0% found this document useful (0 votes)

31 views224 pages

2082 Frequentieregelaars Unidrive m600 Control User Guide en Iss2 0478 0337-02-1

The Unidrive M600 Control User Guide provides essential information on the installation, configuration, and operation of the Unidrive M600 drive. It includes compliance information, safety warnings, and guidelines for environmental management, hazardous substances, and conflict minerals. The guide is structured to assist users in navigating various sections related to safety, product information, installation, and troubleshooting.

Uploaded by

Ahmad Hamdan

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

0% found this document useful (0 votes)

31 views224 pages

2082 Frequentieregelaars Unidrive m600 Control User Guide en Iss2 0478 0337-02-1

Uploaded by

Ahmad Hamdan

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

You are on page 1/ 224

Control User Guide

Unidrive M600

Part Number: 0478-0337-03

Issue: 3
Compliance Information

Manufacturer: Nidec Control Techniques Limited ("we", "our")

Registered office: The Gro, Newtown, Powys, SY16 3BE United Kingdom
Registered in: England and Wales, company registration number 01236886
Manufacturer's EU Authorised Representative: Nidec Netherlands B.V., Kubus 155, 3364 DG Sliedrecht, the Netherlands, registered at the Dutch
Trade Register under number 33213151; Tel. +31 (0)184 420 555, [email protected]
Original instructions
With reference to the UK Supply of Machinery (Safety) Regulations 2008 and the EU Machinery Directive 2006/42/EC, the English version of this
Manual constitutes the original instructions. Manuals published in other languages are translations of the original instructions and the English language
version of this Manual prevails over any other language version in the event of inconsistency.
Documentation and user software tools
Manuals, datasheets and software that we make available to users of our products can be downloaded from: www.controltechniques.com/support
Manuals may be accompanied by an Errata list. This will be located alongside the manuals if applicable.
Warranty and liability
The contents of this Manual are presented for information purposes only, and while every effort has been made to ensure their accuracy, they are not
to be construed as warranties or guarantees, express or implied, regarding the products or services described herein or their use or applicability. All
sales are governed by our terms and conditions, which are available on request. We reserve the right to modify or improve the designs, specifications
or performance of our products at any time without notice. For full details of the warranty terms applicable to the product, contact the supplier of the
product.
In no event and under no circumstances shall we be liable for damages and failures due to misuse, abuse, improper installation, or abnormal conditions
of temperature, dust, or corrosion, or failures due to operation outside the published ratings for the product, nor shall we be liable for consequential
and incidental damages of any kind.
Environmental management
We operate an Environmental Management System which complies with the requirements of ISO 14001:2015. Further information on our
Environmental Statement can be found at: www.controltechniques.com/environment.
Restriction and control of hazardous substances
The products covered by this Manual comply with the following legislation and regulations on the restriction and control of hazardous substances:
UK Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment Regulations 2012
UK REACH etc. (Amendment etc.) (EU Exit) Regulations 2020, European Union REACH Regulation EC 1907/2006
EU restriction of the Use of certain Hazardous Substances in Electrical and Electronic Equipment (RoHS) - Directive 2011/65/EU
EC Regulation 1907/2006 on the Registration, Evaluation, authorisation, and restriction of Chemicals (REACH)
Chinese Administrative Measures for Restriction of Hazardous Substances in Electrical and Electronic Products 2016/07/01
U.S. Environmental Protection Agency ("EPA") regulations under the Toxic Substances Control Act ("TSCA")
MEPC 68/21 / Add.1, Annex 17, Resolution MEPC.269(68) 2015 Guidelines for the development of the inventory of hazardous materials
The products covered by this Manual do not contain asbestos.
Further information on REACH and RoHS can be found at: www.controltechniques.com/environment.
Conflict minerals
With reference to the Conflict Minerals (Compliance) (Northern Ireland) (EU Exit) Regulations 2020, the U.S. Dodd-Frank Wall Street Reform and
Consumer Protection Act and Regulation (EU) 2017/821 of the European Parliament and of the European Council:
We have implemented due diligence measures for responsible sourcing, we conduct conflict minerals surveys of relevant suppliers, we continually
review due diligence information received from suppliers against company expectations and our review process includes corrective action
management. We are not required to file an annual conflict minerals disclosure. Nidec Control Techniques Limited is not an issuer as defined by the
U.S. SEC.
Disposal and recycling (WEEE)

The products covered by this Manual fall within the scope of the UK Waste Electrical and Electronic Equipment Regulations 2013, EU
Directive 2012/19/EU amended by EU Directive 2018/849 (EU) on Waste Electrical and Electronic Equipment (WEEE).

When electronic products reach the end of their useful life, they must not be disposed of along with domestic waste but should be
recycled by a specialist recycler of electronic equipment. Our products are designed to be easily dismantled into their major component
parts for efficient recycling. Most materials used in our products are suitable for recycling.

Our product packaging is of good quality and can be re-used. Smaller products are packaged in strong cardboard cartons which have a
high recycled fibre content. Cartons can be re-used and recycled. Polythene, used in protective film and bags for the ground screws, can
be recycled. When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

Copyright and trade marks

Copyright © 2 August 2021 Nidec Control Techniques Limited. All rights reserved.
No part of this Manual may be reproduced or transmitted in any form or by any means including by photocopying, recording or by an information storage
or retrieval system, without our permission in writing.

The Nidec logo is a trade mark of Nidec Corporation. The Control Techniques logo is a trade mark owned by Nidec Control Techniques Limited. All
other marks are property of their respective owners.
How to use this guide
This guide is intended to be used in conjunction with the appropriate Power Installation Guide. The Power Installation
Guide gives information necessary to physically install the drive. This guide gives information on drive configuration,
operation and optimization.

NOTE

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety
information contains general safety information. It is essential that the warnings are observed and the information
considered when working with or designing a system using the drive.
This map of the user guide helps to find the right sections for the task you wish to complete, but for specific information,
refer to :

Quick Start / Programming

Familiarisation System design and Troubleshooting
bench testing
commissioning

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Basic parameters

7 Running the motor

8 Optimization

9 NV media card operation

10 Onboard PLC

11 Advanced parameters

12 Diagnostics

13 UL listing information
Contents
1 Safety information ...............................12 7 Running the motor .............................. 61
1.1 Warnings, Cautions and Notes ...........................12 7.1 Quick start connections ...................................... 61
1.2 Important safety information. Hazards. 7.2 Changing the operating mode ............................ 61
Competence of designers and installers .............12 7.3 Quick start commissioning / start-up .................. 66
1.3 Responsibility ......................................................12 7.4 Quick start commissioning / start-up using
1.4 Compliance with regulations ...............................12 Unidrive M Connect (V02.00.00.00 onwards) .... 74
1.5 Electrical hazards ................................................12 7.5 Diagnostics ......................................................... 78
1.6 Stored electrical charge ......................................12
1.7 Mechanical hazards ............................................12 8 Optimization ........................................ 79
1.8 Access to equipment ...........................................12 8.1 Motor map parameters ....................................... 79
1.9 Environmental limits ............................................12 8.2 Maximum motor rated current ............................ 94
1.10 Hazardous environments ....................................12 8.3 Current limits ...................................................... 94
1.11 Motor ...................................................................13 8.4 Motor thermal protection .................................... 94
1.12 Mechanical brake control ....................................13 8.5 Switching frequency ........................................... 95
1.13 Adjusting parameters ..........................................13 8.6 High speed operation ......................................... 95
1.14 Electromagnetic compatibility (EMC) ..................13 8.7 CT Modbus RTU specification ........................... 97

2 Product information ............................14 9 NV Media Card Operation ................ 104

2.1 Introduction .........................................................14 9.1 Introduction ...................................................... 104
2.2 Drive firmware version ........................................14 9.2 NV Media Card support .................................... 104
2.3 Model number .....................................................14 9.3 Transferring data .............................................. 105
2.4 Ratings ................................................................15 9.4 Data block header information ......................... 106
2.5 Operating modes .................................................16 9.5 NV Media Card parameters ............................. 107
2.6 Nameplate description ........................................17 9.6 NV Media Card trips ......................................... 108
2.7 Options ................................................................18
2.8 Drive features ......................................................20 10 Onboard PLC ..................................... 109
10.1 Onboard PLC and Machine Control Studio ...... 109
3 Mechanical installation .......................21 10.2 Benefits ............................................................ 109
3.1 Installing / removing option modules and 10.3 Features ........................................................... 109
keypads ...............................................................21 10.4 Onboard PLC parameters ................................ 110
10.5 Onboard PLC trips ........................................... 110
4 Electrical installation ...........................24
4.1 24 Vdc supply ......................................................24
4.2 Communication connections ...............................25
4.3 Control connections ............................................26
4.4 Safe Torque Off (STO) ........................................31

5 Getting started .....................................33

5.1 Understanding the display ...................................33
5.2 Keypad operation ................................................33
5.3 Menu structure ....................................................35
5.4 Menu 0 ................................................................36
5.5 Advanced menus ................................................36
5.6 Changing the operating mode .............................38
5.7 Saving parameters ..............................................38
5.8 Restoring parameter defaults ..............................39
5.9 Parameter access level and security ..................39
5.10 Displaying parameters with non-default values
only .....................................................................40
5.11 Displaying destination parameters only ..............40
5.12 Communications .................................................40

6 Basic parameters .................................41

6.1 Menu 0: Basic parameters ..................................42
6.2 Parameter descriptions .......................................46
6.3 Full descriptions ..................................................48

4 Unidrive M600 Control User Guide

11 Advanced parameters .......................111
11.1 Parameter ranges and Variable minimum/
maximums: ........................................................114
11.2 Menu 1: Frequency / speed reference ..............124
11.3 Menu 2: Ramps .................................................128
11.4 Menu 3: Speed feedback and speed control ....131
11.5 Menu 4: Torque and current control ..................135
11.6 Menu 5: Motor control .......................................139
11.7 Menu 6: Sequencer and clock ..........................144
11.8 Menu 7: Analog I/O ...........................................148
11.9 Menu 8: Digital I/O ............................................152
11.10 Menu 9: Programmable logic, motorized pot,
binary sum and timers .......................................157
11.11 Menu 10: Status and trips .................................163
11.12 Menu 11: General drive set-up .........................165
11.13 Menu 12: Threshold detectors, variable
selectors and brake control function .................167
11.14 Menu 13: Standard motion controller ................176
11.15 Menu 14: User PID controller ............................180
11.16 Menus 15, 16 and 17: Option module set-up ....183
11.17 Menu 18: Application menu 1 ...........................184
11.18 Menu 19: Application menu 2 ...........................184
11.19 Menu 20: Application menu 3 ...........................184
11.20 Menu 21: Second motor parameters ................185
11.21 Menu 22: Additional Menu 0 set-up ..................187

12 Diagnostics ........................................189
12.1 Status modes (Keypad and LED status) ...........189
12.2 Trip indications ..................................................189
12.3 Identifying a trip / trip source .............................190
12.4 Trips, Sub-trip numbers ....................................191
12.5 Internal / Hardware trips ....................................217
12.6 Alarm indications ...............................................217
12.7 Status indications ..............................................217
12.8 Programming error indications ..........................218
12.9 Displaying the trip history ..................................218
12.10 Behavior of the drive when tripped ...................218

13 UL Information ...................................219
13.1 UL file reference ................................................219
13.2 Option modules, kits and accessories ..............219
13.3 Enclosure ratings ..............................................219
13.4 Mounting ...........................................................219
13.5 Environment ......................................................219
13.6 Electrical Installation .........................................219
13.7 Motor overload protection and thermal memory
retention ............................................................220
13.8 Electrical supply ................................................220
13.9 External Class 2 supply ....................................220
13.10 Requirement for Transient Surge Suppression .220
13.11 Group Installation and Modular Drive Systems .220
13.12 cUL requirements for 575 V frame size 7
and 8 .................................................................220

Unidrive M600 Control User Guide 5

EU Declaration of Conformity (including 2006 Machinery Directive)
1. Product model
Unidrive-M, Digitax HD and derivative products incorporating a Safe Torque Off (STO) function used as a safety component of a machine. Only the
Safe Torque Off function may be used as a safety component of a machine.
2. Name and address of the manufacturer and authorised representative
Manuacturer Authorised representative in the EU
Nidec Control Techniques Ltd Nidec Netherlands B.V.
The Gro Kubus 155
Pool Road 3364 DG Sliedrecht
Newtown Netherlands.
Powys
SY16 3BE
UK

Registered in England and Wales. Company Reg. No. 01236886

Telephone: 00 44 1686 612000
E mail: [email protected]
Web: www.controltechniques.com

3. Responsibility
This declaration is issued under the sole responsibility of the manufacturer.
4. Object of the declaration:

Model No. Interpretation Nomenclature aaaa - bbc ddddde

M600, M700, M701, M702, M708, M709, CSD1, HS70, HS71, HS72, E200, E300, M880, M881, M882,
aaaa Basic series
M889, F300, F600, H300, M751, M753, M750, M754
bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11, 12
c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V
ddddd Current rating Example 01000 = 100 A
A = 6P Rectifier + Inverter with internal choke, D = Inverter, E = 6P Rectifier + Inverter, T = 12P Rectifier +
e Drive format
Inverter
The model number may be followed by additional characters that do not affect the ratings.
(Refer to the Revision List: 01_205_5270_03_22_RL_2022_08_24.docx).
5. Declaration
The safety function STO within the Unidrive-M series fulfils the requirements of SIL 3 of EN 61800-5-2 / EN 61508 and Cat 4 / PLe of EN ISO
1384901 and can be used in safety related applications up to these safety levels and in the application area of EN IEC 62061:2021.
Further it can be used for electric passenger and goods lifts within the scope of EN 81-20, clause 5.9.2.5.4 d) as a SIL 3 drive control featuring a
defined interface for stopping of the drive by a means of static elements.
The object of the declaration is in conformity with the following European Union harmonisation legislation:
Machinery Directive (2006/42/EC)
Electromagnetic Compatibility Directive (2014/30/EU)
Type examination has been carried out by the following notified body:
TUV Rheinland Industrie Service GmbH, Am Grauen Stein, D-51105 Köln, Germany
Notified body identification number: 0035
EC type-examination certificate number: 01/205/5270.03/22 dated 2022-08-26, valid until 2027-08-26.
6. References to the relevant harmonised standards used
The variable speed drive products listed above have been designed and manufactured in accordance with the following European harmonised
standards:

EN 61800-5-2:2017 Adjustable speed electrical power drive systems - Part 5-2: Safety requirements - Functional
EN 61800-5-1:2007 + A1:
2017 + A11: 2021, 4.3, Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal and energy
5.2.3.8, 5.2.6
EN ISO 13849-1:2015 Safety of Machinery, Safety-related parts of control systems, General principles for design
IEC 61508 Parts 1 - 7:2010 Functional safety of electrical/ electronic/programmable electronic safety-related systems

6
7. Signed for and on behalf of:

Person authorised to complete the technical file: Authorised representative (see details above)

DoC authorised by:

Jon Holman-White, Vice President, Research and Development

Date: 13th November 2023, Newtown, Powys, UK
UK Declaration of Conformity
1. Product range
Unidrive-M, Commander, Digitax HD and derivative products. Adjustable speed AC motor drives, including option modules and accessories.
2. Name and address of the manufacturer
Nidec Control Techniques Ltd
The Gro
Pool Road
Newtown
Powys
SY16 3BE
UK
Registered in England and Wales. Company Reg. No. 01236886
Telephone: 00 44 1686 612000
E mail: [email protected]
Web: www.controltechniques.com
3. Responsibility
This declaration is issued under the sole responsibility of the manufacturer.
4. Object of the declaration
Variable speed drives
Model No. Interpretation Model number nomenclature aaaa - bbc ddddde
C200, C300, M100, M101, M200, M201, M300, M400, M600, M700, M701, M702, M708, M709, M750,
aaaa Basic series M751, M752, M753, M754, M880, M881, M882, M888, M889, E300, F300, F600, H300, HS30, HS70, HS71,
HS72, M000, RECT
bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11, 12
c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V
ddddd Current rating Example 01000 = 100 A
A = 6P Rectifier + Inverter with internal choke, D = Inverter, E = 6P Rectifier + Inverter, T = 12P Rectifier +
e Drive format
Inverter

The model number may be followed by additional characters that do not affect the ratings.
Accessories
Model No. Model number
SI-Applications Compact, SI-Applications Plus, SI-CANOpen, SI-CiA417, SI-DeviceNet, SI-Encoder, SI-EtherCAT, SI-Ethernet,
SI-Interbus 500kBd, SI-Interbus 2MBd, SI-IO, SI-IO 24 Plus, SI-Powerlink, SI-PROFIBUS, SI-PROFINET V2,
Option Modules
SI-Universal Encoder, PTi210, SI-PROFINET RT, SI-Safety, MCi200, MCi210, MiS210, MiS250, KI-485 Adaptor, AI-485 Adaptor,
AI-485 Adaptor 24V, AI-Backup adaptor, AI-Smart adaptor
Mxxx-STANDARD011100A0100, Mxxx-MASTER11100A0100, M000-FOLLOWER011100A0100 (where Mxxx denotes M600,
Control pods
M700, M701, M702, HS70, HS71 or HS72)
Displays, KI-Keypad, KI-Keypad RTC, KI-HDA keypad RTC, KI-Compact Display, KI-Compact 485 adaptor, Remote Keypad (LCD),
keypads, other Remote Keypad RTC, CI-Keypad, CI-485 Adaptor, Capacitor module M75C
accessories

5. Declaration
The object of the declaration is in conformity with the relevant UK statutory requirements:
Electrical Equipment (Safety) Regulations 2016
Electromagnetic Compatibility Regulations 2016
The Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment Regulations 2012
The Ecodesign for Energy-Related Products Regulations 2021 No. 745
6. References to the relevant designated British standards
The products listed above have been designed and manufactured in accordance with the following designated British standards:
EN 61800-5-1:2007 + A1:2017 +
Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal and energy
A11: 2021
BS EN 61800-3: 2018 Adjustable speed electrical power drive systems - Part 3: EMC requirements and specific test methods
BS EN 61000-6-2: 2019 Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity for industrial environments
Electromagnetic compatibility (EMC) - Part 6-4: Generic standards - Emission standard for industrial
BS EN 61000-6-4: 2019
environments
Electromagnetic compatibility (EMC) - Part 3-2: Limits for harmonic current emissions (equipment input current
BS EN 61000-3-2:2019+A1:2021
≤ 16 A per phase)
Electromagnetic compatibility (EMC) - Part 3-3: Limitation of voltage changes, voltage fluctuations and flicker in
EN 61000-3-3:2013+A1:2019 +
public, low voltage supply systems, for equipment with rated current ≤ 16 A per phase and not subject to
A2:2021
conditional connection

8
7. Responsible person

Jon Holman-White
Vice President, Research and Development
Nidec Control Techniques Ltd
Date: 8th November 2023
Newtown, Powys, UK

9
EU Declaration of Conformity
1. Product range
Unidrive-M, Commander, Digitax HD and derivative products. Adjustable speed AC motor drives, including option modules and accessories.
2. Name and address of the manufacturer and authorised representative
Manuacturer Authorised representative in the EU
Nidec Control Techniques Ltd Nidec Netherlands B.V.
The Gro Kubus 155
Pool Road 3364 DG Sliedrecht
Newtown Netherlands.
Powys
SY16 3BE
UK

Registered in England and Wales. Company Reg. No. 01236886

Telephone: 00 44 1686 612000
E mail: [email protected]
Web: www.controltechniques.com

3. Responsibility
This declaration is issued under the sole responsibility of the manufacturer.
4. Object of the declaration
Variable speed drives
Model number Interpretation Model number nomenclature aaaa - bbc ddddde
C200, C300, M100, M101, M200, M201, M300, M400, M600, M700, M701, M702, M708, M709, M750,
aaaa Basic series M751, M752, M753, M754, M880, M881, M882, M888, M889, E300, F300, F600, H300, HS30, HS70, HS71,
HS72, M000, RECT
bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11, 12
c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V
ddddd Current rating Example 01000 = 100 A
A = 6P Rectifier + Inverter with internal choke, D = Inverter, E = 6P Rectifier + Inverter, T = 12P Rectifier +
e Drive format
Inverter

5. Declaration
The object of the declaration is in conformity with the relevant European Union harmonisation legislation.
Low Voltage Directive (2014/35/EU)
Electromagnetic Compatibility Directive (2014/30/EU)
Restriction of Hazardous Substances Directives (2011/65/EU and 2015/863/EU).
Regulation 2019/1781 of directive 2009/125/EC (Energy related products)
6. References to the relevant harmonised EN standards
The variable speed drive products listed above have been designed and manufactured in accordance with the following European harmonised
standards:
EN 61800-5-1:2007 + A1:2017 +
Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal and energy
A11: 2021
EN 61800-3: 2018 Adjustable speed electrical power drive systems - Part 3: EMC requirements and specific test methods
EN 61000-6-2: 2019 Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity for industrial environments
Electromagnetic compatibility (EMC) - Part 6-4: Generic standards - Emission standard for industrial
EN 61000-6-4: 2019
environments
Electromagnetic compatibility (EMC) - Part 3-2: Limits for harmonic current emissions (equipment input current
EN 61000-3-2:2019+A1:2021
≤ 16 A per phase)

10
Electromagnetic compatibility (EMC) - Part 3-3: Limitation of voltage changes, voltage fluctuations and flicker in
EN 61000-3-3:2013+A1:2019 +
public, low voltage supply systems, for equipment with rated current ≤ 16 A per phase and not subject to
A2:2021
conditional connection

7. Responsible person

Jon Holman-White
Vice President, Research and Development
Nidec Control Techniques Ltd
Date: 8th November 2023
Newtown, Powys, UK

11
Safety Product Mechanical Electrical Getting Basic Running the NV Media Card Onboard Advanced UL
Optimization Diagnostics
information information installation installation started parameters motor Operation PLC parameters Information

1 Safety information 1.5 Electrical hazards

The voltages used in the drive can cause severe electrical shock and/or
1.1 Warnings, Cautions and Notes burns, and could be lethal. Extreme care is necessary at all times when
working with or adjacent to the drive. Hazardous voltage may be present
in any of the following locations:
A Warning contains information which is essential for • AC and DC supply cables and connections
avoiding a safety hazard. • Output cables and connections
WARNING • Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single insulated and
must not be touched.
A Caution contains information which is necessary for The supply must be disconnected by an approved electrical isolation
avoiding a risk of damage to the product or other equipment. device before gaining access to the electrical connections.
CAUTION
The STOP and Safe Torque Off functions of the drive do not isolate
dangerous voltages from the output of the drive or from any external
NOTE
option unit.
A Note contains information which helps to ensure correct operation of
The drive must be installed in accordance with the instructions given in
the product.
this guide. Failure to observe the instructions could result in a fire
hazard.
1.2 Important safety information. Hazards.
Competence of designers and 1.6 Stored electrical charge
installers The drive contains capacitors that remain charged to a potentially lethal
This guide applies to products which control electric motors either voltage after the AC supply has been disconnected. If the drive has been
directly (drives) or indirectly (controllers, option modules and other energized, the AC supply must be isolated at least ten minutes before
auxiliary equipment and accessories). In all cases the hazards work may continue.
associated with powerful electrical drives are present, and all safety
information relating to drives and associated equipment must be 1.7 Mechanical hazards
observed. Careful consideration must be given to the functions of the drive or
Specific warnings are given at the relevant places in this guide. controller which might result in a hazard, either through their intended
behaviour or through incorrect operation due to a fault. In any application
Drives and controllers are intended as components for professional
where a malfunction of the drive or its control system could lead to or
incorporation into complete systems. If installed incorrectly they may
allow damage, loss or injury, a risk analysis must be carried out, and
present a safety hazard. The drive uses high voltages and currents,
where necessary, further measures taken to reduce the risk - for
carries a high level of stored electrical energy, and is used to control
example, an over-speed protection device in case of failure of the speed
equipment which can cause injury. Close attention is required to the
control, or a fail-safe mechanical brake in case of loss of motor braking.
electrical installation and the system design to avoid hazards either in
normal operation or in the event of equipment malfunction. System With the sole exception of the Safe Torque Off function, none of the
design, installation, commissioning/start-up and maintenance must be drive functions must be used to ensure safety of personnel, i.e.
carried out by personnel who have the necessary training and they must not be used for safety-related functions.
competence. They must read this safety information and this guide The Safe Torque Off function may be used in a safety-related
carefully. application. The system designer is responsible for ensuring that the
complete system is safe and designed correctly according to the
1.3 Responsibility relevant safety standards.
It is the responsibility of the installer to ensure that the equipment is The design of safety-related control systems must only be done by
installed correctly with regard to all instructions given in this guide. They personnel with the required training and experience. The Safe Torque
must give due consideration to the safety of the complete system, so as Off function will only ensure the safety of a machine if it is correctly
to avoid the risk of injury both in normal operation and in the event of a incorporated into a complete safety system. The system must be subject
fault or of reasonably foreseeable misuse. to a risk assessment to confirm that the residual risk of an unsafe event
The manufacturer accepts no liability for any consequences resulting is at an acceptable level for the application.
from inappropriate, negligent or incorrect installation of the equipment.
1.8 Access to equipment
1.4 Compliance with regulations Access must be restricted to authorized personnel only. Safety
The installer is responsible for complying with all relevant regulations, regulations which apply at the place of use must be complied with.
such as national wiring regulations, accident prevention regulations and
electromagnetic compatibility (EMC) regulations. Particular attention 1.9 Environmental limits
must be given to the cross-sectional areas of conductors, the selection Instructions in this guide regarding transport, storage, installation and
of fuses or other protection, and protective ground (earth) connections. use of the equipment must be complied with, including the specified
This guide contains instructions for achieving compliance with specific environmental limits. This includes temperature, humidity,
EMC standards. contamination, shock and vibration. Drives must not be subjected to
excessive physical force.
All machinery to be supplied within the European Union in which this
product is used must comply with the following directives:
1.10 Hazardous environments
2006/42/EC Safety of machinery.
The equipment must not be installed in a hazardous environment (i.e. a
2014/30/EU: Electromagnetic Compatibility. potentially explosive environment).

12 Unidrive M600 Control User Guide

Safety Product Mechanical Electrical Getting Basic Running the NV Media Card Onboard Advanced UL
Optimization Diagnostics
information information installation installation started parameters motor Operation PLC parameters Information

1.11 Motor
The safety of the motor under variable speed conditions must be
ensured.
To avoid the risk of physical injury, do not exceed the maximum specified
speed of the motor.
Low speeds may cause the motor to overheat because the cooling fan
becomes less effective, causing a fire hazard. The motor should be
installed with a protection thermistor. If necessary, an electric forced vent
fan should be used.
The values of the motor parameters set in the drive affect the protection
of the motor. The default values in the drive must not be relied upon. It is
essential that the correct value is entered in the Motor Rated Current
parameter.

