCU control unit.
This group contains parameters related to the
distributed I/O bus, which is used with some drives
for monitoring the cooling fans of the cabinet system.
For details, refer to CIO-01 I/O module for distributed
I/O bus control user’s manual (3AXD50000126880
[English]).

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
208 I/O bus Distributed I/O bus settings.
diagnostics This group is only visible with a BCU control unit.
This group contains parameters related to the
distributed I/O bus, which is used with some drives
for monitoring the cooling fans of the cabinet system.
For details, refer to CIO-01 I/O module for distributed
I/O bus control user’s manual (3AXD50000126880
[English]).

No. Name / Range / Description Def / Type

Selection FbEq 16b / 32b
209 I/O bus fan Distributed I/O bus settings.
identification This group is only visible with a BCU control unit.
This group contains parameters related to the
distributed I/O bus, which is used with some drives
for monitoring the cooling fans of the cabinet system.
For details, refer to CIO-01 I/O module for distributed
I/O bus control user’s manual (3AXD50000126880
[English]).
 Fault tracing 559

7
Fault tracing

What this chapter contains

The chapter lists the warning and fault messages including possible causes and
corrective actions. The causes of most warnings and faults can be identified and
corrected using the information in this chapter. If not, contact an ABB service
representative. If you have the possibility to use the Drive Composer PC software,
send the Support package created by the Drive Composer tool to the ABB service
representative.
Warnings and faults are listed below in separate tables. Each table is sorted by
warning/fault code.

Safety
WARNING!
Only qualified electricians are allowed to service the drive. Read the
instructions in the Safety instructions chapter of the Hardware manual of
the drive before working on the drive.
560 Fault tracing

Indications
￭ Warnings and faults
Warnings and faults indicate an abnormal drive status. The codes and names of
active warnings/faults are displayed on the control panel of the drive as well as
the Drive Composer PC tool. Only the codes of warnings/faults are available over
fieldbus.
Warnings do not need to be reset; they stop showing when the cause of the warning
ceases. Warnings do not latch and the drive will continue to operate the motor.
Faults do latch inside the drive and cause the drive to trip, and the motor stops.
After the cause of a fault has been removed, the fault can be reset from a selectable
source (parameter 31.11 Fault reset selection)), such as the control panel, the Drive
Composer PC tool, the digital inputs of the drive, or fieldbus. After the fault is
reset, the drive can be restarted.
Note that some faults require a reboot of the control unit either by switching the
power off and on, or using parameter 96.8 Control board boot – this is mentioned
in the fault listing wherever appropriate.
Warning and fault indications can be directed to a relay output or a digital
input/output by selecting Warning, Fault or Fault (-1) in the source selection
parameter. See the following sections:
• Programmable digital inputs and outputs (page 32)
• Programmable relay outputs (page 33), and
• Programmable I/O extensions (page 33).

￭ Pure events
In addition to warnings and faults, there are pure events that are only recorded in
the event logs of the drive. The codes of these events are included in the Warning,
fault and pure event messages table.

￭ Editable messages
For some warnings and faults, the message text can be edited and instructions
and contact information added. To edit these messages, choose Menu - Settings
- Edit texts on the control panel, or use the Localization editor in Drive Composer
pro.
 Fault tracing 561

Warning/fault history and analysis

￭ Event logs
The drive has two event logs. One log contains faults and fault resets; the other
contains warnings, pure events, and clearing entries. Each log contains the 64
most recent events with a time stamp and other information.
The logs can be accessed separately from the main Menu on the control panel. The
logs are displayed as a single list when viewed using the Drive Composer PC tool.
The logs can be cleared using parameter 96.51 Clear fault and event logger.

Auxiliary codes
Some events generate an auxiliary code that often helps in pinpointing the problem.
The auxiliary code is displayed on the control panel together with the message. It
is also stored in the event log details. In the Drive Composer PC tool, the auxiliary
code (if any) is shown in the event listing.

Factory data logger

The drive has a data logger that samples preselected drive values at 500-
microsecond (default; see parameter 96.65 Factory data logger time level) intervals.
The fault data of the last five faults is accessible in the event log when viewed in
the Drive Composer pro PC tool. (The fault data is not accessible through the
control panel.)
The values that are recorded in the factory data log are 1.7 Motor current, 1.10
Motor torque, 1.11 DC voltage, 1.24 Flux actual %, 6.1 Main control word, 6.11 Main
status word, 24.1 Used speed reference, 30.1 Limit word 1, 30.2 Torque limit status
and 90.1 Motor speed for control. The selection of parameters cannot be changed
by the user.

￭ Other data loggers

User data logger
A custom data logger can be configured using the Drive Composer pro PC tool.
This functionality enables the free selection of up to eight drive parameters to be
sampled at selectable intervals. The triggering conditions and the length of the
monitoring period can also be defined by the user within the limit of approximately
8000 samples. In addition to the PC tool, the status of the logger is shown by drive
parameter 96.61 User data logger status word. The triggering sources can be
selected by parameters 96.63 User data logger trigger and 96.64 User data logger
start. The configuration, status and collected data is saved to the memory unit
for later analysis.
562 Fault tracing

PSL2 data logger

The BCU control unit used with certain drive types (especially those with
parallel-connected inverter modules) contains a data logger that collects data
from the inverter modules to help fault tracing and analysis. The data is saved
onto the SD card attached to the BCU, and can be analyzed by ABB service
personnel.

￭ Parameters that contain warning/fault information

The drive is able to store a list of the active faults actually causing the drive to trip
at the present time. The faults are displayed in parameter group 4 Warnings and
faults (page 146). The parameter group also displays a list of faults and warnings
that have previously occurred.

Event word (parameters 04.40…04.72)

Parameter 4.40 Event word 1 can be configured by the user to indicate the status
of 16 selectable events (ie. faults, warnings or pure events). It is possible to specify
an auxiliary code for each event to filter out other auxiliary codes.

QR Code generation for mobile service application

A QR Code (or a series of QR Codes) can be generated by the drive for display on
the control panel. The QR Code contains drive identification data, information on
the latest events, and values of status and counter parameters. The code can be
read with a mobile device containing the ABB service application, which then sends
the data to ABB for analysis. For more information on the application, contact your
local ABB service representative.
The QR Code can be generated by choosing Menu - Assistants - QR code on the
control panel.
 Fault tracing 563

Warning, fault and pure event messages

Code Event name /
Cause What to do
(hex) Aux. code
2281 Calibration Measured offset of output phase Try performing the current calibration
current measurement or difference again (select Current measurement
between output phase U2 and W2 calibration at parameter 99.13). If the
current measurement is too great (the fault persists, contact your local ABB
values are updated during current representative.
calibration).
2310 Overcurrent Output current has exceeded internal Check motor load.
fault limit. If the control unit is externally
powered, check the setting of
parameter 95.04 Control board supply.
Check acceleration times in parameter
group 23 Speed reference ramp (speed
control), 26 Torque reference chain
(torque control) or 28 Frequency
reference chain (frequency control).
Also check parameters 46.1 Speed
scaling, 46.2 Frequency scaling and
46.3 Torque scaling.
Check motor and motor cable
(including phasing and delta/star
connection).
Check there are no contactors opening
and closing in motor cable.
Check that the start-up data in
parameter group 99 corresponds to
the motor rating plate.
Check that there are no power factor
correction capacitors or surge
absorbers in motor cable.
Check encoder cable (including
phasing).
Check the auxiliary code (format XXXY
YYZZ). With parallel-connected
inverter modules, “Y YY” specifies
through which BCU control unit
channel the fault was received. “ZZ”
indicates the phase that triggered the
fault (0: No detailed information
available, 1: U-phase, 2: Vphase, 4:
W-phase, 3/5/6/7: multiple phases).
2330 Earth leakage Drive has detected load unbalance If the control unit is externally
typically due to earth fault in motor or powered, check the setting of
motor cable. parameter 95.4 Control board supply.
Check there are no power factor
correction capacitors or surge
absorbers in motor cable.
Check for an earth fault in motor or
motor cables by measuring the
insulation resistances of motor and
motor cable.
Try running the motor in scalar control
mode if allowed. (See parameter 99.4
Motor control mode.)
564 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
With parallel-connected modules,
check the auxiliary code (format XXXY
YYZZ).
“Y YY” specifies through which BCU
control unit channel the fault was
received.
If no earth fault can be detected,
contact your local ABB representative.
2340 Short circuit Short-circuit in motor cable(s) or Check motor and motor cable for
motor. cabling errors.
If the control unit is externally
powered, check the setting of
parameter 95.4 Control board supply.
Check that parameter 99.10 Motor
nominal power has been set correctly.
Check there are no power factor
correction capacitors or surge
absorbers in motor cable.
Check the auxiliary code (format XXXY
YYZZ). With parallel-connected
inverter modules, “Y YY” specifies
through which BCU control unit
channel the fault was received. “ZZ”
indicates the location of the short
circuit (0: No detailed information
available, 1: Upper branch of U-phase,
2: Lower branch of U-phase, 4: Upper
branch of V-phase, 8: Lower branch of
V-phase, 10: Upper branch of W-phase,
20: Lower branch of W-phase, other:
combinations of the above).
Check auxiliary code 40h = DC
capacitor short circuit.
After correcting the cause of the fault,
reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling power.
2381 IGBT overload Excessive IGBT junction to case Check motor cable.
temperature. This fault protects the Check ambient conditions.
IGBT(s) and can be activated by a Check air flow and fan operation.
short circuit in the motor cable. Check heatsink fins for dust pick-up.
Check motor power against drive
power.
2391 BU current AC phase current difference between Check motor cabling.
difference parallel-connected inverter modules Check there are no power factor
is excessive. correction capacitors or surge
absorbers in motor cable.
Check the auxiliary code (format XXXY
YYZZ). “XXX” specifies the source of
the first error (see “YYY”). “YYY”
specifies the module through which
BCU control unit channel the fault was
received (1: Channel 1, 2: Channel 2, 4:
Channel 3, 8: Channel 4, …, 800:
Channel 12, other: combinations of the
 Fault tracing 565

Code Event name /

Cause What to do
(hex) Aux. code
above). “ZZ” indicates the phase (1: U,
2: V, 3: W).
2392 BU earth Total earth leakage of inverter Check there are no power factor
leakage modules is excessive. correction capacitors or surge
absorbers in motor cable.
Measure insulation resistances of
motor cables and motor.
Contact your local ABB representative.
2E01 Earth leakage IGBT supply unit has detected an earth Check AC fuses.
fault. Check for earth leakages.
Check supply cabling.
Check power modules.
Check there are no power factor
correction capacitors or surge
absorbers in supply cable.
If no earth fault can be detected,
contact your local ABB representative.
3000 Invalid Parametrization of the speed/torque Check that the speed points of the
voltage chain limitation curve (in the DC voltage curve (defined by 29.70…29.79) are in
datapoints reference chain) are inconsistent. increasing order.
3130 Supply phase Intermediate circuit DC voltage is Check input power line fuses.
loss oscillating due to missing input power Check for loose power cable
line phase or blown fuse. connections.
Check for input power supply
imbalance.
3180 Charge relay No acknowledgement received from Contact your local ABB representative.
lost charge relay.
3181 Wiring or 1. The drive hardware is supplied 1. Switch off the protection in
earth fault from a common DC bus. parameter 31.23.
2. Incorrect input power and motor 2. Check the power connections.
cable connection (i.e. input power Check the input fuses.
cable is connected to the motor
connection).
3. Drive has detected load unbalance 3. Check there are no power factor
typically due to earth fault in correction capacitors or surge
motor or motor cable. absorbers in motor cable.
Check for an earth fault in motor
or motor cables by measuring the
insulation resistances of motor
and motor cable.
Try running the motor in scalar
control mode if allowed. (See
parameter 99.4 Motor control
mode.)
3210 DC link Excessive intermediate circuit DC Check that overvoltage control is on
overvoltage voltage. (parameter 30.30 Overvoltage
control).
Check that the supply voltage matches
the nominal input voltage of the drive.
Check the supply line for static or
transient overvoltage.
566 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
Check brake chopper and resistor (if
present).
Check deceleration time.
Use coast-to-stop function (if
applicable).
Retrofit drive with brake chopper and
brake resistor.
With parallel-connected modules,
check the auxiliary code (format XXXY
YYZZ).
“Y YY” specifies through which BCU
control unit channel the fault was
received.
3220 DC link Intermediate circuit DC voltage is not Check supply cabling, fuses and
undervoltage sufficient because of a missing supply switchgear.
phase, blown fuse or fault in the With parallel-connected modules,
rectifier bridge. check the auxiliary code (format XXXY
YYZZ).
“Y YY” specifies through which BCU
control unit channel the fault was
received.
3280 Standby Automatic restart failed (see section Check the condition of the supply
timeout Automatic restart (page 81)). (voltage, cabling, fuses, switchgear).
3291 DC voltage Difference in DC voltages between Check the auxiliary code (format XXXY
difference parallel-connected inverter modules. YYZZ). “XXX” specifies the source of
the first error (see “YYY”). “YYY”
specifies the module through which
BCU control unit channel the fault was
received (1: Channel 1, 2: Channel 2, 4:
Channel 3, 8: Channel 4, …, 800:
Channel 12).
3381 Output phase Motor circuit fault due to missing Connect motor cable.
loss motor connection (all three phases are
not connected).
3385 Autophasing Autophasing routine (see section For more information, check the
Autophasing (page 63)) has failed. auxiliary code.
Check that the motor ID run has been
successfully completed.
Clear parameter 98.15 Position offset
user.
Check the setting of parameter 99.3
Motor type.
0001 Estimated and measured positions Check the signs of measured and
have opposite signs. estimated speeds.
Reverse encoder cable phasing or edit
parameter 99.16.
Check that the load torque is not too
high for the Turning mode (must be
less than 5%).
0002 Motor is rotating during autophasing. Check that the motor is not already
rotating when the autophasing routine
starts.
 Fault tracing 567

Code Event name /

Cause What to do
(hex) Aux. code
0003 Too much difference between Check that encoder is not slipping.
measured and estimated positions. Check parameter 98.15 several times
to verify that the autophasing routine
gives consistent results.
Check the motor model parameters.
0004 Rotor did not rotate as expected Check that the zero pulses are given
between zero pulses. correctly.
0005 Position estimate did not stabilize. Check that the selected mode
(parameter 21.13) is appropriate for
the motor.
0006 Measured position status information Check that parameter 90.41 is not
changed. changed to Estimate during the
routine.
0007 General autophasing failure. Contact your local ABB representative.
0008 Selected mode not supported. Check that the selected mode
(parameter 21.13) is supported by the
motor type.
0009 (LV-Synchro) Standstill failure. Contact your local ABB representative.
3E00 Input phase Input phase loss detected by the IGBT Check the auxiliary code. Check the
loss bridge. source of the fault corresponding to
the code:
1: Phase A
2: Phase B
4: Phase C
8: Phase cannot be detected
Check the AC fuses.
Check for input power supply
imbalance.
4000 Motor cable Calculated motor cable temperature Check the settings of parameters
overload has exceeded warning limit. 35.61 and 35.62.
Check the dimensioning of the motor
cable in regard to required load.
4100 Ambient Drive module temperature is Check ambient temperature. If it
temperature excessive. exceeds 40 °C (104 °F), ensure that
load current does not exceed derated
load capacity of drive. See appropriate
Hardware manual.
Check drive module cooling air flow
and fan operation.
Check inside of cabinet and heatsink
of drive module for dust pick-up. Clean
whenever necessary.
4110 Control board Control board temperature is too high. Check proper cooling of the drive.
temperature Check the auxiliary cooling fan.
4210 IGBT Estimated drive IGBT temperature is Check ambient conditions.
overtemperature excessive. Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive
power.
4290 Cooling Drive module temperature is Check ambient temperature. If it
excessive. exceeds 40 °C (104 °F), ensure that
load current does not exceed derated
568 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
load capacity of drive. See appropriate
Hardware manual.
Check drive module cooling air flow
and fan operation.
Check inside of cabinet and heatsink
of drive module for dust pick-up. Clean
whenever necessary.
42F1 IGBT Drive IGBT temperature is excessive. Check ambient conditions.
temperature Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive
power.
4310 Excess Power unit module temperature is See A4B0 Excess temperature.
temperature excessive.
4380 Excess temp High temperature difference between See A4B1 Excess temperature
difference the IGBTs of different phases. difference (page 584).
4981 External Measured temperature 1 has exceeded Check the value of parameter 35.2
temperature 1 fault limit. Measured temperature 1.
Check the cooling of the motor (or
other equipment whose temperature
is being measured).
Check the value of parameter 35.12
Temperature 1 fault limit.
4982 External Measured temperature 2 has exceeded Check the value of parameter 35.3
temperature 2 fault limit. Measured temperature 2.
Check the cooling of the motor (or
other equipment whose temperature
is being measured).
Check the value of parameter 35.22
Temperature 2 fault limit.
4990 FPTC not A thermistor protection module has Power down the control unit and make
found been activated by parameter 35.30 but sure that the module is properly
cannot be detected. inserted in the correct slot.
The last digit of the auxiliary code
identifies the slot.
4991 Safe motor The thermistor protection module Check the cooling of the motor.
temperature 1 installed in slot 1 indicates Check the motor load and drive
overtemperature. ratings.
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
Replace sensor if faulty.
4992 Safe motor The thermistor protection module Check the cooling of the motor.
temperature 2 installed in slot 2 indicates Check the motor load and drive
overtemperature. ratings.
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
Replace sensor if faulty.
4993 Safe motor The thermistor protection module Check the cooling of the motor.
temperature 3 installed in slot 3 indicates Check the motor load and drive
overtemperature. ratings.
 Fault tracing 569

Code Event name /

Cause What to do
(hex) Aux. code
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
Replace sensor if faulty.
5080 Fan Cooling fan feedback missing. See A581 Fan.
5081 Auxiliary fan An auxiliary cooling fan (connected to See A582 Auxiliary fan not running.
not running the fan connectors on the control unit)
is stuck or disconnected.
5090 STO hardware Safe torque off hardware failure. Contact your local ABB representative,
failure quoting the auxiliary code. The code
contains location information,
especially with parallel-connected
inverter modules.
When converted into a 32-bit binary
number, the bits of the code indicate
the following:
31…28: Number of faulty inverter
module (0…11 decimal). 1111: STO_ACT
states of control unit and inverter
modules in conflict
27: STO_ACT state of inverter modules
26: STO_ACT state of control unit
25: STO1 of control unit
24: STO2 of control unit
23…12: STO1 of inverter modules 12…1
(Bits of non-existing modules set to
1)
11…0: STO2 of inverter modules 12…1
(Bits of non-existing modules set to
1)
5091 Safe torque Safe torque off function is active, i.e. Check safe torque off circuit
off safety circuit signal(s) connected to connections.
connector XSTO is broken during start For more information, see appropriate
or run. drive hardware manual and
description of parameter 31.22 STO
indication run/stop (page 343).
5092 PU logic error Power unit memory has cleared. Cycle the power to the drive. If the
control unit is externally powered, also
reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling its power. If the problem
persists, contact your local ABB
representative.
5093 Rating ID The hardware of the drive does not Cycle the power to the drive.
mismatch match the information stored in the Check the auxiliary code (format
memory unit. This may occur eg. after 0X0Y).
a firmware update or memory unit “X” indicates the first faulty PU
replacement. channel in hexadecimal (1…C) (With a
ZCU control unit, “X” can be 1 or 2 but
this is irrelevant to the fault).
“Y” indicates the auxiliary code
category.
570 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
The auxiliary code categories are as
follows:
1 = PU and CU ratings not the same.
Rating ID has changed.
2 = Parallel connection rating ID has
changed.
3 = PU types not the same in all power
units.
4 = Parallel connection rating ID is
active in a single power unit setup.
5 = It is not possible to implement the
selected rating with the current PUs.
6 = PU rating ID is 0.
7 = Reading PU rating ID or PU type
failed on PU connection.
8 = PU not supported (illegal rating
ID).
9 = Incompatible module current
rating (unit contains a module with
too low a current rating).
A - Selected parallel rating ID not
found from database.
With parallel connection faults (BCU
control unit), the format of the
auxiliary code is 0X0Y.
5094 Measurement Problem with internal temperature See A5EA Measurement circuit
circuit measurement of the drive. temperature (page 586).
temperature
5681 PU The way the control unit is powered Check setting of 95.4 Control board
communication does not correspond to parameter supply.
setting. Check the connection between the
Communication errors detected control unit and the power unit.
between the drive control unit and the Check the auxiliary code (format XXXY
power unit. YYZZ). With parallel-connected
modules, “Y YY” specifies the affected
BCU control unit channel (0:
broadcast). “ZZ” specifies the error
source (1: Transmitter side [link error],
2: Transmitter side [no
communication], 3: Receiver side [link
error], 4: Receiver side [no
communication], 5: Transmitter FIFO
error [see “XXX”], 6: Module [xINT
board] not found, 7: BAMU board not
found).
“XXX” specifies the transmitter FIFO
error code (1: Internal error [invalid call
parameter], 2: Internal error
[configuration not supported], 3:
Transmission buffer full).
5682 Power unit Connection between the drive control Check the connection between the
lost unit and the power unit is lost. control unit and the power unit.
 Fault tracing 571

Code Event name /

Cause What to do
(hex) Aux. code
5690 PU Internal communication error. Contact your local ABB representative.
communication
internal
5691 Measurement Measurement circuit fault. If the control unit is externally
circuit ADC powered, check the setting of
parameter 95.4 Control board supply.
If the problem persists, contact your
local ABB representative, quoting the
auxiliary code.
5692 PU board Power unit power supply failure. Check the auxiliary code (format ZZZY
powerfail YYXX). “YY Y” specifies the affected
inverter module (0…C, always 0 for
ZCU control units). “XX” specifies the
affected power supply (1: Power
supply 1, 2: Power supply 2, 3: both
supplies).
5693 Measurement Measurement circuit fault. Contact your local ABB representative,
circuit DFF quoting the auxiliary code.
5694 PU Number of connected power modules Check setting of 95.31 Parallel type
communication differs from expected. configuration. Cycle the power to the
conf drive. If the control unit is externally
powered, also reboot the control unit
(using parameter 96.8 Control board
boot) or by cycling its power.
If the problem persists, contact your
local ABB representative.
0001 BAMU 1 is in the wrong channel.
0002 BAMU 2 is in the wrong channel.
0003 Power unit (xINT) is in the wrong
channel.
0005 Too many power units (xINTs).
5695 Reduced run Number of inverter modules detected Check that the value of 95.13 Reduced
does not match the value of parameter run mode corresponds to the number
95.13 Reduced run mode. of inverter modules present. Check
that the modules present are powered
from the DC bus and connected by
fiber optic cables to the BCU control
unit.
If all modules of the inverter unit are
in fact available (eg. maintenance work
has been completed), check that
parameter 95.13 Reduced run mode is
set to 0 (reduced run function
disabled).
0000 Parameter 95.13 Reduced run mode is Check that parameter 95.12 Reduced
set but all PUs are found. run mask is not set according to
Incorrect channel bit. reduced PUs.
5696 PU state State feedback from output phases Contact your local ABB representative,
feedback does not match control signals. quoting the auxiliary code.
572 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
5697 Charging
feedback
· Incorrect parameter setting. · Check the setting of 95.9 Switch
fuse controller. The parameter
should be enabled only if an xSFC
charging controller is installed.

· The charging switch and DC switch

were operated out of sequence, or
· The normal power-up sequence is:
1. Close charging switch.
a start command was issued
before the unit was ready. 2. After charging finishes
(charging OK lamp lights),
close DC switch.

3. Open charging switch.

· Charging circuit fault. · Check the charging circuit.

With a frame R6i/R7i inverter
module, the auxiliary code “FA”
indicates that the charging
contactor status feedback does
not match the control signal.
With parallel-connected frame R8i
modules, the auxiliary code
(format XX00), “XX” specifies the
affected BCU control unit channel.

· Brake circuit fault. · Check the wiring and condition of

brake resistor.
5698 Unknown PU Unidentified power unit logic fault. Check power unit logic and firmware
fault compatibility.
Contact your local ABB representative.
6000 Internal SW Internal error. Contact your local ABB representative,
error quoting the auxiliary code.
6181 FPGA version
incompatible
· Firmware and FPGA file version in
the power unit are incompatible.
· Reboot the control unit (using
parameter 96.8 Control board
boot) or by cycling power. If the
problem persists, contact your
local ABB representative.

· Update of power unit logic failed. · Retry.

· Check the auxiliary code to identify

FPGA version compatibility
(format: XXYYZZ). "XX" (8: cannot
recognize power unit logic, FPGA
logic not compatible, 9 = power
unit FPGA logic is old, update
FPGA logic, 10 = software is not
compatible with power unit FPGA
logic, update software (or
downgrade power unit FPGA)). YY
= BCU control unit channel (first
channel = 0)
6200 Checksum The calculated parameter checksum See A686 Checksum mismatch.
mismatch does not match any enabled reference
checksum.
 Fault tracing 573

Code Event name /

Cause What to do
(hex) Aux. code
6306 FBA A Fieldbus adapter A mapping file read Contact your local ABB representative.
mapping file error.
6307 FBA B Fieldbus adapter B mapping file read Contact your local ABB representative.
mapping file error.
6481 Task overload Internal fault. Reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling power. If the problem
persists, contact your local ABB
representative.
6487 Stack Internal fault. Reboot the control unit (using
overflow parameter 96.8 Control board boot)
or by cycling power. If the problem
persists, contact your local ABB
representative.
6488 Restart after Firmware malfunction. Control unit has rebooted the drive
firmware due to CPU error exception, watchdog
malfunction bark, watchdog bite, or unrecoverable
DDR ECC error.
If the Drive Composer PC tool is
available, send a support package to
your local ABB representative. For
instructions, see the Drive Composer
start-up and maintenance PC tool
user’s manual (3AUA0000094606
[English]).
64A1 Internal file File read error. Reboot the control unit (using
load parameter 96.8 Control board boot)
or by cycling power. If the problem
persists, contact your local ABB
representative.
64A2 Internal Internal record load error. Contact your local ABB representative.
record load
64A3 Application Application file incompatible or Check the auxiliary code. See actions
loading corrupted. for each code below.
8006 Not enough memory for the Reduce the size of the application.
application. Reduce the number of parameter
mappings.
See the drive-specific log generated
by Automation Builder.
8007 The application contains the wrong Update the system library or reinstall
system library version. Automation Builder.
See the drive-specific log generated
by Automation Builder.
8008 The application is empty. In Automation Builder, give a “Clean”
command and reload the application.
8009 The application contains invalid tasks. In Automation Builder, check
application task configuration, give a
“Clean all” command, and reload the
application.
800A The application contains an unknown Update the system library or reinstall
target (system) library function. Automation Builder.
574 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
See the drive-specific log generated
by Automation Builder.
64A5 Licensing Running the control program is Record the auxiliary codes of all active
fault prevented either because a restrictive licensing faults and contact your
license exists, or because a required product vendor for further
license is missing. instructions.
64A6 Adaptive Error running the adaptive program. Check the auxiliary code (format XXXX
program YYYY). “XXXX” specifies the number
of the function block (0000 = generic
error). “YYYY” indicates the problem
(see actions for each code below).
000A Program corrupted or block Restore the template program or
non-existent. download the program to the drive.
000C Required block input missing. Check the inputs of the block.
000E Program corrupted or block Restore the template program or
non-existent. download the program to the drive.
0011 Program too large. Remove blocks until the error stops.
0012 Program is empty. Correct the program and download it
to the drive.
001C A nonexisting parameter or block is Edit the program to correct the
used in the program. parameter reference, or to use an
existing block.
001D Parameter type invalid for selected Edit the program to correct the
pin. parameter reference.
001E Output to parameter failed because Check the parameter reference in the
the parameter was write-protected. program.
Check for other sources affecting the
target parameter.
0023, 0024 Program file incompatible with current Adapt the program to current block
firmware version. library and firmware version.
002A Too many blocks. Edit the program to reduce the
number of blocks.
64B0 Memory unit The memory unit was detached when Switch off the power to the control
detached the control unit was powered. unit and reinstall the memory unit.
In case the memory unit was not
actually removed when the fault
occurred, check that the memory unit
is properly inserted into its connector
and its mounting screw is tight.
Reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling power. If the problem
persists, contact your local ABB
representative.
64B1 Internal SSW Internal fault. Reboot the control unit (using
fault parameter 96.8 Control board boot)
or by cycling power. If the problem
persists, contact your local ABB
representative.
 Fault tracing 575

Code Event name /

Cause What to do
(hex) Aux. code
64B2 User set fault Loading of user parameter set failed Ensure that a valid user parameter set
because exists. Reload if uncertain.

• set is not compatible with control

program

• drive was switched off during

loading.

64E1 Kernel Operating system error. Reboot the control unit (using
overload parameter 96.8 Control board boot)
or by cycling power. If the problem
persists, contact your local ABB
representative.
64FF Fault reset Informative fault. An active fault has been reset.
6581 Parameter Parameter load or save failed. Try forcing a save using parameter
system 96.7 Parameter save manually. Retry.
6591 Backup/Restore Parameter load or save timeout Check the communication between
Timeout caused by communication break drive and control panel or PC. Retry.
between drive and control panel, or
control panel and PC tool.
65A1 FBA A The drive does not have a functionality Check PLC programming.
parameter requested by PLC, or requested Check settings of parameter groups
conflict functionality has not been activated. 50 Fieldbus adapter (FBA) and 51 FBA
A settings.
65A2 FBA B The drive does not have a functionality Check PLC programming.
parameter requested by PLC, or requested Check settings of parameter groups
conflict functionality has not been activated. 50 Fieldbus adapter (FBA) and 54 FBA
B settings.
65B1 Reference A reference source is simultaneously See A6DA Reference source
source connected to multiple parameters parametrization (page 589).
parametrization with different units.
6681 EFB Communication break in embedded Check the status of the fieldbus
communication fieldbus (EFB) communication. master (online/offline/error etc.).
loss Check cable connections to the XD2D
connector on the control unit.
6682 EFB Embedded fieldbus (EFB) Contact your local ABB representative.
configuration configuration file could not be read.
file
6683 EFB invalid Embedded fieldbus (EFB) parameter Check the settings in parameter group
parameterization settings inconsistent or not 58 Embedded fieldbus.
compatible with selected protocol.
6684 EFB load fault · Embedded fieldbus (EFB) protocol
firmware could not be loaded.

· Version mismatch between EFB

protocol firmware and drive
firmware.
6881 Text data Internal fault. Reset the fault. Contact your local ABB
overflow representative if the fault persists.
6882 Text 32-bit Internal fault. Reset the fault. Contact your local ABB
table overflow representative if the fault persists.
576 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
6883 Text 64-bit Internal fault. Reset the fault. Contact your local ABB
table overflow representative if the fault persists.
6885 Text file Internal fault. Reset the fault. Contact your local ABB
overflow representative if the fault persists.
7080 Option Communication between drive and an See A798 Encoder option comm
module comm option module is lost. loss (page 592).
loss
7081 Control panel Control panel (or PC tool) has stopped Check PC tool or control panel
loss communicating. connection.
Check control panel connector.
Disconnect and reconnect the control
panel.
Check the auxiliary code. The code
specifies the I/O port used as follows:
0: Panel, 1: Fieldbus interface A, 2:
Fieldbus interface B, 3: Ethernet, 4:
D2D/EFB port).
7082 Ext I/O comm The I/O extension module types See A799 ExtIO comm loss (page 592).
loss specified by parameters do not match
the detected configuration.
7083 Panel Use of saved control panel reference The control panel reference can only
reference in multiple control modes attempted. be saved for one reference type at a
conflict time.
Consider the possibility of using a
copied reference instead of saved
reference (see the reference selection
parameter).
7084 Panel/PC tool The current version of the control Update control panel and/or PC tool.
version panel and/or PC tool does not support Contact your local ABB representative
conflict a function. if necessary.
(For example, older panel versions
cannot be used as a source of external
reference.)
7085 Incompatible Option module not supported. Check the auxiliary code. The code
option (For example, type Fxxx-xx-M fieldbus specifies the interface to which the
module adapter modules are not supported.) unsupported module is connected:
1: Fieldbus interface A, 2: Fieldbus
interface B.
Replace the module with a supported
type.
A - FSO-xx module is not supported
by the control board. Remove FSO-xx
module to clear the fault. Connect
FSO-xx module to the supported
control board.
7121 Motor stall Motor is operating in stall region Check motor load and drive ratings.
because of e.g. excessive load or Check fault function parameters.
insufficient motor power.
7122 Motor Motor current is too high. Check for overloaded motor.
overload Adjust the parameters used for the
motor overload function 35.51…35.53)
and 35.55…35.56.
 Fault tracing 577

Code Event name /

Cause What to do
(hex) Aux. code
7181 Brake resistor DC overvoltage detected during Check that a brake resistor has been
braking. connected.
Check the condition of the brake
resistor.
Check the dimensioning of the brake
chopper and resistor.
7183 BR excess Brake resistor temperature has Stop drive. Let resistor cool down.
temperature exceeded fault limit defined by Check resistor overload protection
parameter 43.11 Brake resistor fault function settings (parameter group
limit. 43 Brake chopper).
Check fault limit setting, parameter
43.11 Brake resistor fault limit.
Check that braking cycle meets
allowed limits.
7184 Brake resistor Brake resistor short circuit or brake Check brake chopper and brake
wiring chopper control fault. resistor connection.
Ensure brake resistor is not damaged.
After correcting the cause of the fault,
reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling power.
7191 BC short Short circuit in brake chopper IGBT. Ensure brake resistor is connected and
circuit not damaged.
Check the electrical specifications of
the brake resistor against the
Hardware manual.
Replace brake chopper (if replaceable).
After correcting the cause of the fault,
reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling power.
7192 BC IGBT Brake chopper IGBT temperature has Let chopper cool down.
excess exceeded internal fault limit. Check for excessive ambient
temperature temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling
of the cabinet.
Check resistor overload protection
function settings (parameter group
43 Brake chopper).
Check that braking cycle meets
allowed limits.
Check that drive supply AC voltage is
not excessive.
71A2 Mech brake Mechanical brake control fault. Check mechanical brake connection.
closing failed Activated eg. if brake Check mechanical brake settings in
acknowledgement is not as expected parameter group 44 Mechanical brake
during brake closing. control.
Check that acknowledgement signal
matches actual status of brake.
71A3 Mech brake Mechanical brake control fault. Check mechanical brake connection.
opening failed
578 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
Activated eg. if brake Check mechanical brake settings in
acknowledgement is not as expected parameter group 44 Mechanical brake
during brake opening. control.
Check that acknowledgement signal
matches actual status of brake.
71A5 Mech brk Open conditions of mechanical brake Check mechanical brake settings in
opening not cannot be fulfilled (for example, brake parameter group 44 Mechanical brake
allowed has been prevented from opening by control (especially 44.11 Keep brake
parameter 44.11 Keep brake closed). closed).
In an encoderless application, the Check that acknowledgement signal
brake is kept closed by a brake close (if used) matches actual status of
request (either from parameter 44.12 brake.
Brake close request or from an FSO-xx Check the source signal selected by
safety functions module) against a parameter 44.12 Brake close request.
modulating drive for longer than 5 Check the safety circuits connected
seconds. to the FSO-xx safety functions module.
71B1 Motor fan No feedback received from external Check external fan (or other
fan. equipment controlled) by the logic.
Check settings of parameters
35.100…35.106.
7301 Motor speed No motor speed feedback received. See A7B0 Motor speed
feedback feedback (page 594).
7310 Overspeed · Motor is turning faster than
highest allowed speed due to
· Check minimum/maximum speed
settings, parameters 30.11
incorrectly set Minimum speed, 30.12 Maximum
minimum/maximum speed, speed and 31.30 Overspeed trip
insufficient braking torque or margin.
changes in load when using torque Check adequacy of motor braking
reference. torque.
Check applicability of torque
control.
Check need for brake chopper and
resistor(s).

· Incorrect estimated speed. · Check the status of motor current

measurement.
Perform a Normal, Advanced or
Advanced Standstill ID run instead
of, for example, a Reduced or
Standstill.
See parameter 99.13 ID run
requested (page 551).
7380 Encoder Internal fault. Contact your local ABB representative.
internal
7381 Encoder Encoder feedback fault. See A7E1 Encoder (page 596).
73A0 Speed fbk Speed feedback configuration See A797 Speed feedback
configuration incorrect. configuration (page 591).
73A1 Load position No load position feedback received. Check the auxiliary code (format XXYY
feedback ZZZZ). “XX” specifies the number of
the encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
specifies the encoder (01: 92 Encoder
1 configuration, 02: 93 Encoder 2
 Fault tracing 579

Code Event name /

Cause What to do
(hex) Aux. code
configuration). “ZZZZ” indicates the
problem (see actions for each code
below).
0001 Encoder stopped working. Check encoder status.
0002 Feed constant definition invalid or Check feed constant settings (90.63
outside limits. and 90.64).
0003 Motor/load gear definition invalid or Check motor/load gear settings (90.61
outside limits. and 90.62).
0004 Encoder not configured. Check encoder settings (92 Encoder 1
configuration or 93 Encoder 2
configuration).
Use parameter 91.10 Encoder
parameter refresh) to validate any
changes in the settings.
0005 Encoder stopped working. Check encoder status.
73B0 Emergency Emergency stop did not finish within Check the settings of parameters 31.32
ramp failed expected time. Emergency ramp supervision and 31.33
Emergency ramp supervision delay.
Check the predefined ramp times
(23.11…23.19 for mode Off1, 23.23 for
mode Off3).
73B1 Stop failed Ramp stop did not finish within Check the settings of parameters 31.37
expected time. Ramp stop supervision and 31.38
Ramp stop supervision delay.
Check the predefined ramp times in
parameter group 23 Speed reference
ramp.
73F0 Overfrequency Maximum allowed output frequency Without a dual-use license, the fault
exceeded. limit is 598 Hz. Contact your local ABB
representative for dual-use licensing
information.
7510 FBA A Cyclical communication between drive Check status of fieldbus
communication and fieldbus adapter module A or communication.
between PLC and fieldbus adapter See user documentation of fieldbus
module A is lost. interface.
Check settings of parameter groups
50 Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA
A data out.
Check cable connections.
Check if communication master is able
to communicate.
0002 Communication problem between Check communication connections
adapter and control unit. between adapter and drive.
0004 Communication problem between Refresh parameters only when
adapter and PLC or parameters necessary to avoid loss of
refreshed using the parameter 51.27 communication.
FBA A par refresh while PLC was
communicating with the adapter.
0005 Lost communication with fieldbus Check fieldbus communication
communication adapter. adapter.
580 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
7520 FBA B Cyclical communication between drive Check status of fieldbus
communication and fieldbus adapter module B or communication.
between PLC and fieldbus adapter See user documentation of fieldbus
module B is lost. interface.
Check settings of parameter group 50
Fieldbus adapter (FBA).
Check cable connections.
Check if communication master is able
to communicate.
0002 Communication problem between Check communication connections
adapter and drive. between adapter and drive.
0004 Communication problem between Refresh parameters only when
adapter and PLC or parameters necessary to avoid loss of
refreshed using the parameter 51.27 communication.
FBA A par refresh while PLC was
communicating with the adapter.
0005 Lost communication with fieldbus Check fieldbus communication
communication adapter. adapter.
7580 INU-LSU DDCS (fiber optic) communication Check status of other converter
comm loss between converters (for example, the (parameter group 6 Control and status
inverter unit and the supply unit) is words).
lost. Check settings of parameter group 60
DDCS communication. Check the
corresponding settings in the control
program of the other converter.
Check cable connections. If necessary,
replace cables.
7581 DDCS DDCS (fiber optic) communication Check status of controller. See user
controller between drive and external controller documentation of controller.
comm loss is lost. Check settings of parameter group 60
DDCS communication.
Check cable connections. If necessary,
replace cables.
7582 M/F comm Master/follower communication is See A7CB M/F comm loss (page 596).
loss lost.
7583 Line side unit The supply unit (or other converter) The auxiliary code specifies the
faulted connected to the inverter unit has original fault code in the supply unit
generated a fault. control program. See section Auxiliary
codes for line-side converter
faults (page 609).
7584 LSU charge The supply unit was not ready (ie. the Check that communication to the
failed main contactor/breaker could not be supply unit has been activated by
closed) within expected time. 95.20 HW options word 1.
Check setting of parameter 94.10 LSU
max charging time.
Check that the supply unit is enabled,
allowed to start, and can be controlled
by the inverter unit (eg. not in local
control mode).
8001 ULC Selected signal has fallen below the See A8BF ULC underload (page 599).
underload user underload curve.
 Fault tracing 581

Code Event name /

Cause What to do
(hex) Aux. code
8002 ULC overload Selected signal has exceeded the user See A8BE ULC overload (page 599).
overload curve.
80A0 AI Supervision An analog signal is outside the limits Check the auxiliary code (format XXXX
specified for the analog input. XYZZ). “Y” specifies the location of the
input (0: Control unit, 1: I/O extension
module 1, 2: I/O extension module 2,
3: I/O extension module 3). “ZZ”
specifies the limit (01: AI1 under
minimum, 02: AI1 above maximum, 03:
AI2 under minimum, 04: AI2 above
maximum).
Check signal level at the analog input.
Check the wiring connected to the
input.
Check the minimum and maximum
limits of the input in parameter group
12 Standard AI.
80B0 Signal Fault generated by the signal Check the source of the fault
supervision supervision 1 function. (parameter 32.7 Supervision 1 signal).
80B1 Signal Fault generated by the signal Check the source of the fault
supervision 2 supervision 2 function. (parameter 32.17 Supervision 2 signal).
80B2 Signal Fault generated by the signal Check the source of the fault
supervision 3 supervision 3 function. (parameter 32.27 Supervision 3 signal).
9081 External fault Fault in external device 1. Check the external device.
1 Check setting of parameter 31.1
External event 1 source.
9082 External fault Fault in external device 2. Check the external device.
2 Check setting of parameter 31.3
External event 2 source.
9083 External fault Fault in external device 3. Check the external device.
3 Check setting of parameter 31.5
External event 3 source.
9084 External fault Fault in external device 4. Check the external device.
4 Check setting of parameter 31.7
External event 4 source.
9085 External fault Fault in external device 5. Check the external device.
5 Check setting of parameter 31.9
External event 5 source.
A2A1 Current Current offset and gain measurement Informative warning. (See parameter
calibration calibration will occur at next start. 99.13 ID run requested.)
A2B3 Earth leakage Drive has detected load unbalance Check there are no power factor
typically due to earth fault in motor or correction capacitors or surge
motor cable. absorbers in motor cable.
Check for an earth fault in motor or
motor cables by measuring the
insulation resistances of motor and
motor cable.
Try running the motor in scalar control
mode if allowed. (See parameter 99.4
Motor control mode.)
582 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
If no earth fault can be detected,
contact your local ABB representative.
A2B4 Short circuit Short-circuit in motor cable(s) or Check motor and motor cable for
motor. cabling errors.
Check there are no power factor
correction capacitors or surge
absorbers in motor cable.
A2BA IGBT overload Excessive IGBT junction to case Check motor cable.
temperature. This warning protects Check ambient conditions.
the IGBT(s) and can be activated by a Check air flow and fan operation.
short circuit in the motor cable. Check heatsink fins for dust pick-up.
Check motor power against drive
power.
A3A1 DC link Intermediate circuit DC voltage too Check the supply voltage setting
overvoltage high (when the drive is stopped). (parameter 95.1 Supply voltage). Note
that the wrong setting of the
parameter may cause the motor to
rush uncontrollably, or may overload
the brake chopper or resistor.
Check the supply voltage.
If the problem persists, contact your
local ABB representative.
A3A2 DC link Intermediate circuit DC voltage too Check the supply voltage setting
undervoltage low (when the drive is stopped). (parameter 95.1 Supply voltage). Note
that the wrong setting of the
parameter may cause the motor to
rush uncontrollably, or may overload
the brake chopper or resistor.
Check the supply voltage.
If the problem persists, contact your
local ABB representative.
A3AA DC not The voltage of the intermediate DC Check the supply voltage setting
charged circuit has not yet risen to operating (parameter 95.1 Supply voltage). Note
level. that the wrong setting of the
parameter may cause the motor to
rush uncontrollably, or may overload
the brake chopper or resistor.
Check the supply voltage.
If the problem persists, contact your
local ABB representative.
A480 Motor cable Calculated motor cable temperature Check the settings of parameters
overload has exceeded warning limit. 35.61 and 35.62.
Check the dimensioning of the motor
cable in regard to required load.
A490 Incorrect Problem with motor temperature Check the auxiliary code (format 0XYY
temperature measurement. ZZZZ).
sensor setup “X” identifies the affected
temperature monitoring function (1 =
parameter 35.11, 2 = parameter 35.21).
“YY” indicates the selected
temperature source, ie. the setting of
the selection parameter in
hexadecimal.
 Fault tracing 583