1.12 Mechanical brake control

Any brake control functions are provided to allow well co-ordinated
operation of an external brake with the drive. While both hardware and
software are designed to high standards of quality and robustness, they
are not intended for use as safety functions, i.e. where a fault or failure
would result in a risk of injury. In any application where the incorrect
operation of the brake release mechanism could result in injury,
independent protection devices of proven integrity must also be
incorporated.

1.13 Adjusting parameters

Some parameters have a profound effect on the operation of the drive.
They must not be altered without careful consideration of the impact on
the controlled system. Measures must be taken to prevent unwanted
changes due to error or tampering.

1.14 Electromagnetic compatibility (EMC)

Installation instructions for a range of EMC environments are provided in
the relevant Power Installation Guide. If the installation is poorly
designed or other equipment does not comply with suitable standards for
EMC, the product might cause or suffer from disturbance due to
electromagnetic interaction with other equipment. It is the responsibility
of the installer to ensure that the equipment or system into which the
product is incorporated complies with the relevant EMC legislation in the
place of use.

Unidrive M600 Control User Guide 13

2 Product information
2.1 Introduction
Universal AC and servo drive
Unidrive M600 delivers maximum machine performance with sensorless induction and sensorless permanent magnet motor control, for dynamic and
efficient machine operation. An optional encoder port can be used for precise closed loop velocity applications and digital lock / frequency following.

Features
• Universal high performance drive for induction and sensorless permanent magnet motors.
• Onboard IEC 61131-3 programmable automation
• NV Media Card for parameter copying and data storage
• EIA 485 serial communications interface
• Single channel Safe Torque Off (STO) input
Optional features
• Select up to three option modules

2.2 Drive firmware version

This product is supplied with the latest firmware version. If this drive is to be connected to an existing system or machine, all drive firmware versions
should be verified to confirm the same functionality as drives of the same model already present. This may also apply to drives returned from an
Nidec Industrial Automation Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product.
The firmware version of the drive can be checked by looking at Pr 00.050 {11.029}.

2.3 Model number

The way in which the model numbers for the Unidrive M600 range are formed is illustrated below:
Figure 2-1 Model number
Identification Label
Derivative Electrical Specifications Power Configuration* Documentation Customer Code Optional Build
Reserved
Format

M600 - 03 4 00078 A 1 0 1 01 A B 1 0 0

Unidrive M600 Reserved:

Product Line
Conformal Coating:
0 = Standard

Frame Size: IP / NEMA Rating:

1 = IP20 / NEMA 1

Voltage Rating: Brake Transistor:

2 - 200 V (200 - 240 ± 10 %) B = Brake
4 - 400 V (380 - 480 ± 10 %) N = No brake
5 - 575 V (500 - 575 ± 10 %)
6 - 690 V (500 - 690 ± 10 %) Cooling:
A = Air
Current Rating:
Heavy Duty current rating x 10 Customer Code:
00 = 50 Hz
01 = 60 Hz
Power Format:
A - AC in AC out (with internal choke) Documentation:
D - DC in AC out (Inverter) 0 - Supplied separately
C - AC in DC out (Rectifier) 1 - English
E - AC in AC out (without internal choke) 2 - French
T - AC in AC out (12P rectifier plus inverter) 3 - Italian
4 - German
5 - Spanish
Configuration:
1 - Standard
U - No Control
M - Master
F - Follower

* Only shown on Frame 9 to 11 identification label.

NOTE

For simplicity, a Frame 9 drive with no internal choke (i.e. model 09xxxxxxE) is referred to as a Frame 9E and a Frame 9 drive with an internal choke
(i.e. model 09xxxxxxA) is referred to as a Frame 9A. Any reference to Frame 9 is applicable to both sizes 9E and 9A.

14 Unidrive M600 Control User Guide

2.4 Ratings
The drive is dual rated. Available output
The setting of the motor rated current determines which rating applies - current Overload limit -
Heavy Duty
Heavy Duty or Normal Duty.
The two ratings are compatible with motors designed to IEC60034. Maximum Overload limit -
continuous Normal Duty
The graph aside illustrates the difference between Normal Duty and current (above
Heavy Duty with respect to continuous current rating and short term 50% base
overload limits. speed) -
Normal Duty
Maximum
continuous
current -
Heavy Duty

Motor rated
current set
in the drive
Heavy Duty - with high Normal Duty
overload capability

Normal Duty Heavy Duty (default)

For applications which use Self ventilated (TENV/TEFC) induction For constant torque applications or applications which require a high
motors and require a low overload capability, and full torque at low overload capability, or full torque is required at low speeds (e.g. winders,
speeds is not required (e.g. fans, pumps). hoists).
Self ventilated (TENV/TEFC) induction motors require increased The thermal protection is set to protect force ventilated induction motors
protection against overload due to the reduced cooling effect of the fan and permanent magnet servo motors by default.
at low speed. To provide the correct level of protection the I2t software NOTE N
operates at a level which is speed dependent. This is illustrated in the If the application uses a self ventilated (TENV/TEFC) induction motor
graph below. and increased thermal protection is required for speeds below 50 %
NOTE base speed, then this can be enabled by setting Low Speed Thermal
The speed at which the low speed protection takes effect can be Protection Mode (04.025) = 1.
changed by the setting of Low Speed Thermal Protection Mode
(04.025). The protection starts when the motor speed is below 15 % of
base speed when Pr 04.025 = 0 (default) and below 50 % when
Pr 04.025 = 1.
Operation of motor I2t protection
Motor I2t protection is fixed as shown below and is compatible with: Motor I2t protection defaults to be compatible with:
• Self ventilated (TENV/TEFC) induction motors • Forced ventilation induction motors
• Permanent magnet servo motors

Motor total Motor total

current (Pr 04.001) current (Pr 04.001)
as a percentage as a percentage
of motor rated I2t protection operates in this region of motor rated 2
I t protection operates in this region
current current

100% 100%

70% 70%
Max. permissible Max. permissible
continuous continuous
current current
Pr 04.025 = 0 Pr 04.025 = 0
Pr 04.025 = 1 Pr 04.025 = 1

15% 50% 100% Motor speed as a 50% 100% Motor speed as a

percentage of base speed percentage of base speed
.

Unidrive M600 Control User Guide 15

2.5 Operating modes

The drive is designed to operate in any of the following modes:
Open loop mode
Open loop vector mode
Fixed V/F mode (V/Hz)
Quadratic V/F mode (V/Hz)
RFC - A
With position feedback sensor (requires optional SI-Encoder module)
Without position feedback sensor (Sensorless)
RFC - S
Without position feedback sensor (Sensorless)
Regen mode

2.5.1 Open loop mode

The drive applies power to the motor at frequencies varied by the user. The motor speed is a result of the output frequency of the drive and slip due
to the mechanical load. The drive can improve the speed control of the motor by applying slip compensation. The performance at low speed depends
on whether V/F mode or open loop vector mode is selected.

Open loop vector mode

The voltage applied to the motor is directly proportional to the frequency except at low speed where the drive uses motor parameters to apply the
correct voltage to keep the flux constant under varying load conditions.
Typically 100 % torque is available down to 1 Hz for a 50 Hz motor.
Fixed V/F mode
The voltage applied to the motor is directly proportional to the frequency except at low speed where a voltage boost is provided which is set by the
user. This mode can be used for multi-motor applications.
Typically 100 % torque is available down to 4 Hz for a 50 Hz motor.
Quadratic V/F mode
The voltage applied to the motor is directly proportional to the square of the frequency except at low speed where a voltage boost is provided which is
set by the user. This mode can be used for running fan or pump applications with quadratic load characteristics or for multi-motor applications. This
mode is not suitable for applications requiring a high starting torque.

2.5.2 RFC-A mode

Rotor Flux Control for Asynchronous (induction) motors (RFC-A) encompasses closed loop vector control with and without a position feedback
device.

With position feedback (requires optional SI-Encoder module)

For use with induction motors with a feedback device installed. The drive directly controls the speed of the motor using the feedback device to ensure
the rotor speed is exactly as demanded. Motor flux is accurately controlled at all times to provide full torque all the way down to zero speed.

Without position feedback (Sensorless)

Sensorless mode provides closed loop control without the need for position feedback by using current, voltages and key operating motor parameters
to estimate the motor speed. It can eliminate instability traditionally associated with open loop control such as operating large motors with light loads
at low frequencies.

2.5.3 RFC- S
Rotor Flux Control for Synchronous (permanent magnet brushless) motors (RFC-S) provides closed loop control without a position feedback device.

Without position feedback

For use with permanent magnet brushless motors without a feedback device installed.
Flux control is not required because the motor is self excited by the permanent magnets which form part of the rotor.
Full torque is available all the way down to zero speed, with salient motors.

2.5.4 Regen mode

For use as a regenerative front end for four quadrant operation.
Regen operation allows bi-directional power flow to and from the AC supply. This provides far greater efficiency levels in applications which would
otherwise dissipate large amounts of energy in the form of heat in a braking resistor.
The harmonic content of the input current is negligible due to the sinusoidal nature of the waveform when compared to a conventional bridge rectifier
or SCR/thyristor front end.

16 Unidrive M600 Control User Guide

2.6 Nameplate description

Figure 2-2 Typical drive rating labels
Frame Heavy Duty
Model size current rating

Refer to
User Guide M600-032 00050 A
Voltage Drive format

Key to approvals
Heavy Duty /
Normal Duty Input
frequency Date code
power rating CE approval Europe
Input voltage
1710 No.of phases & RCM - Regulatory
Typical input current for Australia
Output Compliance Mark
Normal Duty rating
voltage
USA &
UL / cUL approval
R
Canada
Approvals Heavy Duty /
Normal Duty rating
output current RoHS compliant Europe

Eurasian conformity Eurasia

Serial
number
USA &
Functional safety
Canada

Large label* Heavy Duty /

Input
Model Normal Duty
frequency
power rating Date code
No. of Input phase &
Input M600-074-00660-A 30/37kW 1710 Input current
voltage I/P 380-480V 50-60Hz 3ph 74A
No. of Output phase
O/P 0-480V 3ph 66/79A & Heavy Duty/
Designed in UK Normal Duty Rating
Made in U.K. Output current
Serial No: 3000005001

Serial number Output

voltage Approvals

* This label is only applicable to Size 7 and above.

Refer to Figure 2-1 Model number on page 14 for further information relating to the labels.
NOTE
Date code format
The date code is four numbers. The first two numbers indicate the year and the remaining numbers indicate the week of the year in which the drive
was built.
Example:
A date code of 1710 would correspond to week 10 of year 2017.

Unidrive M600 Control User Guide 17

2.7 Options
Figure 2-3 Options available with the drive

1. Keypad
2. Option module slot 1
3. Option module slot 2
4. Option module slot 3
5. CT USB Comms cable
6. Internal braking resistor
7. NV media card (* For further information refer to chapter 9 NV Media Card Operation on page 104).
8. KI-485 comms adaptor

Be aware of possible live terminals when inserting or removing the NV media card.

WARNING

18 Unidrive M600 Control User Guide

All standard option modules are color-coded in order to make identification easy. All modules have an identification label on top of the module.
Standard option modules can be installed to any of the available option slots on the drive. The following tables shows the color-code key and gives
further details on their function.
Table 2-1 Option module identification
Option
Type Color Name Further Details
module
EIA 485 Comms Adaptor
EIA 485 Comms adaptor provides EIA 485 communication interface. This
N/A KI-485 Adaptor
adaptor supports 115 k Baud, node addresses between 1 to 16 and 8 1 NP M
serial mode.

PROFIBUS option
Purple SI-PROFIBUS
PROFIBUS adapter for communications with the drive

DeviceNet option
Medium Grey SI-DeviceNet
DeviceNet adapter for communications with the drive

CANopen option
Fieldbus Light Grey SI-CANopen
CANopen adapter for communications with the drive

External Ethernet module that supports EtherNet/IP, Modbus TCP/IP and

RTMoE. The module can be used to provide high speed drive access, global
Beige SI-Ethernet
connectivity and integration with IT network technologies, such as wireless
networking
PROFINET V2 option
Yellow Green SI-PROFINET V2 PROFINET V2 adapter for communications with the drive
Note: PROFINET V2 replaces PROFINET RT.

EtherCAT option
Brown Red SI-EtherCAT
EtherCAT adapter for communications with the drive

Extended I/O
Increases the I/O capability by adding the following combinations:
• Digital I/O
Orange SI-I/O • Digital Inputs
• Analog Inputs (differential or single ended)
• Analog Output
Automation • Relays
(I/O expansion) Digital I/O
• 16 optically isolated digital inputs
• 8 optically isolated digital outputs.
Orange SI-I/O 24 Plus Encoder input
• Quadrature ABZ encoder, with or without UVW commutation signals
• Time capture/freeze system
• Motor thermistor input

Incremental encoder input interface module. Provides Closed loop Rotor

Light Brown SI-Encoder
Flux Control for induction motors (RFC-A) on M600.
Feedback
Additional combined encoder input and output interface supporting
Dark Brown SI-Universal Encoder
Incremental, SinCos, HIPERFACE, EnDAT and SSI encoders.

Safety module that provides an intelligent, programmable solution to meet

Safety Yellow SI-Safety
the IEC 61800-5-2 functional safety standard

Unidrive M600 Control User Guide 19

Table 2-2 Keypad identification

Type Keypad Name Further Details

LCD keypad option

KI-Keypad
Keypad with an LCD display

KI-Keypad RTC LCD keypad option

Keypad with an LCD display and real time clock

Keypad

Remote LCD keypad option

Remote-Keypad RTC
Remote Keypad with an LCD display and real time clock

Remote LCD keypad option

Remote-Keypad
Remote Keypad with an LCD display.

Table 2-3 Additional options

Type Option Name Further Details

SD Card Adaptor
SD Card Adaptor
Allows the drive to use an SD card for drive back-up

Back-up
SMARTCARD
SMARTCARD
Used for parameter back-up with the drive

2.8 Drive features

Figure 2-4 Features of the drive control section

11 3

10 4

Key
1. Keypad connection 2. Rating label 3. Identification label
4. Status LED 5. Option module slot 1 6. Option module slot 2
7. Option module slot 3 8. Relay connections 9. Control connections
10. Communications port 11. NV media card slot

20 Unidrive M600 Control User Guide

3 Mechanical installation
3.1 Installing / removing option modules and keypads

Power down the drive before installing / removing the option module. Failure to do so may result in damage to the product.

CAUTION

Figure 3-1 Installation of an option module

Installing the first option module

NOTE
Option module slots must be used in the following order: slot 3, slot 2 and slot 1 (refer to Figure 2-3 Options available with the drive on page 18 for
slot numbers).
• Move the option module in direction shown (1).
• Align and insert the option module tab in to the slot provided (2), this is highlighted in the detailed view (A).
• Press down on the option module until it clicks into place.
Installing the second option module
• Move the option module in direction shown (3).
• Align and insert the option module tab in to the slot provided on the already installed option module (4), this is highlighted in the detailed view (B).
• Press down on the option module until it clicks into place. Image (5) shows two option modules fully installed.
Installing the third option module
• Repeat the above process.
The drive has the facility for all three option module slots to be used at the same time, image (6) shows the three option modules installed.

Unidrive M600 Control User Guide 21

Figure 3-2 Removal of an option module

• Press down on the tab (1) to release the option module from the drive housing, the tab is highlighted in the detailed view (A).
• Tilt the option module towards you as shown (2).
• Remove the option module in direction shown (3).

Figure 3-3 Installation and removal of the KI-Keypad

To install, align the keypad and press gently in the direction shown until it clicks into position.
To remove, reverse the installation instructions.
NOTE N
The keypad can be installed / removed while the drive is powered up and running a motor, providing that the drive is not operating in keypad mode.

22 Unidrive M600 Control User Guide

3.1.1 Real time clock battery replacement

Those keypads which have the real time clock feature contain a battery to ensure the clock works when the drive is powered down. The battery has a
long life time but if the battery needs to be replaced or removed, follow the instructions below.

Low battery voltage is indicated by low battery symbol on the keypad display.
Figure 3-4 KI-Keypad RTC (rear view)

Figure 3-4 above illustrates the rear view of the KI-Keypad RTC.
1. To remove the battery cover insert a flat head screwdriver into the slot as shown (1), push and turn anti-clockwise until the battery cover is
released.
2. Replace the battery (the battery type is: CR2032).
3. Reverse point 1 above to replace battery cover.
NOTE
Ensure the battery is disposed of correctly.

Unidrive M600 Control User Guide 23

4 Electrical installation The working range of the 24 V power supply is as follows:

51 0V common
4.1 24 Vdc supply 52 +24 Vdc
The 24 Vdc supply connected to control terminals 1 & 2 provides the Size 6
following functions:
Nominal operating voltage 24.0 Vdc
• It can be used to supplement the drive's own internal 24 V supply Minimum continuous operating voltage 18.6 Vdc
when multiple option modules are being used and the current drawn
Maximum continuous operating voltage 28.0 Vdc
by these module is greater than the drive can supply.
Minimum startup voltage 18.4 Vdc
• It can be used as a back-up power supply to keep the control circuits
of the drive powered up when the line power supply is removed. This Maximum power supply requirement 40 W
allows any fieldbus modules, application modules, encoders or serial Recommended fuse 4 A @ 50 Vdc
communications to continue to operate. Size 7 to 11
• It can be used to commission the drive when the line power supply is Nominal operating voltage 24.0 Vdc
not available, as the display operates correctly. However, the drive Minimum continuous operating voltage 19.2 Vdc
will be in the Under voltage state unless either line power supply or 30 Vdc (IEC),
low voltage DC operation is enabled, therefore diagnostics may not Maximum continuous operating voltage
26 Vdc (UL)
be possible. (Power down save parameters are not saved when
Minimum startup voltage 21.6 Vdc
using the 24 V back-up power supply input).
Maximum power supply requirement 60 W
• If the DC bus voltage is too low to run the main SMPS in the drive,
then the 24 V supply can be used to supply all the low voltage power Recommended fuse 4 A @ 50 Vdc
requirements of the drive. Low Under Voltage Threshold Select
Figure 4-1 Location of the 24 Vdc power supply connection on size 6
(06.067) must also be enabled for this to happen.
NOTE
On size 6 and larger, the power 24 Vdc supply (terminals 51, 52) must
be connected to enable the 24 Vdc supply to be used as a backup
supply, when the line power supply is removed. If the power 24 Vdc
supply is not connected none of the above mentioned functions can be
used, "Waiting For Power System" will be displayed on the keypad and 51 52

no drive operations are possible. The location of the power 24 Vdc can
be identified from Figure 4-1 Location of the 24 Vdc power supply
connection on size 6 on page 24.
Table 4-1 24 Vdc Supply connections
Function Sizes 3-5 Sizes 6-11
Supplement the drive’s Terminal Terminal
internal supply 1, 2 1, 2
Terminal
Back-up supply for the Terminal
1, 2 51 52
control circuit 1, 2
51, 52
The working voltage range of the control 24 V power supply is as
follows:
1 0V common
2 +24 Vdc 1. 24 Vdc power supply connection
Nominal operating voltage 24.0 Vdc Figure 4-2 Location of the 24 Vdc power supply connection on size 7
Minimum continuous operating voltage 19.2 V
Maximum continuous operating voltage 28.0 V
Minimum start up voltage 21.6 V
Maximum power supply requirement at 24 V 40 W
Recommended fuse 3 A, 50 Vdc
Minimum and maximum voltage values include ripple and noise. Ripple
and noise values must not exceed 5 %.

51 52

24 Unidrive M600 Control User Guide

Figure 4-3 Location of the 24 Vdc power supply connection on size 8 Table 4-2 Serial communication port pin-outs
to 11
Pin Function
1 120 Ω Termination resistor
2 RX TX
3 Isolated 0 V
4 +24 V (100 mA)
5 Isolated 0 V
6 TX enable
7 RX\ TX\
8 RX\ TX\ (if termination resistors are required, link to pin 1)
Shell Isolated 0 V
Minimum number of connections are 2, 3, 7 and shield.
4.2.1 Isolation of the EIA 485 serial communications
51 52 port
The serial PC communications port is double insulated and meets the
requirements for SELV in EN 50178:1998.

In order to meet the requirements for SELV in IEC60950 (IT

equipment) it is necessary for the control computer to be
grounded. Alternatively, when a lap-top or similar device is
4.2 Communication connections used which has no provision for grounding, an isolation
The drive offers a 2 wire EIA 485 interface. This enables the drive set- WARNING device must be incorporated in the communications lead.
up, operation and monitoring to be carried out with a PC or controller if
required. An isolated serial communications lead has been designed to connect
the drive to IT equipment (such as laptop computers), and is available
Figure 4-4 Location of the comms connectors from the supplier of the drive. See below for details:
Table 4-3 Isolated serial comms lead details
Part number Description
4500-0096 CT USB Comms cable

1 1 The “isolated serial communications” lead has reinforced insulation as

defined in IEC60950 for altitudes up to 3,000 m.
4.2.2 Communication networks and cabling
Any isolated signal circuit has the capability to become live through
accidental contact with other conductors; as such they should always be
double-insulated from live parts. The routing of network and signal wires
should be done so as to avoid close proximity to mains voltage cabling.
4.2.3 EIA 485 Port Polarization (Biasing)
The EIA 485 serial communications port requires polarization (biasing)
of the data lines.
The Modbus standard specifies that to prevent spurious triggering when
there is no data being transmitted, the data lines are polarized (biased)
with pull-apart resistors, one resistor from the RJ45 pin 2 connection (RX
TX) to +V and the other resistor from the RJ45 pin 7 connection (/RX /
TX) to 0V. These resistors should be in the range 450 to 650 Ohms and
The EIA 485 interface provides two parallel RJ45 connectors, these are fitted in the master controller.
provided allowing easy daisy chaining. The drive only supports Modbus
RTU protocol. See Table 4-2 for the connection details.
NOTE
Standard Ethernet cables are not recommended for use when
connecting drives on a EIA 485 network as they do not have the correct
twisted pairs for the pinout of the serial comms port.

If an Ethernet network adaptor is inadvertently connected to

a Unidrive M600 drive, a low impedance load across the EIA
485 24V is applied. If this is connected for a significant period
CAUTION of time, it can introduce the potential risk of damage.

Unidrive M600 Control User Guide 25

4.3 Control connections ground close to the point of exit of the motor cable, to avoid this noise
current spreading through the control system.
4.3.1 General
Table 4-4 The control connections consist of: NOTE N
The Safe Torque Off drive enable terminal is a positive logic input only. It
Control parameters Terminal
Function Qty is not affected by the setting of Input Logic Polarity (08.029).
available number
Differential analog input 1 Mode, offset, invert, scaling 5, 6 NOTE N
Single ended analog Mode, offset, invert, scaling, The common 0 V from analog signals should, wherever possible, not be
2 7, 8 connected to the same 0 V terminal as the common 0 V from digital
input destination
Analog output 2 Source, scaling, 9, 10 signals. Terminals 3 and 11 should be used for connecting the 0V
common of analog signals and terminals 21, 23 and 30 for digital
Destination, invert, logic
Digital input 3 27, 28, 29 signals. This is to prevent small voltage drops in the terminal
select
connections causing inaccuracies in the analog signals.
Input / output mode select,
Digital input / output 3 destination / source, invert, 24, 25, 26 NOTE N
logic select A two wire motor thermistor can be connected to analog input 3 by
Relay 1 Source, invert 41, 42 connecting the thermistor between terminal 8 and any 0 V common
Drive enable (Safe terminal. It is also possible to connect a 4-wire thermistor to analog input
1 31
Torque Off) 3 as shown below. Pr 07.015 and Pr 07.046 need to be set-up for the
+10 V User output 1 4 thermistor type required.
+24 V User output 1 Source, invert 22 Figure 4-5 Connection of 4-wire thermistor
1, 3, 11, 21,
0V common 6 5 Analog Input 1+
23, 30
+24V External input 1 Destination, invert 2
Key: 8 Analog Input 3
Indicates the parameter which is being controlled
Destination parameter:
by the terminal / function
Indicates the parameter being output by the
Source parameter:
terminal
Analog - indicates the mode of operation of the
terminal, i.e. voltage 0-10 V, current 4-20 mA etc.
Digital - indicates the mode of operation of the
Mode parameter:
terminal, i.e. positive / negative logic (the Drive
Enable terminal is fixed in positive logic), open
collector. 11 0V

All analog terminal functions can be programmed in menu 7.

All digital terminal functions (including the relay) can be programmed in
6 Analog Input 1-
menu 8.

The control circuits are isolated from the power circuits in the
drive by basic insulation (single insulation) only. The installer
must ensure that the external control circuits are insulated
from human contact by at least one layer of insulation
WARNING (supplementary insulation) rated for use at the AC supply
voltage.

If the control circuits are to be connected to other circuits

classified as Safety Extra Low Voltage (SELV) (e.g. to a
personal computer), an additional isolating barrier must be
WARNING
included in order to maintain the SELV classification.

If any of the digital inputs (including the drive enable input)

are connected in parallel with an inductive load (i.e.
contactor or motor brake) then suitable suppression (i.e.
diode or varistor) should be used on the coil of the load. If no
CAUTION suppression is used then over voltage spikes can cause
damage to the digital inputs and outputs on the drive.

Ensure the logic sense is correct for the control circuit to be

used. Incorrect logic sense could cause the motor to be
started unexpectedly.
Positive logic is the default state for the drive.
CAUTION

NOTE N
Any signal cables which are carried inside the motor cable (i.e. motor
thermistor, motor brake) will pick up large pulse currents via the cable
capacitance. The shield of these signal cables must be connected to

26 Unidrive M600 Control User Guide

Figure 4-6 Default terminal functions 4.3.2 Control terminal specification

1 0V common
Common connection for all external
Function
devices

Polarized 2 +24V external input

connectors
To supply the control circuit
1 11
Function without providing a supply to the
41 42
power stage
Can be switched on or off to act as a digital
Programmability input by setting the source Pr 08.063 and
21 31 input invert Pr 08.053
Nominal voltage +24.0 Vdc
0V common** 1
Minimum continuous operating
External 24V supply +19.2 Vdc
2 voltage
Analog frequency/speed Maximum continuous operating
+28.0 Vdc
reference 1 voltage
0V common** Minimum start-up voltage 21.6 Vdc
3
Connections for Recommended power supply 40 W 24 Vdc nominal
single-ended input 5
Recommended fuse 3 A, 50 Vdc
signal 6

0V common**
3 3 0V common
Connections for
differential input signal
5 Common connection for all external
Function
6 devices

4
Analog 4 +10V user output
frequency/speed 7
reference 2 Function Supply for external analog devices
Voltage 10.2 V nominal
Voltage tolerance ±1 %
Nominal output current 10 mA
Analog input 3 8 Protection Current limit and trip @ 30 mA

9
Speed / frequency 10
Torque (active
current)
11
0V common**
0V common**
21

0V common**
23

At zero speed 24

Reset 25

Run forward 26

Run reverse 27
Analog input 1/ Analog input 1
input 2 select Analog input 2
28

Jog forward select 29

0V common**
SAFE TORQUE OFF / 30
Drive enable*
31

41 Relay
Drive OK
42 (Over voltage
category II)

*The Safe Torque Off / Drive enable terminal is a positive logic input only.
** 0V common is connected to ground internally in size 9 to 11 modular
drives.