Code Event name /

Cause What to do
(hex) Aux. code
“ZZZZ” indicates the problem (see
actions for each code below).
0001 Sensor type mismatch. Check parameters 35.11/35.21 against
91.21/91.24.
0002 Temperature under limit. Check parameters
35.11…35.14/35.21…35.24 (and
91.21/91.24 if sensor is connected to
an encoder interface). Check the
sensor and its wiring.
0003 Short circuit. Check parameters
35.11…35.14/35.21…35.24 (and
91.21/91.24 if sensor is connected to
an encoder interface). Check the
sensor and its wiring.
0004 Open circuit. Check parameters
35.11…35.14/35.21…35.24 (and
91.21/91.24 if sensor is connected to
an encoder interface). Check the
sensor and its wiring.
A491 External Measured temperature 1 has exceeded Check the value of parameter 35.2
temperature 1 warning limit. Measured temperature 1.
Check the cooling of the motor (or
other equipment whose temperature
is being measured).
Check the value of 35.13 Temperature
1 warning limit.
A492 External Measured temperature 2 has exceeded Check the value of parameter 35.3
temperature 2 warning limit. Measured temperature 2.
Check the cooling of the motor (or
other equipment whose temperature
is being measured).
Check the value of 35.23 Temperature
2 warning limit.
A497 Motor The thermistor protection module Check the cooling of the motor.
temperature 1 installed in slot 1 indicates Check the motor load and drive
overtemperature. ratings.
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
Replace sensor if faulty.
A498 Motor The thermistor protection module Check the cooling of the motor.
temperature 2 installed in slot 2 indicates Check the motor load and drive
overtemperature. ratings.
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
Replace sensor if faulty.
A499 Motor The thermistor protection module Check the cooling of the motor.
temperature 3 installed in slot 3 indicates Check the motor load and drive
overtemperature. ratings.
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
584 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
Replace sensor if faulty.
A4A0 Control board Control unit temperature is excessive. Check the auxiliary code. See actions
temperature for each code below.
– Temperature above warning limit. Check ambient conditions.
Check air flow and fan operation.
Check heatsink fins for dust pick-up.
1 Thermistor broken. Contact an ABB service representative
for control unit replacement.
A4A9 Cooling Drive module temperature is Check ambient temperature. If it
excessive. exceeds 40 °C (104 °F), ensure that
load current does not exceed derated
load capacity of drive. See appropriate
Hardware manual.
Check drive module cooling air flow
and fan operation.
Check inside of cabinet and heatsink
of drive module for dust pick-up. Clean
whenever necessary.
A4B0 Excess Power unit temperature is excessive. Check ambient conditions.
temperature Check air flow and fan operation.
Check the setting of 31.36 Aux fan fault
function (if present).
Check heatsink fins for dust pick-up.
Check motor power against drive
power.
See A5EA Measurement circuit
temperature (page 586).
A4B1 Excess High temperature difference between Check the motor cabling.
temperature the IGBTs of different phases. Check cooling of drive module(s).
difference Check the auxiliary code (format XXXY
YYZZ). “XXX” indicates the source of
difference (0: Single module,
difference between phase IGBTs, 1:
parallelconnected modules,
minimum-maximum difference
between all IGBTs of all modules, 2:
parallel-connected modules,
minimum-maximum difference
between auxiliary power supply
boards). With parallel-connected
modules, “Y YY” specifies through
which BCU control unit channel the
highest temperature was measured.
“ZZ” specifies the phase (0: single
module, 1: U-phase [parallel
connection], 2: V-phase [parallel
connection], 3: W-phase [parallel
connection]).
A4F6 IGBT Drive IGBT temperature is excessive. Check ambient conditions.
temperature Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against drive
power.
 Fault tracing 585

Code Event name /

Cause What to do
(hex) Aux. code
A580 PU Communication errors detected Check the connections between the
communication between the drive control unit and the drive control unit and the power unit.
power unit. Check the auxiliary code (format XXXY
YYZZ). With parallel-connected
modules, “Y YY” specifies the affected
BCU control unit channel (0:
broadcast). “ZZ” specifies the error
source (8: Transmission errors in PSL
link [see “XXX”], 9: Transmitter FIFO
warning limit hit). “XXX” specifies the
transmission error direction and
detailed warning code (0:
Rx/communication error, 1:
Tx/Reed-Solomon symbol error, 2:
Tx/no synchronization error, 3:
Tx/Reed-Solomon decoder failures, 4:
Tx/Manchester coding errors).
Read the PSL2 data log. In Drive
Composer pro, check the time stamp
of the A580 fault. Load the log with
the same date and time. When the file
opens, click “Show fault log”.
Check the power unit hardware.
A581 Fan Cooling fan feedback missing. Check the setting of parameter 95.20
HW options word 1, bit 14.
Check the auxiliary code to identify
the fan. Code 0 denotes main fan 1.
Other codes (format XYZ): “X”
specifies state code (1: ID run, 2:
normal). “Y” specifies the index of the
inverter module connected to BCU
(0…n, always 0 for ZCU control units).
“Z” specifies the index of the fan (1:
Main fan 1, 2: Main fan 2, 3: Main fan
3).
Note that modules are coded starting
from 0. For example, the code 101
means that Main fan 1 of module 1
(connected to BCU channel V1T/V1R)
has faulted during its ID run.
Check fan operation and connection.
Replace fan if faulty.
A582 Auxiliary fan An auxiliary cooling fan (connected to The auxiliary code identifies the fan
not running the fan connectors on the control unit) (1: Auxiliary fan 1, 2: Auxiliary fan 2).
is stuck or disconnected. Check that the auxiliary fan
supervision selection in parameter
95.21 HW options word 2 matches the
hardware.
Make sure the front cover of the drive
module is in place and tightened.
Check auxiliary fan(s) and
connection(s).
Replace faulty fan.
586 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
A5A0 Safe torque Safe torque off function is active, i.e. Check safety circuit connections. For
off safety circuit signal(s) connected to more information, see appropriate
connector XSTO is lost. drive hardware manual and
description of parameter 31.22 STO
indication run/stop (page 343).
A5EA Measurement Problem with internal temperature Check the auxiliary code (format XXXY
circuit measurement of the drive. YYZZ). “Y YY” specifies through which
temperature BCU control unit channel the fault was
received (“0 00” with a ZCU control
unit).
“ZZ” specifies the location:
With control program version 2.8x and
later: 1: U-phase IGBT, 2: V-phase IGBT,
3: W-phase IGBT, 4: Power supply
board, 5: Power unit xINT board, 6:
Brake chopper, 7: Air inlet (TEMP3,
X10), 8: du/dt filter (TEMP2, X7), 9:
TEMP1 (X6) Power supply heatsink on
ACS880-x04LC frame R7i module.
With control program version up to
and including 2.7x: 1: U-phase IGBT, 2:
V-phase IGBT, 3: W-phase IGBT, 4:
Power unit INT board, 5: Brake
chopper, 6: Air inlet, 7: Power supply
board, 8: du/dt filter, FAh: Air in temp.
A5EB PU board Power unit power supply failure. Contact your local ABB representative.
powerfail
A5EC PU Communication errors detected Check the connections between the
communication between the drive control unit and the drive control unit and the power unit.
internal power unit.
A5ED Measurement Problem with measurement circuit of Contact your local ABB representative.
circuit ADC power unit (analog to digital
converter).
A5EE Measurement Problem with current or voltage Contact your local ABB representative.
circuit DFF measurement of power unit.
A5EF PU state State feedback from output phases Contact your local ABB representative.
feedback does not match control signals.
A5F0 Charging Charging in progress. Informative warning. Wait until
feedback charging finishes before starting the
inverter unit.
Charging with the manual fuse switch
controller (xSFC) must be ended
within two minutes. After that the
warning informs that the charging
resistor is still connected.
A5F3 Switching Adequate motor control at requested Informative warning.
frequency output frequency cannot be reached
below because of limited switching
requested frequency (eg. by parameter 95.15).
A5F4 Control unit The battery of the control unit is low. Replace control unit battery.
battery This warning can be suppressed using
parameter 31.40.
 Fault tracing 587

Code Event name /

Cause What to do
(hex) Aux. code
A682 Flash erase The flash memory (in the memory unit) Avoid forcing unnecessary parameter
speed has been erased too frequently, saves by parameter 96.7 or cyclic
exceeded compromising the lifetime of the parameter writes (such as user logger
memory. triggering through parameters).
Check the auxiliary code (format XYYY
YZZZ). “X” specifies the source of
warning (1: generic flash erase
supervision). “ZZZ” specifies the flash
subsector number that generated the
warning.
A683 Data saving An error in saving data to the power Check the auxiliary code. See actions
to power unit unit. for each code below.
0, 1 An error is preventing saving from Cycle the power to the drive. If the
initializing. control unit is externally powered, also
reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling its power. If the problem
persists, contact your local ABB
representative.
2 Write error. Cycle the power to the drive. If the
control unit is externally powered, also
reboot the control unit (using
parameter 96.8 Control board boot)
or by cycling its power. If the problem
persists, contact your local ABB
representative.
A684 SD card Error related to SD card used to store Check the auxiliary code. See actions
data (BCU control unit only). for each code below.
0 No SD card. Insert a compatible, writable SD card
into the SD CARD slot of the BCU
control unit.
1 SD card write-protected. Insert a compatible, writable SD card
into the SD CARD slot of the BCU
control unit.
2 SD card unreadable. Insert a compatible, writable SD card
into the SD CARD slot of the BCU
control unit.
3 SD card initialization failed. Insert a compatible, writable SD card
into the SD CARD slot of the BCU
control unit.
A685 Power fail Power fail saving is requested too Check the supply voltage.
saving frequently. Because of the limited
saving interval, some of the requests
do not trigger the saving and power
fail data may be lost. This may be
caused by DC voltage oscillation.
A686 Checksum The calculated parameter checksum Check that all necessary approved
mismatch does not match any enabled reference (reference) checksums (96.56…96.59)
checksum. are enabled in 96.55 Checksum control
word.
Check the parameter configuration.
Using 96.55 Checksum control word,
enable a checksum parameter and
588 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
copy the actual checksum into that
parameter.
A687 Checksum An action has been defined for a Contact your local ABB representative
configuration parameter checksum mismatch but for configuring the feature, or disable
the feature has not been configured. the feature in 96.54 Checksum action.
A688 Parameter Too much data in parameter mapping See the Drive customizer PC tool user’s
map table created in Drive customizer. manual (3AUA0000104167 [English]).
configuration
A689 Mapped Parameter value saturated eg. by the Check parameter scaling and format
parameter scaling specified in parameter in parameter mapping table. See the
value cut mapping table (created in Drive Drive customizer PC tool user’s manual
customizer). (3AUA0000104167 [English]).
A6A4 Motor The motor parameters are set Check the auxiliary code. See actions
nominal value incorrectly. for each code below.
The drive is not dimensioned correctly.
1 Slip frequency is too small. Check the settings of the motor
configuration parameters in groups
98 and 99.
Check that the drive is sized correctly
for the motor.
2 Synchronous and nominal speeds Check the settings of the motor
differ too much. configuration parameters in groups
98 and 99.
Check that the drive is sized correctly
for the motor.
3 Nominal speed is higher than Check the settings of the motor
synchronous speed with 1 pole pair. configuration parameters in groups
98 and 99.
Check that the drive is sized correctly
for the motor.
4 Nominal current is outside limits. Check the settings of the motor
configuration parameters in groups
98 and 99.
Check that the drive is sized correctly
for the motor.
5 Nominal voltage is outside limits. Check the settings of the motor
configuration parameters in groups
98 and 99.
Check that the drive is sized correctly
for the motor.
6 Mechanical nominal power is higher Check the settings of the motor
than electrical active power. configuration parameters in groups
98 and 99.
Check that the drive is sized correctly
for the motor.
7 Nominal power not consistent with Check the settings of the motor
nominal speed and torque. configuration parameters in groups
98 and 99.
Check that the drive is sized correctly
for the motor.
A6A5 No motor Parameters in group 99 have not been Check that all the required parameters
data set. in group 99 have been set.
 Fault tracing 589

Code Event name /

Cause What to do
(hex) Aux. code

Note: It is normal for this warning to

appear during the start-up and
continue until the motor data is
entered.

A6A6 Supply The supply voltage has not been Set supply voltage in parameter 95.1
voltage defined. Supply voltage.
unselected
A6B0 User lock The user lock is open, ie. user lock Close the user lock by entering an
open configuration parameters invalid pass code in parameter 96.2
96.100…96.102 are visible. Pass code. See section User
lock (page 104).
A6B1 User pass A new user pass code has been Confirm the new pass code by
code not entered in parameter 96.100 but not entering the same code in 96.101. To
confirmed confirmed in 96.101. cancel, close the user lock without
confirming the new code. See section
User lock (page 104).
A6D1 FBA A The drive does not have a functionality Check PLC programming.
parameter requested by a PLC, or requested Check settings of parameter groups
conflict functionality has not been activated. 50 Fieldbus adapter (FBA) and 51 FBA
A settings.
A6D2 FBA B The drive does not have a functionality Check PLC programming.
Parameter requested by a PLC, or requested Check settings of parameter groups
conflict functionality has not been activated. 50 Fieldbus adapter (FBA) and 54 FBA
B settings.
A6DA Reference A reference source is simultaneously Check the reference source selection
source connected to multiple parameters parameters.
parametrization with different units. Check the auxiliary code (format XXYY
00ZZ). “XX” and “YY” specify the two
sets of parameters where the source
was connected to (01 = speed
reference chain [22.11, 22.12, 22.15,
22.17], 02 = frequency reference chain
[28.11, 28.12], 03 = torque reference
chain [26.11, 26.12, 26.16], 04 = other
torque-related parameters [26.25,
30.21, 30.22, 44.9], 05 = process PID
control parameters [40.16, 40.17,
40.50, 41.16, 41.17, 41.50]). “ZZ”
indicates the conflicting reference
source (01…0E = index in parameter
group 3, 33 = process PID control, 3D
= motor potentiometer, 65 = AI1, 66 =
AI2, 6F = frequency input).
A6E5 AI The current/voltage hardware setting Check the auxiliary code. The code
parametrization of an analog input does not identifies the analog input whose
correspond to parameter settings. settings are in conflict.
Adjust either the hardware setting (on
the drive control unit) or parameter
12.15/12.25.
590 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code

Note: Control board reboot (either by

cycling the power or through
parameter 96.8 Control board boot)
is required to validate any changes in
the hardware settings.

A6E6 ULC User load curve configuration error. Check the auxiliary code (format XXXX
configuration ZZZZ). “ZZZZ” indicates the problem
(see actions for each code below).
0000 Speed points inconsistent. Check that each speed point
(parameters 37.11…37.15) has a higher
value than the previous point.
0001 Frequency points inconsistent. Check that each frequency point
(37.16…37.20) has a higher value than
the previous point.
0002 Underload point above overload point. Check that each overload point
(37.31…37.35) has a higher value than
the corresponding underload point
(37.21…37.25).
0003 Overload point below underload point. Check that each overload point
(37.31…37.35) has a higher value than
the corresponding underload point
(37.21…37.25).
A780 Motor stall Motor is operating in stall region Check motor load and drive ratings.
because of e.g. excessive load or Check fault function parameters.
insufficient motor power.
A781 Motor fan No feedback received from external Check external fan (or other
fan. equipment controlled) by the logic.
Check settings of parameters
35.100…35.106.
A782 FEN
temperature
· Error in temperature measurement
when temperature sensor (KTY or
· Check that parameter 35.11
Temperature 1 source / 35.21
PTC) connected to encoder Temperature 2 source setting
interface FEN-xx is used. corresponds to actual encoder
interface installation.
Check the settings of parameters
91.21 and 91.24. Check that the
corresponding module is activated
in parameters 91.11…91.14. Use
parameter 91.10 Encoder
parameter refresh to validate any
changes in the settings.

· Error in temperature measurement

when KTY sensor connected to
· FEN-01 does not support
temperature measurement with
encoder interface FEN-01 is used. KTY sensor. Use PTC sensor or
other encoder interface module.
A783 Motor Motor current is too high. Check for overloaded motor.
overload Adjust the parameters used for the
motor overload function (35.51…35.53)
and 35.55…35.56.
A791 Brake resistor Brake resistor broken or not Check that a brake resistor has been
connected. connected.
 Fault tracing 591

Code Event name /

Cause What to do
(hex) Aux. code
Check the condition of the brake
resistor.
A793 BR excess Brake resistor temperature has Stop drive. Let resistor cool down.
temperature exceeded warning limit defined by Check resistor overload protection
parameter 43.12 Brake resistor function settings (parameter group
warning limit. 43 Brake chopper).
Check warning limit setting,
parameter 43.12 Brake resistor
warning limit.
Check that the resistor has been
dimensioned correctly.
Check that braking cycle meets
allowed limits.
A794 BR data Brake resistor data has not been given. One or more of the resistor data
settings (parameters 43.8…43.10) is
incorrect.
The parameter is specified by the
auxiliary code.
0000 0001 Resistance value too low. Check value of 43.10.
0000 0002 Thermal time constant not given. Check value of 43.8.
0000 0003 Maximum continuous power not given. Check value of 43.9.
A797 Speed Speed feedback configuration has Check the auxiliary code (format XXYY
feedback changed. ZZZZ). “XX” specifies the number of
configuration the encoder interface module (01:
91.11/91.12, 02: 91.13/91.14, “YY”
specifies the encoder (01: 92 Encoder
1 configuration, 02: 93 Encoder 2
configuration). “ZZZZ” indicates the
problem (see actions for each code
below).
0001 Adapter not found in specified slot. Check module location (91.12 or 91.14).
0002 Detected type of interface module Check the module type (91.11 or 91.13)
does not match parameter setting. against status (91.2 or 91.3).
0003 Logic version too old. Contact your local ABB representative.
0004 Software version too old. Contact your local ABB representative.
0006 Encoder type incompatible with Check module type (91.11 or 91.13)
interface module type. against encoder type (92.1 or 93.1).
0007 Adapter not configured. Check module location (91.12 or 91.14).
0008 Speed feedback configuration has Use parameter 91.10 Encoder
changed. parameter refresh to validate any
changes in the settings.
0009 No encoders configured to encoder Configure the encoder in group 92
module. Encoder 1 configuration or 93 Encoder
2 configuration.
000A Non-existing emulation input. Check input selection (91.31 or 91.41).
000B Echo not supported by selected input Check input selection (91.31 or 91.41),
(for example, resolver or absolute interface module type, and encoder
encoder). type.
000C Emulation in continuous mode not Check input selection (91.31 or 91.41)
supported. and serial link mode (92.30 or 93.30)
settings.
592 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
A798 Encoder Encoder feedback not used as actual Check that the encoder is selected as
option comm feedback, or measured motor feedback source in parameter 90.41
loss feedback lost (and parameter or 90.51.
90.45/90.55 is set to Warning). Check that the encoder interface
module is properly seated in its slot.
Check that the encoder interface
module or slot connectors are not
damaged. To pinpoint the problem,
try installing the module into a
different slot.
If the module is installed on an FEA-03
extension adapter, check the fiber
optic connections.
Check the auxiliary code (format XXXX
YYYY). “YYYY” indicates the problem
(see actions for each code below).
0001 Failed answer to encoder Contact your local ABB representative.
configuration message.
0002 Failed answer to adapter watchdog Contact your local ABB representative.
disable message.
0003 Failed answer to adapter watchdog Contact your local ABB representative.
enable message.
0004 Failed answer to adapter Contact your local ABB representative.
configuration message.
0005 Too many failed answers inline to Contact your local ABB representative.
speed and position messages.
0006 DDCS driver failed. Contact your local ABB representative.
A799 Ext I/O comm The I/O extension module types Check the auxiliary code (format XXYY
loss specified by parameters do not match YYYY). “XX” specifies the number of
the detected configuration. the I/O extension module (01:
parameter group 14 I/O extension
module 1, 02: 15 I/O extension module
2 2, 03: 16 I/O extension module 3).
“YY YYYY” indicates the problem (see
actions for each code below).
00 0001 Communication with module failed. Check that the module is properly
seated in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
00 0002 Module not found. Check the type and location settings
of the modules (parameters 14.1/14.2,
15.1/15.2 or 16.1/16.2).
Check that the module is properly
seated in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
00 0003 Configuration of module failed. Check the type and location settings
of the modules (parameters 14.1/14.2,
15.1/15.2 or 16.1/16.2).
 Fault tracing 593

Code Event name /

Cause What to do
(hex) Aux. code
Check that the module is properly
seated in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
00 0004 Configuration of module failed. Check the type and location settings
of the modules (parameters 14.1/14.2,
15.1/15.2 or 16.1/16.2).
Check that the module is properly
seated in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
A79B BC short Short circuit in brake chopper IGBT. Replace brake chopper if external.
circuit Drives with internal choppers will need
to be returned to ABB.
Ensure brake resistor is connected and
not damaged.
A79C BC IGBT Brake chopper IGBT temperature has Let chopper cool down.
excess exceeded internal warning limit. Check for excessive ambient
temperature temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling
of the cabinet.
Check resistor overload protection
function settings (parameters
43.6…43.10).
Check minimum allowed resistor value
for the chopper being used.
Check that braking cycle meets
allowed limits.
Check that drive supply AC voltage is
not excessive.
A7A1 Mechanical Status of mechanical brake Check mechanical brake connection.
brake closing acknowledgement is not as expected Check mechanical brake settings in
failed during brake close. parameter group 44 Mechanical brake
control.
Check that acknowledgement signal
matches actual status of brake.
A7A2 Mechanical Status of mechanical brake Check mechanical brake connection.
brake opening acknowledgement is not as expected Check mechanical brake settings in
failed during brake open. parameter group 44 Mechanical brake
control.
Check that acknowledgement signal
matches actual status of brake.
A7A5 Mechanical Open conditions of mechanical brake Check mechanical brake settings in
brake opening cannot be fulfilled (for example, brake parameter group 44 Mechanical brake
not allowed has been prevented from opening by control (especially 44.11 Keep brake
parameter 44.11 Keep brake closed). closed).
594 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
Check that acknowledgement signal
(if used) matches actual status of
brake.
A7AA Extension AI The hardware current/voltage setting Check the auxiliary code (format XX00
parameterization of an analog input (on an I/O 00YY). “XX” specifies the number of
extension module) does not the I/O extension module (01:
correspond to parameter settings. parameter group 14 I/O extension
module 1, 02: 15 I/O extension module
2, 03: 16 I/O extension module 3). “YY”
specifies the analog input on the
module.
For example, in case of I/O extension
module 1, analog input AI1 (auxiliary
code 0100 0000), the hardware
current/voltage setting on the module
is shown by parameter 14.29. The
corresponding parameter setting is
14.30. Adjust either the hardware
setting on the module or the
parameter to solve the mismatch.

Note: Control board reboot (either by

cycling the power or through
parameter 96.8 Control board boot)
is required to validate any changes in
the hardware settings.

A7AB Extension I/O The I/O extension module types and Check the type and location settings
configuration locations specified by parameters do of the modules (parameters 14.1, 14.2,
failure not match the detected configuration. 15.1, 15.2, 16.1 and 16.2).
Check that the modules are properly
installed.
Check the auxiliary code. See Drive
application programming manual (IEC
61131-3) (3AUA0000127808 [English]).
A7B0 Motor speed No motor speed feedback is received. Check the auxiliary code (format XXYY
feedback ZZZZ). “XX” specifies the number of
the encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
specifies the encoder (01: 92 Encoder
1 configuration, 02: 93 Encoder 2
configuration). “ZZZZ” indicates the
problem (see actions for each code
below).
0001 Motor gear definition invalid or Check motor gear settings (90.43 and
outside limits. 90.44).
0002 Encoder not configured. Check encoder settings (92 Encoder 1
configuration or 93 Encoder 2
configuration).
Use parameter 91.10 Encoder
parameter refresh) to validate any
changes in the settings.
0003 Encoder stopped working. Check encoder status.
0004 Encoder drift detected. Check for slippage between encoder
and motor.
 Fault tracing 595

Code Event name /

Cause What to do
(hex) Aux. code
A7B1 Load speed No load speed feedback is received. Check the auxiliary code (format XXYY
feedback ZZZZ). “XX” specifies the number of
the encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
specifies the encoder (01: 92 Encoder
1 configuration, 02: 93 Encoder 2
configuration). “ZZZZ” indicates the
problem (see actions for each code
below).
0001 Load gear definition invalid or outside Check load gear settings (90.53 and
limits. 90.54).
0002 Feed constant definition invalid or Check feed constant settings (90.63
outside limits. and 90.64).
0003 Encoder stopped working. Check encoder status.
0004 Encoder drift detected. Check for slippage between encoder
and motor.
A7C1 FBA A Cyclical communication between drive Check status of fieldbus
communication and fieldbus adapter module A or communication.
between PLC and fieldbus adapter See user documentation of fieldbus
module A is lost. interface.
Check settings of parameter groups
50 Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA
A data out.
Check cable connections.
Check if communication master is able
to communicate.
0002 Communication problem between Check communication connections
adapter and drive. between adapter and drive.
0004 Communication problem between Check communication connections
adapter and PLC or parameters between adapter and PLC. Stop using
refreshed using the parameter 51.27 parameter 51.27 FBA A par refresh to
FBA A par refresh. refresh parameters.
0005 Lost communication with fieldbus Check fieldbus communication
communication adapter. adapter.
Other aux Unknown internal issues. Contact your local ABB representative.
code value
A7C2 FBA B Cyclical communication between drive Check status of fieldbus
communication and fieldbus adapter module B or communication.
between PLC and fieldbus adapter See user documentation of fieldbus
module B is lost. interface.
Check settings of parameter group 50
Fieldbus adapter (FBA).
Check cable connections.
Check if communication master is able
to communicate.
0002 Communication problem between Check communication connections
adapter and drive. between adapter and drive.
0004 Communication problem between Check communication connections
adapter and PLC or parameters between adapter and PLC. Stop using
refreshed using the parameter 51.27 parameter 51.27 FBA A par refresh to
FBA A par refresh. refresh parameters.
596 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
0005 Lost communication with fieldbus Check fieldbus communication
communication adapter. adapter.
Other aux Unknown internal issues. Contact your local ABB representative.
code value
A7CA DDCS DDCS (fiber optic) communication Check status of controller. See user
controller between drive and external controller documentation of controller.
comm loss is lost. Check settings of parameter group 60
DDCS communication.
Check cable connections. If necessary,
replace cables.
A7CB M/F comm Master/follower communication is Check the auxiliary code. The code
loss lost. indicates which node address (defined
by parameter 60.2 in each drive) on
the master/follower link is affected.
Check settings of parameter group 60
DDCS communication.
On the FDCO module (if present),
check that the DDCS link switch is not
set to 0 (OFF).
Check cable connections. If necessary,
replace cables.
A7CE EFB comm Communication break in embedded Check the status of the fieldbus
loss fieldbus (EFB) communication. master (online/offline/error etc.).
Check cable connections to the XD2D
connector on the control unit.
A7E1 Encoder Encoder error. Check the auxiliary code (format XXYY
ZZZZ). “XX” specifies the number of
the encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
specifies the encoder (01: 92 Encoder
1 configuration, 02: 93 Encoder 2
configuration). “ZZZZ” indicates the
problem (see actions for each code
below).
0001 Cable fault. Check the conductor order at both
ends of the encoder cable.
Check the groundings of the encoder
cable.
If the encoder was working previously,
check the encoder, encoder cable and
encoder interface module for damage.
See also parameter 92.21 Encoder
cable fault mode.
0002 No encoder signal. Check the condition of the encoder.
0003 Overspeed. Contact your local ABB representative.
0004 Overfrequency. Contact your local ABB representative.
0005 Resolver ID run failed. Contact your local ABB representative.
0006 Resolver overcurrent fault. Contact your local ABB representative.
0007 Speed scaling error. Contact your local ABB representative.
0008 Absolute encoder communication Contact your local ABB representative.
error.
0009 Absolute encoder initialization error. Contact your local ABB representative.
 Fault tracing 597

Code Event name /

Cause What to do
(hex) Aux. code
000A Absolute SSI encoder configuration Contact your local ABB representative.
error.
000B Encoder reported an internal error. See the documentation of the
encoder.
000C Encoder reported a battery error. See the documentation of the
encoder.
000D Encoder reported overspeed or See the documentation of the
decreased resolution due to encoder.
overspeed.
000E Encoder reported a position counter See the documentation of the
error. encoder.
000F Encoder reported an internal error. See the documentation of the
encoder.
A7EE Control panel Control panel (or PC tool) has stopped Check PC tool or control panel
loss communicating. connection.
Check control panel connector.
Check mounting platform if being
used.
Disconnect and reconnect the control
panel.
A880 Motor bearing Warning generated by an ontime timer Check the auxiliary code. Check the
or a value counter. source of the warning corresponding
to the code:
0: 33.13 On-time 1 source
1: 33.23 On-time 2 source
4: 33.53 Value counter 1 source
5: 33.63 Value counter 2 source.
A881 Output relay Warning generated by an edge Check the auxiliary code. Check the
counter. source of the warning corresponding
Programmable warnings: to the code:
33.35 Edge counter 1 warn message 2: 33.33 Edge counter 1 source
33.45 Edge counter 2 warn message 3: 33.43 Edge counter 2 source.
A882 Motor starts Warning generated by an edge Check the auxiliary code. Check the
counter. source of the warning corresponding
Programmable warnings: to the code:
33.35 Edge counter 1 warn message 2: 33.33 Edge counter 1 source
33.45 Edge counter 2 warn message 3: 33.43 Edge counter 2 source.
A883 Power ups Warning generated by an edge Check the auxiliary code. Check the
counter. source of the warning corresponding
Programmable warnings: to the code:
33.35 Edge counter 1 warn message 2: 33.33 Edge counter 1 source
33.45 Edge counter 2 warn message 3: 33.43 Edge counter 2 source.
A884 Main Warning generated by an edge Check the auxiliary code. Check the
contactor counter. source of the warning corresponding
Programmable warnings: to the code:
33.35 Edge counter 1 warn message 2: 33.33 Edge counter 1 source
33.45 Edge counter 2 warn message 3: 33.43 Edge counter 2 source.
A885 DC charge Warning generated by an edge Check the auxiliary code. Check the
counter. source of the warning corresponding
Programmable warnings: to the code:
33.35 Edge counter 1 warn message 2: 33.33 Edge counter 1 source
33.45 Edge counter 2 warn message 3: 33.43 Edge counter 2 source.
598 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
A886 On-Time 1 Warning generated by on-time timer Check the source of the warning
1. (parameter 33.13 On-time 1 source).
A887 On-Time 2 Warning generated by on-time timer Check the source of the warning
2. (parameter 33.23 On-time 2 source).
A888 Edge counter Warning generated by edge counter Check the source of the warning
1 1. (parameter 33.33 Edge counter 1
source).
A889 Edge counter Warning generated by edge counter Check the source of the warning
2 2. (parameter 33.43 Edge counter 2
source).
A88A Value counter Warning generated by value counter Check the source of the warning
1 1. (parameter 33.53 Value counter 1
source).
A88B Value counter Warning generated by value counter Check the source of the warning
2 2. (parameter 33.63 Value counter 2
source).
A88C Device clean Warning generated by an ontime Check the auxiliary code. Check the
timer. source of the warning corresponding
Programmable warnings: to the code:
33.14 On-time 1 warn message 0: 33.13 On-time 1 source
33.24 On-time 2 warn message 1: 33.23 On-time 2 source
10: 5.4 Main fan on-time counter.
A88D DC capacitor Warning generated by an ontime Check the auxiliary code. Check the
timer. source of the warning corresponding
Programmable warnings: to the code:
33.14 On-time 1 warn message 0: 33.13 On-time 1 source
33.24 On-time 2 warn message 1: 33.23 On-time 2 source
10: 5.4 Main fan on-time counter.
A88E Cabinet fan Warning generated by an ontime Check the auxiliary code. Check the
timer. source of the warning corresponding
Programmable warnings: to the code:
33.14 On-time 1 warn message 0: 33.13 On-time 1 source
33.24 On-time 2 warn message 1: 33.23 On-time 2 source
10: 5.4 Main fan on-time counter.
A88F Cooling fan Warning generated by an ontime Check the auxiliary code. Check the
timer. source of the warning corresponding
Programmable warnings: to the code:
33.14 On-time 1 warn message 0: 33.13 On-time 1 source
33.24 On-time 2 warn message 1: 33.23 On-time 2 source
10: 5.4 Main fan on-time counter.
A890 Additional Warning generated by an ontime Check the auxiliary code. Check the
cooling fan timer. source of the warning corresponding
Programmable warnings: to the code:
33.14 On-time 1 warn message 0: 33.13 On-time 1 source
33.24 On-time 2 warn message 1: 33.23 On-time 2 source
10: 5.4 Main fan on-time counter.
A8A0 AI Supervised An analog signal is outside the limits Check the auxiliary code (format XYY).
Warning specified for the analog input. “X” specifies the location of the input
(0: AI on control unit; 1: I/O extension
module 1, etc.), “YY” specifies the
input and limit (01: AI1 under
 Fault tracing 599

Code Event name /

Cause What to do
(hex) Aux. code
minimum, 02: AI1 over maximum, 03:
AI2 under minimum, 04: AI2 over
maximum).
Check signal level at the analog input.
Check the wiring connected to the
input.
Check the minimum and maximum
limits of the input in parameter group
12 Standard AI, 14 I/O extension
module 1, 15 I/O extension module 2
or 16 I/O extension module 3.
A8B0 Signal Warning generated by the signal Check the source of the warning
supervision supervision 1 function. (parameter 32.7 Supervision 1 signal).
A8B1 Signal Warning generated by the signal Check the source of the warning
supervision 2 supervision 2 function. (parameter 32.17 Supervision 2 signal).
A8B2 Signal Warning generated by the signal Check the source of the warning
supervision 3 supervision 3 function. (parameter 32.27 Supervision 3 signal).
A8BE ULC overload Selected signal has exceeded the user Check for any operating conditions
overload curve. increasing the monitored signal (for
example, the loading of the motor if
the torque or current is being
monitored).
Check the definition of the load curve
(parameter group 37 User load curve).
A8BF ULC Selected signal has fallen below the Check for any operating conditions
underload user underload curve. decreasing the monitored signal (for
example, loss of load if the torque or
current is being monitored).
Check the definition of the load curve
(parameter group 37 User load curve).
A8C0 Fan service A cooling fan has reached the end of Check the auxiliary code. The code
counter its estimated lifetime. indicates which fan is to be replaced.
See parameters 5.41 and 5.42. 0: Main cooling fan
1: Auxiliary cooling fan
2: Auxiliary cooling fan 2
3: Cabinet cooling fan
4: PCB compartment fan
Refer to the hardware manual of the
drive for fan replacement instructions.
A981 External Fault in external device 1. Check the external device.
warning 1 Check setting of parameter 31.1
External event 1 source.
A982 External Fault in external device 2. Check the external device.
warning 2 Check setting of parameter 31.3
External event 2 source.
A983 External Fault in external device 3. Check the external device.
warning 3 Check setting of parameter 31.5
External event 3 source.
A984 External Fault in external device 4. Check the external device.
warning 4 Check setting of parameter 31.7
External event 4 source.
600 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
A985 External Fault in external device 5. Check the external device.
warning 5 Check setting of parameter 31.9
External event 5 source.
AF80 INU-LSU DDCS (fiber optic) communication Check status of other converter
comm loss between converters (for example, the (parameters 6.36 and 6.39 Internal
inverter unit and the supply unit) is state machine LSU CW).
lost. Check settings of parameter group 60
Note that the inverter unit will DDCS communication. Check the
continue operating based on the corresponding settings in the control
status information that was last program of the other converter.
received from the other converter. Check cable connections. If necessary,
replace cables.
AF85 Line side unit The supply unit (or other converter) The auxiliary code specifies the
warning has generated a warning. original warning code in the supply
unit control program. See section
Auxiliary codes for line-side converter
warnings (page 606).
AF8C Process PID The drive is entering sleep mode. Informative warning. See section
sleep mode Process PID control, and parameters
40.41…40.48.
AF90 Speed The speed controller autotune routine Check the auxiliary code (format XXXX
controller did not complete successfully. YYYY). “YYYY” indicates the problem
autotuning (see actions for each code below).
0000 The drive was stopped before the Repeat autotune until successful.
autotune routine finished.
0001 The drive was started but was not Make sure the prerequisites of the
ready to follow the autotune autotune run are fulfilled. See section
command. Speed controller autotune (page 48).
0002 Required torque reference could not Decrease torque step (parameter
be reached before the drive reached 25.38) or increase speed step (25.39).
maximum speed.
0003 Motor could not accelerate/decelerate Increase torque step (parameter
to maximum/minimum speed. 25.38) or decrease speed step (25.39).
0004 Motor could not decelerate with full Decrease torque step (parameter
autotune torque. 25.38) or speed step (25.39), or
increase torque limits depending on
limit source indicated in parameters
30.1 and 30.2.
AFAA Autoreset A fault is about to be autoreset. Informative warning. See the settings
in parameter group 31 Fault functions.
AFE1 Emergency
stop (off2)
· Drive has received an emergency
stop (mode selection off2)
· Check that it is safe to continue
operation. Reset the source of the
command. emergency stop signal (such as an
emergency stop push button).
Restart drive.
If the emergency stop was
unintentional, check the source of
the stop signal (for example, 21.5
Emergency stop source, or control
word received from an external
control system).
 Fault tracing 601

Code Event name /

Cause What to do
(hex) Aux. code

· (Follower drive in a
master/follower configuration)
· Informative warning. After
stopping on a ramp stop (Off1 or
Drive has received a stop Off3) command, the master sends
command from the master. a short, 10-millisecond coast stop
(Off2) command to the follower(s).
The Off2 stop is stored in the
event log of the follower.
AFE2 Emergency Drive has received an emergency stop Check that it is safe to continue
stop (off1 or (mode selection Off1 or Off3) operation. Reset the source of the
off3) command. emergency stop signal (such as an
emergency stop push button). Restart
drive.
If the emergency stop was
unintentional, check the source of the
stop signal (for example, 21.5
Emergency stop source, or control
word received from an external control
system).
AFE7 Follower A follower drive has tripped. Check the auxiliary code. Add 2 to the
code to find out the node address of
the faulted drive.
Correct the fault in the follower drive.
AFEA Enable start No enable start signal received. Check the setting of (and the source
signal missing selected by) parameter 20.19 Enable
start command.
AFEB Run enable No run enable signal is received. Check setting of parameter 20.12 Run
missing enable 1 source. Switch signal on (e.g.
in the fieldbus Control Word) or check
wiring of selected source.
AFEC External 95.4 Control board supply is set to Check the external 24 V DC power
power signal External 24V but no voltage is supply to the control unit, or change
missing connected to the XPOW connector of the setting of parameter 95.4.
the control unit.
AFF6 Identification Motor ID run will occur at next start, Informative warning.
run selected or is in progress.
AFF7 Autophasing Autophasing will occur at next start. Informative warning.
B5A0 STO event Safe torque off function is active, i.e. Check safety circuit connections. For
safety circuit signal(s) connected to more information, see appropriate
connector XSTO is lost. drive hardware manual and
description of parameter 31.22 STO
indication run/stop.
B5A2 Power up The drive has been powered up. Informative event.
B5F6 ID run done ID run completed. Informative event.
The auxiliary code specifies the type
of ID run.
0: None
1: Normal
2: Reduced
3: Standstill
4: Autophasing
5: Current measurement calibration
6: Advanced
602 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
7: Advanced standstill
B680 SW internal SW internal malfunction. Contact your local ABB representative,
diagnostics quoting the auxiliary code. If the Drive
Composer tool is available, also create
and send a ‘support package’ (see
Drive composer manual for
instructions).
B686 Checksum The calculated parameter checksum See A686 Checksum
mismatch does not match any enabled reference mismatch (page 587).
checksum.
B68B SW internal Software collects the information. Informative event.
information
FA81 Safe torque Safe torque off function is active, ie. Check safety circuit connections. For
off 1 loss STO circuit 1 is broken. more information, see appropriate
drive hardware manual and
description of parameter 31.22 STO
indication run/stop (page 343).
Check the auxiliary code, The code
contains location information,
especially with parallel-connected
inverter modules.
When converted into a 32-bit binary
number, the bits of the code indicate
the following:
31…28: Number of faulty inverter
module (0…11 decimal). 1111: STO_ACT
states of control unit and inverter
modules in conflict
27: STO_ACT state of inverter modules
26: STO_ACT state of control unit
25: STO1 of control unit
24: STO2 of control unit
23…12: STO1 of inverter modules 12…1
(Bits of non-existing modules set to
1)
11…0: STO2 of inverter modules 12…1
(Bits of non-existing modules set to
1)
FA82 Safe torque Safe torque off function is active, ie. Check safety circuit connections. For
off 2 loss STO circuit 2 is broken. more information, see appropriate
drive hardware manual and
description of parameter 31.22 STO
indication run/stop (page 343).
Check the auxiliary code, The code
contains location information,
especially with parallel-connected
inverter modules.
When converted into a 32-bit binary
number, the bits of the code indicate
the following:
31…28: Number of faulty inverter
module (0…11 decimal). 1111: STO_ACT
states of control unit and inverter
modules in conflict
 Fault tracing 603

Code Event name /

Cause What to do
(hex) Aux. code
27: STO_ACT state of inverter modules
26: STO_ACT state of control unit
25: STO1 of control unit
24: STO2 of control unit
23…12: STO1 of inverter modules 12…1
(Bits of non-existing modules set to
1)
11…0: STO2 of inverter modules 12…1
(Bits of non-existing modules set to
1)
FA90 STO SW internal malfunction. Contact your local ABB representative.
diagnostics
failure
FB11 Memory unit
missing
· No memory unit is attached to the
control unit.
· Power down the control unit.
Check that the memory unit is
properly inserted into the control
unit.

· The memory unit attached to the

control unit is empty.
· Power down the control unit.
Attach a memory unit (with the
appropriate firmware) to the
control unit.
FB12 Memory unit The memory unit attached to the Power down the control unit.
incompatible control unit is incompatible. Attach a compatible memory unit.
FB13 Memory unit The firmware on the attached memory Power down the control unit.
FW unit is incompatible with the drive. Attach a memory unit with compatible
incompatible firmware.
FB14 Memory unit The memory unit is empty, or contains Recycle the power to the control unit.
FW load failed incompatible or corrupted firmware. Check the sticker on the memory unit
to confirm that the firmware is
compatible with the control unit
(ZCU-1x/BCU-x2).
Connect Drive Composer PC tool
(version 2.3 or later) to the drive.
Select Tools - Recover drive.
If the problem persists, replace the
memory unit.
FF61 ID run Motor ID run was not completed Check the nominal motor values in
successfully. parameter group 99 Motor data.
Check that no external control system
is connected to the drive.
Cycle the power to the drive (and its
control unit, if powered separately).
Check that the motor shaft is not
locked.
Check the auxiliary code. The second
number of the code indicates the
problem (see actions for each code
below).
0001 Maximum current limit too low. Check settings of parameters 99.6
Motor nominal current and 30.17
Maximum current. Make sure that
30.17 Maximum current > 99.6 Motor
nominal current.
604 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
Check that the drive is dimensioned
correctly according to the motor.
0002 Maximum speed limit or calculated Check settings of parameters
field weakening point too low.
• 30.11 Minimum speed

• 30.12 Maximum speed

• 99.7 Motor nominal voltage

• 99.8 Motor nominal frequency

• 99.9 Motor nominal speed.

Make sure that

• 30.12 Maximum speed > (0.55 ×

99.9 Motor nominal speed) >
(0.50 × synchronous speed)

• 30.11 Minimum speed < 0, and

• supply voltage > (0.66 × 99.7

Motor nominal voltage).
0003 Maximum torque limit too low. Check settings of parameter 99.12
Motor nominal torque, and the torque
limits in group 30 Limits.
Make sure that the maximum torque
limit in force is greater than 100%.
0004 Current measurement calibration did Contact your local ABB representative.
not finish within reasonable time.
0005…0008 Internal error. Contact your local ABB representative.
0009 (Asynchronous motors only) Contact your local ABB representative.
Acceleration did not finish within
reasonable time.
000A (Asynchronous motors only) Contact your local ABB representative.
Deceleration did not finish within
reasonable time.
000B (Asynchronous motors only) Speed Contact your local ABB representative.
dropped to zero during ID run.
000C (Permanent magnet motors only) First Contact your local ABB representative.
acceleration did not finish within
reasonable time.
000D (Permanent magnet motors only) Contact your local ABB representative.
Second acceleration did not finish
within reasonable time.
000E…0010 Internal error. Contact your local ABB representative.
0011 (SynRM only) Rotor orientation not Try to perform ID run again.
correct during the pulse test. Contact your local ABB representative.
0012 Not possible to perform Advanced Check that nominal power is as
Standstill ID run. advised in Advanced Standstill ID run
description.
Contact your local ABB representative.
0013 (Asynchronous motors only) Error in Check name plate data.
motor data. Contact your local ABB representative.
 Fault tracing 605

Code Event name /

Cause What to do
(hex) Aux. code
0014 Acceleration did not finish within Contact your local ABB representative.
reasonable time during Autophasing
ID run.
0015 Advanced standstill failure. Contact your local ABB representative.
0016 Rs estimation failure. Check cabling.
Check that switching frequency is high
enough.
Check sine filter settings if connected.
Contact your local ABB representative.
FF7E Follower A follower drive has tripped. Check the auxiliary code. Add 2 to the
code to find out the node address of
the faulted drive.
Correct the fault in the follower drive.
FF81 FB A force trip A fault trip command has been Check the fault information provided
received through fieldbus adapter A. by the PLC.
FF82 FB B force trip A fault trip command has been Check the fault information provided
received through fieldbus adapter B. by the PLC.
FF8E EFB force trip A fault trip command has been Check the fault information provided
received through the embedded by the Modbus controller.
fieldbus interface.
606 Fault tracing

Auxiliary codes for line-side converter warnings

The table below lists the auxiliary codes of AF85 Line side unit warning. For
advanced troubleshooting, see the firmware manual of the line converter.
Code Event name /
Cause What to do
(hex) Aux. code
AE01 Overcurrent Output current has exceeded internal Check supply voltage.
fault limit. Check that there are no power factor
correction capacitors or surge
absorbers in supply cable.
Check motor load and acceleration
times.
Check power semiconductors (IGBTs)
and current transducers.
AE02 Earth leakage IGBT supply has detected load Check AC fuses.
unbalance. Check for earth leakages.
Check supply cabling.
Check power modules.
Check there are no power factor
correction capacitors or surge
absorbers in supply cable.
AE04 IGBT overload Excessive IGBT junction to case Check supply cable.
temperature.
AE05 BU current Current difference detected by the Check converter fuses.
difference branching unit (BU). Check converter(s).
Check inverter(s).
Check LCL filter.
AE06 BU earth Earth leakage detected by the Check AC fuses.
leakage branching unit: sum of all currents Check for earth leakages.
exceeds the level. Check supply cabling.
Check power modules.
Check there are no power factor
correction capacitors or surge
absorbers in supply cable.
AE09 DC link Excessive intermediate circuit DC Check that parameter 95.1 Supply
overvoltage voltage. voltage is set according to the supply
voltage in use.
Note: This warning can be shown only
when the IGBT supply unit is not
modulating.