Unidrive M600 Control User Guide 27

4 Precision reference Analog input 1 7 Analog input 2

5 Non-inverting input Default function Frequency / speed reference
6 Inverting input Bipolar single-ended analog voltage or
Type of input
unipolar current
Default function Frequency/speed reference Mode controlled by... Pr 07.011
Bipolar differential analog voltage or
Type of input
current, thermistor input
Operating in voltage mode
Full scale voltage range ±10 V ±2 %
Mode controlled by: Pr 07.007
Maximum offset ±10 mV
Operating in Voltage mode

Full scale voltage range ±10 V ±2 % Absolute maximum voltage range ±36 V relative to 0 V
Maximum offset ±10 mV
Input resistance ≥100 k Ω
Absolute maximum
±36 V relative to 0 V
voltage range Operating in current mode
Working common mode voltage 0 to 20 mA ±5 %, 20 to 0 mA ±5 %,
±13 V relative to 0 V Current ranges
range 4 to 20 mA ±5 %, 20 to 4 mA ±5 %
Input resistance ≥100 kΩ Maximum offset 250 μA
Monotonic Yes (including 0 V)
Absolute maximum voltage
Dead band None (including 0 V) ±36 V relative to 0V
(reverse bias)
Jumps None (including 0 V)
Absolute maximum current ±30 mA
Maximum offset 20 mV
Maximum non linearity 0.3% of input Equivalent input resistance ≤ 300 Ω
Maximum gain asymmetry 0.5 %
Common to all modes
Input filter bandwidth single pole ~3 kHz
Operating in current mode Resolution 12 bits (11 bits plus sign)
0 to 20 mA ±5 %, 20 to 0 mA ±5 %, 250 µs with destinations Pr 01.036,
Current ranges
4 to 20 mA ±5 %, 20 to 4 mA ±5 % Pr 01.037 or Pr 03.022, Pr 04.008 in RFC-A
Maximum offset 250 μA Sample / update or RFC-S. 4ms for open loop mode and all
other destinations in RFC-A or RFC-S
Absolute maximum voltage mode.
±36 V relative to 0 V
(reverse biased)
Equivalent input resistance ≤300 Ω
Absolute maximum current ±30 mA 8 Analog input 3
Operating in thermistor input mode (in conjunction with analog input 3)
Default function Voltage input
Internal pull-up voltage 2.5 V
Bipolar single-ended analog voltage, or
Trip threshold resistance User defined in Pr 07.048 Type of input
thermistor input
Short-circuit detection resistance 50 Ω ± 40 % Mode controlled by... Pr 07.015
Common to all modes
Operating in Voltage mode (default)
Resolution 12 bits (11 bits plus sign)
Voltage range ±10 V ±2 %
250 µs with destinations Pr 01.036,
Maximum offset ±10 mV
Pr 01.037, Pr 03.022 or Pr 04.008 in RFC-A
Sample / update period and RFC-S modes. 4 ms for open loop Absolute maximum voltage range ±36 V relative to 0 V
mode and all other destinations in RFC-A or Input resistance ≥100 k Ω
RFC-S modes.
Operating in thermistor input mode
Din 44082, KTY 84, PT100, PT 1000,
Supported thermistor types
PT 2000, 2.0mA
Internal pull-up voltage 2.5 V
Trip threshold resistance User defined in Pr 07.048
Reset resistance User defined in Pr 07.048
Short-circuit detection resistance 50 Ω ± 40 %
Common to all modes
Resolution 12 bits (11 bits plus sign)
Sample / update period 4 ms

28 Unidrive M600 Control User Guide

9 Analog output 1
24 Digital I/O 1
10 Analog output 2
25 Digital I/O 2
OL> Motor FREQUENCY output
Terminal 9 default function signal 26 Digital I/O 3
RFC> SPEED output signal
Terminal 24 default function AT ZERO SPEED output
Terminal 10 default function Motor active current
Terminal 25 default function DRIVE RESET input
Type of output Bipolar single-ended analog voltage
Terminal 26 default function RUN FORWARD input
Operating in Voltage mode (default) Positive or negative logic digital inputs,
Type
positive logic voltage source outputs
Voltage range ±10 V ±5 %
Input / output mode controlled by... Pr 08.031, Pr 08.032 and Pr 08.033
Maximum offset ±120 mV Operating as an input
Maximum output current ±20 mA Logic mode controlled by... Pr 08.029

Load resistance ≥1 k Ω Absolute maximum applied

-3 V to +30 V
voltage range
Protection 20 mA max. Short circuit protection Impedance >2 mA @15 V (IEC 61131-2, type 1, 6.6 k Ω)
Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)
Common to all modes
Operating as an output
Resolution 10-bit
100 mA (DIO1 & 2 combined)
250 µs (output will only change at update Nominal maximum output current 100 mA (DIO3 & 24 V User Output
Sample / update period Combined)
the rate of the source parameter if slower)
100 mA
Maximum output current
200 mA (total including all Digital I/O)
Common to all modes
11 0V common
Voltage range 0 V to +24 V
Common connection for all external 2 ms (output will only change at the update
Function Sample / Update period
devices rate of the source parameter)

21 0V common
27 Digital Input 4
Common connection for all external
Function 28 Digital Input 5
devices
Terminal 27 default function RUN REVERSE input
Terminal 28 default function Analog INPUT 1 / INPUT 2 select
22 +24 V user output (selectable) Type Negative or positive logic digital inputs
Logic mode controlled by... Pr 08.029
Terminal 22 default function +24 V user output
Voltage range 0 V to +24 V
Absolute maximum applied
Can be switched on or off to act as a fourth -3 V to +30 V
voltage range
digital output (positive logic only) by setting
Programmability Impedance >2 mA @15 V (IEC 61131-2, type 1, 6.6 k Ω)
the source Pr 08.028 and source invert
Pr 08.018 Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)
250 µs when configured as an input with
Nominal output current 100 mA combined with DIO3 destinations Pr 06.035 or Pr 06.036. 600 µs
Sample / Update period
when configured as an input with destination
100 mA
Maximum output current Pr 06.029. 2 ms in all other cases.
200 mA (total including all Digital I/O)
Protection Current limit and trip
2 ms when configured as an output (output 29 Digital Input 6
Sample / update period will only change at the update rate of the
source parameter if slower) Terminal 29 default function JOG SELECT input
Type Negative or positive logic digital inputs

23 0V common Logic mode controlled by... Pr 08.029

Common connection for all external Voltage range 0 V to +24 V

Function
devices
Absolute maximum applied
-3 V to +30 V
voltage range

Impedance >2 mA @15 V (IEC 61131-2, type 1, 6.6 k Ω)

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

250 µs when configured as an input with
Sample / Update period destinations Pr 06.035 or Pr 06.036.
2 ms in all other cases.

Unidrive M600 Control User Guide 29

51 0V common
30 0V common
52 +24 Vdc
Common connection for all external
Function Size 6
devices
Nominal operating voltage 24.0 Vdc
Minimum continuous operating voltage 18.6 Vdc
31 Safe Torque Off function (drive enable) Maximum continuous operating voltage 28.0 Vdc
Type Positive logic only digital input Minimum startup voltage 18.4 Vdc
Voltage range 0 V to +24 V Maximum power supply requirement 40 W
Absolute maximum applied voltage 30 V Recommended fuse 4 A @ 50 Vdc
Size 7 to 11
Logic Threshold 10 V ± 5 V
Nominal operating voltage 24.0 Vdc
Low state maximum voltage for
5V
disable to SIL3 and PL e Minimum continuous operating voltage 19.2 Vdc
>8 mA @15 V (similar to IEC 61131-2, type 30 Vdc (IEC),
1 except the maximum current can be up to Maximum continuous operating voltage
Impedance 26 Vdc (UL)
20 mA)
Effective input capacitance: 20 nF Minimum startup voltage 21.6 Vdc
Low state maximum current for Maximum power supply requirement 60 W
0.5 mA
disable to SIL3 and PL e
Recommended fuse 4 A @ 50 Vdc
Nominal: 8 ms
Response time
Maximum: 20 ms

The Safe Torque Off function may be used in a safety-related application in

preventing the drive from generating torque in the motor to a high level of
To prevent the risk of a fire hazard in the event of a fault, a
integrity. The system designer is responsible for ensuring that the complete
system is safe and designed correctly according to the relevant safety standards. fuse or other over-current protection must be installed in the
If the Safe Torque Off function is not required, this terminal is used for enabling relay circuit.
the drive. WARNING

Refer to section 4.4 for further information.

41
Relay contacts
42
Default function Drive healthy indicator
240 Vac, Installation over-voltage
Contact voltage rating
category II

2 A AC 240 V
Contact maximum current rating 4 A DC 30 V resistive load
0.5 A DC 30 V inductive load (L/R = 40 ms)

Contact minimum recommended

12 V 100 mA
rating

Contact type Normally open

Closed when power applied and drive

Default contact condition
healthy

Update period 4 ms

30 Unidrive M600 Control User Guide

4.4 Safe Torque Off (STO) NOTE

Logic levels comply with IEC 61131-2:2007 for type 1 digital inputs rated
The Safe Torque Off function provides a means for preventing the drive
from generating torque in the motor, with a very high level of integrity. It at 24 V. Maximum level for logic low to achieve SIL3 and PL e 5 V and
0.5 mA.
is suitable for incorporation into a safety system for a machine. It is also
suitable for use as a conventional drive enable input. Lift (Elevator) Applications
The safety function is active when the STO input is in the logic-low state The Safe Torque Off function has been independently assessed for use
as specified in the control terminal specification. The function is defined as a safety component in lift (elevator) applications by Notified Body,
according to EN 61800-5-2 and IEC 61800-5-2 as follows. (In these TüV Nord:
standards a drive offering safety-related functions is referred to as a
PDS(SR)): The Unidrive M drives series with Safe Torque Off (STO) function if
applied according to the "Conditions of application" fulfil the safety
'Power that can cause rotation (or motion in the case of a linear motor) is requirements of the standards EN81-1, EN81-2, EN 81-50 and
not applied to the motor. The PDS(SR) will not provide energy to the EN60664-1and are in conformity with all relevant requirements of the
motor which can generate torque (or force in the case of a linear motor)' Directive 95/16/EC.
This safety function corresponds to an uncontrolled stop in accordance Certificate of Conformity
with stop category 0 of IEC 60204-1. Date of issue Models
number
The Safe Torque Off function makes use of the special property of an 44799 13196202 04-08-2015 M600
inverter drive with an induction motor, which is that torque cannot be
The Safe Torque Off function can be used to eliminate electro-
generated without the continuous correct active behaviour of the inverter
mechanical contactors, including special safety contactors, which would
circuit. All credible faults in the inverter power circuit cause a loss of
otherwise be required for safety applications.
torque generation.
For further information contact the supplier of the drive.
The Safe Torque Off function is fail-safe, so when the Safe Torque Off
input is disconnected the drive will not operate the motor, even if a UL Approval
combination of components within the drive has failed. Most component The Safe Torque Off function has been independently assessed by
failures are revealed by the drive failing to operate. Safe Torque Off is Underwriters Laboratories (UL). The on-line certification (yellow card)
also independent of the drive firmware. This meets the requirements of reference is: FSPC.E171230.
the following standards, for the prevention of operation of the motor.
Safety Parameters as verified by UL:
Machinery Applications
According to IEC 61508-1 to 7
The Safe Torque Off function has been independently assessed by Type Value
Notified Body, TüV Rheinland for use as a safety component of a
machine: Safety Rating SIL 3
SFF > 99 %
Prevention of unintended motor operation: The safety function "Safe
Torque Off" can be used in applications up to Cat 4. PL e according to
PFH (1/h) 4.43 x 10-10 1/h (<1 % of SIL 3
EN ISO 13849-1, SIL 3 according to EN 61800-5-2/ EN 62061/ IEC allowance)
61508, and in lift applications according to EN 81-1 and EN81-2. HFT 1
Beta Factor 2%
Type examination CFF Not applicable
Date of issue Models
certificate number
01.205/5270.01/14 11-11-2014 M600 According to EN ISO 13849-1

This certificate is available for download from the TüV Rheinland website Type Value
at: http://www.tuv.com Category 4
Safety Parameters as verified by TüV Rheinland: Performance Level (PL) e
According to IEC 61508-1 to 07 / EN 61800-5-2 / EN 62061 MTTFD 2574 years
Diagnostic coverage High
Percentage of SIL
Type Value CCF 65
3 allowance
Proof test interval 20 years Note on response time of Safe Torque Off, and use with safety
High demand or a continuous mode of operation controllers with self-testing outputs:
PFH (1/h) 4.21 x 10-11 1/h <1 % Safe Torque Off has been designed to have a response time of greater
Low demand mode of operation (not EN 61800-5-2) than 1 ms so that it is compatible with safety controllers whose outputs
are subject to a dynamic test with a pulse width not exceeding 1 ms.
PFDavg 3.68 x 10-6 <1%
Note on the use of servo motors, other permanent-magnet motors,
According to EN ISO 13849-1 reluctance motors and salient-pole induction motors:
Type Value Classification
When the drive is disabled through Safe Torque Off, a possible (although
Category 4 highly unlikely) failure mode is for two power devices in the inverter
Performance Level (PL) e circuit to conduct incorrectly.
MTTFD >2500 years High
DCavg ≥99 % High
Mission time 20 years

Unidrive M600 Control User Guide 31

This fault cannot produce a steady rotating torque in any AC motor. It

produces no torque in a conventional induction motor with a cage rotor. If
the rotor has permanent magnets and/or saliency, then a transient
alignment torque may occur. The motor may briefly try to rotate by up to
180° electrical, for a permanent magnet motor, or 90° electrical, for a
salient pole induction motor or reluctance motor. This possible failure
mode must be allowed for in the machine design.

The design of safety-related control systems must only be

done by personnel with the required training and experience.
The Safe Torque Off function will only ensure the safety of a
machine if it is correctly incorporated into a complete safety
WARNING
system. The system must be subject to a risk assessment to
confirm that the residual risk of an unsafe event is at an
acceptable level for the application.

Safe Torque Off inhibits the operation of the drive, this

includes inhibiting braking. If the drive is required to provide
both braking and Safe Torque Off in the same operation (e.g.
for emergency stop) then a safety timer relay or similar device
WARNING
must be used to ensure that the drive is disabled a suitable
time after braking. The braking function in the drive is
provided by an electronic circuit which is not fail-safe. If
braking is a safety requirement, it must be supplemented by
an independent fail-safe braking mechanism.

Safe Torque Off does not provide electrical isolation.

The supply to the drive must be disconnected by an approved
isolation device before gaining access to power connections.
WARNING

With Safe Torque Off there are no single faults in the drive which can
permit the motor to be driven. Therefore it is not necessary to have a
second channel to interrupt the power connection, nor a fault detection
circuit.

It is important to note that a single short-circuit from the Safe Torque Off
input to a DC supply of > 5 V could cause the drive to be enabled. This
can be excluded under EN ISO 13849-2 by the use of protected wiring.
The wiring can be protected by either of the following methods:

• By placing the wiring in a segregated cable duct or other enclosure.

• By providing the wiring with a grounded shield in a positive-logic

grounded control circuit. The shield is provided to avoid a hazard from
an electrical fault. It may be grounded by any convenient method; no
special EMC precautions are required.

It is essential to observe the maximum permitted voltage of

5 V for a safe low (disabled) state of Safe Torque Off. The
connections to the drive must be arranged so that voltage
drops in the 0V wiring cannot exceed this value under any
WARNING
loading condition. It is strongly recommended that the Safe
Torque Off circuit be provided with a dedicated 0V conductor
which should be connected to terminal 30 at the drive.
Safe Torque Off over-ride
The drive does not provide any facility to over-ride the Safe Torque Off
function, for example for maintenance purposes.
SISTEMA software utility
A library for use with the SISTEMA software utility providing relevant
parameters for Unidrive M Safe Torque Off function and SI-Safety
Module is available, please contact the supplier of the drive for further
info.

32 Unidrive M600 Control User Guide

5 Getting started Table 5-1 Keypad display formats

Display formats Value
This chapter introduces the user interfaces, menu structure and security IP Address 127.000.000.000
levels of the drive.
MAC Address 01ABCDEF2345
5.1 Understanding the display Time 12:34:56
The keypad can only be mounted on the drive. Date 31-12-11 or 12-31-11
5.1.1 KI-Keypad Version number 01.02.02.00
The KI-Keypad display consists of two rows of text. The upper row
shows the drive status or the menu and parameter number currently Character ABCD
being viewed. The lower row of the display line shows the parameter 32 bit number with decimal point 21474836.47
value or the specific trip type. The last two characters on the first row
16 bit binary number 0100001011100101
may display special indications. If more than one of these indications is
active then the indications are prioritized as shown in Table 5-2. Text M600
When the drive is powered up the lower row will show the power up Number 1.5 Hz
parameter defined by Parameter Displayed At Power-Up (11.022).
Figure 5-1 KI-Keypad Table 5-2 Active action icon
Row Priority
Active action icon Description
(1=top) in row
Accessing non-volatile
1 1
media card

Alarm active 1 2

Keypad real-time clock

1 3
battery low
or Drive security active and
1 4
locked or unlocked

Motor map 2 active 2 1

User program running 3 1

Keypad reference active 4 1

1. Escape button 5.2 Keypad operation

2. Start reverse (Auxiliary button) 5.2.1 Control buttons
3. Start forward
The keypad consists of:
4. Navigation keys (x4)
• Navigation Keys - Used to navigate the parameter structure and
5. Stop / Reset (red) button
change parameter values.
6. Enter button
• Enter / Mode button - Used to toggle between parameter edit and
NOTE view mode.
The red stop button is also used to reset the drive. • Escape / Exit button - Used to exit from parameter edit or view
mode. In parameter edit mode, if parameter values are edited and
The parameter value is correctly displayed in the lower row of the
the exit button pressed the parameter value will be restored to the
keypad display, see table below.
value it had on entry to edit mode.
• Start forward button - Use to provide a 'Run' command if keypad
mode is selected.
• Start reverse button - Used to control the drive if keypad mode is
selected and the reverse button is activated. If Enable Auxiliary Key
(06.013) = 1, then the keypad reference is toggled between run
forward and run reverse each time the button is pressed. If Enable
Auxiliary Key (06.013) = 2, then the button functions as a run
reverse key.
• Stop / Reset button - Used to reset the drive. In keypad mode can be
used for 'Stop'.

Unidrive M600 Control User Guide 33

Figure 5-2 Display modes

Status
Mode

Timeout Timeout Timeout

To enter Parameter or
Mode, press key or Press key
To return to Status Mode,
Press key

Parameter
When returning
Mode
to Parameter
Mode use the
Temporary
Parameter
Mode
To select parameter
Press
keys to select
another parameter
to change, if
required
To return to Parameter Mode,
Press key to keep the new parameter value
Press key to ignore the new parameter value and return
the parameter to the pre-edited value

To enter Edit Mode,

press key,

RO R/W
parameter parameter
Edit Mode
( is displayed)
(Character to be edited in lower line of display flashing)
Change parameter values using keys.

NOTE
The navigation keys can only be used to move between menus if Pr 00.049 has been set to show 'All Menus'. Refer to section 5.9 Parameter access
level and security on page 39.
5.2.2 Quick access mode 5.2.3 Keypad shortcuts
The quick access mode allows direct access to any parameter without In ‘parameter mode’:
scrolling through menus and parameters.
• If the up and down keypad buttons are pressed
To enter the quick access mode, press and hold the Enter button together, then the keypad display will jump to the start of the
on the keypad while in ‘parameter mode’. parameter menu being viewed, i.e. Pr 05.005 being viewed, when
Figure 5-3 Quick access mode the above buttons pressed together will jump to Pr 05.000.
• If the left and right keypad buttons are pressed together,
then the keypad display will jump to the last viewed parameter in
Menu 0.
In ‘parameter edit mode’:
Go to parameter
• If the up and down keypad buttons are pressed
together, then the parameter value of the parameter being edited will
be set to 0.
• If the left and right keypad buttons are pressed together, the
least significant digit (furthest right) will be selected on the keypad
display for editing.

34 Unidrive M600 Control User Guide

Figure 5-4 Mode examples 5.3 Menu structure

1 2 The drive parameter structure consists of menus and parameters.
The drive initially powers up so that only Menu 0 can be viewed. The up
and down arrow buttons are used to navigate between parameters and
once Pr 00.049 has been set to 'All Menus' the left and right buttons are
used to navigate between menus. For further information, refer to
section 5.9 Parameter access level and security on page 39
Figure 5-5 Parameter navigation

* *

3 4

* Can only be used to move between menus if all menus have

been enabled (Pr 00.049). Refer to section 5.9 Parameter
access level and security on page 39.

The menus and parameters roll over in both directions.

i.e. if the last parameter is displayed, a further press will cause the
display to rollover and show the first parameter.
When changing between menus the drive remembers which parameter
was last viewed in a particular menu and thus displays that parameter.
1. Parameter view mode: Read write or Read only Figure 5-6 Menu structure
2. Status mode: Drive healthy status
If the drive is ok and the parameters are not being edited or viewed, the
upper row of the display will show one of the following:
• ‘Inhibit’, ‘Ready’ or ‘Run’.
3. Status mode: Trip status
Menu 41 enu 2
When the drive is in trip condition, the upper row of the display will Menu 0 Menu 1 M

indicate that the drive has tripped and the lower row of the display will ....MM.000....
show the trip code. For further information regarding trip codes. refer to 41.029
00.050 01.050
41.028
Table 12-3 Trip indications on page 191. 41.027 00.049 01.049
41.026 00.048 01.048
4. Status mode: Alarm status 41.025 00.047 01.047
00.046 01.046
During an ‘alarm’ condition the upper row of the display flashes between
Option module menus (S.mm.ppp)*

the drive status (Inhibit, Ready or Run, depending on what is displayed)

and the alarm.
Moves
between
Do not change parameter values without careful parameters

consideration; incorrect values may cause damage or a

safety hazard.
WARNING

NOTE
When changing the values of parameters, make a note of the new 41.005
00.005 01.005
values in case they need to be entered again. 41.004
41.003 00.004 01.004
41.002 00.003 01.003
41.001 00.002 01.002
NOTE 01.001
00.001
For new parameter-values to apply after the line power supply to the
drive is interrupted, new values must be saved. Refer to section
5.7 Saving parameters on page 38.
Moves between Menus

* The option module menus (S.mm.ppp) are only displayed if option

modules are installed. Where S signifies the option module slot number
and the mm.ppp signifies the menu and the parameter number of the
option module's internal menus and parameter.

Unidrive M600 Control User Guide 35

5.4 Menu 0 5.5 Advanced menus

Menu 0 is used to bring together various commonly used parameters for The advanced menus consist of groups or parameters appropriate to a
specific function or feature of the drive. Menus 0 to 41 can be viewed on
basic easy set up of the drive. The parameters displayed in Menu 0 can
the KI-Keypad.
be configured in Menu 22.
Appropriate parameters are copied from the advanced menus into Menu The option module menus (S.mm.ppp) are only displayed if option
0 and thus exist in both locations. modules are installed. Where S signifies the option module slot number
and the mm.ppp signifies the menu and parameter number of the option
For further information, refer to Chapter 6 Basic parameters on page 41.
module’s internal menus and parameter.
Figure 5-7 Menu 0 copying
Table 5-3 Advanced menu descriptions
Menu 2
Menu Description
Commonly used basic set up parameters for quick / easy
0
02.021 5 programming
Menu 0
1 Frequency / Speed reference
2 Ramps
Menu 1 3 Speed feedback and speed control
00.004 5
00.005 0 4 Torque and current control
00.006 150
5 Motor control
01.014 0
6 Sequencer and clock
Menu 4 7 Analog I/O, Temperature monitoring
8 Digital I/O
Programmable logic, motorized pot, binary sum, timers and
9
04.007 150 scope
10 Status and trips
11 Drive set-up and identification, serial communications
12 Threshold detectors and variable selectors
13 Standard motion control
14 User PID controller
15 Option module slot 1 set-up menu
16 Option module slot 2 set-up menu
17 Option module slot 3 set-up menu
18 General option module application menu 1
19 General option module application menu 2
20 General option module application menu 3
21 Second motor parameters
22 Menu 0 set-up
23 Not allocated
28 Reserved menu
29 Reserved menu
30 Onboard user programming application menu
Slot 1 Slot 1 option menus*
Slot 2 Slot 2 option menus*
Slot 3 Slot 3 option menus*
*Only displayed when the option modules are installed.