AE0A DC link Intermediate circuit DC voltage is not Check supply and fuses.
undervoltage sufficient due to missing phase in Check that parameter 95.1 Supply
supply voltage, blown fuse or rectifier voltage is set according to the supply
bridge internal fault. voltage in use.

Note: This warning can be shown only

when the IGBT supply unit is not
modulating.
 Fault tracing 607

Code Event name /

Cause What to do
(hex) Aux. code
AE0B DC not The voltage of the intermediate DC Check the input voltage setting in
charged circuit has not yet risen to operating parameter 95.1 Supply voltage.
level. Check the input voltage.
One input phase could be Check charging resistors.
disconnected. If the problem persists, contact your
local ABB representative.
Note: This warning can be shown only
when the IGBT supply unit is not
modulating.

AE0C BU DC link DC link voltage difference detected by Check DC fuses.

difference the branching unit. Check converter module connections
to DC link.
AE0D BU voltage Main voltage difference detected by Check AC fuses.
difference the branching unit. Check supply cable.
AE14 Excess Power unit module temperature is Check ambient conditions.
temperature excessive. Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against IGBT
supply unit power.
AE15 Excess High temperature difference between Check the cabling.
temperature the IGBTs of different phases. Check cooling of power module(s).
difference
AE16 IGBT IGBT temperature is excessive. Check ambient conditions.
temperature Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against IGBT
supply unit power.
AE24 Voltage The supply voltage range has not been Define the supply voltage range
category defined. (parameter 95.1 Supply voltage).
unselected
AE58 Emergency Supply unit has received an emergency Check that it is safe to continue
stop (OFF2) stop (mode selection off2) command. operation.
Return emergency stop push button
to normal position.
Restart the drive.
AE5F Temperature Supply module temperature is Check module cooling air flow and fan
Warning excessive due to eg, module overload operation.
or fan failure. Check ambient temperature. If it
exceeds 40 °C (104 °F), ensure that
load current does not exceed derated
load capacity.
See appropriate hardware manual.
Check inside of cabinet and heatsink
of supply module for dust pick-up.
Clean whenever necessary.
AE73 Fan Cooling fan is stuck or disconnected. Check the auxiliary code in the
line-side converter program to identify
the fan.
Check fan operation and connection.
Replace fan if faulty.
608 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
AE78 Net lost Net lost is detected. Resynchronize the IGBT supply unit to
the grid after net lost.
AE85 Charging There are too many DC link charging Two attempts in five minutes is
count attempts. allowed to prevent charging circuit
overheating.
 Fault tracing 609

Auxiliary codes for line-side converter faults

The table below lists the auxiliary codes of 7583 Line side unit faulted. For advanced
troubleshooting, see the firmware manual of the line converter.
Code Event name /
Cause What to do
(hex) Aux. code
2E00 Overcurrent Output current has exceeded internal Check supply voltage.
fault limit. Check that there are no power factor
correction capacitors or surge
absorbers in supply cable.
Check motor load and acceleration
times.
Check power semiconductors (IGBTs)
and current transducers.
2E01 Earth leakage IGBT supply unit has detected an earth Check AC fuses.
fault. Check for earth leakages.
Check supply cabling.
Check power modules.
Check there are no power factor
correction capacitors or surge
absorbers in supply cable.
If no earth fault can be detected,
contact your local ABB representative.
2E02 Short circuit IGBT supply unit has detected short Check supply cable.
circuit. Check there are no power factor
correction capacitors or surge
absorbers in supply cable.
After correcting the cause of the fault,
reboot the control unit (using
parameter 96.8 Control board boot or
by cycling power.
2E04 IGBT overload Excessive IGBT junction to case Check the load.
temperature.
2E05 BU current Current difference detected by the Check converter fuses.
difference branching unit (BU). Check converter(s).
Check inverter(s).
Check LCL filter.
Power off all boards.
If the fault persists, contact your local
ABB representative.
2E06 BU earth Earth leakage detected by the Check AC fuses.
leakage branching unit: sum of all currents Check for earth leakages.
exceeds the level. Check supply cabling.
Check power modules.
Check there are no power factor
correction capacitors or surge
absorbers in supply cable.
If no earth fault can be detected,
contact your local ABB representative.
610 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
3E00 Input phase Input phase loss detected by the IGBT Check the auxiliary code. Check the
loss bridge. source of the fault corresponding to
the code:
1: Phase A
2: Phase B
4: Phase C
8: Phase cannot be detected Check the
AC fuses.
Check for input power supply
imbalance.
3E04 DC link Excessive intermediate circuit DC Check that parameter 95.1 Supply
overvoltage voltage. voltage is set according to the supply
voltage in use.
3E05 DC link Intermediate circuit DC voltage is not Check supply cabling, fuses and
undervoltage sufficient because of a missing supply switchgear.
phase or blown fuse. Check that parameter 95.1 Supply
voltage is set according to the supply
voltage in use.
3E06 BU DC link Difference in DC voltages between Check the DC fuses.
difference parallel-connected supply modules. Check the connection to the DC bus.
If the problem persists, contact your
local ABB representative.
3E07 BU voltage Difference in main voltages between Check the supply network
difference parallel-connected supply modules. connections.
Check the AC fuses.
If the problem persists, contact your
local ABB representative.
3E08 LSU charging DC link voltage is not high enough Check parameter 95.1 Supply voltage.
after charging. Check supply voltage and fuses.
Check the connection from the relay
output to the charging contactor.
Check that the DC voltage measuring
circuit is working correctly.
4E01 Cooling Power module temperature is Check ambient temperature. If it
excessive. exceeds 40 °C (104 °F), ensure that
load current does not exceed derated
load capacity.
See appropriate hardware manual.
Check power module cooling air flow
and fan operation.
Check inside of cabinet and heatsink
of power module for dust pick-up.
Clean whenever necessary.
4E02 IGBT IGBT temperature is excessive. Check ambient conditions.
temperature Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against IGBT
supply unit power.
4E03 Excess Power unit module temperature is See AE14 Excess
temperature excessive. temperature (page 607).
 Fault tracing 611

Code Event name /

Cause What to do
(hex) Aux. code
4E04 Excess High temperature difference between See AE15 Excess temperature
temperature the IGBTs of different phases. The difference.
difference amount of available temperatures
depends on the frame size.
4E06 Cabinet or Overtemperature detected either in Check the cooling of the cabinet, LCL
LCL cabinet, LCL filter or auxiliary filter and auxiliary transformer.
overtemperature transformer.
5E01 Auxiliary fan An auxiliary cooling fan is stuck or Check the fan operation and
broken disconnected. connection.
Replace the fan if faulty.
5E05 Rating ID The hardware of the supply unit does Cycle the power to the supply unit. If
mismatch not match the information stored in the control unit is externally powered,
the memory unit. This may occur eg, reboot the control unit (using
after a firmware update or memory parameter 96.108 LSU control board
unit replacement. boot) or by cycling its power.
If the problem persists, contact your
local ABB representative.
5E06 Main Control program does not receive Check main contactor / main breaker
contactor main contactor on (1) control circuit wiring.
Fault acknowledgement through digital Check the status of other switches
input even control program has closed connected to contactor control circuit.
the contactor control circuit with relay See the delivery-specific circuit
output. diagrams.
Main contactor / main breaker is not Check main contactor operating
functioning properly, or there is a voltage level (should be 230 V).
loose / bad connection. Check digital input DI3 connections.
Check related 48V power supply and
connected fans.
6E19 Synchronization Synchronization to supply network has Monitor possible network transients.
fault failed.
6E1A Rating ID fault Rating ID load error. Contact your local ABB representative.
6E1F Licensing There are two types of licenses being Check the line-converter control
fault used in ACS880 drives: program. Record the auxiliary codes
licenses that need to be found from of all active licensing faults and
the unit which allow the firmware to contact your product vendor for
be executed, and licenses that prevent further instructions.
the firmware from running. The license This fault requires a reboot of the
is indicated by the value of the control unit either by switching the
auxiliary code field. The license is power off and on, or using parameter
Nxxxx, where xxxx is indicated by the 96.108 LSU control board boot.
4-digit value of the auxiliary code field. 8201: Contact your product vendor for
8201: A restrictive license is found further instructions.
from the unit. The firmware on this
inverter unit cannot be executed
because a Low harmonic license is
found from the unit. This unit is meant
to be used with IGBT supply control
program (2Q) only.
612 Fault tracing

Code Event name /

Cause What to do
(hex) Aux. code
6E21 Macro Macro file has a parameter defined in Check aux code for the exact
parameterization such a way that it cannot be written. parameter group and index.
error Check if the parameter exists in the
drive.
Check the parameter value from the
macro file matches the parameter’s
minimum and maximum limits.
If the aux code is zero, a generic file
error occurs. Contact your local ABB
representative.
Aux-code in hexadecimal format
contains an 8-bit Group, 8-bit Index,
and 16-bit error code.
0005 Parameter is not accessible from the
macro file.
0009 Value written is below the parameter
minimum limit.
000A Value written is above the parameter
maximum limit.
000B Value written is not listed in the
parameter selection list.
000C Parameter function prevents to
display the value.
000D Parameter does not exist.
001F Parameter in the macro file does not
match the parameter in the drive. The
unit or display format is different.
0022 Pointer parameter is written to target
a parameter or bit that does not exist
or that is not available to be targeted
from macro.
7E01 Panel loss Control panel or PC tool selected as Check PC tool or control panel
active control location has ceased connection.
communicating. Check control panel connector.
Replace control panel in mounting
platform.
8E07 Net lost Net lost is detected. Duration of net Resynchronize the IGBT supply unit to
lost is too long. the grid after net lost.
 Fieldbus control through the embedded fieldbus interface (EFB) 613

8
Fieldbus control through the
embedded fieldbus interface
(EFB)

What this chapter contains

The chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) using the embedded fieldbus interface.
614 Fieldbus control through the embedded fieldbus interface (EFB)

System overview
The drive can be connected to an external control system through a communication
link using either a fieldbus adapter or the embedded fieldbus interface.
The embedded fieldbus interface supports the Modbus RTU protocol. The drive
control program can handle 10 Modbus registers in a 10-millisecond time level.
For example, if the drive receives a request to read 20 registers, it will start its
response within 22 ms of receiving the request – 20 ms for processing the request
and 2 ms overhead for handling the bus. The actual response time depends on
other factors as well, such as the baud rate (a parameter setting in the drive).
The drive can be set to receive all of its control information through the fieldbus
interface, or the control can be distributed between the embedded fieldbus
interface and other available sources, for example, digital and analog inputs.

Fieldbus controller

Fieldbus
Data Flow
Control Word (CW)
Reference Process I/O
Status Word (SW) (cyclic)
Actual values

Parameter R/W requests/responses Service messages

(acyclic)

XD2D XD2D XD2D

Control unit Control unit Control unit
Termination Termination ... Termination
OFF OFF ON

ACS880 ACS880 ACS880

Connecting the fieldbus to the drive

Connect the fieldbus to terminal XD2D on the control unit of the drive. See the
appropriate Hardware Manual for more information on the connection, chaining
and termination of the link.
 Fieldbus control through the embedded fieldbus interface (EFB) 615

Note: If the XD2D connector is reserved by the embedded fieldbus interface

(parameter 58.1 Protocol enable is set to Modbus RTU), the drive-to-drive link
functionality is automatically disabled.

Setting up the embedded fieldbus interface

Set the drive up for the embedded fieldbus communication with the parameters
shown in the table below. The Setting for fieldbus control column gives either the
value to use or the default value. The Function/Information column gives a
description of the parameter.

Parameter Setting for fieldbus con- Function/Information

trol

COMMUNICATION INITIALIZATION
58.1 Protocol enable Modbus RTU Initializes embedded fieldbus com-
munication. Drive-to-drive link oper-
ation is automatically disabled.
EMBEDDED MODBUS CONFIGURATION
58.3 Node address 1 (default) Node address. There must be no
two nodes with the same node ad-
dress online.
58.4 Baud rate 19.2 kbps (default) Defines the communication speed
of the link. Use the same setting as
in the master station
58.5 Parity 8 EVEN 1 (default) Selects the parity and stop bit set-
ting. Use the same setting as in the
master station.
58.14 Communication loss Fault (default) Defines the action taken when a
action communication loss is detected.
58.15 Communication loss Cw / Ref1 / Ref2 (default) Enables/disables communication
mode loss monitoring and defines the
means for resetting the counter of
the communication loss delay.
58.16 Communication loss 3.0 s (default) Defines the time-out limit for the
time communication monitoring.
58.17 Transmit delay 0 ms (default) Defines a response delay for the
drive.
58.25 Control profile ABB Drives (default), Selects the control profile used by
Transparent the drive.
See section Basics of the embedded
fieldbus interface (page 618).
616 Fieldbus control through the embedded fieldbus interface (EFB)

Parameter Setting for fieldbus con- Function/Information

trol

58.26 EFB ref1 type Auto, Transparent, Gener- Selects the reference and actual
…… al, Torque, Speed, Fre- value types.
quency With the Auto setting, the type is
58.29 EFB act2 type
selected automatically according to
the currently active drive control
mode.
58.30 EFB status word Other (see Terms and ab- Defines the source of status word
transparent source breviations) when 58.25 Control profile = Trans-
parent.
58.31 EFB act1 transparent Other (see Terms and ab- Defines the source of actual value 1
source breviations) when 58.28 EFB act1 type = Transpar-
ent or General.
58.32 EFB act2 transparent Other (see Terms and ab- Defines the source of actual value 2
source breviations) when 58.29 EFB act2 type = Trans-
parent or General.
58.33 Addressing mode eg. Mode 0 (default) Defines the mapping between
parameters and holding registers in
the 400001…465536 (100…65535)
Modbus register range.
58.34 Word order LO-HI (default) Defines the order of the data words
in the Modbus message frame.
58.101 Data I/O 1 For example, the default Define the address of the drive
… settings (I/Os 1…6 contain parameter which the Modbus mas-
the control word, the ter accesses when it reads from or
58.124 Data I/O 24 status word, two refer- writes to the register address cor-
ences and two actual val- responding to Modbus In/Out
ues) parameters.
Select the parameters that you want
to read or write through the Modbus
I/O words.
RO/DIO control word, AO1 These settings write the incoming
data storage,AO2 data data into storage parameters 10.99
storage, Feedback data RO/DIO control word, 13.91 AO1
storage, Setpoint data data storage, 13.92 AO2 data stor-
storage age, 40.91 Feedback data storage
or 40.92 Setpoint data storage.
58.6 Communication con- Refresh settings Validates the settings of the config-
trol uration parameters.

The new settings will take effect when the drive is powered up the next time, or
when they are validated by parameter 58.6 Communication control.
 Fieldbus control through the embedded fieldbus interface (EFB) 617

Setting the drive control parameters

After the embedded fieldbus interface has been set up, check and adjust the drive
control parameters listed in the table below. The Setting for fieldbus control
column gives the value or values to use when the embedded fieldbus signal is the
desired source or destination for that particular drive control signal. The
Function/Information column gives a description of the parameter.

Parameter Setting for fieldbus Function/Information

control

CONTROL COMMAND SOURCE SELECTION

20.1 Ext1 commands Embedded fieldbus Selects fieldbus as the source for the
start and stop commands when EXT1 is
selected as the active control location.
20.2 Ext1 start trigger type Embedded fieldbus Selects fieldbus as the source for the
start and stop commands when EXT2 is
selected as the active control location.
SPEED REFERENCE SELECTION
22.11 Speed ref1 source EFB ref1 or EFB ref2 Selects a reference received through the
embedded fieldbus interface as speed
reference 1.
22.12 Speed ref2 source EFB ref1 or EFB ref2 Selects a reference received through the
embedded fieldbus interface as speed
reference 2.
TORQUE REFERENCE SELECTION
26.11 Torque ref1 source EFB ref1 or EFB ref2 Selects a reference received through the
embedded fieldbus interface as torque
reference 1.
26.12 Torque ref2 source EFB ref1 or EFB ref2 Selects a reference received through the
embedded fieldbus interface as torque
reference 2.
FREQUENCY REFERENCE SELECTION
28.11 Frequency ref1 EFB ref1 or EFB ref2 Selects a reference received through the
source embedded fieldbus interface as fre-
quency reference 1.
28.12 Frequency ref2 EFB ref1 or EFB ref2 Selects a reference received through the
source embedded fieldbus interface as fre-
quency reference 2.
OTHER SELECTIONS
EFB references can be selected as the source at virtually any signal selector parameter by
selecting Other (see Terms and abbreviations), then either 3.9 EFB reference 1 or 3.10 EFB
reference 2.
618 Fieldbus control through the embedded fieldbus interface (EFB)

Parameter Setting for fieldbus Function/Information

control

CONTROL OF RELAY OUTPUTS, ANALOG OUTPUTS AND DIGITAL INPUT/OUTPUTS

10.24 RO1 source RO/DIO control word Connects bit 0 of storage parameter
bit0 10.99 RO/DIO control word to relay out-
put RO1.
10.27 RO2 source RO/DIO control word Connects bit 1 of storage parameter
bit1 10.99 RO/DIO control word to relay out-
put RO2.
10.30 RO3 source RO/DIO control word Connects bit 2 of storage parameter
bit2 10.99 RO/DIO control word to relay out-
put RO3.
11.5 DIO1 function Output (default) Sets the digital input/output to output
11.9 DIO2 function mode.

11.6 DIO1 output source RO/DIO control word Connects bit 8 of storage parameter
bit8 10.99 RO/DIO control word to digital in-
put/output DIO1.
11.10 DIO2 output source RO/DIO control word Connects bit 9 of storage parameter
bit9 10.99 RO/DIO control word to digital in-
put/output DIO2.
13.12 AO1 source AO1 data storage Connects storage parameter 13.91 AO1
data storage to analog output AO1.
13.22 AO2 source AO2 data storage Connects storage parameter 13.92 AO2
data storage to analog output AO2.
PROCESS PID FEEDBACK AND SETPOINT
40.8 Set 1 feedback 1 Feedback data stor- Connect the bits of the storage paramet-
source age er (10.99 RO/DIO control word) to the
digital input/outputs of the drive.
40.16 Set 1 setpoint 1 Setpoint data storage
source
SYSTEM CONTROL INPUTS
96.7 Parameter save Save (reverts to Done) Saves parameter value changes (includ-
manually ing those made through fieldbus control)
to permanent memory.

Basics of the embedded fieldbus interface

The cyclic communication between a fieldbus system and the drive consists of
16-bit data words or 32-bit data words (with the transparent control profiles).
The diagram below illustrates the operation of the embedded fieldbus interface.
The signals transferred in the cyclic communication are explained further below
the diagram.
 Fieldbus control through the embedded fieldbus interface (EFB) 619

Fieldbus network

1)

Cyclic communication EFB profile EXT1/2

Start commands

SEL
EFB CW 3)
CW 0
2)
REF1 03.09 EFB reference 1
20.01
REF2 2 20.06
03.10 EFB reference 2

Reference
SW 0 EFB SW 3) selection
2)
ACT1 Actual 1 3)
2
ACT2 Actual 2 3)
58.25

Groups
Data I/O
22/26/28/40 etc.
selection
I/O 1
I/O 2 Reference
I/O 3 Par. 01.01...255.255 selection

...
I/O 24
58.101
58.124
Groups
22/26/28/40 etc.

Parameter
Acyclic communication table

1 See also other parameters which can be controlled through fieldbus.

2 Data conversion if parameter 58.25 Control profile is set to ABB Drives. See section
About the control profiles (page 621).

3 If parameter 58.25 Control profile is set to Transparent,

• The sources of the status word and actual values are selected by parameters
58.30…58.32 (otherwise, actual values 1 and 2 are automatically selected ac-
cording to reference type), and
• The control word is displayed by 6.5 EFB transparent control word.

￭ Control word and Status word

The Control Word (CW) is a 16-bit or 32-bit packed boolean word. It is the principal
means of controlling the drive from a fieldbus system. The CW is sent by the
fieldbus controller to the drive. By drive parameters, the user selects the EFB CW
620 Fieldbus control through the embedded fieldbus interface (EFB)

as the source of drive control commands (such as start/stop, emergency stop,

selection between external control locations 1/2, or fault reset). The drive switches
between its states according to the bit-coded instructions of the CW.
The fieldbus CW is either written to the drive as it is (see parameter 6.5 EFB
transparent control word), or the data is converted. See section About the control
profiles (page 621).
The fieldbus Status Word (SW) is a 16-bit or 32-bit packed boolean word. It contains
status information from the drive to the fieldbus controller. The drive SW is either
written to the fieldbus SW as it is or the data is converted. See section About the
control profiles (page 621).

￭ References
EFB references 1 and 2 are 16-bit or 32-bit signed integers. The contents of each
reference word can be used as the source of virtually any signal, such as the speed,
frequency, torque or process reference. In embedded fieldbus communication,
references 1 and 2 are displayed by 3.9 EFB reference 1 and 3.10 EFB reference 2
respectively. Whether the references are scaled or not depends on the settings of
58.26 EFB ref1 type and 58.27 EFB ref2 type. See section About the control
profiles (page 621).

￭ Actual values
Fieldbus actual signals (ACT1 and ACT2) are 16-bit or 32-bit signed integers. They
convey selected drive parameter values from the drive to the master. Whether the
actual values are scaled or not depends on the settings of 58.28 EFB act1 type and
58.29 EFB act2 type. See section About the control profiles (page 621).

￭ Data input/outputs
Data input/outputs are 16-bit or 32-bit words containing selected drive parameter
values. Parameters 58.101 Data I/O 1 … 58.124 Data I/O 24 define the addresses
from which the master either reads data (input) or to which it writes data (output).

Control of drive outputs through EFB

The address selection parameters of the data input/outputs have a setting with
which the data can be written into a storage parameter in the drive. These storage
parameters are readily selectable as signal sources of the drive outputs.
The desired values of the relay outputs (RO) and digital input/outputs (DIO) can
be written in a 16-bit word into 10.99 RO/DIO control word, which is then selected
as the source of those outputs. Each of the analog outputs (AO) of the drive have
a dedicated storage parameter (13.91 AO1 data storage and 13.92 AO2 data storage),
which are available in the source selection parameters 13.12 AO1 source and 13.22
AO2 source.
 Fieldbus control through the embedded fieldbus interface (EFB) 621

Sending process PID feedback and setpoint values through EFB

The drive also has storage parameters for incoming process PID feedback (40.91
Feedback data storage) as well as a process PID setpoint (40.92 Setpoint data
storage). The feedback storage parameter is selectable in the source selection
parameters 40.8 Set 1 feedback 1 source and 40.9 Set 1 feedback 2 source.
The corresponding parameters in process PID control set 2 (group 41 Process PID
set 2) have the same selections.

￭ Register addressing
The address field of Modbus requests for accessing holding registers is 16 bits.
This allows the Modbus protocol to support addressing of 65536 holding registers.
Historically, Modbus master devices used 5-digit decimal addresses from 40001
to 49999 to represent holding register addresses. The 5-digit decimal addressing
limited to 9999 the number of holding registers that could be addressed.
Modern Modbus master devices typically provide a means to access the full range
of 65536 Modbus holding registers. One of these methods is to use 6-digit decimal
addresses from 400001 to 465536. This manual uses 6-digit decimal addressing
to represent Modbus holding register addresses.
Modbus master devices that are limited to the 5-digit decimal addressing may
still access registers 400001 to 409999 by using 5-digit decimal addresses 40001
to 49999. Registers 410000 to 465536 are inaccessible to these masters.
Note: Register addresses of 32-bit parameters cannot be accessed by using 5-digit
register numbers.

About the control profiles

A control profile defines the rules for data transfer between the drive and the
fieldbus master, for example:
• if packed boolean words are converted and how
• how drive register addresses are mapped for the fieldbus master.
You can configure the drive to receive and send messages according to the ABB
Drives profile or the Transparent profile. With the ABB Drives profile, the embedded
fieldbus interface of the drive converts the control word and status word to and
from the native data used in the drive. The Transparent profile involves no data
conversion. The figure below illustrates the effect of the profile selection.
622 Fieldbus control through the embedded fieldbus interface (EFB)

Profile selection

Scaling of actual SEL

values and
references 0
Data conversion
Fieldbus Drive
2

58.26...58.29

58.25

Control profile selection with parameter 58.25 Control profile:

• (0) ABB Drives
• (2) Transparent
Note that scaling of references and actual values can be selected independent of
the profile selection by parameters 58.26…58.29.

The ABB Drives profile

￭ Control Word
The table below shows the contents of the fieldbus Control Word for the ABB
Drives control profile. The embedded fieldbus interface converts this word to the
form in which it is used in the drive. The upper case boldface text refers to the
states shown in State transition diagram (page 625).

Bit Name Value STATE/Description

0 OFF1_ CONTROL 1 Proceed to READY TO OPERATE.

0 Stop along currently active deceleration ramp.
Proceed to OFF1 ACTIVE; proceed to READY TO
SWITCH ON unless other interlocks (OFF2, OFF3)
are active.
1 OFF2_ CONTROL 1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON
INHIBITED.
 Fieldbus control through the embedded fieldbus interface (EFB) 623

Bit Name Value STATE/Description

2 OFF3_ CONTROL 1 Continue operation (OFF3 inactive).

0 Emergency stop, stop within time defined by drive
parameter. Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.

WARNING!
Ensure that the motor and driven machine
can be stopped using this stop mode.

3 INHIBIT_ OPERATION 1 Proceed to OPERATION ENABLED.

Note: Run enable signal must be active; see the

drive documentation. If the drive is set to receive
the Run enable signal from the fieldbus, this bit
activates the signal.
0 Inhibit operation. Proceed to OPERATION INHIB-
ITED.
4 RAMP_OUT_ ZERO 1 Normal operation. Proceed to RAMP FUNCTION
GENERATOR: OUTPUT ENABLED.
0 Force Ramp Function Generator output to zero.
Drive ramps to stop (current and DC voltage limits
in force).
5 RAMP_HOLD 1 Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR: ACCEL-
ERATOR ENABLED.
0 Halt ramping (Ramp Function Generator output
held).
6 RAMP_IN_ ZERO 1 Normal operation. Proceed to OPERATING.

Note: This bit is effective only if the fieldbus inter-

face is set as the source for this signal by drive
parameters.
0 Force Ramp Function Generator input to zero.
7 RESET 0=>1 Fault reset if an active fault exists. Proceed to
SWITCH-ON INHIBITED.

Note: This bit is effective only if the fieldbus inter-

face is set as the source for this signal by drive
parameters.
0 Continue normal operation.
624 Fieldbus control through the embedded fieldbus interface (EFB)

Bit Name Value STATE/Description

8 JOGGING_1 1 Accelerate to jogging 1 reference.

Note:
• Bits 4…6 must be 0.
• See also section Jogging (page 60).
0 Jogging 1 disabled.
9 JOGGING_2 1 Accelerate to jogging 2 reference.
See notes at bit 8.
0 Jogging 2 disabled.
10 REMOTE_ CMD 1 Fieldbus control enabled.
0 Fieldbus control disabled (some bits still operate
e.g. Reset).
11 EXT_CTRL_ LOC 1 Select External Control Location EXT2. Effective
if the control location is parameterized to be se-
lected from the fieldbus.
0 Select External Control Location EXT1. Effective
if the control location is parameterized to be se-
lected from the fieldbus.
12...15 Reserved

￭ Status Word
The table below shows the fieldbus Status Word for the ABB Drives control profile.
The embedded fieldbus interface converts the drive Status Word into this form
for the fieldbus. The upper case boldface text refers to the states shown in State
transition diagram (page 625).

Bit Name Value STATE/Description

0 RDY_ON 1 READY TO SWITCH ON.

0 NOT READY TO SWITCH ON.
1 RDY_RUN 1 READY TO OPERATE.
0 OFF1 ACTIVE.
2 RDY_REF 1 OPERATION ENABLED.
0 OPERATION INHIBITED.
3 TRIPPED 1 FAULT.
0 No fault.
4 OFF_2_STA 1 OFF2 inactive.
0 OFF2 ACTIVE.
 Fieldbus control through the embedded fieldbus interface (EFB) 625

Bit Name Value STATE/Description

5 OFF_3_STA 1 OFF3 inactive.

0 OFF3 ACTIVE.
6 SWC_ON_ INHIB 1 SWITCH-ON INHIBITED.
0 -
7 ALARM 1 Warning/Alarm.
0 No warning/alarm.
8 AT_ SETPOINT 1 OPERATING. Actual value equals Reference =
is within tolerance limits, i.e. in speed control,
speed error is 10% max. of nominal motor
speed.
0 Actual value differs from Reference = is out-
side tolerance limits.
9 REMOTE 1 Drive control location: REMOTE (EXT1 or
EXT2).
0 Drive control location: LOCAL.
10 ABOVE_ LIMIT 1 Actual frequency or speed equals or exceeds
supervision limit (set by drive parameter).
Valid in both directions of rotation.
0 Actual frequency or speed within supervision
limit.
11 USER_0 Status bits that can be combined with drive
logic for application-specific 12 USER_1 func-
tionality.
12 EXT_RUN_ ENABLE 1 External Run enable signal received.
0 No external Run enable signal received.
13...15 Reserved

￭ State transition diagram

The diagram below shows the state transitions in the drive when the drive is using
the ABB Drives profile, and configured to follow the commands of the control word
from the embedded fieldbus interface. The upper case texts refer to the states
which are used in the tables representing the fieldbus Control and Status words.
See sections Control Word (page 622) and Status Word (page 624).
626 Fieldbus control through the embedded fieldbus interface (EFB)

SWITCH-ON ABB Drives profile

MAINS OFF
INHIBITED (SW Bit6=1)

Power ON (CW Bit0=0)

NOT READY TO
SWITCH ON (SW Bit0=0)
A B C D
CW = Control word
SW = Status word
n = Speed
(CW=xxxx x1xx xxxx x110) I = Input Current
(CW Bit3=0) RFG = Ramp Function Generator
f = Frequency
READY TO
OPERATION SWITCH ON (SW Bit0=1)
INHIBITED (SW Bit2=0)
from any state
operation (CW=xxxx x1xx xxxx x111)
inhibited Fault

READY TO
FAULT
from any state OPERATE (SW Bit3=1)
(SW Bit1=1)

OFF1 (CW Bit0=0) (CW Bit7=1)

(CW=xxxx x1xx xxxx 1111
and SW Bit12=1)
OFF1
ACTIVE (SW Bit1=0)
from any state from any state

n(f) = 0 / I = 0 Emergency stop Emergency stop

(CW Bit3=1 OFF3 (CW Bit2=0) OFF2 (CW Bit1=0)
and
B C D SW Bit12=1) OFF3 OFF2
ACTIVE (SW Bit5=0) ACTIVE (SW Bit4=0)

(CW Bit4=0) n(f) = 0 / I = 0

C D OPERATION
ENABLED (SW Bit2=1)
A
(CW Bit5=0) (CW=xxxx x1xx xxx1 1111)

D RFG: OUTPUT
ENABLED
B
(CW Bit6=0) (CW=xxxx x1xx xx11 1111)

RFG: ACCELERATOR STATE

ENABLED
C
condition
(CW=xxxx x1xx x111 1111)

rising edge
OPERATION
(SW Bit8=1)
D
 Fieldbus control through the embedded fieldbus interface (EFB) 627

￭ References
The ABB drives profile supports the use of two references, EFB reference 1 and
EFB reference 2. The references are 16-bit words each containing a sign bit and a
15-bit integer. A negative reference is formed by calculating the two’s complement
from the corresponding positive reference.
The references are scaled as defined by parameters 46.01...46.07; which scaling is
in use depends on the setting of 58.26 EFB ref1 type and 58.27 EFB ref2
type (page 451).

Fieldbus Drive

46.01 (with speed reference)

20000
46.02 (with frequency reference)

46.03 (with torque reference)

10000
46.04 (with power reference)

0 (with torque or power reference)

0 ±(46.06) (with speed reference)
± (46.07) (with frequency reference)

-(46.03) (with torque reference)

-10000
-(46.04) (with power reference)

-(46.01) (with speed reference)

-20000
-(46.02) (with frequency reference)

The scaled references are shown by parameters 3.9 EFB reference 1 and 3.10 EFB
reference 2.
628 Fieldbus control through the embedded fieldbus interface (EFB)

￭ Actual values
The ABB Drives profile supports the use of two fieldbus actual values, ACT1 and
ACT2. The actual values are 16-bit words each containing a sign bit and a 15-bit
integer. A negative value is formed by calculating the two’s complement from the
corresponding positive value.
The actual values are scaled as defined by parameters 46.01...46.04; which scaling
is in use depends on the setting of parameters 58.28 EFB act1 type and 58.29 EFB
act2 type (page 452).

Fieldbus Drive

46.01 (with speed reference)

20000
46.02 (with frequency reference)

46.03 (with torque reference)

10000
46.04 (with power reference)

0 0

-(46.03) (with torque reference)

-10000
-(46.04) (with power reference)

-(46.01) (with speed reference)

-20000
-(46.02) (with frequency reference)
 Fieldbus control through the embedded fieldbus interface (EFB) 629

￭ Modbus holding register addresses

The table below shows the default Modbus holding register addresses for drive
data.
This profile provides a converted 16-bit access to the data.

Register address Register data (16-bit words)

400001 Control word. See section Control Word (page 622).

The selection can be changed using parameter 58.101 Data I/O 1.
400002 Reference 1 (REF1).
The selection can be changed using parameter 58.102 Data I/O 2.
400003 Reference 2 (REF2).
The selection can be changed using parameter 58.103 Data I/O 3.
400004 Status Word (SW). See section Status Word (page 624).
The selection can be changed using parameter 58.104 Data I/O 4.
400005 Actual value 1 (ACT1).
The selection can be changed using parameter 58.105 Data I/O 5.
400006 Actual value 2 (ACT2).
The selection can be changed using parameter 58.106 Data I/O 6.
400007...400024 Data in/out 7...24.
Selected by parameters 58.107 Data I/O 7 ... 58.124 Data I/O 24.
400025...400089 Unused
400090...400100 Error code access. See section Error code registers (holding registers
400090…400100) (page 635).
400101...465536 Parameter read/write.
Parameters are mapped to register addresses according to parameter
58.33 Addressing mode.

The Transparent profile

The Transparent profile enables a customizable access to the drive.
The contents of the control word are user-definable. The control word received
from the fieldbus is visible in parameter 6.5 EFB transparent control word, and
can be used to control the drive using pointer parameters and/or application
programming.
The status word to be sent to the fieldbus controller is selected by parameter
58.30 EFB status word transparent source. This can be, for example, the
user-configurable status word in 6.50 User status word 1.
630 Fieldbus control through the embedded fieldbus interface (EFB)

The Transparent profile involves no data conversion of the control or status word.
Whether references or actual values are scaled depends on the setting of
parameters 58.26...58.29. The references received from the fieldbus are visible in
parameters 3.9 EFB reference 1 and 3.10 EFB reference 2.
The Modbus holding register addresses for the Transparent profile are as with
the ABB Drives profile (see page 629).

Modbus function codes

The table below shows the Modbus function codes supported by the embedded
fieldbus interface.

Code Function name Description

01h Read Coils Reads the 0/1 status of coils (0X references).
02h Read Discrete Inputs Reads the 0/1 status of discrete inputs (1X
references).
03h Read Holding Registers Reads the binary contents of holding re-
gisters (4X references).
05h Write Single Coil Forces a single coil (0X reference) to 0 or 1.
06h Write Single Register Writes a single holding register (4X refer-
ence).
08h Diagnostics Provides a series of tests for checking the
communication, or for checking various intern-
al error conditions.
Supported subcodes:
• 00h Return Query Data: Echo/loopback
test.
• 01h Restart Comm Option: Restarts and
initializes the EFB, clears communications
event counters.
• 04h Force Listen Only Mode
• 0Ah Clear Counters and Diagnostic Re-
gister
• 0Bh Return Bus Message Count
• 0Ch Return Bus Comm. Error Count
• 0Dh Return Bus Exception Error Count
• 0Eh Return Slave Message Count
• 0Fh Return Slave No Response Count
• 10h Return Slave NAK (negative acknow-
ledge) Count
• 11h Return Slave Busy Count
• 12h Return Bus Character Overrun Count
• 14h Clear Overrun Counter and Flag
0Bh Get Comm Event Counter Returns a status word and an event count.
 Fieldbus control through the embedded fieldbus interface (EFB) 631

Code Function name Description

0Fh Write Multiple Coils Forces a sequence of coils (0X references) to

0 or 1.
10h Write Multiple Registers Writes the contents of a contiguous block of
holding registers (4X references).
16h Mask Write Register Modifies the contents of a 4X register using
a combination of an AND mask, an OR mask,
and the register's current contents.
17h Read/Write Multiple Registers Writes the contents of a contiguous block of
4X registers, then reads the contents of an-
other group of registers (the same or differ-
ent than those written) in a server device.
2Bh/0Eh Encapsulated Interface Trans- Supported subcodes:
port • 0Eh Read Device Identification: Allows
reading the identification and other inform-
ation.
Supported ID codes (access type):
• 00h: Request to get the basic device
identification (stream access)
• 04h: Request to get one specific identific-
ation object (individual access)
Supported Object IDs:
• 00h: Vendor Name (“ABB”)
• 01h: Product Code (for example, “AINFX”)
• 02h: Major Minor Revision (combination
of contents of parameters 7.5 Firmware
version and 58.2 Protocol ID).
• 03h: Vendor URL (“www.abb.com”)
• 04h: Product name (for example,
“ACS880”)

Exception codes
The table below shows the Modbus exception codes supported by the embedded
fieldbus interface.

Code Name Description

01h ILLEGAL FUNCTION The function code received in the query is not an
allowable action for the server.
02h ILLEGAL DATA ADDRESS The data address received in the query is not an
allowable address for the server.
632 Fieldbus control through the embedded fieldbus interface (EFB)

Code Name Description

03h ILLEGAL DATA VALUE The requested Quantity of Registers is larger than
the drive can handle.

Note: This error does not mean that a value writ-

ten to a drive parameter is outside the valid range.
04h SLAVE DEVICE FAILURE The value written to a drive parameter is outside
the valid range. See section Error code registers
(holding registers 400090…400100) (page 635).
06h SLAVE DEVICE BUSY The server is engaged in processing a long-dura-
tion program command.

Coils (0xxxx reference set)

Coils are 1-bit read/write values. Control Word bits are exposed with this data
type. The table below summarizes the Modbus coils (0xxxx reference set).

Reference ABB drives profile Transparent profile

00001 OFF1_CONTROL Control Word bit 0

00002 OFF2_CONTROL Control Word bit 1
00003 OFF3_CONTROL Control Word bit 2
00004 INHIBIT_OPERATION Control Word bit 3
00005 RAMP_OUT_ZERO Control Word bit 4
00006 RAMP_HOLD Control Word bit 5
00007 RAMP_IN_ZERO Control Word bit 6
00008 RESET Control Word bit 7
00009 JOGGING_1 Control Word bit 8
00010 JOGGING_2 Control Word bit 9
00011 REMOTE_CMD Control Word bit 10
00012 EXT_CTRL_LOC Control Word bit 11
00013 User-defined (0) Control Word bit 12
00014 User-defined (1) Control Word bit 13
00015 User-defined (2) Control Word bit 14
00016 User-defined (3) Control Word bit 15
00017 Reserved Control Word bit 16
00018 Reserved Control Word bit 17
00019 Reserved Control Word bit 18
 Fieldbus control through the embedded fieldbus interface (EFB) 633

Reference ABB drives profile Transparent profile

00020 Reserved Control Word bit 19

00021 Reserved Control Word bit 20
00022 Reserved Control Word bit 21
00023 Reserved Control Word bit 22
00024 Reserved Control Word bit 23
00025 Reserved Control Word bit 24
00026 Reserved Control Word bit 25
00027 Reserved Control Word bit 26
00028 Reserved Control Word bit 27
00029 Reserved Control Word bit 28
00030 Reserved Control Word bit 29
00031 Reserved Control Word bit 30
00032 Reserved Control Word bit 31
00033 Reserved 10.99 RO/DIO control word, bit 0
00034 Reserved 10.99 RO/DIO control word, bit 1
00035 Reserved 10.99 RO/DIO control word, bit 2
00036 Reserved 10.99 RO/DIO control word, bit 3
00037 Reserved 10.99 RO/DIO control word, bit 4
00038 Reserved 10.99 RO/DIO control word, bit 5
00039 Reserved 10.99 RO/DIO control word, bit 6
00040 Reserved 10.99 RO/DIO control word, bit 7
00041 Reserved 10.99 RO/DIO control word, bit 8
00042 Reserved 10.99 RO/DIO control word, bit 9

Discrete inputs (1xxxx reference set)

Discrete inputs are 1-bit read-only values. Status Word bits are exposed with this
data type. The table below summarizes the Modbus discrete inputs (1xxxx reference
set).

Reference ABB drives profile Transparent profile

10001 RDY_ON Status Word bit 0

10002 RDY_RUN Status Word bit 1
10003 RDY_REF Status Word bit 2
634 Fieldbus control through the embedded fieldbus interface (EFB)

Reference ABB drives profile Transparent profile

10004 TRIPPED Status Word bit 3

10005 OFF_2_STA Status Word bit 4
10006 OFF_3_STA Status Word bit 5
10007 SWC_ON_INHIB Status Word bit 6
10008 ALARM Status Word bit 7
10009 AT_SETPOINT Status Word bit 8
10009
10010 REMOTE Status Word bit 9
10011 ABOVE_LIMIT Status Word bit 10
10012 User-defined (0) Status Word bit 11
10013 User-defined (1) Status Word bit 12
10014 User-defined (2) Status Word bit 13
10015 User-defined (3) Status Word bit 14
10016 Reserved Status Word bit 15
10017 Reserved Status Word bit 16
10018 Reserved Status Word bit 17
10019 Reserved Status Word bit 18
10020 Reserved Status Word bit 19
10021 Reserved Status Word bit 20
10022 Reserved Status Word bit 21
10023 Reserved Status Word bit 22
10024 Reserved Status Word bit 23
10025 Reserved Status Word bit 24
10026 Reserved Status Word bit 25
10027 Reserved Status Word bit 26
10028 Reserved Status Word bit 27
10029 Reserved Status Word bit 28
10030 Reserved Status Word bit 29
10031 Reserved Status Word bit 30
10032 Reserved Status Word bit 31
10033 Reserved 10.2 DI delayed status, bit 0
10034 Reserved 10.2 DI delayed status, bit 1
 Fieldbus control through the embedded fieldbus interface (EFB) 635

Reference ABB drives profile Transparent profile

10035 Reserved 10.2 DI delayed status, bit 2

10036 Reserved 10.2 DI delayed status, bit 3
10037 Reserved 10.2 DI delayed status, bit 4
10038 Reserved 10.2 DI delayed status, bit 5
10039 Reserved 10.2 DI delayed status, bit 6
10040 Reserved 10.2 DI delayed status, bit 7
10041 Reserved 10.2 DI delayed status, bit 8
10042 Reserved 10.2 DI delayed status, bit 9
10043 Reserved 10.2 DI delayed status, bit 10
10044 Reserved 10.2 DI delayed status, bit 11
10045 Reserved 10.2 DI delayed status, bit 12
10046 Reserved 10.2 DI delayed status, bit 13
10047 Reserved 10.2 DI delayed status, bit 14
10048 Reserved 10.2 DI delayed status, bit 15

Error code registers (holding registers 400090…400100)

These registers contain information about the last query. The error register is
cleared when a query has finished successfully.

Reference Name Description

90 Reset Error Registers 1 = Reset internal error registers (91…95).

91 Error Function Code Function code of the failed query.
92 Error Code Set when exception code 04h is generated (see
table above).
• 00h No error
• 02h Low/High limit exceeded
• 03h Faulty Index: Unavailable index of an array
parameter
• 05h Incorrect Data Type: Value does not match
the data type of the parameter
• 65h General Error: Undefined error when
handling query
93 Failed Register The last register (discrete input, coil, or holding
register) that failed to be read or written.
94 Last Register Written Suc- The last register that was written successfully.
cessfully
636 Fieldbus control through the embedded fieldbus interface (EFB)

Reference Name Description

95 Last Register Read Suc- The last register that was read successfully.
cessfully
 Fieldbus control through a fieldbus adapter 637

9
Fieldbus control through a
fieldbus adapter

What this chapter contains

This chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) through an optional fieldbus adapter module.
The fieldbus control interface of the drive is described first, followed by a
configuration example.