36 Unidrive M600 Control User Guide

5.5.1 KI-Keypad set-up menu Table 5-5 Status indications

To enter the keypad set-up menu press and hold the escape Drive
Upper row
button on the keypad from status mode. All the keypad parameters are Description output
string
saved to the keypad non-volatile memory when exiting from the keypad stage
set-up menu. The drive is inhibited and cannot be run.
The Safe Torque Off signal is not applied to
To exit from the keypad set-up menu press the escape or or
Safe Torque Off terminals or Pr 06.015 is
Inhibit Disabled
set to 0. The other conditions that can
button. Below are the keypad set-up parameters.
prevent the drive from enabling are shown
Table 5-4 KI-Keypad set-up parameters as bits in Enable Conditions (06.010)
The drive is ready to run. The drive enable
Parameters Range Type Ready is active, but the drive inverter is not active Disabled
Classic English (0) because the final drive run is not active
English (1) Stop The drive is stopped / holding zero speed Enabled
German (2) Run The drive is active and running Enabled
Keypad.00 Language* French (3) RW
The drive is enabled in Regen mode and is
Italian (4) Scan Enabled
trying to synchronize to the supply
Spanish (5)
Chinese (6) Supply Loss Supply loss condition has been detected Enabled
Keypad.01 Show Units Off (0), On (1) RW The motor is being decelerated to zero
Deceleration speed / frequency because the final drive Enabled
Keypad.02 Backlight Level 0 to 100 % RW
run has been deactivated
01.01.10 to
Keypad.03 Keypad Date RO dc injection The drive is applying dc injection braking Enabled
31.12.99
Positioning / position control is active
00:00:00 to Position Enabled
Keypad.04 Keypad Time RO during an orientation stop
23:59:59
The drive has tripped and no longer
Show Raw Text Parameter
Keypad.05 Off (0), On (1) RW Trip controlling the motor. The trip code Disabled
Values
appears in the lower display
00.00.00.00 to
Keypad.06 Software Version RO The Regen unit is enabled and
99.99.99.99 Active Enabled
synchronized to the supply
00.00.00.00 to
Keypad. 07 Language version RO Under The drive is in the under voltage state
99.99.99.99 Disabled
Voltage either in low voltage or high voltage mode
Keypad. 08 Font version 0 to 1000 RO
Heat The motor pre-heat function is active Enabled
Keypad. 09 Show menu names Off or on RW
The drive is performing a ‘phasing test on
Phasing Enabled
NOTE enable’
It is not possible to access the keypad parameters via any
communications channel. 5.5.3 Alarm indications
An alarm is an indication given on the display by alternating the alarm
* The languages available will depend on the keypad software version.
string with the drive status string on the upper row and showing the
5.5.2 Display messages alarm symbol in the last character in the upper row. Alarms strings are
The following tables indicate the various possible mnemonics which can not displayed when a parameter is being edited, but the user will still see
be displayed by the drive and their meaning. the alarm character on the upper row.
Table 5-6 Alarm indications

Alarm string Description

Brake resistor overload. Braking Resistor Thermal
Brake Resistor Accumulator (10.039) in the drive has reached 75.0
% of the value at which the drive will trip.
Motor Protection Accumulator (04.019) in the drive
Motor Overload has reached 75.0 % of the value at which the drive
will trip and the load on the drive is >100 %.
Regen inductor overload. Inductor Protection
Accumulator (04.019) in the drive has reached
Ind Overload
75.0 % of the value at which the drive will trip and
the load on the drive is >100 %.
Drive over temperature. Percentage Of Drive
Drive Overload Thermal Trip Level (07.036) in the drive is greater
than 90 %.
The autotune procedure has been initialized and an
Auto Tune
autotune in progress.
Limit switch active. Indicates that a limit switch is
Limit Switch
active and that is causing the motor to be stopped.

Unidrive M600 Control User Guide 37

Table 5-7 Option module and NV media card and other status 5.6 Changing the operating mode
indications at power-up Changing the operating mode returns all parameters to their default
value, including the motor parameters. User security status (00.049) and
First row User security code (00.034) are not affected by this procedure).
Second row string Status
string
Procedure
Booting Parameters Parameters are being loaded Use the following procedure only if a different operating mode is
required:
Drive parameters are being loaded from a NV Media Card 1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 06.015
is Off (0)
Booting User Program User program being loaded 2. Enter either of the following values in Pr mm.000, as appropriate:
1253 (50Hz AC supply frequency)
User program is being loaded from a NV Media Card to the drive 1254 (60Hz AC supply frequency)
Option 3. Change the setting of Pr 00.048 as follows:
Booting User program being loaded
Program Pr 00.048 setting Operating mode
User program is being loaded from a NV Media Card to the option
module in slot X
Data being written to NV Media 1 Open-loop
Writing To NV Card
Card
Data is being written to a NV Media Card to ensure that its copy of the
drive parameters is correct because the drive is in Auto or Boot mode
2 RFC-A
Waiting For Power System Waiting for power stage

The drive is waiting for the processor in the power stage to respond
after power-up

Waiting For Options Waiting for an option module 3 RFC-S

The drive is waiting for the options modules to respond after power-up

Uploading
Options Loading parameter database 4 Regen
From
At power-up it may be necessary to update the parameter database Regen
held by the drive because an option module has changed or because
The figures in the second column apply when serial communications are
an applications module has requested changes to the parameter
used.
structure. This may involve data transfer between the drive an option
modules. During this period ‘Uploading From Options’ is displayed 4. Either:
• Press the red reset button
• Toggle the reset digital input
• Carry out a drive reset through serial communications by setting
Pr 10.038 to 100.
NOTE
Entering 1253 or 1254 in Pr mm.000 will only load defaults if the setting
of Pr 00.048 has been changed.

5.7 Saving parameters

When changing a parameter in Menu 0, the new value is saved when
pressing the Enter button to return to parameter view mode from
parameter edit mode.
If parameters have been changed in the advanced menus, then the
change will not be saved automatically. A save function must be carried
out.
Procedure
1. Select ‘Save Parameters'* in Pr mm.000 (alternatively enter a value
of 1001 in Pr mm.000)
2. Either:
• Press the red reset button
• Toggle the reset digital input, or
• Carry out a drive reset through serial communications by setting
Pr 10.038 to 100

38 Unidrive M600 Control User Guide

5.8 Restoring parameter defaults 5.9.1 User Security Level / Access Level
Restoring parameter defaults by this method saves the default values in The drive provides a number of different levels of security that can be set
the drives memory. User security status (00.049) and User security code by the user via User Security Status (00.049); these are shown in the
(00.034) are not affected by this procedure). table below.
Procedure
1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 06.015 User Security
Status Description
is Off (0)
(Pr 00.049)
2. Select 'Reset 50 Hz Defs' or 'Reset 60 Hz Defs' in Pr mm.000.
(alternatively, enter 1233 (50 Hz settings) or 1244 (60 Hz settings) in All writable parameters are available to be edited
Menu 0 (0)
Pr mm.000). but only parameters in Menu 0 are visible
3. Either: All parameters are visible and all writable
All menus (1)
• Press the red reset button parameters are available to be edited
• Toggle the reset digital input Read- only Access is limited to Menu 0 parameters only. All
• Carry out a drive reset through serial communications by setting Menu 0 (2) parameters are read-only
Pr 10.038 to 100 All parameters are read-only however all menus
Read-only (3)
and parameters are visible
The keypad remains in status mode and no
5.9 Parameter access level and security Status only (4)
parameters can be viewed or edited
The parameter access level determines whether the user has access to The keypad remains in status mode and no
Menu 0 only or to all the advanced menus (Menus 1 to 41) in addition to parameters can be viewed or edited. Drive
Menu 0. No access (5)
parameters cannot be accessed via a comms/
The User Security determines whether the access to the user is read fieldbus interface in the drive or any option module
only or read write.
5.9.2 Changing the User Security Level /Access
Both the User Security and Parameter Access Level can operate
Level
independently of each other as shown in Table 5-8.
The security level is determined by the setting of Pr 00.049 or Pr 11.044.
Table 5-8 Parameter access level and security The Security Level can be changed through the keypad even if the User
Security Code has been set.
User
User
security Menu 0 Advanced 5.9.3 User Security Code
Access level security
status status menu status The User Security Code, when set, prevents write access to any of the
(00.034)
(00.049) parameters in any menu.
0 Menu 0 None RW Not visible Setting User Security Code
1 All Menus None RW RW Enter a value between 1 and 2147483647 in Pr 00.034 and press the
Read-only Open RW Not visible button; the security code has now been set to this value. In order
2
Menu 0 Closed RO Not visible to activate the security, the Security level must be set to desired level in
Open RW RW Pr 00.049. When the drive is reset, the security code will have been
3 Read-only
Closed RO RO activated and the drive returns to Menu 0 and the symbol is
Open RW RW displayed in the right hand corner of the keypad display. The value of
4 Status only Pr 00.034 will return to 0 in order to hide the security code.
Closed Not visible Not visible
Open RW RW Unlocking User Security Code
5 No access
Closed Not visible Not visible Select a parameter that need to be edited and press the button,
The default settings of the drive are Parameter Access Level Menu 0 the upper display will now show ‘Security Code’. Use the arrow buttons
and user Security Open i.e. read / write access to Menu 0 with the to set the security code and press the button. With the correct
advanced menus not visible. security code entered, the display will revert to the parameter selected in
edit mode.
If an incorrect security code is entered, the following message ‘Incorrect
security code’ is displayed, then the display will revert to parameter view
mode.
Disabling User Security
Unlock the previously set security code as detailed above. Set Pr 00.034
to 0 and press the button. The User Security has now been
disabled, and will not have to be unlocked each time the drive is
powered up to allow read / write access to the parameters.

Unidrive M600 Control User Guide 39

5.10 Displaying parameters with non- Serial communications set-up parameters

The following parameters need to be set according to the system
default values only
requirements.
By selecting 'Show non-default' in Pr mm.000 (Alternatively, enter 12000
in Pr mm.000), the only parameters that will be visible to the user will be Serial communications set-up parameters
those containing a non-default value. This function does not require a
8 2 NP (0),
drive reset to become active. In order to deactivate this function, return
8 1 NP (1),
to Pr mm.000 and select 'No action' (alternatively enter a value of 0).
8 1 EP (2),
Please note that this function can be affected by the access level
8 1 OP (3), The drive only supports the
enabled, refer to section 5.9 Parameter access level and security on
8 2 NP M (4), Modbus RTU protocol and is
page 39 for further information regarding access level.
8 1 NP M (5), always a slave. This parameter
8 1 EP M (6), defines the supported data
Serial Mode 8 1 OP M (7), formats used by the EIA 485
5.11 Displaying destination parameters only (00.035) 7 2 NP (8), comms port (if installed) on the
By selecting 'Destinations' in Pr mm.000 (Alternatively enter 12001 in 7 1 NP (9), drive. This parameter can be
Pr mm.000), the only parameters that will be visible to the user will be 7 1 EP (10), changed via the drive keypad,
destination parameters. This function does not require a drive reset to 7 1 OP (11), via a option module or via the
become active. In order to deactivate this function, return to Pr mm.000 7 2 NP M (12), comms interface itself.
and select 'No action' (alternatively enter a value of 0). 7 1 NP M (13),
7 1 EP M (14),
Please note that this function can be affected by the access level
7 1 OP M (15)
enabled, refer to section 5.9 Parameter access level and security on
page 39 for further information regarding access level. 300 (0), This parameter can be
600 (1), changed via the drive keypad,
1200 (2), via a option module or via the
2400 (3), comms interface itself. If it is
5.12 Communications 4800 (4), changed via the comms
Serial Baud Rate
The Unidrive M600 drive offers a 2 wire EIA 485 interface. This enables 9600 (5), interface, the response to the
(00.036)
the drive set-up, operation and monitoring to be carried out with a PC or 19200 (6), command uses the original
controller if required. 38400 (7), baud rate. The master should
5.12.1 EIA 485 Serial communications 57600(8), wait at least 20 ms before
76800(9), sending a new message using
The EIA 485 interface provides two parallel RJ45 connectors allowing
115200 (10) the new baud rate.
easy daisy chaining. The drive only supports Modbus RTU protocol.
This parameter defines the
The serial communications port of the drive is a RJ45 socket, which is Serial Address serial address and an
isolated from the power stage and the other control terminals (see 1 to 247
(00.037) addresses between 1 and 247
section 4.2 Communication connections on page 25 for connection and are permitted.
isolation details). When the above parameters
The communications port applies a 2 unit load to the communications are modified the changes do
network. not have an immediate effect
Reset Serial
USB/EIA 232 to EIA 485 Communications on the serial communication
Communications 0 to 1
An external USB/EIA 232 hardware interface such as a PC cannot be system. The new values are
(00.052)
used directly with the 2-wire EIA 485 interface of the drive. Therefore a used after the next power up or
suitable converter is required. if Reset Serial Communications
is set to 1.
Suitable USB to EIA 485 and EIA 232 to EIA 485 isolated converters are
available from Control Techniques as follows:
NOTE
• CT USB Comms cable (CT Part No. 4500-0096) Please refer to section 8.7 CT Modbus RTU specification on page 97 for
• CT EIA 232 Comms cable (CT Part No. 4500-0087) further details on the CT Modbus RTU specification.
NOTE
When using the CT EIA 232 Comms cable the available baud rate is
limited to 19.2 k baud.

When using one of the above converters or any other suitable converter
with the drive, it is recommended that no terminating resistors be
connected on the network. It may be necessary to 'link out' the
terminating resistor within the converter depending on which type is
used. The information on how to link out the terminating resistor will
normally be contained in the user information supplied with the
converter.

40 Unidrive M600 Control User Guide

6 Basic parameters
Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. All the parameters in Menu 0 appear in other
menus in the drive (denoted by {…}). Menu 22 can be used to configure the parameters in Menu 0.

Parameter ranges and Variable minimum/maximums:

Some parameters in the drive have a variable range with a variable minimum and a variable maximum value which is dependent on one of the
following:
• The settings of other parameters
• The drive rating
• The drive mode
• Combination of any of the above

For more information please see section 11.1 Parameter ranges and Variable minimum/maximums: on page 114.

Unidrive M600 Control User Guide 41

6.1 Menu 0: Basic parameters

Range Default
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
00.001 Minimum Reference Clamp {01.007} VM_NEGATIVE_REF_CLAMP1 Hz / rpm 0 Hz / rpm RW Num US
50 Hz default:
50.0 Hz 50 Hz default: 1500.0 rpm
00.002 Maximum Reference Clamp1 {01.006} VM_POSITIVE_REF_CLAMP1 Hz / rpm RW Num US
60 Hz default: 60 Hz default: 1800.0 rpm
60.0 Hz
0.0 to
0.000 to VM_ACCEL_RATE
00.003 Acceleration Rate 1 {02.011} VM_ACCEL_RATE 5.0 s/100 Hz 2.000 s/1000 rpm RW Num US
s/1000 rpm
s/100 Hz
0.0 to
0.000 to VM_ACCEL_RATE
00.004 Deceleration Rate 1 {02.021} VM_ACCEL_RATE 10.0 s/100 Hz 2.000 s/1000 rpm RW Num US
s/1000 rpm
s/100 Hz
A1 A2 (0), A1 Preset (1), A2 Preset (2)
00.005 Reference Selector {01.014} Preset (3), Keypad (4), Precision (5) A1 A2 (0) RW Txt US
Keypad Ref (6)
00.006 Symmetrical Current Limit {04.007} 0.0 to VM_MOTOR1_CURRENT_LIMIT % 165.0 %* 175.0 %** RW Num RA US

Ur S (0), Ur (1),
Open-loop Control Mode / Action On Fixed (2),
{05.014} Ur I (4) RW Txt US
Enable Ur Auto (3), Ur I (4),
00.007 Square (5)
Speed Controller Proportional Gain
{03.010} 0.0000 to 200.000 s/rad 0.0100 s/rad RW Num US
Kp1
Low Frequency Voltage Boost {05.015} 0.0 to 25.0 % 3.0 % RW Num US
00.008
Speed Controller Integral Gain Ki1 {03.011} 0.00 to 655.35 s2/rad 0.05 s2/rad RW Num US
Dynamic V to F Select {05.013} Off (0) or On (1) Off (0) RW Bit US
00.009 Speed Controller Differential
{03.012} 0.00000 to 0.65535 1/rad 0.00000 1/rad RW Num US
Feedback Gain Kd 1
Motor Rpm {05.004} ±180000 rpm RO Num ND NC PT FI
00.010
Speed Feedback {03.002} VM_SPEED rpm RO Num ND NC PT FI
VM_SPEED_FREQ
00.011 Output Frequency {05.001} ±2000.0 Hz RO Num ND NC PT FI
_REF Hz
00.012 Current Magnitude {04.001} 0.000 to VM_DRIVE_CURRENT_UNIPOLAR A RO Bit ND NC PT FI
00.013 Torque Producing Current {04.002} VM_DRIVE_CURRENT A RO Bit ND NC PT FI
00.014 Torque Mode Selector {04.011} 0 or 1 0 to 5 0 RW Num US
Fast (0),
00.015 Ramp Mode {02.004} Standard (1), Fast (0), Standard (1) Standard (1) RW Txt US
Std boost (2)
00.016 Ramp Enable {02.002} Off (0) or On (1) On (1) RW Bit US
Digital Input 6 Destination {08.026} 0.000 to 59.999 06.031 RW Num DE PT US
00.017 Current Reference Filter 1 Time
{04.012} 0.0 to 25.0 ms 1.0 ms 2.0 ms RW Num US
Constant
4-20 mA Low (-4), 20-4 mA Low (-3),
4-20 mA Hold (-2), 20-4 mA Hold (-1), 0-20 mA (0),
00.019 Analog Input 2 Mode {07.011} Volt (6) RW Txt US
20-0 mA (1), 4-20 mA Trip (2), 20-4 mA Trip (3),
4-20 mA (4), 20-4 mA (5), Volt (6)
00.020 Analog Input 2 Destination {07.014} 00.000 to 59.999 01.037 RW Num DE PT US
Volt (6), Therm Short Cct (7),
00.021 Analog Input 3 Mode {07.015} Volt (6) RW Txt US
Thermistor (8), Therm No Trip (9)
00.022 Bipolar Reference Enable {01.010} Off (0) or On (1) Off (0) RW Bit US
00.023 Jog Reference {01.005} 0.0 to 400.0 Hz 0.0 to 4000.0 rpm 0.0 Hz / rpm RW Num US
00.024 Preset Reference 1 {01.021} VM_SPEED_FREQ_REF Hz / rpm 0.0 Hz / rpm RW Num US
00.025 Preset Reference 2 {01.022} VM_SPEED_FREQ_REF Hz / rpm 0.0 Hz / rpm RW Num US
VM_SPEED_
Preset Reference 3 {01.023} 0.0 Hz RW Num US
00.026 FREQ_REF Hz
Overspeed Threshold {03.008} 0 to 40000 rpm 0 rpm RW Num US
VM_SPEED_FREQ
00.027 Preset Reference 4 {01.024} 0.0 Hz RW Num US
_REF Hz
00.028 Enable Auxiliary Key {06.013} Disabled (0), Forward / Reverse (1), Reverse (2) Disabled (0) RW Txt US
NV Media Card File Previously
00.029 {11.036} 0 to 999 0 RO Num NC PT
Loaded
00.030 Parameter Cloning {11.042} None (0), Read (1), Program (2), Auto (3), Boot (4) None (0) RW Txt NC US
00.031 Rated Voltage {11.033} 200 V (0), 400 V (1), 575 V (2), 690 V (3) RO Txt ND NC PT
00.032 Maximum Heavy Duty Rating {11.032} 0.000 to 99999.999 A RO Num ND NC PT

42 Unidrive M600 Control User Guide

Range Default
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
Disable (0),
Enable (1),
Catch A Spinning Motor {06.009} Disable (0) RW Txt US
Fwd Only (2),
Rev Only (3)

00.033 Disabled (0),

Classic slow (1),
Classic fast (2),
Rated Speed Optimization Select {05.016} Disabled (0) RW Txt US
Combined (3),
VARs only (4),
Voltage only (5)
00.034 User Security Code {11.030} 0 to 2147483647 0 RW Num ND NC PT US
8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3),
8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6),
00.035 Serial Mode {11.024} 8 1 OP M (7), 7 2 NP (8), 7 1 NP (9), 7 1 EP (10), 8 2 NP (0) RW Txt US
7 1 OP (11), 7 2 NP M (12), 7 1 NP M (13),
7 1 EP M (14), 7 1 OP M (15)
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
00.036 Serial Baud Rate {11.025} 9600 (5), 19200 (6), 38400 (7), 57600 (8), 19200 (6) RW Txt US
76800 (9), 115200 (10)
00.037 Serial Address {11.023} 1 to 247 1 RW Num US
00.038 Current Controller Kp Gain {04.013} 0 to 30000 20 150 RW Num US
00.039 Current Controller Ki Gain {04.014} 0 to 30000 40 2000 RW Num US
00.040 Auto-tune {05.012} 0 to 2 0 to 5 0 to 6 0 RW Num NC
2 (0) kHz, 3 (1) kHz, 4 (2) kHz, 6 (3) kHz, 8 (4) kHz,
00.041 Maximum Switching Frequency {05.018} 3 (1) kHz RW Txt RA US
12 (5) kHz, 16 (6) kHz
00.042 Number Of Motor Poles {05.011} Automatic (0) to 480 Poles (240) Automatic (0) 8 Poles (4) RW Num US
00.043 Rated Power Factor*** {05.010} 0.000 to 1.000 0.850 RW Num RA US
200V drive: 230V
50Hz default 400V drive: 400V
00.044 Rated Voltage {05.009} 0 to VM_AC_VOLTAGE_SET V 60Hz default 400V drive: 460V RW Num RA US
575V drive: 575V
690V drive: 690V
Eur - 1500 Eur -
0.00 to 0.00 to
0 to rpm 1450.00 rpm 3000.00
00.045 Rated Speed {05.008} 33000.00 33000.00 RW Num US
33000 rpm USA - 1800 USA - rpm
rpm rpm
rpm 1750.00 rpm
Maximum Heavy Duty Rating (Pr 00.032
00.046 Rated Current {05.007} 0.000 to VM_RATED_CURRENT A RW Num RA US
{11.032}) A
50Hz: 50.0
Rated Frequency {05.006} 0.0 to 550.0 Hz RW Num US
60Hz: 60.0
00.047
0 to 10000 V 98 V /
Volts per 1000 rpm {05.033} RW Num US
/ 1000 rpm 1000 rpm
00.048 User Drive Mode {11.031} Open-loop (1), RFC-A (2), RFC-S (3), Regen (4) Open-loop (1) RFC-A (2) RFC-S (3) RW Txt ND NC PT
Menu 0 (0), All Menus (1), Read-only Menu 0 (2),
00.049 User Security Status {11.044} Menu 0 (0) RW Txt ND PT
Read-only (3), Status Only (4), No Access (5)
00.050 Software Version {11.029} 0 to 99999999 RO Num ND NC PT
00.051 Action On Trip Detection {10.037} 00000 to 11111 00000 RW Bin US

00.052 Reset Serial Communications {11.020} Off (0) or On (1) Off (0) RW Bit ND NC
Motor Thermal Time
00.053 {04.015} 1.0 to 3000.0 s 89.0 s RW Num US
Constant 1
Injection (0),
Non-
salient (1) Non-
00.054 RFC Low Speed Mode {05.064} RW Txt US
Current (2), salient (1)
Current No
Test (3)
Low Speed Sensorless 0.0 to
00.055 {05.071} 20.0 % RW Num RA US
Mode Current 1000.0 %
0.000 to
00.056 No-load Lq {05.072} 0.000 mH RW Num RA US
500.000 mH
Iq Test Current For
00.057 {05.075} 0 to 200 % 100 % RW Num US
Inductance Measurement
Phase Offset At Iq Test
00.058 {05.077} ±90.0 ° 0.0 ° RW Num RA US
Current
Lq At The Defined Iq Test 0.000 to
00.059 {05.078} 0.000 mH RW Num RA US
Current 500.000 mH
Id Test Current for
00.060 {05.082} -100 to 0 % -50 % RW Num US
Inductance Measurement
Lq At The Defined Id Test 0.000 to
00.061 {05.084} 0.000 mH RW Num RA US
Current 500.000 mH
* For size 9 and above the default is 141.9 %
** For size 9 and above the default is 150.0 %
*** Following a rotating autotune Pr 00.043 {05.010} is continuously written by the drive, calculated from the value of Stator Inductance (Pr 05.025). To manually enter a value into Pr 00.043 {05.010},
Pr 05.025 will need to be set to 0. Please refer to the description of Pr 05.010 in the Parameter Reference Guide for further details

Unidrive M600 Control User Guide 43

Figure 6-1 Menu 0 logic diagram

28 29

Analog reference
5
6

Analog
Input 2
Destination
Any
00.020 unprotected
Analog variable
parameter
Input Analog
2 Mode ??.??
Reference 2
7 00.019 01.037
??.??

01.015 01.050 Pr 01.050

set >1 Bipolar
Reference
Reference Enable
Selector 00.022
Preset frequency 00.005
reference
Preset
00.024 Reference 1 A1.A2
Preset 0
00.025 A1.Preset 1
Reference 2
Open Loop only A2.Preset 2
Preset Preset
00.026 3
Reference 3
Keypad
00.027 Preset 4
Reference 4 Precision
5
Keypad Ref
6
Keypad reference

00.023
Jog Reference

00.028 Enable Auxiliary Key

Precision reference

Key

X X Input Read-write (RW)

terminals 00.XXX parameter

X X Output 00.XXX Read-only (RO)

terminals parameter

The parameters are all shown in their default settings

44 Unidrive M600 Control User Guide

RUN RUN OL> FREQUENCY

FORWARD REVERSE RESET RFC-A, RFC-S> SPEED TORQUE AT ZERO SPEED
26 27 25 9 10 24

Analog outputs Digital output

Motor control
Maximum
Reference 00.006 Current
Limit
Clamp
Ramp 00.014 Torque Mode
00.002 Selector
Enable OL> Catch A
00.033
Minimum 00.016 Spinning Motor
Reference RFC-A
Clamp > Rated Speed
00.001 Optimisation Select
00.017 RFC-A,RFC-S>
Current Reference
Filter 1 Time
RFC-A, RFC-S modes only
Constant

Ramps
Motor parameters
00.042 ~ 00.047
Number Of Motor Poles
Rated Power Factor
RFC-A, Rated Voltage
RFC-S>Speed-loop PIDgains Rated Speed
Speed Rated Current
00.007 Controller Rated Frequency
Proportional
00.003 Gain KP1
Acceleration Speed
00.008
Rate 1 Controller
Integral RFC-A,
Gain KI1 OL>Motor-voltage control RFC-S
00.004
Deceleration 00.007 L1 L2 L3 Drive
Rate 1 Open Loop
Control Mode
00.015 00.010
00.009 Speed Controller
Differential 00.008
Ramp Mode Estimated Low Frequency
Feedback
Gain Kd1 Motor rpm Voltage Boost
_ +
00.009
Speed Dynamic V to F
Feedback Select

00.010

Power stage _ +
00.041 Maximum Switching
Sensorless Frequency
position 00.011 Output Frequency
estimator

RFC-A Current
RFC-S Magnitude
Torque 00.013 00.012
_
Producing U V W + BR
Current

Magnetising
Current
Resistor
optional

Unidrive M600 Control User Guide 45

6.2 Parameter descriptions

6.2.1 Pr mm.000
Pr mm.000 is available in all menus, commonly used functions are provided as text strings in Pr mm.000 shown in Table 6-1. The functions in Table
6-1 can also be selected by entering the appropriate numeric values (as shown in Table 6-2) in Pr mm.000. For example, enter 4001 in Pr mm.000 to
store drive parameters on an NV media card.
Table 6-1 Commonly used functions in xx.000

Value Equivalent value String Action

0 0 [No Action]

1001 1 [Save parameters] Save parameter under all conditions

6001 2 [Load file 1] Load the drive parameters or user program file from NV media card file 001

4001 3 [Save to file 1] Transfer the drive parameters to parameter file 001

6002 4 [Load file 2] Load the drive parameters or user program file from NV media card file 002

4002 5 [Save to file 2] Transfer the drive parameters to parameter file 002

6003 6 [Load file 3] Load the drive parameters or user program file from NV media card file 003

4003 7 [Save to file 3] Transfer the drive parameters to parameter file 003

12000 8 [Show non-default] Displays parameters that are different from defaults

12001 9 [Destinations] Displays parameters that are set

1233 10 [Reset 50Hz Defs] Load parameters with standard (50 Hz) defaults

1244 11 [Reset 60Hz Defs] Load parameters with US (60 Hz) defaults

1070 12 [Reset modules] Reset all option modules

11001 13 [Read Enc. NP P1]

No function
11051 14 [Read Enc. NP P2]

46 Unidrive M600 Control User Guide

Table 6-2 Functions in Pr mm.000

Value Action
Save parameters when Under Voltage Active (Pr 10.016) is not active and Low Under Voltage Threshold Select mode (Pr 06.067 = Off)
1000
is not active.
1001 Save parameter under all conditions
1070 Reset all option modules
1233 Load standard (50 Hz) defaults
1234 Load standard (50 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28)
1244 Load US (60 Hz) defaults
1245 Load US (60 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28)
1253 Change drive mode and load standard (50 Hz) defaults
1254 Change drive mode and load US (60 Hz) defaults
1255 Change drive mode and load standard (50 Hz) defaults except for menus 15 to 20 and 24 to 28
1256 Change drive mode and load US (60 Hz) defaults except for menus 15 to 20 and 24 to 28
1299 Reset {Stored HF} trip.
2001* Create a boot file on a non-volatile media card based on the present drive parameters including all Menu 20 parameters
4yyy* NV media card: Transfer the drive parameters to parameter file xxx
5yyy* NV media card: Transfer the onboard user program to onboard user program file xxx
6yyy* NV media card: Load the drive parameters from parameter file xxx or the onboard user program from onboard user program file xxx
7yyy* NV media card: Erase file xxx
8yyy* NV Media card: Compare the data in the drive with file xxx
9555* NV media card: Clear the warning suppression flag
9666* NV media card: Set the warning suppression flag
9777* NV media card: Clear the read-only flag
9888* NV media card: Set the read-only flag
9999* NV media card: Erase and format the NV media card
59999 Delete onboard user program
12000** Only display parameters that are different from their default value. This action does not require a drive reset.
12001** Only display parameters that are used to set-up destinations (i.e. DE format bit is 1). This action does not require a drive reset.
40yyy Back-up all drive data.
60yyy Load all drive data.
* See Chapter 9 NV Media Card Operation on page 104 for more information on these functions.
** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function.
To allow easy access to some commonly used functions, refer to the table overleaf. Equivalent values and strings are also provided in the table
above.