System overview
The drive can be connected to an external control system through an optional
fieldbus adapter mounted onto the control unit of the drive. The drive actually has
two independent interfaces for fieldbus connection, called “fieldbus adapter A”
(FBA A) and “fieldbus adapter B” (FBA B). The drive can be configured to receive
all of its control information through the fieldbus interface(s), or the control can
be distributed between the fieldbus interface(s) and other available sources such
as digital and analog inputs, depending on how control locations EXT1 and EXT2
are configured.
Note: The text and examples in this chapter describe the configuration of one
fieldbus adapter (FBA A) by parameters 50.01...50.21 and parameter groups 51...53.
The second adapter (FBA B), if present, is configured in a similar fashion by
parameters 50.31...50.51 and parameter groups 54...56. It is recommended that
the FBA B interface is only used for monitoring.
638 Fieldbus control through a fieldbus adapter

Fieldbus adapters are available for various communication systems and protocols,
for example
• CANopen (FCAN-01 adapter)
• ControlNet (FCNA-01 adapter)
• DeviceNet (FDNA-01 adapter)
• EtherCAT® (FECA-01 adapter)
• EtherNet/IP™ (FENA-11 or FENA-21 adapter)
• Modbus/RTU (FSCA-01 adapter)
• Modbus/TCP (FENA-11 or FENA-21 adapter)
• POWERLINK (FEPL-02 adapter)
• PROFIBUS DP (FPBA-01 adapter)
• PROFINET IO (FENA-11 or FENA-21 adapter).

Note: Fieldbus adapters with the suffix “M” (eg. FPBA-01-M) are not supported.

Drive
Fieldbus
controller

Fieldbus

Other
devices

Type Fxxx fieldbus

adapter installed onto
drive control unit (slot
1, 2 or 3)

Data Flow
Control word (CW)
References Process I/O
Status word (cyclic)
(SW)
Actual values
Process I/O (cyclic) or
Parameter R/W requests/responses
Service messages (acyclic)
 Fieldbus control through a fieldbus adapter 639

Basics of the fieldbus control interface

The cyclic communication between a fieldbus system and the drive consists of 16-
or 32-bit input and output data words. The drive is able to support a maximum of
12 data words (16 bits) in each direction.
Data transmitted from the drive to the fieldbus controller is defined by parameters
52.1 FBA A data in1 ... 52.12 FBA A data in12. The data transmitted from the fieldbus
controller to the drive is defined by parameters 53.1 FBA data out1 ... 53.12 FBA
data out12.

Fieldbus network

1)
Fieldbus adapter FBA Profile
EXT1/2
Start function
DATA Profile
OUT 2) selection
4) FBA MAIN CW
4)
FBA REF1
1
DATA OUT FBA REF2
20.01
2 selection
20.06
3
3)
... Speed/Torque
REF1 sel
12 Par. 10.01...99.99

Fieldbus-specific interface

DATA Profile
IN 2) Group 53
selection
FBA MAIN SW
5) 22.11 /
5) FBA ACT1 26.11 / 26.12
1 FBA ACT2
DATA IN
2 selection Speed/Torque
3 REF2 sel
3)
...

12 Par. 01.01...99.99

Cyclic communication 22.12 /

Group 52 26.11 / 26.12

Acyclic communication
See the manual of the fieldbus adapter Parameter
module. table

1) See also other parameters which can be controlled from fieldbus.

2) The maximum number of data words used is protocol-dependent.

640 Fieldbus control through a fieldbus adapter

3) Profile/instance selection parameters. Fieldbus module specific parameters. For

more information, see the User’s Manual of the appropriate fieldbus adapter
module.

4) With DeviceNet, the control part is transmitted directly.

5) With DeviceNet, the actual value part is transmitted directly.

￭ Control word and Status word

The Control word is the principal means for controlling the drive from a fieldbus
system. It is sent by the fieldbus master station to the drive through the adapter
module. The drive switches between its states according to the bit-coded
instructions in the Control word, and returns status information to the master in
the Status word.
For the ABB Drives communication profile, the contents of the Control word and
the Status word are detailed on pages 573 and 574 respectively. The drive states
are presented in the state diagram (page 575).
When a transparent communication profile is selected eg. by parameter group 51
FBA A settings, the control word received from the PLC is available in 6.3 FBA A
transparent control word. The individual bits of the word can then be used for
drive control through bit pointer parameters. The source of the status word, for
example 6.50 User status word 1, can be selected in 50.9 FBA A SW transparent
source.

Debugging the network words

If parameter 50.12 FBA A debug mode is set to Fast, the Control word received
from the fieldbus is shown by parameter 50.13 FBA A control word, and the Status
word transmitted to the fieldbus network by 50.16 FBA A status word. This “raw”
data is very useful to determine if the fieldbus master is transmitting the correct
data before handing control to the fieldbus network.
 Fieldbus control through a fieldbus adapter 641

￭ References
References are 16-bit words containing a sign bit and a 15-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by calculating the
two’s complement from the corresponding positive reference.
ABB drives can receive control information from multiple sources including analog
and digital inputs, the drive control panel and a fieldbus adapter module. In order
to have the drive controlled through the fieldbus, the module must be defined as
the source for control information such as reference. This is done using the source
selection parameters in groups 22 Speed reference selection, 26 Torque reference
chain and 28 Frequency reference chain.

Debugging the network words

If parameter 50.12 FBA A debug mode is set to Fast, the references received from
the fieldbus are displayed by 50.14 FBA A reference 1 and 50.15 FBA A reference 2.

Scaling of references
Note: The scalings described below are for the ABB Drives communication profile.
Fieldbus-specific communication profiles may use different scalings. For more
information, see the manual of the fieldbus adapter

The references are scaled as defined by parameters 46.01...46.07; which scaling is

in use depends on the setting of 50.4 FBA A ref1 type and 50.5 FBA A ref2 type.

Fieldbus Drive

46.01 (with speed reference)

20000
46.02 (with frequency reference)

46.03 (with torque reference)

10000
46.04 (with power reference)

0 (with torque or power reference)

0 ±(46.06) (with speed reference)
± (46.07) (with frequency reference)

-(46.03) (with torque reference)

-10000
-(46.04) (with power reference)

-(46.01) (with speed reference)

-20000
-(46.02) (with frequency reference)
642 Fieldbus control through a fieldbus adapter

The scaled references are shown by parameters 3.5 FB A reference 1 and 3.6 FB A
reference 2.

￭ Actual values
Actual values are 16-bit words containing information on the operation of the
drive. The types of the monitored signals are selected by parameters 50.7 FBA A
actual 1 type and 50.8 FBA A actual 2 type.

Debugging the network words

If parameter 50.12 FBA A debug mode is set to Fast, the actual values sent to the
fieldbus are displayed by 50.17 FBA A actual value 1 and 50.18 FBA A actual value
2.

Scaling of actual values

Note: The scalings described below are for the ABB Drives communication profile.
Fieldbus-specific communication profiles may use different scalings. For more
information, see the manual of the fieldbus adapter.

The actual values are scaled as defined by parameters 46.01...46.04; which scaling
is in use depends on the setting of parameters 50.7 FBA A actual 1 type and 50.8
FBA A actual 2 type.

Fieldbus Drive

46.01 (with speed reference)

20000
46.02 (with frequency reference)

46.03 (with torque reference)

10000
46.04 (with power reference)

0 0

-(46.03) (with torque reference)

-10000
-(46.04) (with power reference)

-(46.01) (with speed reference)

-20000
-(46.02) (with frequency reference)
 Fieldbus control through a fieldbus adapter 643

￭ Contents of the fieldbus Control word (ABB Drives profile)

The upper case boldface text refers to the states shown in the state diagram (page
575).

Bit Name Value STATE/Description

0 Off1 control 1 Proceed to READY TO OPERATE.

0 Stop along currently active deceleration ramp. Proceed
to OFF1 ACTIVE; proceed to READY TO SWITCH ON
unless other interlocks (OFF2, OFF3) are active.
1 Off2 control 1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to a stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON IN-
HIBITED.
2 Off3 control 1 Continue operation (OFF3 inactive).
0 Emergency stop, stop within time defined by drive
parameter.
Proceed to OFF3 ACTIVE; proceed to SWITCH-ON IN-
HIBITED.

WARNING!
Ensure motor and driven machine can be stopped
using this stop mode.

3 Run 1 Proceed to OPERATION ENABLED.

Note: Run enable signal must be active. If the drive is

set to receive the Run enable signal from the fieldbus,
this bit activates the signal. See also parameters 6.18
Start inhibit status word and 6.25 Drive inhibit status
word 2.
0 Inhibit operation. Proceed to OPERATION INHIBITED.
4 Ramp out zero 1 Normal operation. Proceed to RAMP FUNCTION GEN-
ERATOR: OUTPUT ENABLED.
0 Force Ramp function generator output to zero. The
drive will immediately decelerate to zero speed (ob-
serving the torque limits).
5 Ramp hold 1 Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR: ACCELER-
ATOR ENABLED.
0 Halt ramping (Ramp Function Generator output held).
644 Fieldbus control through a fieldbus adapter

Bit Name Value STATE/Description

6 Ramp in zero 1 Normal operation. Proceed to OPERATING.

Note: This bit is effective only if the fieldbus interface

is set as the source for this signal by drive parameters.
0 Force Ramp function generator input to zero.
7 Reset 0=>1 Fault reset if an active fault exists. Proceed to SWITCH-
ON INHIBITED.

Note: This bit is effective only if the fieldbus interface

is set as the source of the reset signal by drive para-
meters.
0 Continue normal operation.
8 Inching 1 1 Accelerate to inching (jogging) setpoint 1.

Note:
• Bits 4...6 must be 0.
• See also section Jogging (page 60).
0 Inching (jogging) 1 disabled.
9 Inching 2 1 Accelerate to inching (jogging) setpoint 2.
See notes at bit 8.
0 Inching (jogging) 2 disabled.
10 Remote cmd 1 Fieldbus control enabled.
0 Control word and reference not getting through to the
drive, except for bits 0...2.
11 Ext ctrl loc 1 Select External Control Location EXT2. Effective if
control location is parameterized to be selected from
fieldbus.
0 Select External Control Location EXT1. Effective if
control location is parameterized to be selected from
fieldbus.
12 to 15 Reserved.
 Fieldbus control through a fieldbus adapter 645

￭ Contents of the fieldbus Status word (ABB Drives profile)

The upper case boldface text refers to the states shown in the state diagram (page
575).

Bit Name Value STATE/Description

0 Ready to switch 1 READY TO SWITCH ON.

ON
0 NOT READY TO SWITCH ON.
1 Ready run 1 READY TO OPERATE.
0 OFF1 ACTIVE.
2 Ready ref 1 OPERATION ENABLED.
0 OPERATION INHIBITED. See parameters 6.18 Start in-
hibit status word and 6.25 Drive inhibit status word 2
for the inhibiting condition.
3 Tripped 1 FAULT.
0 No fault.
4 Off 2 inactive 1 OFF2 inactive.
0 OFF2 ACTIVE.
5 Off 3 inactive 1 OFF3 inactive.
0 OFF3 ACTIVE.
6 Switch-on 1 SWITCH-ON INHIBITED.
inhibited
0 –
7 Warning 1 Warning active.
0 No warning active.
8 At setpoint 1 OPERATING. Actual value equals reference = is within
tolerance limits (see parameters 46.21…46.23).
0 Actual value differs from reference = is outside toler-
ance limits.
9 Remote 1 Drive control location: REMOTE (EXT1 or EXT2).
0 Drive control location: LOCAL.
10 Above limit - See parameter 6.29 MSW bit 10 sel.
11 User bit 0 - See parameter 6.30 MSW bit 11 sel.
12 User bit 1 - See parameter 6.31 MSW bit 12 sel.
13 User bit 2 - See parameter 6.32 MSW bit 13 sel.
14 User bit 3 - See parameter 6.33 MSW bit 14 sel.
15 Reserved.
646 Fieldbus control through a fieldbus adapter

￭ The state diagram (ABB Drives profile)

SWITCH-ON
MAINS OFF from any state
INHIBITED SW b6=1
Fault
Power ON CW b0=0

FAULT
NOT READY TO SW b3=1
SWITCH ON SW b0=0
A B C D
CW b7=1

CW=xxxx x1xx xxxx x110

CW b3=0

READY TO
OPERATION SWITCH ON SW b0=1
INHIBITED SW b2=0 from any state
Emergency stop
operation CW=xxxx x1xx xxxx x111 OFF2 (CW b1=0)
inhibited

OFF2
READY TO ACTIVE SW b4=0
from any state OPERATE SW b1=1

OFF1 (CW b0=0)

CW=xxxx x1xx xxxx 1111
OFF1
ACTIVE SW b1=0
from any state
Emergency stop
n(f) = 0 / I = 0
OFF3 (CW b2=0)

B C D
OFF3
ACTIVE SW b5=0
CW b4=0

n(f) = 0 / I = 0
OPERATION
C D ENABLED SW b2=1
A
CW b5=0 CW=xxxx x1xx xxx1 1111
STATE

RFG: OUTPUT
ENABLED condition
D
B
CW b6=0 CW=xxxx x1xx xx11 1111 rising edge
of bit

RFG: ACCELERATOR
CW = Control word ENABLED
SW = Status word
bx = bit x C
n = Speed CW=xxxx x1xx x111 1111
I = Input Current
RFG = Ramp Function Generator
f = Frequency OPERATION
SW b8=1
D
 Fieldbus control through a fieldbus adapter 647

Setting up the drive for fieldbus control

1. Install the fieldbus adapter module mechanically and electrically according to
the instructions given in the User’s manual of the module.
2. Power up the drive.
3. Enable the communication between the drive and the fieldbus adapter module
with parameter 50.1 FBA A enable.
4. With 50.2 FBA A comm loss func, select how the drive should react to a fieldbus
communication break.
Note: This function monitors both the communication between the fieldbus
master and the adapter module and the communication between the adapter
module and the drive.

5. With 50.3 FBA A comm loss t out, define the time between communication
break detection and the selected action.
6. Select application-specific values for the rest of the parameters in group 50
Fieldbus adapter (FBA), starting from 50.04. Examples of appropriate values
are shown in the tables below.
7. Set the fieldbus adapter module configuration parameters in group 51 FBA A
settings. As a minimum, set the required node address and the control profile.
8. Define the process data transferred to and from the drive in parameter groups
52 FBA A data in and 53 FBA A data out.
Note: Depending on the communication protocol and profile being used, the
Control word and Status word may already be configured to be sent/received
by the communication system.

9. Save the valid parameter values to permanent memory by setting parameter

96.7 Parameter save manually to Save.
10. Validate the settings made in parameter groups 51, 52 and 53 by setting
parameter 51.27 FBA A par refresh to Refresh.
11. Configure control locations EXT1 and EXT2 to allow control and reference
signals to come from the fieldbus. Examples of appropriate values are shown
in the tables below.
648 Fieldbus control through a fieldbus adapter

￭ Parameter setting example: FPBA (PROFIBUS DP)

This example shows how to configure a basic speed control application that uses
the PROFIdrive communication profile with PPO Type 2. The start/stop commands
and reference are according to the PROFIdrive profile, speed control mode.
The reference values sent over the fieldbus have to be scaled within the drive so
they have the desired effect. The reference value ±16384 (4000h) corresponds to
the range of speed set in parameter 46.1 Speed scaling (both forward and reverse
directions). For example, if 46.01 is set to 480 rpm, then 4000h sent over fieldbus
will request 480 rpm.

Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6

Out Control word Speed reference Acc time 1 Dec time 1

In Status word Speed actual Motor current DC voltage
value

The table below gives the recommended drive parameter settings.

Drive parameter Setting for Description

ACS880 drives

50.1 FBA A enable 1...3 = [slot Enables communication between the drive
number] and the fieldbus adapter module.
50.4 FBA A ref1 type 4 = Speed Selects the fieldbus A reference 1 type and
scaling.
50.7 FBA A actual 1 type 0 = Auto Selects the actual value type/source and
scaling according to the currently active
control mode (as displayed by parameter
19.01).
51.1 FBA A type 1 = FPBA 1) Displays the type of the fieldbus adapter
module.
51.02 Node address 3 2) Defines the PROFIBUS node address of the
fieldbus adapter module.
1)
51.03 Baud rate 12000 Displays the current baud rate on the
PROFIBUS network in kbit/s.
1)
51.04 MSG type 1 = PPO1 Displays the telegram type selected by the
PLC configuration tool.
51.05 Profile 0 = PROFIdrive Selects the Control word according to the
PROFIdrive profile (speed control mode).
51.07 RPBA mode 0 = Disabled Disables the RPBA emulation mode.
1)
52.01 FBA data in1 4 = SW 16bit Status word

52.02 FBA data in2 5 = Act1 16bit Actual value 1

 Fieldbus control through a fieldbus adapter 649

Drive parameter Setting for Description

ACS880 drives
2)
52.03 FBA data in3 01.07 Motor current
2)
52.05 FBA data in5 01.11 DC voltage
1)
53.01 FBA data out1 1 = CW 16bit Control word

53.02 FBA data out2 2 = Ref1 16bit Reference 1 (speed)

2)
53.03 FBA data out3 23.12 Acceleration time 1
2)
53.05 FBA data out5 23.13 Deceleration time 1

51.27 FBA A par refresh 1 = Refresh Validates the configuration parameter set-
tings.
19.12 Ext1 control mode 2 = Speed Selects speed control as the control mode 1
for external control location EXT1.
20.1 Ext1 commands 12 = Fieldbus A Selects fieldbus adapter A as the source of
the start and stop commands for external
control location EXT1.
20.2 Ext1 start trigger type 1 = Level Selects a level-triggered start signal for ex-
ternal control location EXT1.
22.11 Speed ref1 source 4 = FB A ref1 Selects fieldbus A reference 1 as the source
for speed reference 1.
1) Read-only or automatically detected/set
2) Example

The start sequence for the parameter example above is given below.
Control word
• after power-on, fault or emergency stop:
• 476h (1142 decimal) –> NOT READY TO SWITCH ON
• in normal operation:
• 477h (1143 decimal) –> READY TO SWITCH ON (stopped)
• 47Fh (1151 decimal) –> OPERATING (running)
650
 Control chain diagrams 651

10
Control chain diagrams

What this chapter contains

The chapter presents the reference chains of the drive. The control chain diagrams
can be used to trace how parameters interact and where parameters have an effect
within the drive parameter system.
For a more general diagram, see section Operating modes of the drive (page 26).
 22.77 Motor potentiometer max value Value

>
22.71 Motor potentiometer function Selection RAMP

>
22.73 Motor potentiometer up source Selection
Value 22.80 Motor potentiometer ref act

>
22.74 Motor potentiometer down source Selection

22.75 Motor potentiometer ramp time Value

22.72 Motor potentiometer initial value Value

22.76 Motor potentiometer min value Value

652 Control chain diagrams

22.17 Speed additive 2

>
>
22.15 Speed additive 1 source Selection Selection
source

>
22.13 Speed ref1 function Selection

22.81 Speed reference act 1 ADD

22.84 Speed reference act 4

>
22.11 Speed ref1 source Selection Value
SUB 22.86 Speed reference act 6
+ Value
MUL Value
+ Value
x Value
MIN
22.83 Speed reference act 3
Speed reference source selection I

MAX 22.85 Speed reference act 5

22.82 Speed reference act 2

>
22.12 Speed ref2 source Selection Value

22.16 Speed share Value

>
22.14 Speed ref1/2 selection Selection Forward 1

Reverse -1

Direction (See group 20 Ext1& Ext2 commands)

 22.86 Speed reference act 6 Value

22.21 Const speed function bit 1 Direction enable

AND
Direction (See group 20 Ext1& Ext2 commands) -1

1 x Value
b0

>
22.22 Constant speed sel1 Selection BIN
b1 TO 0

>
22.23 Constant speed sel2 Selection
INT OUT
b2 SEL

>
22.24 Constant speed sel3 Selection 22.87 Speed reference act 7
22.26 Constant speed 1 Value 0 Value Value
22.43 Jogging 2 ref
1
22.27 Constant speed 2 Value 2
3
22.28 Constant speed 3 Value
4
22.29 Constant speed 4 Value 22.42 Jogging 1 ref Value
5
22.30 Constant speed 5 Value 6
7
22.31 Constant speed 6 Value
Fieldbus: Network reference Value
22.32 Constant speed 7 Value
ODVA CIP™ Network control 06.16 bit 9

0 0
1 03.01 Panel reference Value
22.26 Constant speed 1 Value
Panel local 06.16 bit 8
2
22.27 Constant speed 2 Value
3
49.05 Communication loss action =
22.28 Constant speed 3 Value Speed ref safe 22.41 Speed ref safe Value

Panel comm loss active AND Safe speed reference command CRITICAL
OR SPEEDS

>
22.22 Constant speed sel1 Selection 1 Panel as local control device 22.01 Speed ref unlimited
INT

>
22.23 Constant speed sel2 Selection 2 Value
>

SEL 50.02 FBA A comm loss func = 22.51 Critical speed function Selection

>
22.24 Constant speed sel3 Selection 3 Speed ref safe
22.52 Critical speed 1 low Value
Fieldbus comm loss active AND
22.53 Critical speed 1 high Value
22.21 Const speed function bit 0 Const speed mode Control from Fieldbus active
22.54 Critical speed 2 low Value
Speed reference source selection II

12.03 AI supervision function =

Speed ref safe Value

>
20.27 Jogging 2 start source Selection 22.55 Critical speed 2 high
12.04 AI supervision selection 
AND Jogging 2 AND 22.56 Critical speed 3 low Value

>
20.25 Jogging enable Selection 0000b
AI outside supervised limit 22.57 Critical speed 3 high Value

Jogging 1
AND

>
20.26 Jogging 1 start source Selection
Control chain diagrams 653
 06.01 bit 4 Ramp out zero Value
30.12 Maximum speed Value

06.01. bit 5 Ramp hold Value AND

AND
23.24 Speed ramp in zero source 06.01 bit 6 Ramp in zero Value

>
Selection
OR OR
06.01 bit 6 Ramp in zero Value 06.01 bit 8 Inching 1 Value

06.01 bit 9 Inching 2 Value

AND RAMP
22.01 Speed ref unlimited Value
Value 23.01 Speed ref ramp input
0
22.42 Jogging 1 ref Value
23.02 Speed ref ramp output
22.43 Jogging 2 ref Value
30.11 Minimum speed Value Value

06.11 bit 5 Emergency stop Value 23.20 Acc time jogging Value ACC TIME

23.23 Emergency stop time Value 23.21 Dec time jogging Value DEC TIME
654 Control chain diagrams

>
23.11 Ramp set selection Selection Stop command
AND

>
RAMP 23.26 Ramp output balancing enable Selection
23.12 Acceleration time 1 Value
ACC TIME Value
Value
23.27 Ramp output balancing ref
23.14 Acceleration time 2

23.13 Deceleration time 1 Value

DEC TIME
23.15 Deceleration time 2 Value

23.20 Acc time jogging Value SHAPE

23.21 Dec time jogging Value

23.16 Shape time acc 1 Value

20.25 Jogging enable 0
23.17 Shape time acc 2 Value
20.26 Jogging 1 start AND
source 23.28 Variable slope enable 23.18 Shape time dec 1 Value

>
OR Selection
20.27 Jogging 2 start 23.19 Shape time dec 2 Value
source 23.29 Variable slope rate
Speed reference ramping and shaping

Value
06.11 bit 5 Emergency stop Value

46.01 Speed scaling

Value

06.01 bit 4 Ramp out zero Value

AND
Stop command
 90.42 Motor speed filter time Value 46.11 Filter time motor speed Value