Unidrive M600 Control User Guide 47

6.3 Full descriptions RFC-A / RFC-S

Set Pr 00.001 at the required minimum motor speed for both directions
Table 6-3 Key to parameter table coding of rotation. The drive speed reference is scaled between Pr 00.001 and
Pr 00.002.
Coding Attribute
RW Read/Write: can be written by the user 00.002 {01.006} Maximum Reference Clamp
RO Read only: can only be read by the user
RW Num US
Bit 1 bit parameter. ‘On’ or ‘Off’ on the display
50Hz default: 50.0 Hz
Num Number: can be uni-polar or bi-polar OL
60Hz default: 60.0 Hz
VM_POSITIVE_REF_
Txt Text: the parameter uses text strings instead of numbers.
RFC-A  CLAMP1 Hz / rpm

50Hz default:1500.0 rpm
Bin Binary parameter
RFC-S 60Hz default:1800.0 rpm
IP IP Address parameter
Mac Mac Address parameter
(The drive has additional over-speed protection).
Date Date parameter
Open-loop
Time Time parameter
Chr Character parameter Set Pr 00.002 at the required maximum output frequency for both
directions of rotation. The drive speed reference is scaled between
Filtered: some parameters which can have rapidly changing
Pr 00.001 and Pr 00.002. [00.002] is a nominal value; slip compensation
FI values are filtered when displayed on the drive keypad for
may cause the actual frequency to be higher.
easy viewing.
RFC-A / RFC-S
Destination: This parameter selects the destination of an
DE Set Pr 00.002 at the required maximum motor speed for both directions
input or logic function.
Rating dependent: this parameter is likely to have different of rotation. The drive speed reference is scaled between Pr 00.001 and
Pr 00.002.
values and ranges with drives of different voltage and
current ratings. Parameters with this attribute will be For operating at high speeds see section 8.6 High speed operation on
transferred to the destination drive by non-volatile storage page 95.
RA media when the rating of the destination drive is different
from the source drive and the file is a parameter file. 6.3.3 Ramps, speed reference selection, current
However, the values will be transferred if only the current limit
rating is different and the file is a difference from default
00.003 {02.011} Acceleration Rate 1
type file.
RW Num US
No default: The parameter is not modified when defaults are
ND
loaded OL 0.0 to VM_ACCEL_RATE 5.0 s/100 Hz
Not copied: not transferred to or from non-volatile media
NC RFC-A  0.000 to 
during copying. 2.000 s/1000 rpm
RFC-S VM_ACCEL_RATE
PT Protected: cannot be used as a destination.
User save: parameter saved in drive EEPROM when the
US Set Pr 00.003 at the required rate of acceleration.
user initiates a parameter save.
Note that larger values produce lower acceleration. The rate applies in
Power-down save: parameter automatically saved in drive
PS both directions of rotation.
EEPROM when the under volts (UV) state occurs.

6.3.1 Parameter x.00 00.004 {02.021} Deceleration Rate 1

00.000 RW Num US
Parameter zero
{mm.000} OL 0.0 to VM_ACCEL_RATE 10.0 s/100 Hz
RW Num ND NC PT
RFC-A  0.000 to 
 0 to 65,535  2.000 s/1000 rpm
RFC-S VM_ACCEL_RATE

6.3.2 Speed limits Set Pr 00.004 at the required rate of deceleration.

00.001 {01.007} Minimum Reference Clamp Note that larger values produce lower deceleration. The rate applies in
RW Num US both directions of rotation.

OL 0.0 Hz
VM_NEGATIVE_REF_
RFC-A  CLAMP1 Hz / rpm

0.0 rpm
RFC-S

(When the drive is jogging, [00.001] has no effect.)

Open-loop
Set Pr 00.001 at the required minimum output frequency of the drive for
both directions of rotation. The drive speed reference is scaled between
Pr 00.001 and Pr 00.002. [00.001] is a nominal value; slip compensation
may cause the actual frequency to be higher.

48 Unidrive M600 Control User Guide

6.3.4 Voltage boost, (open-loop), Speed-loop PID

00.005 {01.014} Reference Selector gains (RFC-A / RFC-S)
RW Txt US
A1 A2 (0), 00.007 {05.014} Open-loop Control Mode (OL)
OL
A1 Preset (1), 00.007 {03.010} Speed Controller Proportional Gain Kp1 (RFC)
RFC-A A2 Preset (2),
 Preset (3), Keypad (4),
 A1 A2 (0)
RW
Txt /
US
Num
RFC-S Precision (5),
Ur S (0), Ur (1),
Keypad Ref (6)
OL  Fixed (2), Ur Auto (3),  Ur I (4)
Use Pr 00.005 to select the required frequency/speed reference as Ur I (4), Square (5)
follows: RFC-A
Setting Description  0.0000 to 200.000 s/rad  0.0100 s/rad
RFC-S
Analog input 1 OR analog input 2 selectable by
A1 A2 0
digital input, terminal 28 Open-loop
A1 Preset 1 Analog input 1 OR preset frequency/speed There are six voltage modes available, which fall into two categories,
A2 Preset 2 Analog input 2 OR preset frequency/speed vector control and fixed boost. For further details, refer to section
Preset 3 Pre-set frequency/speed 8.1.1 Open loop motor control on page 79.
Keypad 4 Keypad mode RFC-A/ RFC-S
Precision 5 Precision reference Pr 00.007 (03.010) operates in the feed-forward path of the speed-
Keypad Ref 6 Keypad Reference control loop in the drive. See Figure 11-4 Menu 3 RFC-A, RFC-S logic
diagram on page 132 for a schematic of the speed controller. For
information on setting up the speed controller gains, refer to Chapter
00.006 {04.007} Symmetrical Current Limit 8 Optimization on page 79.
RW Num US 00.008 {05.015} Low Frequency Voltage Boost (OL)
OL 165 % 00.008 {03.011} Speed Controller Integral Gain Ki1 (RFC)
0.0 to VM_MOTOR1_
RFC-A  CURRENT_LIMIT %
 RW Num US
175 %
RFC-S OL  0.0 to 25.0 %  3.0 %
RFC-A
Pr 00.006 limits the maximum output current of the drive (and hence  0.00 to 655.35 s2/rad  0.05 s2/rad
maximum motor torque) to protect the drive and motor from overload. RFC-S
Set Pr 00.006 at the required maximum torque as a percentage of the
rated torque of the motor, as follows: Open-loop
TR When Open-loop Control Mode (00.007) is set at Fd or SrE, set
[ 00.006 ] = -------------------- × 100 (%) Pr 00.008 (05.015) at the required value for the motor to run reliably at
T RATED
low speeds.
Where: Excessive values of Pr 00.008 can cause the motor to be overheated.
TR Required maximum torque
RFC-A/ RFC-S
TRATED Motor rated torque
Pr 00.008 (03.011) operates in the feed-forward path of the speed-
control loop in the drive. For information on setting up the speed
Alternatively, set Pr 00.006 at the required maximum active (torque- controller gains See section 11.4 Menu 3: Speed feedback and speed
producing) current as a percentage of the rated active current of the control on page 131. For information on setting up the speed controller
motor, as follows: gains, refer to Chapter 8 Optimization on page 79.
I R
[ 00.006 ] = ------------------- × 100 (%) 00.009 {05.013} Dynamic V to F Select (OL)
IRATED
Speed Controller Differential Feedback Gain
Where: 00.009 {03.012}
Kd 1 (RFC)
IR Required maximum active current RW Bit US
IRATED Motor rated active current OL  Off (0) or On (1)  Off (0)

RFC-A 0.00000 to
 0.65535 1/rad
 0.00000 1/rad
RFC-S

Open-loop
Set Pr 00.009 (05.013) at 0 when the V/f characteristic applied to the
motor is to be fixed. It is then based on the rated voltage and frequency
of the motor.
Set Pr 00.009 at 1 when reduced power dissipation is required in the
motor when it is lightly loaded. The V/f characteristic is then variable
resulting in the motor voltage being proportionally reduced for lower
motor currents. Figure 6-2 shows the change in V/f slope when the
motor current is reduced.

Unidrive M600 Control User Guide 49

Figure 6-2 Fixed and variable V/f characteristics

00.012 {04.001} Current Magnitude
RO Bit FI ND NC PT
Motor OL
voltage 0.000 to
AC supply
RFC-A  VM_DRIVE_CURRENT_ 
voltage UNIPOLAR A
IMOTOR RFC-S

Pr 00.012 displays the rms value of the output current of the drive in
each of the three phases. The phase currents consist of an active
component and a reactive component, which can form a resultant
current vector as shown in the following diagram:

Frequency Active Total current

current

RFC-A / RFC-S
Pr 00.009 (03.012) operates in the feedback path of the speed-control
loop in the drive. See Figure 11-4 Menu 3 RFC-A, RFC-S logic
diagram on page 132 for a schematic of the speed controller. For
information on setting up the speed controller gains, refer to Chapter
8 Optimization on page 79. Magnetising current
The active current is the torque producing current and the reactive
6.3.5 Monitoring
current is the magnetizing or flux-producing current.
00.010 {05.004} Motor Rpm
RO Bit US
00.013 {04.002} Torque Producing Current
OL  ±180000 rpm  RO Bit FI ND NC PT
Open-loop OL
Pr 00.010 (05.004) indicates the value of motor speed that is estimated RFC-A  VM_DRIVE_CURRENT A 
from the following:
RFC-S
02.001 Post Ramp Reference
00.042 Number Of Motor Poles
When the motor is being driven below its rated speed, the torque is
00.010 {03.002} Speed Feedback proportional to [00.013].
RO Num FI ND NC PT
6.3.6 Jog reference, Ramp mode selector, Stop and
RFC-A torque mode selectors
 VM_SPEED rpm 
RFC-S Pr 00.014 is used to select the required control mode of the drive as
follows:
RFC-A / RFC-S
Pr 00.010 (03.002) indicates the value of motor speed that is obtained 00.014 {04.011} Torque Mode Selector
from the speed feedback. RW Num US
00.011 {05.001} Output Frequency (OL and RFC-A) OL  0 or 1  0
RO Num FI ND NC PT RFC-A
OL VM_SPEED_FREQ_R
 0 to 5  0
 RFC-S
RFC-A EF Hz 
RFC-S  ±2000.0 Hz Setting Open-Loop RFC-A/S

Open-loop / RFC-A / RFC-S 0 Frequency control Speed control

1 Torque control Torque control
Pr 00.011 displays the frequency at the drive output.
2 Torque control with speed override
3 Coiler/uncoiler mode
Speed control with torque feed-
4
forward
Bi-directional torque control with
5
speed override

50 Unidrive M600 Control User Guide

00.015 {02.004} Ramp Mode Select 00.017 {08.026} Digital Input 6 Destination
RW Num DE PT US
RW Txt US
Fast (0), Standard (1), OL  00.000 to 59.999  06.031
OL  Std boost (2)
 Standard (1)
Open-loop
RFC-A
 Fast (0), Standard (1)  Standard (1) Pr 00.017 sets the destination of digital input T29.
RFC-S
00.017 {04.012} Current Reference Filter Time Constant
Pr 00.015 sets the ramp mode of the drive as shown below: RW Num US
0: Fast ramp RFC-A 1.0 ms
Fast ramp is used where the deceleration follows the programmed  0.0 to 25.0 ms 
RFC-S 2.0 ms
deceleration rate subject to current limits. This mode must be used if a
braking resistor is connected to the drive.
RFC-A / RFC-S
1: Standard ramp
A first order filter, with a time constant defined by Pr 00.017, is provided
Standard ramp is used. During deceleration, if the voltage rises to the on the current demand to reduce acoustic noise and vibration produced
standard ramp level (Pr 02.008) it causes a controller to operate, the as a result of position feedback quantisation noise. The filter introduces
output of which changes the demanded load current in the motor. As the a lag in the speed loop, and so the speed loop gains may need to be
controller regulates the link voltage, the motor deceleration increases as reduced to maintain stability as the filter time constant is increased.
the speed approaches zero speed. When the motor deceleration rate
reaches the programmed deceleration rate the controller ceases to 00.019 {07.011} Analog Input 2 Mode
operate and the drive continues to decelerate at the programmed rate. If RW Num US
the standard ramp voltage (Pr 02.008) is set lower than the nominal DC OL 4-20 mA Low (-4),
bus level the drive will not decelerate the motor, but it will coast to rest. 20-4 mA Low (-3),
The output of the ramp controller (when active) is a current demand that RFC-A 4-20 mA Hold (-2),
is fed to the frequency changing current controller (Open-loop modes) or 20-4 mA Hold (-1),
the torque producing current controller (RFC-A or RFC-S modes). The  0-20 mA (0), 20-0 mA (1),
 Volt (6)
gain of these controllers can be modified with Pr 00.038 {04.013} and Pr RFC-S 4-20 mA Trip (2),
00.039 {04.014}. 20-4 mA Trip (3), 4-20 mA
(4), 20-4 mA (5), Volt (6)
Controller
operational
In modes 2 and 3, a current loop loss trip is generated if the current falls
below 3 mA.
DC Bus voltage In modes -4, -3, 2 and 3 the analog input level goes to 0.0 % if the input
current falls below 3 mA.
In modes -2 and -1 the analog input remains at the value it had in the
previous sample before the current fell below 3 mA.

Pr Value Pr string Comments

Motor Speed
4-20 mA low value on
Programmed -4 4-20 mA Low
deceleration current loss (1)
rate
20-4 mA low value on
-3 20-4 mA Low
current loss (1)
4-20 mA hold at level before
-2 4-20 mA Hold
loss on current loss
t
20-4 mA hold at level before
-1 20-4 mA Hold
2: Standard ramp with motor voltage boost loss on current loss
This mode is the same as normal standard ramp mode except that the 0 0-20 mA
motor voltage is boosted by 20 %. This increases the losses in the 1 20-0 mA
motor, dissipating some of the mechanical energy as heat giving faster 2 4-20 mA Trip 4-20 mA trip on current loss
deceleration. 3 20-4 mA Trip 20-4 mA trip on current loss
00.016 {02.002} Ramp Enable 4 4-20 mA
RW Bit US 5 20-4 mA
OL   6 Volt

RFC-A
 Off (0) or On (1)  On (1) 00.020 {07.014} Analog Input 2 Destination
RFC-S
RW Num DE PT US
Setting Pr 00.016 to 0 allows the user to disable the ramps. This is OL
generally used when the drive is required to closely follow a speed
reference which already contains acceleration and deceleration ramps. RFC-A  00.000 to 59.999  01.037

RFC-S

Pr 00.020 sets the destination of analog input 2.

Unidrive M600 Control User Guide 51

00.021 {07.015} Analog Input 3 Mode 00.025 {01.022} Preset Reference 2

RW Txt US RW Num US
OL Volt (6), OL
Therm Short Cct (7), VM_SPEED_FREQ_
RFC-A  Thermistor (8),
 Volt (6) RFC-A  REF Hz / rpm
 0.0 Hz / rpm

RFC-S Therm No Trip (9) RFC-S

Pr value Pr string Comments 00.026 {01.023} Preset Reference 3 (OL)

6 Volt 00.026 {03.008} Overspeed Threshold (RFC)

Temperature measurement input with RW Num US

7 Therm Short Cct VM_SPEED_FREQ_R
short circuit detection OL 
Temperature measurement without short EF Hz
8 Thermistor  0.0 Hz / rpm
circuit detection RFC-A
Temperature measurement input with no  0 to 40000 rpm
9 Therm No Trip RFC-S
trips
Open-loop
00.022 {01.010} Bipolar Reference Enable If the preset reference has been selected (see Pr 00.005), the speed at
which the motor runs is determined by these parameters.
RW Bit US
RFC-A / RFC-S
OL
If the speed feedback Pr 00.010 {03.002} exceeds this level in either
RFC-A  Off (0) or On (1)  Off (0) direction, an overspeed trip is produced. If this parameter is set to zero,
the overspeed threshold is automatically set to 120 % x
RFC-S
SPEED_FREQ_MAX.
Pr 00.022 determines whether the reference is uni-polar or bi-polar as
follows: 00.027 {01.024} Preset Reference 4 (OL)
Pr 00.022 Function RW Num US
VM_SPEED_FREQ_R
OL  EF Hz
 0.0
0 Unipolar speed/frequency reference
RFC-A
 
RFC-S

1 Bipolar speed/frequency reference

Open-loop
Refer to Pr 00.024 to Pr 00.026.

00.023 {01.005} Jog Reference 00.028 {06.013} Enable Auxiliary Key

RW Num US RW Txt US
OL  0.0 to 400.0 Hz  0.0 OL
RFC-A Disabled (0), Forward /
RFC-A  Reverse (1), Reverse (2)  Disabled (0)
 0.0 to 4000.0 rpm  0.0
RFC-S RFC-S

Enter the required value of jog frequency/speed. When a keypad is installed, this parameter enables the forward/reverse
The frequency/speed limits affect the drive when jogging as follows: key.

Frequency-limit parameter Limit applies

00.029 {11.036} NV Media Card File Previously Loaded
Pr 00.001 Minimum reference clamp No
Pr 00.002 Maximum reference clamp Yes RO Num NC PT
OL

00.024 {01.021} Preset Reference 1 RFC-A  0 to 999  0

RW Num US RFC-S
OL
This parameter shows the number of the data block last transferred from
VM_SPEED_FREQ_
RFC-A  REF Hz / rpm
 0.0 Hz / rpm a NV Media Card to the drive.
RFC-S

52 Unidrive M600 Control User Guide

Open-loop
00.030 {11.42} Parameter Cloning When the drive is enabled with Pr 00.033 = 0, the output frequency
RW Txt NC US* starts at zero and ramps to the required reference. When the drive is
enabled when Pr 00.033 has a non-zero value, the drive performs a
OL
None (0), Read (1), start-up test to determine the motor speed and then sets the initial output
RFC-A  Program (2), Auto (3),  None (0) frequency to the synchronous frequency of the motor. Restrictions may
Boot (4) be placed on the frequencies detected by the drive as follows:
RFC-S

* Only a value of 3 or 4 in this parameter is saved. Pr 00.033 Pr string Function

0 Disable Disabled
NOTE
1 Enable Detect all frequencies
If Pr 00.030 is equal to 1 or 2, this value is not transferred to the
EEPROM or the drive. If Pr 00.030 is set to a 3 or 4 the value is 2 Fwd only Detect positive frequencies only
transferred. 3 Rev only Detect negative frequencies only

Pr Pr RFC-A
Comment
String value
The motor rated full load rpm parameter (Pr 00.045) in conjunction with
None 0 Inactive the motor rated frequency parameter (Pr 00.046) defines the full load
Read 1 Read parameter set from the NV Media Card slip of the motor. The slip is used in the motor model for closed-loop
Programming a parameter set to the NV Media vector control. The full load slip of the motor varies with rotor resistance
Program 2 which can vary significantly with motor temperature. When Pr 00.033 is
Card
set to 1 or 2, the drive can automatically sense if the value of slip defined
Auto 3 Auto save
by Pr 00.045 and Pr 00.046 has been set incorrectly or has varied with
Boot 4 Boot mode
motor temperature. If the value is incorrect parameter Pr 00.045 is
For further information, please refer to Chapter 9 NV Media Card automatically adjusted. The adjusted value in Pr 00.045 is not saved at
Operation on page 104. power-down. If the new value is required at the next power-up it must be
saved by the user.
Automatic optimization is only enabled when the speed is above 12.5 %
00.031 {11.033} Drive Rated Voltage
of rated speed, and when the load on the motor load rises above 62.5 %
RO Txt ND NC PT rated load. Optimization is disabled again if the load falls below 50 % of
OL rated load.
200 V (0), 400 V (1), For best optimization results the correct values of stator resistance
RFC-A  575 V (2), 690 V (3)

(Pr 05.017), transient inductance (Pr 05.024), stator inductance
RFC-S (Pr 05.025) and saturation breakpoints (Pr 05.029, Pr 05.030) should be
stored in the relevant parameters. These values can be obtained by the
Pr 00.031 indicates the voltage rating of the drive. drive during an autotune (see Pr 00.040 for further details).
Rated rpm auto-tune is not available if the drive is not using external
position/speed feedback.
00.032 {11.032} Maximum Heavy Duty Rating
The gain of the optimizer, and hence the speed with which it converges,
RO Num ND NC PT
can be set at a normal low level when Pr 00.033 is set to 1. If this
OL parameter is set to 2 the gain is increased by a factor of 16 to give faster
convergence.
RFC-A  0.000 to 99999.999 A 
RFC-S
00.034 {11.030} User security code

Pr 00.032 indicates the maximum continuous Heavy Duty current rating. RW Num ND NC PT US
OL

00.033 {06.009} Catch A Spinning Motor (OL) RFC-A  0 to 2147483647  0

00.033 {05.016} Rated Speed Optimization Select (RFC-A) RFC-S
RW Txt US
Disable (0), Enable (1), If any number other than 0 is programmed into this parameter, user
OL  Fwd Only (2),  Disable (0) security is applied so that no parameters except Pr 00.049 can be
Rev Only (3) adjusted with the keypad. When this parameter is read via a keypad it
appears as zero. For further details refer to section 5.9.3 User Security
Disable (0),
Code on page 39.
Classic slow (1),
Classic fast (2),
RFC-A  Combined (3),
 Disable (0)
VARs only (4),
Voltage only (5)

Unidrive M600 Control User Guide 53

00.035 {11.024} Serial Mode Register mode Register address

RW Txt US Standard (mm x 100) + ppp - 1 where mm ≤ 162 and ppp ≤ 99
OL 8 2 NP (0), 8 1 NP (1), Modified (mm x 256) + ppp - 1 where mm ≤ 63 and ppp ≤ 255
8 1 EP (2), 8 1 OP (3),
RFC-A 8 2 NP M (4), Changing the parameters does not immediately change the serial
8 1 NP M (5), communications settings. See Reset Serial Communications Pr 00.052
8 1 EP M (6), {11.020} for more details.
8 1 OP M (7), 7 2 NP (8), 00.036 {11.025} Serial Baud Rate
 7 1 NP (9), 7 1 EP (10),
 8 2 NP (0)
RW Txt US
RFC-S 7 1 OP (11),
OL 300 (0), 600 (1), 1200 (2),
7 2 NP M (12),
7 1 NP M (13), 2400 (3), 4800 (4),
RFC-A  9600 (5), 19200 (6),  19200 (6)
7 1 EP M (14),
38400 (7), 57600 (8),
7 1 OP M (15) RFC-S
76800 (9), 115200 (10)
This parameter defines the communications protocol used by the EIA
485 comms port on the drive. This parameter can be changed via the This parameter can be changed via the drive keypad, via a Solutions
drive keypad, via a Solutions Module or via the comms interface itself. If Module or via the comms interface itself. If it is changed via the comms
it is changed via the comms interface, the response to the command interface, the response to the command uses the original baud rate. The
uses the original protocol. The master should wait at least 20 ms before master should wait at least 20 ms before send a new message using the
send a new message using the new protocol. (Note: ANSI uses 7 data new baud rate.
bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops
bits and no parity). 00.037 {11.023} Serial Address
Pr Value Pr String RW Num US
0 8 2 NP OL
1 8 1 NP
RFC-A  1 to 247  1
2 8 1 EP
3 8 1 OP RFC-S
4 8 2 NP M
Used to define the unique address for the drive for the serial interface.
5 8 1 NP M The drive is always a slave address 0 is used to globally address all
6 8 1 EP M slaves, and so this address should not be set in this parameter
7 8 1 OP M
8 7 2 NP
00.038 {04.013} Current Controller Kp Gain
9 7 1 NP
RW Num US
10 7 1 EP
OL 20
11 7 1 OP
12 7 2 NP M RFC-A  0 to 30000 
150
13 7 1 NP M RFC-S
14 7 1 EP M
15 7 1 OP M
00.039 {04.014} Current Controller Ki Gain
The core drive always uses the Modbus rtu protocol and is always a
RW Num US
slave. Serial Mode Pr 00.035 {11.024} defines the data format used by
the serial comms interface. The bits in the value of Serial Mode Pr OL   40
00.035 {11.024} define the data format as follows. Bit 3 is always 0 in the
RFC-A 0 to 30000
core product as 8 data bits are required for Modbus rtu. The parameter   2000
value can be extended in derivative products which provide alternative RFC-S
communications protocols if required.
These parameters control the proportional and integral gains of the
Bits 3 2 1 and 0 current controller used in the open loop drive. The current controller
Stop bits and Parity either provides current limits or closed loop torque control by modifying
Number of data bits Register mode 0 = 2 stop bits, no parity the drive output frequency. The control loop is also used in its torque
Format 0 = 8 bits 0 = Standard 1 = 1 stop bit, no parity mode during line power supply loss, or when the controlled mode
1 = 7 bits 1 = Modified 2 = 1 stop bit, even parity standard ramp is active and the drive is decelerating, to regulate the flow
3 = 1 stop bit, odd parity of current into the drive.

Bit 2 selects either standard or modified register mode. The menu and
parameter numbers are derived for each mode as given in the following
table. Standard mode is compatible with Unidrive SP. Modified mode is
provided to allow register numbers up to 255 to be addressed. If any
menus with numbers above 63 should contain more than 99 parameters,
then these parameters cannot be accessed via Modbus rtu.

54 Unidrive M600 Control User Guide

Inductance (05.024) of the motor. These are used to calculate the

00.040 current loop gains, and at the end of the test the values in Pr 00.038
Auto-tune
{05.012} {04.013} and Pr 00.039 {04.014} are updated. Maximum Deadtime
RW Num NC Compensation (05.059) and Current At Maximum Deadtime
Compensation (05.060) for the drive are also measured.
OL  0 to 2  Additionally, if Enable Stator Compensation (05.049) = 1, then Stator
RFC-A  0 to 5  0 Base Temperature (05.048) is made equal to Stator Temperature
(05.046). A stationary autotune does not measure the power factor
RFC-S  0 to 6  of the motor so the value on the motor nameplate must be entered
into Pr 00.043.
Open-Loop
To perform a Stationary autotune, set Pr 00.040 to 1, and provide the
There are two autotune tests available in open loop mode, a stationary drive with both an enable signal (on terminal 31) and a run signal (on
and a rotating test. A rotating autotune should be used whenever terminal 26 or 27).
possible so the measured value of power factor of the motor is used by
the drive. Autotune test 2:
Autotune test 1: • A rotating autotune should only be used if the motor is unloaded. A
• A stationary autotune can be used when the motor is loaded and it is rotating autotune first performs a stationary autotune, a rotating test
not possible to remove the load from the motor shaft. The stationary is then performed which the motor is accelerated with currently
test measures the Stator Resistance (05.017), Transient Inductance selected ramps up to a frequency of Rated Frequency Pr 00.047
(05.024), Maximum Deadtime Compensation (05.059) and current at {05.006}.
Maximum Deadtime Compensation (05.060) which are required for x 2/3, and the frequency is maintained at the level for up to 40 s.
good performance in vector control modes (see Open Loop Control During the rotating autotune the Stator Inductance (05.025), and the
Mode (00.007), later in this table). If Enable Stator Compensation motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and
(05.049) = 1, then Stator Base Temperature (05.048) is made equal Pr 05.063) are modified by the drive. The Rated Power Factor (Pr
to Stator Temperature (05.046). The stationary autotune does not 05.010) is also modified by the Stator Inductance (05.035). To
measure the power factor of the motor so the value on the motor perform a Rotating autotune, set Pr 00.040 to 2, and provide the
nameplate must be entered into Pr 00.043. To perform a Stationary drive with both an enable signal (on terminal 31) and a run signal (on
autotune, set Pr 00.040 to 1, and provide the drive with both an terminal 26 or 27).
enable signal (on terminal 31) and a run signal (on terminal 26 or
27).
Following the completion of an autotune test, the drive will go into the
inhibit state. The drive must be placed into a controlled disable condition
Autotune test 2: before the drive can be made to run at the required reference. The drive
• A rotating autotune should only be used if the motor is unloaded. A can be put in to a controlled disable condition by removing the Safe
rotating autotune first performs a stationary autotune, as above, then Torque Off signal from terminal 31, setting the Drive Enable (06.015) to
a rotating test is performed in which the motor is accelerated with Off (0) or disabling the drive via the control word (Pr 06.042 &
currently selected ramps up to a frequency of Rated Frequency (Pr Pr 06.043).
00.047 {05.006}) x 2/3, and the frequency is maintained at that level RFC-S
for 4 seconds. Stator Inductance (05.025) is measured and this There are six autotune tests available in RFC-S sensorless mode, a
value is used in conjunction with other motor parameters to calculate
stationary autotune and two inertia measurement tests. Please see
Rated Power Factor (05.010). To perform a Rotating autotune, set
Optimization section for further details on the inertia tests.
Pr 00.040 to 2, and provide the drive with both an enable signal (on
terminal 31) and a run signal (on terminal 26 or 27).
Autotune test 1:
Following the completion of an autotune test the drive will go into the • The stationary autotune can be used to measure all the necessary
inhibit state. The drive must be placed into a controlled disable condition parameters for basic control. The tests measures Stator Resistance
before the drive can be made to run at the required reference. The drive (05.017), Ld (05.024), No Load Lq Pr 00.056 {05.072}, Maximum
can be put in to a controlled disable condition by removing the Safe Deadtime Compensation (05.059) and Current At Maximum
Torque Off signal from terminal 31, setting the Drive Enable (06.015) to Deadtime Compensation (05.060). If Enable Stator Compensation
Off (0) or disabling the drive via the Control Word (06.042) and Control (05.049) = 1 then Stator Base Temperature (05.048) is made equal
Word Enable (06.043). to Stator Temperature (05.046). The Stator Resistance (05.017) and
the Ld (05.024) are then used to set up Current controller Kp Gain Pr
00.038 {04.013} and Current Controller Ki Gain Pr 00.039 {04.014}.
RFC-A
To perform a Stationary autotune, set Pr 00.040 to 1, and provide the
There are five autotune tests available in RFC-A sensorless mode, a drive with both an enable signal (on terminal 31) and a run signal (on
stationary test, a rotating test and two inertia measurement tests. A terminal 26 or 27).
stationary autotune will give moderate performance whereas a rotating
autotune will give improved performance as it measures the actual Autotune test 2:
values of the motor parameters required by the drive. An inertia
measurement test should be performed separately to a stationary or • In sensorless mode, if Rotating autotune is selected (Pr 00.040 = 2),
rotating autotune see Optimization section for further details. then a stationary autotune is performed.
It is highly recommended that a rotating autotune is performed
(Pr 00.040 set to 2). Following the completion of an autotune test the drive will go into the
inhibit state. The drive must be placed into a controlled disable condition
before the drive can be made to run at the required reference. The drive
Autotune test 1:
can be put in to a controlled disable condition by removing the Safe
• A stationary autotune can be used when the motor is loaded and it is Torque Off signal from terminal 31, setting the drive Enable Parameter
not possible to remove the load from the motor shaft. The stationary (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 &
autotune measures the Stator Resistance (05.017) and Transient Pr 06.043).

Unidrive M600 Control User Guide 55

00.041 00.043 {05.010} Rated Power Factor

Maximum Switching Frequency
{05.018} RW Num US
RW Txt RA NC OL  0.000 to 1.000  0.850
OL 2 (0) kHz, 3 (1) kHz, RFC-A  0.000 to 1.000  0.850
4 (2) kHz, 6 (3) kHz,
RFC-A  8 (4) kHz, 12 (5) kHz,
 3 (1) kHz RFC-S  
RFC-S 16 (6) kHz
The power factor is the true power factor of the motor, i.e. the angle
between the motor voltage and current.
This parameter defines the required switching frequency. The drive may
automatically reduce the actual switching frequency (without changing Open-loop
this parameter) if the power stage becomes too hot. A thermal model of The power factor is used in conjunction with the motor rated current
the IGBT junction temperature is used based on the heatsink (Pr 00.046) to calculate the rated active current and magnetizing current
temperature and an instantaneous temperature drop using the drive of the motor. The rated active current is used extensively to control the
output current and switching frequency. The estimated IGBT junction drive, and the magnetizing current is used in vector mode Rs
temperature is displayed in Pr 07.034. If the temperature exceeds compensation. It is important that this parameter is set up correctly.
135 °C the switching frequency is reduced if this is possible (i.e >3 kHz). This parameter is obtained by the drive during a rotational autotune. If a
Reducing the switching frequency reduces the drive losses and the stationary autotune is carried out, then the nameplate value should be
junction temperature displayed in Pr 07.034 also reduces. If the load entered in Pr 00.043.
condition persists the junction temperature may continue to rise again
RFC-A
above 145 °C and the drive cannot reduce the switching frequency
further the drive will initiate an ‘OHt Inverter’ trip. Every second the drive If the stator inductance (Pr 05.025) contains a non-zero value, the power
will attempt to restore the switching frequency to the level set in factor used by the drive is continuously calculated and used in the vector
Pr 00.041. control algorithms (this will not update Pr 00.043).
The full range of switching frequencies is not available on all ratings of If the stator inductance is set to zero (Pr 05.025) then the power factor
Unidrive M. See section 8.5 Switching frequency on page 95 for the written in Pr 00.043 is used in conjunction with the motor rated current
maximum available switching frequency for each drive rating. and other motor parameters to calculate the rated active and
magnetizing currents which are used in the vector control algorithm.
6.3.7 Motor parameters This parameter is obtained by the drive during a rotational autotune. If a
stationary autotune is carried out, then the nameplate value should be
00.042 {05.011} Number Of Motor Poles
entered in Pr 00.043.
RW Num US
NOTE
OL
 Automatic (0) Following a rotating autotune Pr 00.043 {05.010} is continuously written
Automatic (0) to
RFC-A  480 Poles (240)
by the drive, calculated from the value of Stator Inductance (Pr 05.025).
To manually enter a value into Pr 00.043 {05.010}, Pr 05.025 will need to
RFC-S  8 Poles (4) be set to 0. Please refer to the description of Pr 05.010 in the Parameter
Reference Guide for further details
Open-loop
This parameter is used in the calculation of motor speed, and in applying
the correct slip compensation. When Automatic (0) is selected, the
number of motor poles is automatically calculated from the Rated
00.044 {05.009} Rated Voltage
Frequency (00.047) and the Rated Speed rpm (00.045). The number of
poles = 120 * rated frequency / rpm rounded to the nearest even RW Num RA US
number. OL 200 V drive: 230 V
RFC-A 0 to 50Hz default 400 V drive: 400 V
RFC-A  VM_AC_VOLTAGE_S  60Hz default 400 V drive: 460 V
This parameter must be set correctly for the vector control algorithms to
ET 575 V drive: 575 V
operate correctly. When Automatic (0) is selected, the number of motor RFC-S
690 V drive: 690 V
poles is automatically calculated from the Rated Frequency (00.047) and
the Rated Speed rpm (00.045) rpm. The number of poles = 120 * rated Enter the value from the rating plate of the motor.
frequency / rpm rounded to the nearest even number.
00.045 {05.008} Rated Speed
RFC-S
RW Num ND US
This parameter must be set correctly for the vector control algorithms to
50 Hz default: 1500 rpm
operate correctly. When Automatic (0) is selected the number of poles is OL  0 to 33000 rpm  60 Hz default: 1800 rpm
set to 6.
50 Hz default: 1450.00 rpm
RFC-A  0.00 to 33000.00 rpm  60 Hz default: 1750.00 rpm
RFC-S  0.00 to 33000.00 rpm  3000.00 rpm

Open-loop
This is the speed at which the motor would rotate when supplied with its
base frequency at rated voltage, under rated load conditions (=
synchronous speed - slip speed). Entering the correct value into this
parameter allows the drive to increase the output frequency as a
function of load in order to compensate for this speed drop.
Slip compensation is disabled if Pr 00.045 is set to 0 or to synchronous
speed, or if Pr 05.027 is set to 0.

56 Unidrive M600 Control User Guide

If slip compensation is required this parameter should be set to the value The settings for Pr 00.048 are as follows:
from the rating plate of the motor, which should give the correct rpm for a
Setting Operating mode
hot machine. Sometimes it will be necessary to adjust this when the
drive is commissioned because the nameplate value may be inaccurate. 1 Open-loop
Slip compensation will operate correctly both below base speed and 2 RFC-A
within the field weakening region. Slip compensation is normally used to 3 RFC-S
correct for the motor speed to prevent speed variation with load. The 4 Regen
rated load rpm can be set higher than synchronous speed to deliberately
introduce speed droop. This can be useful to aid load sharing with This parameter defines the drive operating mode. Pr mm.000 must be
mechanically coupled motors. set to ‘1253’ (European defaults) or ‘1254’ (USA defaults) before this
parameter can be changed. When the drive is reset to implement any
RFC-A change in this parameter, the default settings of all parameters will be
Rated speed is used with motor rated frequency to determine the full set according to the drive operating mode selected and saved in
load slip of the motor which is used by the vector control algorithm. memory.
Incorrect setting of this parameter can result in the following:
6.3.9 Status information
• Reduced efficiency of motor operation
• Reduction of maximum torque available from the motor 00.049 {11.044} User Security Status
• Failure to reach maximum speed
RW Txt ND PT
• Over-current trips
• Reduced transient performance OL Menu 0 (0), All Menus (1),
• Inaccurate control of absolute torque in torque control modes Read-only Menu 0 (2),
RFC-A  Read-only (3),  Menu 0 (0)
The nameplate value is normally the value for a hot machine, however,
some adjustment may be required when the drive is commissioned if the Status Only (4),
RFC-S
nameplate value is inaccurate. The rated full load rpm can be optimized No Access (5)
by the drive (For further information, refer to section 8.1.2 RFC-A This parameter controls access via the drive keypad as follows:
Mode on page 82).
RFC-S Security
Description
level
The rated speed used as follows:
0 All writable parameters are available to be edited but
• Operation without position feedback i.e. sensorless Mode Active (Pr
(Menu 0) only parameters in Menu 0 are visible.
03.078)= 1
1 All writable parameters are visible and available to be
• Where the motor operates above this speed and flux weakening is
(All Menus) edited.
active
2
• In the motor thermal model All parameters are read-only. Access is limited to Menu 0
(Read-only
00.046 {05.007} Rated Current parameters only.
Menu 0)
RW Num RA US 3 All parameters are read-only however all menus and
(Read-only) parameters are visible.
OL
Maximum Heavy Duty 4 The keypad remains in status mode and no parameters
0.000 to
RFC-A  VM_RATED_CURRENT  Rating (Status Only)can be viewed or edited.
Pr 00.032 {11.032} The keypad remains in status mode and no parameters
RFC-S
5 can be viewed or edited. Drive parameters cannot be
Enter the name-plate value for the motor rated current. (No Access) accessed via a comms / fieldbus interface in the drive or
any option module.

00.047 {05.006} Rated Frequency (OL, RFC-A) The keypad can adjust this parameter even when user security is set.

00.047 {05.033} Volts per 1000 rpm (RFC-S)

RW Num US 00.050 {11.029} Software Version
RO Num ND NC PT
OL  0.0 to 550.0 Hz 50 Hz default: 50.0 Hz
 60 Hz default: 60.0 Hz OL
RFC-A  0.0 to 550.0 Hz
RFC-A  0 to 99999999 
RFC-S  0 to 10000 V / 1000 rpm  98 V / 1000 rpm
RFC-S
Enter the value from the rating plate of the motor.
The parameter displays the software version of the drive.
6.3.8 Operating-mode selection
00.051 {10.037} Action On Trip Detection
00.048 {11.031} User Drive Mode
RW Bin US
RW Txt ND NC PT
OL
OL  Open-loop (1)
Open-loop (1), RFC-A (2), RFC-A  00000 to 11111  00000
RFC-A  RFC-S (3), Regen (4)
 RFC-A (2)
RFC-S
RFC-S  RFC-S (3)

Unidrive M600 Control User Guide 57

Each bit in this parameter has the following functions:

00.052 {11.020} Reset Serial Communications
Bit Function RW Bit ND NC
0 Stop on non-important trips OL
1 Disable braking resistor overload detection
RFC-A  Off (0) or On (1)  Off (0)
2 Disable phase loss stop
3 Disable braking resistor temperature monitoring RFC-S
4 Disable parameter freeze on trip
When Serial Address Pr 00.037 {11.023}, Serial Mode Pr 00.035
Example {11.024}, Serial Baud Rate Pr 00.036 {11.025}, Minimum Comms
Pr 00.051 {10.037} =8 (1000binary) Th Brake Res trip is disabled Transmit Delay (11.026) or Silent Period (11.027) are modified the
changes do not have an immediate effect on the serial communications
Pr 00.051 {10.037} =12 (1100binary) Th Brake Res and phase loss trip is
system. The new values are used after the next power-up or if Reset
disabled
Serial Communications Pr 00.052 {11.020} is set to one. Reset Serial
Stop on non-important trips Communications Pr 00.052 {11.020} is automatically cleared to zero
If bit 0 is set to one the drive will attempt to stop before tripping if any of after the communications system is updated.
the following trip conditions are detected: I/O Overload, An Input 1 Loss,
An Input 2 Loss or Keypad Mode.
00.053 {04.015} Motor Thermal Time Constant 1
Disable braking resistor overload detection
For details of braking resistor overload detection mode see Pr 10.030. RW Num US
Disable phase loss trip OL
Normally the drive will stop when the input phase loss condition is
detected. If this bit is set to 1 the drive will continue to run and will only
RFC-A  1.0 to 3000.0 s  89.0 s
trip when the drive is brought to a stop by the user. RFC-S
Disable braking resistor temperature monitoring
Size 3, 4 and 5 drives have an internal user install braking resistor with a Pr 00.053 is the motor thermal time constant of the motor, and is used
thermistor to detect overheating of the resistor. As default bit 3 of Pr (along with the motor rated current Pr 00.046, and total motor current
00.051 {10.037} is set to zero, and so if the braking resistor and its Pr 00.012) in the thermal model of the motor in applying thermal
thermistor is not installed the drive will produce a trip (Th Brake Res) protection to the motor.
because the thermistor appears to be open-circuit. This trip can be Motor thermal protection can be disabled using Pr 04.016.
disabled so that the drive can run by setting bit 3 of Pr 00.051 {10.037} to
For further details, refer to section 8.4 Motor thermal protection on
one. If the resistor is installed then no trip is produced unless the
page 94.
thermistor fails, and so bit 3 of Pr 00.051 {10.037} can be left at zero.
This feature only applies to size 3, 4 and 5 drives. For example if Pr 6.3.10 Additional parameters for RFC-S sensorless
00.051 {10.037} = 8, then Th Brake Res trip will be disabled. control
Disable parameter freeze on trip 00.054 {05.064} RFC Low Speed Mode
If this bit is 0 then the parameters listed below are frozen on trip until the RW Txt US
trip is cleared. If this bit is 1 then this feature is disabled.
OL
Open-loop mode RFC-A and RFC-S modes  
RFC-A
Reference Selected (01.001) Reference Selected (01.001)
Injection (0), Non salient (1)
Pre-skip Filter Reference (01.002) Pre-skip Filter Reference (01.002)
RFC-S  Current (2),  Non salient (1)
Pre-ramp Reference (01.003) Pre-ramp Reference (01.003) Current No Test (3)
Post Ramp Reference (02.001) Post Ramp Reference (02.001)
If sensorless mode is being used and is active (i.e. Sensorless Mode
Final Speed Reference (03.001)
Active (03.078) = 1) and the motor speed is below Rated Speed (00.045)
Speed Feedback Pr 00.010 / 10 then a special low speed algorithm must be used to control the
{03.002} motor. RFC Low Speed Mode (00.054) is used to select the algorithm to
Speed Error (03.003) be used.
Speed Controller Output (03.004) 0: Injection
Current Magnitude Pr 00.012 Current Magnitude Pr 00.012 A high frequency signal is injected into the motor to detect the motor flux
{04.001} {04.001} axis. This can be used in a similar way to operation with position
Torque Producing Current Pr Torque Producing Current Pr feedback except that for the drive to remain stable the speed controller
00.013 {04.002} 00.013 {04.002} bandwidth may need to be limited to 10 Hz or less and the current limit
Magnetising Current (04.017) Magnetising Current (04.017) may need to be limited (see Low Speed Sensorless Mode Current
Output Frequency Pr 00.011 Output Frequency Pr 00.011 (00.055)).
{05.001} {05.001} 1: Non-salient
Output Voltage (05.002) Output Voltage (05.002) If the ratio Lq/Ld < 1.1 on no load then the injection mode cannot be
Output Power (05.003) Output Power (05.003) used and this mode should be used instead. This mode does not provide
D.c. Bus Voltage (05.005) D.c. Bus Voltage (05.005) the same level of control as injection mode and has the following
restrictions:
Analog Input 1 (07.001)* Analog Input 1 (07.001)*
Analog Input 2 (07.002)* Analog Input 2 (07.002)* • Speed control is possible, but not torque control.
• Spinning start is not possible and the motor must start from
Analog Input 3 (07.003)* Analog Input 3 (07.003)*
standstill.
*Not applicable to Unidrive M702 • Below Rated Speed (00.045) / 10 it will not be possible to produce
more than approximately 60 % to 70 % of rated torque.

58 Unidrive M600 Control User Guide

• There may be some movement of the motor shaft in either direction start. If this is the case then the ramp rate should be reduced and/or the
as the motor starts. current used to start the motor should be increased.
• It is not possible to measure the motor inertia using auto-tuning with
Auto-tune (00.040) = 4.
• Normally the ramp rate should not be slower than 5 s/1000 rpm Torque control can be used with the "Injection" starting method in the
when operating in the region below Rated Speed (00.045) / 10. same way as with position feedback. However if torque control is to be
• This mode is not intended to control the motor for prolonged periods used in an application where the other starting methods are used then
below Rated Speed (00.045) / 10, but is intended to allow the motor the following should be considered:
to be started from standstill to run outside the low speed region.
1. Torque control should not be enabled until the low speed algorithm is
• This mode is not intended to allow motor reversals. If the direction
no longer active and the motor speed must not drop to a level where
does need to be reversed, the motor should be stopped and any
the low speed mode will become active again while torque control is
oscillations must die away, before the motor is restarted in the other
active. This means that the motor must be started in speed control
direction.
and torque control should only be selected when the speed is high
Low Speed Sensorless Mode Current (00.055) defines a current applied
enough.
in the motor d axis to aid starting. The default value is suitable for most
2. To stop the motor the drive can simply be disabled or the run should
motors with a load of up to 60% rated torque. However, in some
be removed for the drive to stop the motor. Removing the run causes
applications this level may need to be adjusted.
the drive to switch from torque control to speed control, and so the
2: Current motor speed can be reduced back down though the range where the
This method, which applies a rotating current vector at the frequency low speed algorithm is active.
defined by the speed reference, can be used with any motor with no
saliency or moderate saliency. It should only be used with motors where 00.055 {05.071} Low Speed Sensorless Mode Current Limit
more of the torque is produced in conjunction with the magnet flux rather RW Num RA US
than from saliency torque. This mode does not provide the same level of
control at low speed as injection mode, but is easier to set up and more OL
flexible than "Non-salient" mode. The following should be considered:
 
RFC-A
1. Only speed control can be used when low speed mode operation is
active. RFC-S  0.0 to 1000.0 %  20.0 %
2. A current specified by Low Speed Sensorless Mode Current
Injection mode
(00.055) is applied when low speed mode is active. This current
should be sufficient to start the motor with the highest expected load. For low speed sensorless operation with signal injection (RFC Low
If the motor has some saliency with no-load applied, and a suitable Speed Mode (00.054) = 0) it is necessary to have a ratio of Lq/Ld = 1.1.
saturation characteristic, the drive can detect the rotor position and Even if a motor has a larger ratio on no load, this ratio normally reduces
apply the current at the correct angle to avoid starting transient. If as the q axis current is increased from zero. Low Speed Sensorless
the motor is non-salient as defined by the conditions for Inductance Mode Current Limit (00.055) should be set at a level that is lower than
trip then the drive will not attempt to detect the rotor position and the the point where the inductance ratio falls to 1.1. The value of this
current will be applied at an arbitrary angle. This could cause a parameter is used to define the drive current limits when signal injection
starting transient if the level of current applied is high, and so Low is active and prevent loss of control of the motor.
Speed Sensorless Mode Current (00.055) should not be set to a Non-salient mode
higher level than necessary. To minimise the movement as a result
For low speed sensorless operation for non-salient motors (RFC Low
of applying the current, it is increased over the period defined
Speed Mode (00.054) = 1) defines a current applied in the d axis to aid
by Sensorless Mode Current Ramp (05.063) in the form of a
starting. For most motors and applications requiring up to 60 % torque
squared characteristic (i.e. it is increased with a low rate of change
on starting, the default value is suitable. However the level of current
at the beginning and the rate of change is gradually increased).
may need to be increased to make the motor start.
3. It is not possible to measure the motor inertia using auto-tuning
with Auto-tune (00.040) = 4. 00.056 {05.072} No-load Lq
4. As the level of current when low speed mode is active is not RW Num RA US
dependent on the applied load, but is as defined by Low Speed
OL
Sensorless Mode Current (00.055), and so the motor may become 
too hot if low speed mode is active for a prolonged period of time. RFC-A 
5. Generally Low Speed Sensorless Mode Current (00.055) should be
set to a level higher than the expected maximum load, and can be RFC-S  0.0000 to 500.000 mH 0.000 mH
set to a much higher level than the load if the saliency and saturation
characteristic allow the position of the rotor to be detected on Motor q axis inductance with no current in the motor.
starting. However, Low Speed Sensorless Mode Current (00.055)
should be matched more closely to the expected load under the 00.057 {05.075} Iq Test Current For Inductance Measurement
following conditions: the load inertia is high compared to the motor RW Num US
interia, or there is very little damping/loss in the load system, or
OL
where the q axis inductance of the motor changes significantly with  
load. RFC-A
3: Current no test RFC-S  0 to 200 %  100 %
The "Current" method is used, but no attempt is made to determine the
position of the rotor before applying the current. This can be selected for Maximum test current level used for Iq during auto-tuning when
example, if the motor does not have a suitable saturation characteristic measuring the motor inductance and phase offset as a percentage of
to allow the rotor position to be determined during starting, or if faster Rated Current (00.046). This value is also used by the sensorless
starting is required. The initial current vector angle will be at an arbitary control algorithm to define the motor inductance and a reference frame
position with respect to the actual rotor position. As the vector sweeps phase offset at different levels of Iq. The values of Lq At The Defined Iq
Test Current (00.059), and Phase Offset At Iq Test Current (00.058),
round it must make the rotor start to rotate. If the ramp rate is too high
should be the values which correspond to the test current level. For most
the rotor may not keep up with the current vector and the motor may not

Unidrive M600 Control User Guide 59

motors, Phase Offset At Iq Test Current (00.058) will be zero and have
little effect on the performance, however Lq is likely to vary significantly
00.061 {05.084} Lq At The Id Test Current
with Iq and should be set up correctly for good performance. If Lq At The
Defined Iq Test Current (00.059), or Iq Test Current For Inductance RW Num US
Measurement (00.057) are zero, then the estimate of Lq will not be OL
affected by the level of Iq, and if Phase Offset At Iq Test Current (00.058)  
or Iq Test Current For Inductance Measurement (00.057) are zero the RFC-A
phase offset will not be affected by the level of Iq. RFC-S  0.000 to 500.000 mH  0.000 mH

00.058 {05.077} Phase Offset At Iq Test Current Motor q axis inductance with no current in the q axis and the current
RW Num RA US defined by Id Test Current for Inductance Measurement (00.060) in the d
axis of the motor. If this parameter is left at its default value of zero then
OL
  no compensation is made to the value of Lq with changes in Id.
RFC-A

RFC-S  ±90.0 °  0.0 °

This parameter defines the offset of the point of minimum inductance as

an electrical angle from the point with no current in the motor, to the point
with a level of Iq equivalent to Iq Test Current For Inductance
Measurement (00.057). When the value is left at its default value of zero,
no compensation for phase offset with changes in Iq are made. Phase
Offset At Iq Test Current (00.058) is used for low speed RFC sensorless
control using injection mode. A positive value advances the point of
minimum inductance with positive Iq. See RFC Low Speed Mode
(00.054). For most motors a value of zero is acceptable.