>
90.41 Motor feedback selection Selection

90.43 Motor gear numerator Value

Value 01.01 Motor speed used

90.10 Encoder 1 speed Value X

90.20 Encoder 2 speed Value Value
Y 90.01 Motor speed for control

90.44 Motor gear denominator Value

21.06 Zero speed limit Value a 06.19 bit 0 Zero speed

Speed estimate 01.02 Motor speed estimated a>b t Value

ABS b
97.33 Speed estimate filter time Value
21.07 Zero speed delay Value

01.05 Encoder 2 speed filtered

ABS a 06.11 bit 10 Above limit
a>b Value
46.31 Above speed limit Value b
01.04 Encoder 1 speed filtered

46.11 Filter time motor speed Value 46.21 At speed hysteresis Value 06.11 bit 8 At setpoint
Value

- ABS
22.87 Speed reference 7 act Value
Motor feedback configuration

90.43 Motor gear numerator Value

>
90.41 Motor feedback selection Selection

Position estimate
90.11 Encoder 1 position Value

90.12 Encoder 1 multiturn revolutions Value +

Encoder 1 X
90.13 Encoder 1 revolution extension Value 90.02 Motor position
Value
Y
90.21 Encoder 2 position Encoder 2

90.22 Encoder 2 multiturn revolutions Value +

90.23 Encoder 2 revolution extension Value

90.44 Motor gear denominator Value

Control chain diagrams 655
 90.53 Load gear numerator Value 90.63 Feed constant numerator Value

>
90.51 Load feedback selection Selection

90.11 Encoder 1 position Value

90.12 Encoder 1 multiturn revolutions Value +

Encoder 1 None
90.13 Encoder 1 revolution extension Value X Encoder 1
Encoder 2 X
Y 90.07 Load position scaled int
90.21 Encoder 2 position Value Encoder 2
Y POSITION
Position estimate COUNTER
90.22 Encoder 2 multiturn revolutions Value + Motor feedback
90.23 Encoder 2 revolution extension Value

90.64 Feed constant denumerator Value

90.54 Load gear denominator Value

90.61 Gear numerator Value 1

Position estimate X
Position estimate X
Y
656 Control chain diagrams

Motor feedback
90.02 Motor position Value Y
+
90.26 Motor revolution extension Value

90.62 Gear denominator Value 90.58 Pos counter initial value int Value INIT VAL

>
90.59 Pos counter init value int source Selection INIT SRC

INITIALIZATION REQUEST 1 INIT CMD

>
90.67 Pos counter init cmd source Selection

AND

>
90.68 Disable pos counter initialization Selection AND
S 90.35 bit 4 Position counter initialized
INITIALIZED

>
90.69 Reset pos counter init ready Selection

OR R

OR 90.35 bit 5 Pos counter re-init disabled

6.11 Main status word bit 3 Tripped Value
Load feedback and position counter configuration
 >
23.40 Follower speed correction enable Selection

>
23.42 Follower speed corr torq source Selection

25.53 Torque prop reference Value

25.54 Torque integral reference Value LOAD SHARE

FUNCTION OF 23.39 Follower speed correction out Value

23.41 Follower speed correction gain Value SPEED 0

CONTROLLED
24.43 Speed error window high Value
FOLLOWER 06.19 bit 8 Follower speed corr min lim
24.44 Speed error window low Value

26.15 Load share Value 06.19 bit 9 Follower speed corr max lim

25.06 Acc comp derivation time Value

25.07 Acc comp filter time Value

d TAccCom Value 25.56 Torque acc compensation

dt
Speed error calculation

24.41 Speed error window control enable Value

30.12 Maximum speed Value Value
24.43 Speed error window high
24.44 Speed error window low Value

-1
x Value 24.04 Speed error inverted
RFE
23.02 Speed ref ramp output Value 24.03 Speed error filtered
24.01 Used speed reference Value
24.11 Speed correction Value - Value
+

30.11 Minimum speed Value

90.01 Motor speed for control Value 24.02 Used speed feedback Value

24.12 Speed error filter time Value

>

24.13 RFE speed filter Selection

24.14 Frequency of zero Value

24.15 Damping of zero Value

24.16 Frequency of pole Value

24.17 Damping of pole Value

Control chain diagrams 657
 25.56 Torque acc compensation Value

Speed regulator
06.18 bit 11 Em Off1
PID OR
x -
25.08 Drooping rate Value 06.18 bit 13 Em Off3

24.46 Speed error step Value + 25.14 Max torq sp ctrl em stop Value

24.03 Speed error filtered Value + 25.12 Speed control max torque Value

25.04 Speed derivation time Value

25.05 Derivation filter time Value 25.10 Speed ctrl balancing reference Value
25.01 Torque reference speed control

>
25.42 Integral term enable Selection Value
+ 25.57 Torque reference unbalanced
Value
Value 25.53 Torque prop reference
Speed controller

0
Value 25.54 Torque integral reference
25.03 Speed integration time Value x Value 25.55 Torque deriv reference
06.18 bit 11 Em Off1
658 Control chain diagrams

OR
06.18 bit 13 Em Off3
25.15 Proportional gain em stop Value

>
25.09 Speed ctrl balancing enable Selection
25.02 Speed proportional gain Value x AND
Stop command
1
25.22 Ti coef at min speed Value

25.22 06.18 bit 11 Em Off1

25.18 Speed adapt min limit Value 0 OR
25.18 25.19
06.18 bit 13 Em Off3
25.19 Speed adapt max limit Value
1
90.01 Motor speed for control Value 25.13 Min torq sp ctrl em stop Value

25.21 25.11 Speed control min torque Value

25.21 Kp adapt coef at min speed Value 0
25.18 25.19

25.27 Kp adapt coef at min torque Value

1

25.25 Torque adapt max limit Value

25.27
25.26 Torque adapt filt time Value
0 25.25
26.01 Torq ref to TC Value

>
25.30 Flux adaption enable Selection

01.24 Flux actual % Value

0
100
 26.09 Maximum torque ref Value
MIN
Internal torque lim max Value

Value 26.72 Torque reference act 3

>
26.14 Torque ref1/2 selection Selection

>
26.13 Torque ref1 function Selection 26.73 Torque reference act 4
Value

Ref 1

06.16 bit 9
26.18 Torque ramp up time
Network control
26.11 Torque ref1 source ADD Value

>
Selection 26.70 Torque reference act 1 SUB
Value
MUL
26.12 Torque ref2 source
MIN
x +

>
Selection 26.71 Torque reference act 2
Value MAX 26.74 Torque ref ramp out
Value
Fieldbus:
ODVA CIP™
26.15 Load share Value Network ref
Value

>
26.16 Torque additive 1 source Selection
03.01 Panel reference 1
Value

Local control 06.16 bit 8

26.08 Minimum torque ref Value

MAX
Internal torque lim min Value

26.17 Torque ref filter time Value

26.19 Torque ramp down time Value

Torque reference source selection and modification
Control chain diagrams 659
 19.12 Ext1 control mode
Value

19.14 Ext2 control mode

Value

>
19.11 Ext1/Ext2 selection Selection To torque selector
Value 19.01 Actual operation mode
Fieldbus: SPEED
ODVA CIP™

>
Selection

19.16 Local control mode Value

Panel local 06.16 bit 8

SPEED

Last speed active 06.17 bit 6

660 Control chain diagrams

SPEED

Safe reference active 06.17 bit 5

SCALAR

99.04 Motor control mode Value

Operating mode selection

SPEED

Safety function active Value

6.01 bit 3 Run Value

AND
6.01 bit 0 Off1 control Value

6.01 bit 2 Off3 control Value

AND
60.03 M/F mode = M/F follower or D2D follower Value

OR
21.20 Follower force ramp stop Value
 >
26.51 Oscillation damping Selection

>
Selection

>
26.53 Oscillation compensation input Selection
Value 26.52 Oscillation damping out enable
26.55 Oscillation damping frequency Value
Oscillation
damping
26.56 Oscillation damping phase Value 26.58 Oscillation damping output Value

26.57 Oscillation damping gain Value

>
26.26 Force torque ref add 2 zero Selection

26.25 Torque additive 2 source

>
Selection Value 26.77 Torque ref add A actual +
Value 26.78 Torque ref add B actual
0
Speed
limitation 26.01 Torque
26.75 Torque reference act 5 Value 26.76 Torque reference act 6
Torque selector reference to TC
+
Value
26.44 Torque step source
ZERO

>
0 SPEED
Selection Value
25.01 Torque reference speed control Value
TORQUE
0 +
MIN
0
26.43 Torque step pointer enable
MAX

>
Value Selection

Value ADD
26.74 Torque ref ramp out
26.41 Torque step Value
29.01 Torque ref DC VOLTAGE
Value
voltage control 0 06.17 bit 11 Emergency stop active
26.42 Torque step enable Value

>
Selection
90.01 Motor speed for control
19.01 Actual operation mode Value
30.12 Maximum speed Value

30.11 Minimum speed Value

Reference selection for torque controller
Control chain diagrams 661
 30.02 Torque limit status
DC voltage Load angle Motor pull-out
limiter Torque limiter limitation limitation Current limiter
To DTC core
26.01 Torque reference to TC Value 26.02 Torque reference used
Value

30.30 Overvoltage control Value

30.02 Torque limit status

30.31 Undervoltage control Value

Bit Name
0 = Undervoltage
1 = Overvoltage
Torque limitation

2 = Minimum torque
3 = Maximum torque
662 Control chain diagrams

4 = Internal current
5 = Load angle
6 = Motor pullout
30.17 Maximum current Value 7=
8 = Thermal
Internal 9 = Max current
torque lim 10 = User current
30.26 Power motoring limit Value min 11 = Thermal IGBT
MAX 12 = IGBT overtemperature
Power to 13 = IGBT overload
torque limits 14 =
30.27 Power generating limit Value MIN
15 =
Internal torque lim max

>
30.18 Minimum torque sel Selection

30.19 Minimum torque 1 Value

30.21 Minimum torque 2 source

>
30.23 Minimum torque 2 Value Selection

30.20 Maximum torque 1 Value

30.22 Maximum torque 2 source

>
30.24 Maximum torque 2 Value Selection

>
30.25 Maximum torque sel Selection
 Torque controller

1.11 DC voltage

26.02 Torq ref used 1.10 Motor torque

>
97.04 Voltage reserve Selection DTC motor
Torque controller

control

>
97.05 Flux braking Selection

97.06 Flux reference select

mode

>
97.07 User flux reference Value Selection
1.24 Flux actual %

>
97.10 Signal injection Selection

97.11 TR tuning Value

>
19.20 Scalar control reference unit Selection

rpm Scalar
23.02 Speed ref ramp output Value
motor
Hz
control
28.02 Frequency ref ramp output Value mode

97.13 IR compensation Value

Control chain diagrams 663
 >
28.14 Frequency ref1/2 selection Selection

>
28.13 Frequency ref1 function Selection

28.11 Frequency ref1 source Ref 1

>
Selection 28.90 Frequency ref act 1 Add

Value Sub

Mul
28.92 Frequency ref act3
28.12 Frequency ref2 source Min
Value
Max

>
Selection

Value 28.91 Frequency ref act 2 -1 28.96 Frequency ref act7

Value
28.21 Constant frequency function bit 1 Direction enable 1 x
AND
Direction (See group 20 Ext1& Ext2 commands)
b0

>
28.22 Constant frequency sel1 Selection BIN
b1 TO

>
664 Control chain diagrams

28.23 Constant frequency sel2 Selection 0

INT
b2 SEL OUT

>
28.24 Constant frequency sel3 Selection

Network reference
Value 0
Fieldbus:
28.26 Constant frequency 1
1 ODVA CIP™ Network control 06.16 bit 9
28.27 Constant frequency 2 Value 2
3
28.28 Constant frequency 3 Value 03.01 Panel reference Value
4
28.29 Constant frequency 4 Value
Local control 06.16 bit 8
5
28.30 Constant frequency 5 Value 6
7
Frequency reference selection

28.31 Constant frequency 6 Value

28.41 Frequency ref safe Value
28.32 Constant frequency 7 Value

0 49.05 Communication loss action = Speed ref safe

0
1 Panel comm loss active AND
28.26 Constant frequency 1 Value
2 Panel as local control device
28.27 Constant frequency 2 Value
3
28.28 Constant frequency 3 Value
50.02 FBA A comm loss func = Speed ref safe
Fieldbus comm loss active AND OR

>
28.22 Constant frequency sel1 Selection 1 Safe frequency reference command
INT
Control from Fieldbus active

>
28.23 Constant frequency sel2 Selection 2
SEL

>
28.24 Constant frequency sel3 Selection 3
12.03 AI supervision function = Speed ref safe
28.21 Constant frequency function bit 0 Const freq mode 12.04 AI supervision selection  0000b AND

AI outside supervised limit

 >
28.76 Freq ramp in zero source Selection
OR
06.01 bit 6 Ramp in zero Value

>
28.51 Critical frequency function Selection CRITICAL
FREQ
28.52 Critical frequency 1 low Value
06.01 bit 5 Ramp hold Value FREQ
28.53 Critical frequency 1 high Value
OR REF

>
28.77 Freq ramp hold Selection
28.54 Critical frequency 2 low Value RAMP
28.55 Critical frequency 2 high Value 28.79 Freq ramp out

>
Selection
28.56 Critical frequency 3 low Value balancing enable
28.78 Freq ramp output balancing Value
28.57 Critical frequency 3 high Value
30.14 Maximum frequency Value

28.96 Frequency ref act 7 Value 28.97 Frequency ref unlimited

28.01 Frequency ref ramp input
Value 0
Value

30.13 Minimum frequency Value

28.72 Freq acceleration time 1 Value

ACC TIME
28.74 Freq acceleration time 2 Value

28.73 Freq deceleration time 1 Value

28.75 Freq deceleration time 2 Value DEC TIME

>
28.71 Freq ramp set selection Selection
28.02 Frequency ref ramp
23.23 Emergency stop time Value output
0
06.11 bit 5 Emergency stop Value Value

06.01 bit 4 Ramp out zero Value

Frequency reference modification
Control chain diagrams 665
 29.10 Maximum DC voltage reference
29.14 DC voltage ref1/2 selection Value

>
Selection
29.13 DC voltage ref1 function
29.3 DC voltage ref used

>
Selection

29.19 DC voltage ramp up speed

Ref 1
29.02 DC voltage ref Value

29.11 DC voltage ref1 source ADD

>
Selection SUB
RAMP

MUL
29.12 DC voltage ref2 source 29.04 DC voltage ref ramped
MIN

>
Selection
MAX

Value
29.09 Minimum DC voltage reference
Value
666 Control chain diagrams

29.18 DC voltage ramp down speed

DC voltage reference selection
DC capacitance from database
29.26 Used DC capacitance
29.26 Used DC capacitance

29.25 DC capacitance source

29.21 DC voltage
integration time
29.07 Power reference

29.20 DC voltage
proportional gain
29.26 Used DC capacitance
1/Ti œ dt
29.04 DC voltage ref ramped x2 ½ Cdc
- Power Speed/torque 29.01 Torque ref DC
Kp limitation curve voltage control
x2 ½ Cdc +
Torque

29.26 Used DC capacitance

90.01 Motor speed for control

29.70 – 29.79 Speed/

torque data points

+
29.06 DC voltage error
DC voltage reference modification

Unfiltered DC -
voltage

Value

29.17 DC voltage filter time 29.05 Filtered DC voltage

Control chain diagrams 667
 Process PID parameter set 1 40.27 Set 1 setpoint max Value

>
40.57 PID set1/set2 selection Selection
Par 40.07...40.56 (shown)

>
40.18 Set 1 setpoint function Selection
Process PID parameter set 2
Par 41.07...41.56 (not shown)
In1 or In2

ADD 40.30 Set 1 setpoint freeze enable

>
SUB Selection

>
40.16 Set 1 setpoint 1 source Selection MUL

DIV RAMP
Add
40.03 Process PID
MIN
setpoint actual
MAX
Mul

>
40.17 Set 1 setpoint 2 source Selection Value
AVE
+
a

>
40.25 Set 1 setpoint selection Selection Z-1
a-b
a+b
40.21 Set 1 internal setpoint 1 Value a+ b
40.22 Set 1 internal setpoint 2 Value
668 Control chain diagrams

Internal setpoint (see 40.16, 40.17)

40.23 Set 1 internal setpoint 3 Value
40.26 Set 1 setpoint min Value
40.24 Set 1 internal setpoint 4 Value
40.28 Set 1 setpoint increase time Value

>
40.19 Set 1 internal setpoint sel1 Selection
40.29 Set 1 setpoint decrease time Value

>
40.20 Set 1 internal setpoint sel2 Selection

40.06 Process PID status word: bit 4 PID sleep mode Value Pulse
40.45 Set 1 sleep boost time Value

>
40.10 Set 1 feedback function Selection 0

40.46 Set 1 sleep boost step Value

Feedback 1

ADD

40.08 Set 1 feedback 1 source SUB

MUL 40.11 Set 1 feedback filter time Value

>
Selection
DIV
Add

MIN
Value 40.02 Process PID feedback actual
40.09 Set 1 feedback 2 source MAX
Mul

>
Selection AVE

a-b

a+b

a+ b
Note! Process PID parameter set 2 is also available. See parameter group 41.
Process PID setpoint and feedback source selection
 TRIM FUNCTION 40.55 Set 1 trim adjust Value
40.52 Set 1 trim selection Value 40.51 Set 1 trim mode Value

30.20 Maximum torque 1 Value Off 0

Value
Direct
30.12 Maximum speed
30.14 Maximum frequency Value Proportional x

x Combined
40.54 Set 1 trim mix Value +
(range 0...1)

1 40.56 Set 1 trim source Value

- 40.05 Process PID trim output act
x
40.03 Process PID setpoint actual Value Value
x

>
40.53 Set 1 trimmed ref pointer Selection

>
PROCESS PID FUNCTION 40.38 Set 1 output freeze enable Selection
Comp Process
40.39 Set 1 deadband range Value
PID
40.40 Set 1 deadband delay Value 40.06 Process PID status word
status
Process PID controller

Value

40.37 Set 1 output max Value

>

40.49 Set 1 tracking mode Selection

40.04 Process PID deviation actual Value

40.50 Set 1 tracking ref selection
PID
>

Selection
40.03 Process PID setpoint actual Value
- x Scale
Value
PID output
40.02 Process PID feedback actual Value

40.31 Set 1 deviation inversion 40.32 Set 1 gain Value 40.01 Process PID output actual
-1
Z

>
Selection
40.33 Set 1 integration time Value
Sleep
1 40.34 Set 1 derivation time Value Value
40.43 Set 1 sleep level Function
-1 40.35 Set 1 derivation filter time Value
40.44 Set 1 sleep delay Value
40.07 Set 1 PID operation mode Value
40.47 Set 1 wake-up deviation Value

>
40.57 PID set1/set2 selection Selection
Value

40.48 Set 1 wake-up delay Value

40.14 Set 1 setpoint scaling Value
40.36 Set 1 output min Value

40.15 Set 1 output scaling Value

>

40.42 Set 1 sleep enable Selection

40.41 Set 1 sleep mode Value

Note! Process PID parameter set 2 is also available. See parameter group 41.
Control chain diagrams 669
 Follower node 2 receive
Dataset
Master MF link
receive
setup
config
Group 60

>
DS44.1 62.28 Follower node 2 data 1 value Selection 62.04 Follower node 2 data 1 sel
MF link

>
DS44.2 62.29 Follower node 2 data 2 value Selection 62.05 Follower node 2 data 2 sel

>
DS44.3 62.30 Follower node 2 data 3 value Selection 62.06 Follower node 2 data 3 sel

Follower node 3 receive

Dataset
receive

>
DS46.1 62.31 Follower node 3 data 1 value Selection 62.07 Follower node 3 data 1 sel
MF link

>
DS46.2 62.32 Follower node 3 data 2 value Selection 62.08 Follower node 3 data 2 sel
670 Control chain diagrams

>
DS46.3 62.33 Follower node 3 data 3 value Selection 62.09 Follower node 3 data 3 sel

Follower node 4 receive

Dataset
receive

>
DS48.1 62.34 Follower node 4 data 1 value Selection 62.10 Follower node 4 data 1 sel
MF link

>
DS48.2 62.35 Follower node 4 data 2 value Selection 62.11 Follower node 4 data 2 sel

>
DS48.3 62.36 Follower node 4 data 3 value Selection 62.12 Follower node 4 data 3 sel

Signal selection for Master’s broadcast message

Dataset
transmit
61.01 M/F data 1 selection Selection > DS41.1 MF link
61.25 M/F data 1 value
Master/Follower communication I (Master)

>

61.02 M/F data 2 selection Selection 61.26 M/F data 2 value DS41.2
>

61.03 M/F data 3 selection Selection 61.27 M/F data 3 value DS41.3
 Follower MF link
setup
config
Group 60

Follower receive 60.10 M/F ref1 type

>
Selection
Dataset Drive
60.08 M/F comm loss timeout receive 46.01 Speed scaling Ref1 scaling
Control
60.09 M/F com loss function 62.01 M/F data 1 selection = CW 16 bit logic 46.02 Frequency scaling

>
DS41.1 62.25 M/F data 1 value Selection
46.03 Torque scaling
MF link x
62.02 M/F data 2 selection = Ref 1 16bit 46.04 Power scaling
3.13 M/F or D2D ref1

>
DS41.2 62.26 M/F data 2 value Selection
60.11 M/F ref2 type
>
62.03 M/F data 3 selection = Ref 2 16bit Selection

>
DS41.3 62.27 M/F data 3 value Selection
46.01 Speed scaling Ref2 scaling
46.02 Frequency scaling
46.03 Torque scaling
x
46.04 Power scaling
3.14 M/F or D2D ref2

Signal selection for Master’s read request

>
61.01 M/F data 1 selection Selection 61.25 M/F data 1 value DS4x.1 MF link

>
61.02 M/F data 2 selection Selection 61.26 M/F data 2 value DS4x.2

>
61.03 M/F data 3 selection Selection 61.27 M/F data 3 value DS4x.3
Master/Follower communication II (Follower)
Control chain diagrams 671
672
—
Further information

Product and service inquiries

Address any inquiries about the product to your local ABB representative, quoting
the type designation and serial number of the unit in question. A listing of ABB
sales, support and service contacts can be found by navigating to
www.abb.com/searchchannels.

Product training
For information on ABB product training, navigate to
new.abb.com/service/training.

Providing feedback on ABB manuals

Your comments on our manuals are welcome. Navigate to
new.abb.com/drives/manuals-feedback-form.

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You can find manuals and other product documents in PDF format on the Internet
at www.abb.com/drives/documents.

a9 (frozen)
PDF-A5
Created 2023-10-17, 12:23:28
www.abb.com/drives

3AUA0000085967X

3AUA0000085967 Rev X (EN)

2023-10-05

© Copyright 2023 ABB. All rights reserved.

Specifications subject to change without notice.