00.059 {05.078} Lq At The Defined Iq Test Current

RW Num RA US
OL
 
RFC-A

RFC-S  0.000 to 500.000 mH  0.000 mH

Motor q axis inductance with no current in the d axis and the current
defined by Iq Test Current For Inductance Measurement (00.057) in the
q axis of the motor. If this parameter is left at its default value of zero,
then no compensation is made to the value of Lq with changes in Iq.

00.060 {05.082} Id Test Current For Inductance Measurement

RW Num US
OL
 
RFC-A

RFC-S  -100 to 0 %  - 50 %

Minimum test current level used for Id during auto-tuning when

measuring the motor inductance as a percentage of Rated Current
(00.046). This is then used in a similar way as Iq Test Current For
Inductance Measurement (00.057), to estimate the value of Lq used in
the control algorithms as Id changes. If Lq At The Defined Id Test
Current (00.061), or Id Test Current for Inductance Measurement
(00.060) are set to zero, then no compensation is made for changes in
Lq with Id.

60 Unidrive M600 Control User Guide

7 Running the motor 7.2 Changing the operating mode

Changing the operating mode returns all parameters to their default
This chapter takes the new user through all the essential steps to value, including the motor parameters. User Security Status (Pr 00.049)
running a motor for the first time, in each of the possible operating and User Security Code (Pr 00.034) are not affected by this procedure).
modes.
Procedure
For information on tuning the drive for the best performance, see Use the following procedure only if a different operating mode is
Chapter 8 Optimization on page 79. required:
1. Enter either of the following values in Pr mm.000, as appropriate:
Ensure that no damage or safety hazard could arise from the 1253 (50 Hz AC supply frequency)
motor starting unexpectedly. 1254 (60 Hz AC supply frequency)
2. Change the setting of Pr 00.048 as follows:
WARNING
Pr 00.048 setting Operating mode
The values of the motor parameters affect the protection of
the motor.
The default values in the drive should not be relied upon. 1 Open-loop
It is essential that the correct value is entered in Pr 00.046
CAUTION
Rated Current. This affects the thermal protection of the
motor.

If the drive is started using the keypad it will run to the speed 2 RFC-A
defined by the keypad reference (Pr 01.017). This may not
be acceptable depending on the application. The user must
check in Pr 01.017 and ensure that the keypad reference
CAUTION has been set to 0. 3 RFC-S

If the intended maximum speed affects the safety of the

machinery, additional independent over-speed protection The figures in the second column apply when serial communications are
must be used. used.
WARNING
3. Either:
• Press the red reset button
7.1 Quick start connections
• Toggle the reset digital input
7.1.1 Basic requirements • Carry out a drive reset through serial communications by setting
This section shows the basic connections which must be made for the Pr 10.038 to 100 (ensure that Pr. mm.000 returns to 0).
drive to run in the required mode. For minimal parameter settings to run
in each mode please see the relevant part of section 7.3 Quick start
commissioning / start-up on page 66.
Table 7-1 Minimum control connection requirements for each
control mode
Drive control method Requirements
Drive enable
Terminal mode Speed / Torque reference
Run forward / Run reverse
Keypad mode Drive enable
Drive enable
Serial communications
Serial communications link

Table 7-2 Minimum requirements for each mode of operation

Operating mode Requirements

Open loop mode Induction motor
RFC – A sensorless Induction motor without speed
(without feedback position) feedback
RFC - S sensorless Permanent magnet motor without
(without position feedback) speed and position feedback

Unidrive M600 Control User Guide 61

Figure 7-1 Minimum connections to get the motor running in any operating mode (size 3 and 4)

Braking resistor
! (optional)

1
1
_ 2
BR +
3 0V
+10V
4
Speed
5 reference
input
6
7
Communications 8
port
9
10
11 T
e
r
21 m
34 22 24V i
23
n
a
24 l
25
26 RUN FWD M
27 RUN REV
o
28 d
29
e
L1 L2 L3 U V W
30 K
e
31 y
Safe Torque Off
(drive enable) p
a
d
M
o
U V W Keypad
Optional item, must
d
be installed e
for keypad mode

Fuses
Induction or permanent
magnet motor

1 Thermal overload for braking resistor

to protect against fire risk. This must be
wired to interrupt the AC supply in the
event of a fault. This is not required if the
optional internal braking resistor is used
L1 L2 L3

Open loop RFC-A RFC-S

Sensorless Sensorless

62 Unidrive M600 Control User Guide

Figure 7-2 Minimum connections to get the motor running in any operating mode (size 5)

Braking resistor
! (optional)
1
2
1 3 0V
+10V
4
Speed
+
_ BR
5 reference
input
6
7
Communications 8
port
9
10
11 T
e
r
21 m
22 24V i
23
n
a
24 l
25
26 RUN FWD M
27 RUN REV
o
28 d
L1 L2 L3 29
e
30 K
e
31 y
U V W Safe Torque Off
(drive enable) p
a
d
M
o
U V W
Keypad
Optional item, must
d
be installed e
for keypad mode

Fuses

Induction or permanent
magnet motor

1 Thermal overload for braking resistor

to protect against fire risk. This must be
wired to interrupt the AC supply in the
L1 L2 L3 event of a fault. This is not required if the
optional internal braking resistor is used

Open loop RFC-A RFC-S

Sensorless Sensorless

Unidrive M600 Control User Guide 63

Figure 7-3 Minimum connections to get the motor running in any operating mode (size 6)
Braking resistor
! (optional) -
Size 6 only

1
1
2

_ 3 0V
+ BR +10V
4
Speed
5 reference
input
6
7
Communications 8
port
9
10
11 T
e
r
6 21 m
22 24V i
23
n
a
24 l
25
26 RUN FWD M
27 RUN REV
o
28 d
29
e
L1 L2 L3 U V W
30 K
e
31 y
Safe Torque Off
(drive enable) p
a
d
M
o
Keypad
Optional item, must
d
be installed e
for keypad mode

U V W
Fuses

Induction or permanent
magnet motor 1 Thermal overload for braking resistor
to protect against fire risk. This must be
wired to interrupt the AC supply in the
L1 L2 L3 event of a fault. This is not required if the
optional internal braking resistor is used

Open loop RFC-A RFC-S

Sensorless Sensorless

64 Unidrive M600 Control User Guide

Figure 7-4 Minimum connections to get the motor running in any operating mode (size 7 onwards)
L3 L2 L1

Fuses

Input line 1
reactor*
2
L1 L2 L3 3 0V
+10V
4
Speed
5 reference
input
6
7
8
9
Communications
port 10
11 T
e
7 8 9 10 10
11
r
21 m
22 24V i
23
n
a
24 l
25
26 RUN FWD M
27 RUN REV
o
28 d
29
e
U V W +DC K
! 30
e
1 31 y
Safe Torque Off
(drive enable) p
Braking resistor a
(optional)
d
M
o
U V W
Keypad
Optional item, must
d
be installed e
for keypad mode

Induction or permanent
magnet motor 1 Thermal overload for braking resistor
to protect against fire risk. This must be
wired to interrupt the AC supply in the
event of a fault. This is not required if the
optional internal braking resistor is used

Open loop RFC-A RFC-S

Sensorless Sensorless
* Required for size 9E, 10E and 11E.

Unidrive M600 Control User Guide 65

7.3 Quick start commissioning / start-up

7.3.1 Open loop
Action Detail

Ensure:
• The drive enable signal is not given (terminal 31)
Before power-up
• Run signal is not given
• Motor is connected

Verify that Open Loop mode is displayed as the drive powers up. If the mode is incorrect see section
5.6 Changing the operating mode on page 38.
Power-up the drive Ensure:
• Drive displays ‘Inhibit’
If the drive trips, see Chapter 12 Diagnostics on page 189.

Enter:
• Motor rated frequency in Pr 00.047 (Hz) Mot X XXXXXXXXX
Enter motor • Motor rated current in Pr 00.046 (A)
No XXXXXXXXXX kg
IP55 I.cl F °C 40 s S1
nameplate details • Motor rated speed in Pr 00.045 (rpm) V
-1
Hz min kW cosφ A
230 50 1445 2.20 0.80 8.50
• Motor rated voltage in Pr 00.044 (V) - check if or connection 400
CN = 14.5Nm
4.90

I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50
415 4.90
CN = 14.4Nm
CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

0.02
Set maximum Enter:
frequency • Maximum frequency in Pr 00.002 (Hz)

Enter: 100Hz
• Acceleration rate in Pr 00.003 (s/100 Hz)
Set acceleration /
• Deceleration rate in Pr 00.004 (s/100 Hz) (If braking resistor installed, set Pr 00.015 = Fast. Also
deceleration rates
ensure Pr 10.030 and Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too
Hot’ trips may be seen). t
0.03 0.04

Motor thermistor The motor thermistor can be selected in Pr 00.021 {07.015}. Refer to Pr 00.021 {07.015} for further
set-up information.

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill
before an autotune is enabled. A rotating autotune should be used whenever possible so the measured
value of power factor of the motor is used by the drive.

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction
selected regardless of the reference provided. Once complete the motor will coast to a
stop. The enable signal must be removed before the drive can be made to run at the
required reference.
WARNING The drive can be stopped at any time by removing the run signal or removing the drive
enable. cos ∅

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the
load from the motor shaft. A stationary autotune measures stator resistance and transient
Autotune inductance of the motor and values relating to deadtime compensation from the drive. These are
required for good performance in vector control modes. A stationary autotune does not measure
the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. RS
• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs σLS

a stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The
rotating autotune measures the power factor of the motor.
To perform an autotune:
• Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune
• Close the Drive Enable signal (terminal 31). The drive will display ’Ready’.
• Close the run signal (terminal 26 or 27). The upper row of the display will flash ’Auto Tune’ while the
drive is performing the autotune.
• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill.
If the drive trips, see Chapter 12 Diagnostics on page 189.
• Remove the drive enable and run signal from the drive.
Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press
Save parameters
the red reset button or toggle the reset digital input.

Run Drive is now ready to run

66 Unidrive M600 Control User Guide

7.3.2 RFC - A mode (with position feedback)

Induction motor with position feedback using optional SI-Encoder module
Only an incremental quadrature encoder as supported by the optional SI-Encoder module will be considered here.
Action Detail
Ensure:
• The drive enable signal is not given (terminal 31).
Before power-up
• Run signal is not given
• Motor and feedback device are connected
Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see section 5.6 Changing
the operating mode on page 38, otherwise restore parameter defaults (See section 5.8 Restoring parameter
Power-up the defaults on page 39.
drive Ensure:
• Drive displays ‘Inhibit’
If the drive trips, see Chapter 12 Diagnostics on page 189.
Incremental encoder basic set-up
Set Pr 03.024 = Feedback (0)
Enter:
• Encoder power supply in Pr. mm.036 = 5 V (0), 8 V (1) or 15 V (2). *
NOTE If output voltage from the encoder is >5 V, then the termination resistors must be disabled
Pr mm.039 to 0. *

Enable motor Setting the encoder voltage supply too high for the encoder could result in damage to the feedback
feedback and set device.
parameters
CAUTION

• Drive encoder Lines Per Revolution (LPR) in Pr mm.034 (set according to encoder) *
• Drive encoder termination resistor setting in Pr mm.039: *
0 = A-A\, B-B\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled
* mm is dependant on the slot into which the SI-Encoder module is installed (15 =Slot 1, 16 = Slot 2,
17 = Slot 3).
• Motor rated frequency in Pr 00.047 (Hz)
Enter motor • Motor rated current in Pr 00.046 (A) Mot X XXXXXXXXX

nameplate • Motor rated speed in Pr 00.045 (rpm) IP55

V
No XXXXXXXXXX kg
I.cl F °C 40 s S1
Hz min-1 kW cosφ A

details
230 50 1445 2.20 0.80 8.50
400 4.90
CN = 14.5Nm

• Motor rated voltage in Pr 00.044 (V) - check if or connection

I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50
415 4.90
CN = 14.4Nm
CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

0.02
Set maximum
Enter: Maximum speed in Pr 00.002 (rpm)
speed
t

Enter:
Set acceleration / 1000rpm
• Acceleration rate in Pr 00.003 (s/1000 rpm)
deceleration
• Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure
rates
Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen). 0.03 0.04
t

Motor thermistor
The motor thermistor can be selected in Pr 00.021 {07.015} Refer to Pr 00.021 {07.015} for further information.
set-up
The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before
an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will
give improved performance as it measures the actual values of the motor parameters required by the drive.
A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected
regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal
must be removed before the drive can be made to run at the required reference.
WARNING The drive can be stopped at any time by removing the run signal or removing the drive enable.
• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load
cos ∅
from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of
the motor and values relating to deadtime compensation from the drive. Measured values are used to
calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are
Autotune updated. A stationary autotune does not measure the power factor of the motor so the value on the motor
nameplate must be entered into Pr 00.043.
RS
• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a σLS

stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The rotating
LS

autotune measures the stator inductance of the motor and calculates the power factor. T saturation
Nm break-
To perform an autotune: points
• Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune
N rpm
• Close the drive enable signal (terminal 31). The drive will display ’Ready’.
• Close the run signal (terminal 26 or 27). The upper row of the display will flash ‘Auto Tune’ while the drive
is performing the autotune.
• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill
If the drive trips, see Chapter 12 Diagnostics on page 189.
• Remove the drive enable and run signal from the drive.

Save parameters Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press red
reset button or toggle the reset digital input.
Run Drive is now ready to run

Unidrive M600 Control User Guide 67

7.3.3 RFC - A Sensorless

Induction motor without position feedback
Action Detail
Ensure:
• The drive enable signal is not given (terminal 31)
Before power-up
• Run signal is not given
• Motor is connected
Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see section 5.6 Changing
the operating mode on page 38, otherwise restore parameter defaults (See section 5.8 Restoring parameter
Power-up the defaults on page 39.
drive Ensure:
• Drive displays ‘Inhibit’
If the drive trips, see Chapter 12 Diagnostics on page 189.
Enter:
Enter motor • Motor rated frequency in Pr 00.047 (Hz)
Mot X XXXXXXXXX

nameplate • Motor rated current in Pr 00.046 (A) IP55

No XXXXXXXXXX kg
I.cl F °C 40 s S1
V Hz min-1 kW cosφ A

details • Motor rated speed in Pr 00.045 (rpm) 230 50 1445 2.20 0.80 8.50
400
CN = 14.5Nm
4.90

I.E.C 34 1(87)
240 50 1445 2.20 0.76 8.50

• Motor rated voltage in Pr 00.044 (V) - check if or connection

415 4.90
CN = 14.4Nm
CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

Set maximum Enter:

0.02

speed • Maximum speed in Pr 00.002 (rpm)

Enter:
1000rpm
Set acceleration / • Acceleration rate in Pr 00.003 (s/1000rpm)
deceleration • Deceleration rate in Pr 00.004 (s/1000rpm) (If braking resistor installed, set Pr 00.015 = FAST. Also
rates ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips 0.03 0.04
t

may be seen).
The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before
an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will
give improved performance as it measures the actual values of the motor parameters required by the drive.
NOTE It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected
regardless of the reference provided. Once complete the motor will coast to a stop. The enable
signal must be removed before the drive can be made to run at the required reference. cos ∅
The drive can be stopped at any time by removing the run signal or removing the drive enable.
WARNING

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load
from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of
RS
the motor and values relating to deadtime compensation from the drive. Measured values are used to σLS
Autotune calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are LS

updated. A stationary autotune does not measure the power factor of the motor so the value on the motor T saturation
nameplate must be entered into Pr 00.043. Nm break-
points
• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a
N rpm
stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The rotating
autotune measures the stator inductance of the motor and calculates the power factor.
To perform an autotune:
• Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune
• Close the drive enable signal (terminal 31). The drive will display ’Ready’ or ‘Inhibit’.
• Close the run signal (terminal 26 or 27). The lower display will flash ’Autotune’ while the drive is
performing the autotune.
• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill.
If the drive trips, see Chapter 12 Diagnostics on page 189.
• Remove the drive enable and run signal from the drive.

Save parameters Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press red
reset button or toggle the reset digital input.
Run Drive is now ready to run

68 Unidrive M600 Control User Guide

7.3.4 RFC-S Sensorless

Permanent magnet motor without position feedback (non Dyneo LSRPM motor)

Action Detail
Ensure:
Before power- • The drive enable signal is not given (terminal 31).
up • Run signal is not given
• Motor is connected
Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see Chapter 5.6 Changing the
operating mode on page 38, otherwise restore parameter defaults (see Chapter 5.8 Restoring parameter defaults on
Power-up the page 39).
drive Ensure:
• Drive displays ‘inhibit’
If the drive trips, see Chapter 12 Diagnostics on page 189.
Enter:
• Set Pr 29.200 = 0 (if parameter is present) to disable LSRPM motor quick setup system
Enter motor • Motor rated current in Pr 00.046 (A) Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Brake: 12Nm
24V

nameplate
Cont: 7.7Nm:4.81Arms 0.67A

Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise ‘Motor Too Hot’ trips may
Stall: 9.5Nm:5.91Arms
Speed: 3000rpm Poles:6 Control Techniques
Kt: 1.6Nm/Arms Dynamics Ltd
Ins Class: H

details occur during the autotune.

ANDOVER, HANTS.
ENGLAND. SP10 5AB
Serial No: XXXXXXXXXXX

• Number of poles in Pr 00.042

• Motor rated voltage in Pr 00.044 (V)

Set maximum Enter: 0.02

speed • Maximum speed in Pr 00.002 (rpm)

Set Enter:
1000rpm

acceleration / • Acceleration rate in Pr 00.003 (s/1000 rpm)

deceleration • Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure
rates Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen). 0.03 0.04
t

The drive is able to perform a stationary autotune. The motor must be at a standstill before an autotune is enabled. A
stationary autotune will give moderate performance.
• A stationary autotune is performed to locate the flux axis of the motor. The stationary autotune measures the
stator resistance, inductance in flux axis, inductance in torque axis with no load on the motor and values relating
to deadtime compensation from the drive. Measured values are used to calculate the current loop gains, and at
the end of the test the values in Pr 00.038 and Pr 00.039 are updated.
To perform an autotune:
RS
Autotune • Set Pr 00.040 = 1 or 2 for a stationary autotune. (Both perform the same tests). Ld
Ef
No-load Lq
• Close the run signal (terminal 26 or 27).
• Close the drive enable signal (terminal 31). The upper row of the display will flash 'Auto Tune' while the drive is
performing the test.
• Wait for the drive to display 'Ready' or 'Inhibit'.
If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed. See Chapter
12 Diagnostics on page 189.
• Remove the drive enabled and run signal from the drive.
In sensorless mode, when the motor speed is below Pr 00.045 / 10, a special low speed algorithm must be used to
control the motor. There are two modes available, with the mode chosen based on the saliency of the motor.
Check
Saliency The ratio No-load Lq (Pr 00.056) / Ld (Pr 05.024) provides a measure of the saliency. If this value is > 1.1, then
Injection (0) mode may be used (this is default). Current (2) mode may be used (but with limitations). If this value is <
1.1, then Current (2) mode must be used. Non-salient (1) mode is provided for LSRPM motors (this is the default).
Save Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press red reset
parameters button or toggle the reset digital input.

Run Drive is now ready to run

Unidrive M600 Control User Guide 69

7.3.5 RFC-S mode (Sensorless) Dyneo LSRPM motor set-up with V01.12.02.00 onwards firmware
Action Detail
Ensure:
• The drive enable signal is not given (terminal 31).
Before power-up
• Run signal is not given
• Motor is connected
Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see section
5.6 Changing the operating mode on page 38, otherwise restore parameter defaults (see section
Power-up the drive
5.8 Restoring parameter defaults on page 39).
Ensure that the drive displays ‘inhibit’
Enter:
• Motor rated current in Pr 00.046 (A)*
• Rated speed in Pr 00.045 (rpm) Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm:4.81Arms
Brake: 12Nm
24V
0.67A

• Volts per 1000 rpm in Pr 00.047 (V / 1000 rpm)

Stall: 9.5Nm:5.91Arms
Speed: 3000rpm Poles:6 Control Techniques
Kt: 1.6Nm/Arms Dynamics Ltd

Enter motor
Ins Class: H
ANDOVER, HANTS.
ENGLAND. SP10 5AB

Motor rated voltage Pr 00.044 and number of motor poles Pr 00.042 are also required but the default Serial No: XXXXXXXXXXX

nameplate details
values in RFC-S mode for the Unidrive M600 are set to match those required by the Dyneo LSRPM
motor.
From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into
Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.
Enter:
Enter motor thermal
• Motor Thermal Time Constant value into Pr 00.053 (s) from the values specified in Table 7-3 to
data and switching
Table 7-9 .
frequency
• Switching frequency value into Pr 00.041 (kHz) from the values specified in Table 7-3 to Table 7-9 .
Enter:
Set maximum speed
0.02

• Maximum speed in Pr 00.002 (rpm)

Enter:
Set acceleration /
1000rpm

• Acceleration rate in Pr 00.003 (s to Pr 00.002)

deceleration rates
• Deceleration rate in Pr 00.004 0.03 0.04
t

Perform a stationary autotune. The motor must be at a standstill before an autotune is enabled.
To perform an autotune:
• Set Pr 00.040 = 1 or 2 for a stationary autotune. (Both perform the same tests).
• Close the drive enable signal (terminal 31). The drive will display ‘Ready’ or ‘Inhibit’.
• Close the run signal (terminal 26 or 27).
• The upper row of the display will flash 'Auto Tune' during the test.
• Wait for the drive to display 'Inhibit' or ‘Ready’.
RS
Autotune If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed. Ld
Ef

• Remove the drive enable from the drive. No-load Lq

If no trip occurs during or after the autotune then this indicates that the drive has been correctly set-up
and is ready to run the Dyneo LSRPM motor. If a User Trip 40 occurs, then this indicates that the motor
rated current or motor rated speed was not recognized as being a valid value for a Dyneo LSRPM
motor. Check the Rated Speed (Pr 00.045) and Rated Current (Pr 00.046) entered in the drive against
the Dyneo LSRPM motors listed in Table 7-3 to Table 7-9 . Correct the values and perform an autotune
again.
In sensorless mode, when the motor speed is below Pr 00.045 / 10, a special low speed algorithm must
be used to control the motor. There are two modes available, with the mode chosen based on the
saliency of the motor. The Dyneo LSRPM motors have little or no saliency so require the non-salient low
speed mode to be used. Set Pr 00.054 to: Non-salient (1).
Check Saliency
Non-salient mode requires the ramp rate to be no slower than 5 s / 1000 rpm when operating in the
region below Rated Speed Pr 00.045 / 10. The drive contains a feature to ensure that the ramp rate
during the low speed region is at least 4 s / 1000 rpm. This feature is enabled automatically after a
successful set-up of the Dyneo LSRPM motor.
Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press red
Save parameters
reset button or toggle the reset digital input.

Run Drive is now ready to run

*When using V01.11.01.00 firmware the Sensorless motor rated current must be used rather than the nameplate value (see Table 7-3 to Table 7-9 ).

70 Unidrive M600 Control User Guide

Table 7-3 Dyneo LSRPM 1500 rpm motors

Table 7-4 Dyneo LSRPM 1800 rpm motors

Unidrive M600 Control User Guide 71

Table 7-5 Dyneo LSRPM 2400 rpm motors

Motor rated current Sensorless motor Switching Motor Thermal
Ke
(nameplate value) rated current after frequency Time Constant
LSRPM Motor model Pr 00.047
Pr 00.046* autotune* Pr 00.041 Pr 00.053
A A kHz V/1000 rpm s
2400 LSRPM 90SL 4.8 kW 9.1 9.4 4 145 850
2400 LSRPM 100L 7.2 kW 13.4 13.4 4 146 850
2400 LSRPM 100L 9.5 kW 17.7 17.7 4 151 850
2400 LSRPM 132M 13.1 kW 25.0 27.2 8 149 1050
2400 LSRPM 132M 16.3 kW 31.0 32.1 8 140 1050
2400 LSRPM 132M 19.2 kW 37.0 37.1 8 152 1050
2400 LSRPM 160MP 25 kW 47.0 47.0 8 153 1050
2400 LSRPM 160MP 31 kW 58.0 58.0 8 156 1050
2400 LSRPM 160LR 36 kW 69.0 69.0 8 156 1050
2400 LSRPM 200L 50 kW 110 110 4 136 900
2400 LSRPM 200L1 65 kW 137 137 4 128 900
2400 LSRPM 200L1 80 kW 160 164 4 145 900
2400 LSRPM 225MR1 100 kW 200 201 4 142 900
2400 LSRPM 250SE 125 kW 235 240 4 146 1150
2400 LSRPM 250ME 150 kW 285 288 4 146 1150
2400 LSRPM 280SD1 190 kW 350 361 4 152 1150
2400 LSRPM 280MK1 230 kW 429 429 4 147 2600
* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated
automatically to the sensorless value after an autotune.
Table 7-6 Dyneo LSRPM 3000 rpm motors
Motor rated current Sensorless motor Switching Motor Thermal
Ke
(nameplate value) rated current after frequency Time Constant
LSRPM Motor model Pr 00.047
Pr 00.046* autotune* Pr 00.041 Pr 00.053
A A kHz V/1000 rpm s
3000 LSRPM 90SL 5.8 kW 11.0 11.1 4 120 850
3000 LSRPM 100L 8.7 kW 16.2 16.2 4 131 850
3000 LSRPM 100L 11.6 kW 21.0 21.0 4 134 850
3000 LSRPM 132M 15.8 kW 30.0 31.8 8 121 1050
3000 LSRPM 132M 19.7 kW 38.0 38.0 8 121 1050
3000 LSRPM 132M 23 kW 44.0 44.0 8 126 1050
3000 LSRPM 160MP 30 kW 57.0 57.0 8 127 1050
3000 LSRPM 160MP 37 kW 67.8 67.8 8 128 1050
3000 LSRPM 160LR 44 kW 82.0 82.0 8 129 1050
3000 LSRPM 200L 50 kW 111 116 4 109 900
3000 LSRPM 200L1 65 kW 126 136 4 118 900
3000 LSRPM 200L1 85 kW 170 170 4 125 900
3000 LSRPM 225ST2 110 kW 215 219 4 118 900
3000 LSRPM 250SE 145 kW 285 285 4 114 1150
3000 LSRPM 250ME1 170 kW 338 344 4 111 1150
3000 LSRPM 280SD1 200 kW 365 365 4 126 1150
3000 LSRPM 280SD1 220 kW 370 398 4 130 1150
* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated
automatically to the sensorless value after an autotune.

72 Unidrive M600 Control User Guide

Table 7-7 Dyneo LSRPM 3600 rpm motors

Table 7-8 Dyneo LSRPM 4500 rpm motors

Table 7-9 Dyneo LSRPM 5500 rpm motors

Unidrive M600 Control User Guide 73

7.4 Quick start commissioning / start-up using Unidrive M Connect (V02.00.00.00 onwards)
Unidrive M Connect is a Windows™ based software commissioning/start-up tool for Unidrive M. Unidrive M Connect can be used for commissioning
/ start-up and monitoring, drive parameters can be uploaded, downloaded and compared and simple or custom menu listings can be created. Drive
menus can be displayed in standard list format or as live block diagrams. Unidrive M Connect is able to communicate with a single drive or a network.
Unidrive M Connect can be downloaded from www.controltechniques.com (file size approximately 100 MB).
Unidrive M Connect system requirements
• Windows 8, Windows 7 SP1, Windows Vista SP2, Windows XP SP3
• Minimum of 1280 x 1024 screen resolution with 256 colours
• Microsoft.Net Frameworks 4.0 (this is provided in the downloaded file)
• Note that you must have administrator rights to install Unidrive M Connect

Any previous copy of Unidrive M Connect should be uninstalled before proceeding with the installation (existing projects will not be lost). Included
within Unidrive M Connect is the Parameter Reference Guide for Unidrive M600.

7.4.1 Power-up the drive

1. Start Unidrive M Connect, and on the ‘Project Management’ screen select 'Scan serial RTU network' or 'Scan all connected drives’.

74 Unidrive M600 Control User Guide

Select the discovered drive.

2 4

1. Select the ‘Online’ icon to connect with the drive. When a successful connection is made the icon will be highlighted orange.
2. Select ‘Set mode and region’.
If the required control mode is highlighted in the ‘Drive Settings’ dialog, then:
• Change the supply frequency, if required and select ‘Apply’, otherwise select ‘Cancel’.
• Select ‘Default parameters‘ from the Dashboard and in the ‘Default Parameters’ dialogue, select ‘Apply’
If the required control mode is not highlighted in the ‘Drive Settings’ dialog then:
• Select the required mode and supply frequency.
• Select ‘Apply’.

3. Select ‘Setup’ and perform the steps highlighted (dotted lines indicate a step which may not need to be performed (see overleaf):

Unidrive M600 Control User Guide 75

Action Detail

Unidrive M Connect contains a database for induction motors and permanent magnet motors. Provision is also made to enter
Motor Setup motor nameplate data.
The next section describes the use of the motor database for a Leroy Somer LSRPM motor used in RFC-S Sensorless mode.
This only needs to be performed in RFC-A (with feedback) mode
Set Pr 03.024 = Feedback (0)
Enter:
• Encoder power supply in Pr. mm.036 = 5 V (0), 8 V (1) or 15 V (2). *
NOTE If output voltage from the encoder is >5 V, then the termination resistors must be disabled Pr mm.039 to 0. *

Motor Feedback
Setup Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUTION

• Drive encoder Lines Per Revolution (LPR) in Pr mm.034 (set according to encoder) *
• Drive encoder termination resistor setting in Pr mm.039: *
0 = A-A\, B-B\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled
* mm is dependant on the slot into which the SI-Encoder module is installed (15 =Slot 1, 16 = Slot 2, 17 = Slot 3).
The motor thermistor can be selected in Pr 00.021 {07.015}. Refer to the parameter help for Pr 00.021 {07.015} for further
Analog I/O
information.

Enter the required Acceleration rate and Deceleration rate

Ramps Setup Note: If a braking resistor is installed, set 'Ramp mode' to 'Fast'. Also ensure Pr 10.030 and Pr 10.031 and Pr 10.061 are set
correctly, otherwise premature 'Brake R Too Hot' trips may be seen).

Autotune Not required when using data from the motor database for a Leroy Somer LSRPM motor used in RFC-S Sensorless mode.

4. Select 'Save parameters in drive' to perform a parameter save.

The drive is now ready to run.

7.4.2 Use of the motor database for a Leroy Somer LSRPM motor for use in RFC-S Sensorless mode.
Select 'Motor Setup' from the 'Dashboard'.
On the 'Motor Setup' screen, select 'Choose a motor'.

76 Unidrive M600 Control User Guide

Select the required motor database:

Select the required motor from the list and click 'OK'.

The data for the selected motor is displayed on the 'Motor Setup' screen. Click 'Send to drive' to set the associated parameters.
It is possible to set motor parameters for motor 2, by selecting the 'Motor 2' tab and following the same procedure.

Unidrive M600 Control User Guide 77

7.5 Diagnostics
If the drive trips, it is possible to interrogate the trip log from within Unidrive M Connect.
Select 'Drive Trip Log' from the 'Dashboard'.

The drive trip log shows the trip responsible for stopping the autotune and a description of the trip.

78 Unidrive M600 Control User Guide

8 Optimization
This chapter takes the user through methods of optimizing the drive set-up and maximize the performance. The auto-tuning features of the drive
simplify the optimization tasks.

8.1 Motor map parameters

8.1.1 Open loop motor control
Pr 00.046 {05.007} Rated Current Defines the maximum continuous motor current
• The rated current parameter must be set to the maximum continuous current of the motor. (See section 8.2 Maximum motor rated current on
page 94, for information about setting this parameter higher than the maximum Heavy Duty current rating). The motor rated current is used in
the following:
• Current limits (see section section 8.3 Current limits on page 94, for more information)
• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 94, for more information)
• Vector mode voltage control (see Open Loop Control Mode (00.007), later in this table)
• Slip compensation (see Enable Slip Compensation (05.027), later in this table)
• Dynamic V/F control
Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied

Output voltage characteristic

Output
voltage

The Rated Voltage (00.044) and the Rated Frequency (00.047) are used Pr 00.044

to define the voltage to frequency characteristic applied to the motor (see

Open Loop Control Mode (00.007), later in this table). The Rated
Frequency (00.047) is also used in conjunction with the motor rated Pr 00.044 / 2

speed to calculate the rated slip for slip compensation (see Rated Speed
(00.045), later in this table).

Pr 00.047 / 2 Pr 00.047 Output

frequency

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles
The motor rated speed and the number of poles are used with the motor rated frequency to calculate the rated slip of induction machines in Hz.

00.042 00.045
Rated slip (Hz) = Motor rated frequency - (Number of pole pairs x [Motor rated speed / 60]) = 00.047 =  ------------------ × ------------------
 2 60 
If Pr 00.045 is set to 0 or to synchronous speed, slip compensation is disabled. If slip compensation is required this parameter should be set to the
nameplate value, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned
because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field-weakening
region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher
than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.
Pr 00.042 is also used in the calculation of the motor speed display by the drive for a given output frequency. When Pr 00.042 is set to ‘Automatic’,
the number of motor poles is automatically calculated from the rated frequency Pr 00.047, and the motor rated speed Pr 00.045.
Number of poles = 120 x (Rated Frequency (00.047) / Rated Speed (00.045)) rounded to the nearest even number.
Pr 00.043 {05.010} Rated Power Factor Defines the angle between the motor voltage and current
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction
with the Rated Current (00.046), to calculate the rated active current and magnetising current of the motor. The rated active current is used
extensively to control the drive, and the magnetising current is used in vector mode stator resistance compensation. It is important that this
parameter is set up correctly. The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune (Pr 00.040),
below).

Unidrive M600 Control User Guide 79

Pr 00.040 {05.012} Autotune Defines the auto-tune test to be performed

There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so
the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test
measures the Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation (05.059) and Current At
Maximum Deadtime Compensation (05.060) which are required for good performance in vector control modes (see Open Loop Control Mode
(00.007), later in this table). If Enable Stator Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator
Temperature (05.046). The stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be
entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31)
and a run signal (on terminal 26 or 27).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, then a
rotating test is performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency Pr 00.047
{05.006} x 2/3, and the frequency is maintained at that level for 4 seconds. Stator Inductance (05.025) is measured and this value is used in
conjunction with other motor parameters to calculate Rated Power Factor (05.010). To perform a Rotating autotune, set Pr 00.040 to 2, and
provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Defines the drive output mode, which can either be a voltage mode
Pr 00.007 {05.014} Open Loop Control Mode
or a current mode
There are several voltage modes available which fall into two categories, vector control and fixed boost.
Vector control
Vector control mode provides the motor with a linear voltage characteristic from 0 Hz to motor Rated Frequency (00.047), and then a constant
voltage above motor rated frequency. When the drive operates between motor rated frequency/50 and motor rated frequency/4, full vector based
stator resistance compensation is applied. When the drive operates between motor rated frequency/4 and motor rated frequency/2 the stator
resistance compensation is gradually reduced to zero as the frequency increases. For the vector modes to operate correctly the Rated Power
Factor (00.043) and Stator Resistance (05.017) are required to be set up accurately. The drive can be made to measure these by performing an
autotune (see Pr 00.040 Autotune). The drive can also be made to measure the stator resistance automatically every time the drive is enabled or
the first time the drive is enabled after it is powered up, by selecting one of the vector control voltage modes.
(0) Ur S = The stator resistance is measured and the parameter for the selected motor map is over-written each time the drive is made to run.
This test can only be done with a stationary motor where the flux has decayed to zero. Therefore this mode should only be used if the motor is
guaranteed to be stationary each time the drive is made to run. To prevent the test from being done before the flux has decayed there is a period
of 1 second after the drive has been in the ready state during which the test is not done if the drive is made to run again. In this case, previously
measured values are used. Ur S mode ensures that the drive compensates for any change in motor parameters due to changes in temperature.
The new value of stator resistance is not automatically saved to the drive's EEPROM.

(1) Ur = The stator resistance is not measured. The user can enter the motor and cabling resistance into the Stator Resistance (05.017).
However this will not include resistance effects within the drive inverter. Therefore if this mode is to be used, it is best to use an autotune test
initially to measure the stator resistance.

(3) Ur_Auto = The stator resistance is measured once, the first time the drive is made to run. After the test has been completed successfully
the Open Loop Control Mode (00.007) is changed to Ur mode. The Stator Resistance (05.017) parameter is written to, and along with the Open
Loop Control Mode (00.007), are saved in the drive's EEPROM. If the test fails, the voltage mode will change to Ur mode but the Stator
Resistance (05.017) is not updated.

(4) Ur I = The stator resistance is measured when the drive is first made to run after each power-up. This test can only be done with a stationary
motor. Therefore this mode should only be used if the motor is guaranteed to be stationary the first time the drive is made to run after each
power-up. The new value of stator resistance is not automatically saved to the drive's EEPROM.

Fixed boost
The stator resistance is not used in the control of the motor, instead a fixed characteristic with low frequency voltage boost as defined by Pr 00.008,
is used. Fixed boost mode should be used when the drive is controlling multiple motors. There are two settings of fixed boost available:
(2) Fixed = This mode provides the motor with a linear voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant
voltage above rated frequency.
(5) Square = This mode provides the motor with a square law voltage characteristic from 0 Hz to Rated Frequency (00.0 47), and then a
constant voltage above rated frequency. This mode is suitable for variable torque applications like fans and pumps where the load is
proportional to the square of the speed of the motor shaft. This mode should not be used if a high starting torque is required.

80 Unidrive M600 Control User Guide

Defines the drive output mode, which can either be a voltage mode
Pr 00.007 {05.014} Open Loop Control Mode (cont)
or a current mode
Fixed boost
The stator resistance is not used in the control of the motor, instead a fixed characteristic with low frequency voltage boost as defined by parameter
Pr 00.008, is used. Fixed boost mode should be used when the drive is controlling multiple motors. There are two settings of fixed boost available:
(2) Fixed = This mode provides the motor with a linear voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant voltage
above rated frequency.
(5) Square = This mode provides the motor with a square law voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant
voltage above rated frequency. This mode is suitable for variable torque applications like fans and pumps where the load is proportional to the
square of the speed of the motor shaft. This mode should not be used if a high starting torque is required.

For both these modes, at low frequencies (from 0Hz to ½ x Pr 00.047) a voltage boost is applied defined by Pr 00.008 as shown below:

Output voltage characteristic

Output Output Output voltage characteristic
voltage
(Fd) voltage (Square)

Pr 00.044
Pr 00.044
Pr 00.008 + [(freq/Pr 00.047)2 x (Pr 00.044 - Pr 00.008)]

Pr 00.044 / 2

Voltage boost
Voltage boost Pr 00.008
Pr 00.008
Pr 00.047 Output
Pr 00.047 / 2 Pr 00.047 Output frequency
frequency

Pr 05.027 Enable Slip Compensation Set to 1 to enable slip compensation

When a motor, being controlled in open loop mode, has load applied a characteristic of the motor is that the output speed droops in proportion to the
load applied as shown:
Demanded speed

Shaft speed

Load

In order to prevent the speed droop shown above slip compensation should be enabled. To enable slip compensation Pr 05.027 must be set to a 1
(this is the default setting), and the motor rated speed must be entered in Pr 00.045 {05.008}.
The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is normally displayed on the
motor nameplate, i.e. for a typical 18.5 kW, 50 Hz, 4 pole motor, the motor rated speed would be approximately 1465 rpm. The synchronous speed
for a 50 Hz, 4 pole motor is 1500 rpm, so therefore the slip speed would be 35 rpm. If the synchronous speed is entered in Pr 00.045, slip
compensation will be disabled. If too small a value is entered in Pr 00.045, the motor will run faster than the demanded frequency. The synchronous
speeds for 50 Hz motors with different numbers of poles are as follows:
2 pole = 3000 rpm, 4 pole = 1500 rpm, 6pole =1000 rpm, 8 pole = 750 rpm

Unidrive M600 Control User Guide 81

8.1.2 RFC-A Mode

Induction motor with position feedback (using SI-Encoder module)

Pr 00.046 {05.007} Motor Rated Current Defines the maximum motor continuous current
The motor rated current parameter must be set to the maximum continuous current of the motor. (See section 8.2 Maximum motor rated current on
page 94, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the
following:
• Current limits (see section 8.3 Current limits on page 94, for more information).
• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 94, for more information)
• Vector control algorithm
Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied
The Rated Voltage (00.044) and the Rated Frequency (00.047) are used
to define the voltage to frequency characteristic applied to the motor (see Output voltage characteristic
Output
voltage
Open Loop Control Mode (00.007), later in this table). The motor rated
frequency is also used in conjunction with the motor rated speed to Pr 00.044
calculate the rated slip for slip compensation (see motor Rated Speed
(00.045), later in this table).

Pr 00.044 / 2

Pr 00.047 / 2 Pr 00.047 Output

frequency

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles
The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.
Incorrect setting of this parameter has the following effects:
• Reduced efficiency of motor operation
• Reduction of maximum torque available from the motor
• Reduced transient performance
• Inaccurate control of absolute torque in torque control modes
The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the
nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimization system may be used to automatically adjust
this parameter (see Rated Speed Optimization Select Pr 00.033 {05.016}, later in this table).
When Pr 00.042 is set to 'Automatic', the number of motor poles is automatically calculated from the motor Rated Frequency (00.047), and the
motor Rated Speed (00.045).
Number of poles = 120 x (Motor Rated Frequency (00.047 / Motor Rated Speed (00.045) rounded to the nearest even number.
Pr 00.043 {5.010} Rated Power Factor Defines the angle between the motor voltage and current
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the Stator Inductance (05.025) is set
to zero then the power factor is used in conjunction with the motor Rated Current (00.046) and other motor parameters to calculate the rated active
and magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter
is not used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by
performing a rotating autotune (see Autotune (Pr 00.040), later in this table).

82 Unidrive M600 Control User Guide

Pr 00.040 {05.012} Autotune Defines the auto-tune test to be performed

There are four autotune tests available in RFC-A mode, a stationary test, a rotating test and two inertia measurement tests. A stationary autotune
will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor
parameters required by the drive. An inertia measurement test should be performed separately to a stationary or rotating autotune.
It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).
• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary
autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop
gains, and at the end of the test the values in Pr 00.038 {04.013} and Pr 00.039 {04.014} are updated. Maximum Deadtime Compensation
(05.059) and Current At Maximum Deadtime Compensation (05.060) for the drive are also measured. Additionally, if Enable Stator
Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). A stationary autotune does
not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a stationary
autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then
performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency Pr 00.047 {05.006} x 2/3, and
the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation
breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The power factor is also modified for user information
only, but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set
Pr 00.040 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration.
Two tests are available:
Signal injection (when using an SI-Encoder module) This test measures the mechanical characteristic of the motor and load by rotating the
motor at the speed defined by the present speed reference and injecting a series of speed test signals. This test should only be used provided
all the basic control parameters have been set-up correctly and the speed controller parameters should be set to conservative levels, such as
the default values, so that the motor is stable when it runs. If Mechanical Load Test Level (05.021) is left at its default value of zero then the
peak level of the injection signal will be 1 % of the maximum speed reference subject to a maximum of 500 rpm. If a different test level is
required then Mechanical Load Test Level (05.021) should be set to a non-zero value to define the level as a percentage of the maximum speed
reference, again subject to a maximum of 500 rpm. The user defined speed reference which defines the speed of the motor should be set to a
level higher than the test level, but not high enough for flux weakening to become active. In some cases however, it is possible to perform the
test at zero speed provided the motor is free to move, but it may be necessary to increase the test signal from the default value. The test will
give the correct results when there is a static load applied to the motor and in the presence of mechanical damping. To perform an Inertia
measurement autotune, set Pr 00.040 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or
27).
If the speed controller cannot be set up for stable operation an alternative test is provided, where a series of torque levels are applied to
accelerate and decelerate the motor to measure the inertia.
Applied torque (sensorless mode) This test may give inaccurate results, if the motor rated speed is not set to the correct value for the motor,
or if standard ramp mode is active. During the inertia measurement test a series of progressively larger torque levels are applied to the motor
(20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to 3/4 x Rated Speed Pr 00.045 {05.008} to determine the inertia from the
acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque level is used. When 100
% torque is used the test allows 60 s for the required speed to be reached, but if this is unsucessful an Autotune trip is initiated. To reduce the
time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a non-
zero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the
required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required
torque level to accelerate the motor quickly enough. If this is the case, the maximum speed reference should be reduced. To perform an Inertia
measurement autotune, set Pr 00.040 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or
27).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition
before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque
Off signal from terminal 31, setting the Drive Enable (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043)
Pr 00.033 {05.016} Rated Speed Optimization Select (When using an SI-Encoder option module)
The motor Rated Speed (00.045) in conjunction with the motor Rated Frequency (00.047) defines the full load slip of the motor. The slip is used in
the motor model for RFC-A control. The full load slip of the motor varies with rotor resistance which can vary significantly with motor temperature.
When Pr 00.033 {05.016} is set to 1 or 2 the drive can automatically sense if the value of slip defined by Pr 00.047 and Pr 00.045 has been set
incorrectly or if it has varied with motor temperature. If the value is incorrect Pr 00.045 is automatically adjusted. Pr 00.045 is not saved at power-
down, and so when the drive is powered-down and up again it will return to the last saved value. If the new value is required at the next power-up it
must be saved by the user.
The adaptive control system is only enabled when the |Output Frequency Pr 00.011 {05.001}| is above Rated Frequency Pr 00.047 {05.006} / 8, and
the |Percentage Load (04.020)| is greater than 60 %. The adaptive control system is disabled again if the |Percentage Load (04.020)| falls below 50
%. For best optimization results the correct values of Stator Resistance (05.017), Transient Inductance (05.024), Stator Inductance (05.025),
Saturation Breakpoint 1 (05.029), Saturation Breakpoint 2 (05.062), Saturation Breakpoint 3 (05.030) and Saturation Breakpoint 4 (05.063) should
be used.
If Rated Speed Optimization Select Pr 00.033 {05.016} = 1 the gain of the adaptive control system is low and hence the rate at which it converges is
slow. If Rated Speed Optimization Select Pr 00.033 {05.016} = 2 the gain is increased by a factor of 16 and the convergence rate is increased.

Unidrive M600 Control User Guide 83

Pr 00.038 {04.013} Current Controller Kp Gain Defines the current loop controller proportional gain

Pr 00.039 {04.014} Current Controller Ki Gain Defines the current loop controller integral gain
The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The
default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to
change the gains to improve the performance. The Current Controller Kp Gain Pr 00.038 {04.013} is the most critical value in controlling the
performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040,
earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current
loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor
of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral
gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux
very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value.

84 Unidrive M600 Control User Guide

Pr 00.007 {03.010} Speed Controller Proportional Gain Kp1 Defines the proportional gain for the speed controller

Pr 00.008 {03.011} Speed Controller Integral Gain Ki1 Defines the integral gain for the speed controller

Pr 00.009 {03.012} Speed Controller Differential Feedback Gain Kd1 Defines the differential gain for the speed controller
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains
Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly
a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth
dependant on the setting of Pr 03.017.
Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is
reached.
Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application. For RFC-A Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.
Differential Gain (Kd), Pr 00.009 {0 3.012} and Pr 03.015
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

Unidrive M600 Control User Guide 85

Pr 00.007, Pr 00.008, Pr 00.009 Continued

There are six methods of tuning the speed loop gains dependant on the
setting of Pr 03.017:
1. Pr 03.017 = 0, User set-up. Speed demand

This involves the connecting of an oscilloscope to analog output 1 to

monitor the speed feedback.
Give the drive a step change in speed reference and monitor the Insufficient proportional
response of the drive on the oscilloscope. gain [00.007]

The proportional gain (Kp) should be set up initially. The value

should be increased up to the point where the speed overshoots and
then reduced slightly. Excessive proportional
The integral gain (Ki) should then be increased up to the point where gain [00.007]

the speed becomes unstable and then reduced slightly.

It may now be possible to increase the proportional gain to a higher
value and the process should be repeated until the system response Excessive integral gain
matches the ideal response as shown. [00.008]

The diagram shows the effect of incorrect P and I gain settings as

well as the ideal response.
2. Pr 03.017 = 1, Bandwidth set-up Ideal response

If bandwidth based set-up is required, the drive can calculate Kp and

Ki if the following parameters are set up correctly: 5. Pr 03.017 = 4 - 6
Pr 03.020 - Required bandwidth, If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the
Pr 03.021 - Required damping factor, Speed Controller Proportional Gain Kp1 Pr 00.007 {03.010} and Speed
Pr 03.018 - Motor and load inertia. Controller Integral Gain Ki1 Pr 00.008 {03.011} are automatically set up to
The drive can be made to measure the motor and load inertia by give the bandwidths given in the table below and a damping factor of unity.
performing an inertia measurement autotune (see Autotune These settings give low, standard or high performance.
Pr 00.040, earlier in this table). Pr 03.017 Performance Bandwidth
3. Pr 03.017 = 2, Compliance angle set-up
4 Low 5 Hz
If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly: 5 Standard 25 Hz
Pr 03.019 - Required compliance angle, 6 High 100 Hz
Pr 03.021 - Required damping factor,
Pr 03.018 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia 6. Pr 03.017 = 7
measurement autotune (see Autotune Pr 00.040, earlier in this
If Speed Controller Set-up Method (03.017) = 7 then Speed Controller
table).
Proportional Gain Kp1 Pr 00.007 {03.010}, Speed Controller Integral Gain
4. Pr 03.017 = 3, Kp gains times 16 Ki1 Pr 00.008 {03.011} and Speed Controller Differential Feedback Gain
If Speed Controller Set-up Method (03.017) = 3 the selected Kd1 Pr 00.009 {03.012} are set up to give a closed-loop speed controller
proportional gain used by the drive is multiplied by 16. response that approximates to a first order system with a transfer function of
1 / (sτ + 1), where τ= 1/ωbw and ωbw = 2π x Bandwidth (03.020). In this
case the damping factor is meaningless, and Damping Factor (03.021) and
Compliance Angle (03.019) have no effect.

86 Unidrive M600 Control User Guide

8.1.3 RFC-A Sensorless mode

Induction motor without position feedback
Pr 00.046 {05.007} Motor Rated Current Defines the maximum motor continuous current
The motor rated current parameter must be set to the maximum continuous current of the motor. (See section 8.2 Maximum motor rated current on
page 94, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the
following:
• Current limits (see section 8.3 Current limits on page 94, for more information).
• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 94, for more information)
• Vector control algorithm
Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.044 / 2

Pr 00.047 / 2 Pr 00.047 Output

frequency

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Unidrive M600 Control User Guide 87

Pr 00.040 {05.012} Autotune Defines the auto-tune test to be performed

There are three autotune tests available in RFC-A mode, a stationary test, a rotating test and an inertia measurement test. A stationary autotune will
give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters
required by the drive. An inertia measurement test should be performed separately to a stationary or rotating autotune.
It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).
• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary
autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop
gains, and at the end of the test the values in Pr 00.038 {04.013} and Pr 00.039 {04.014} are updated. Maximum Deadtime Compensation
(05.059) and Current At Maximum Deadtime Compensation (05.060) for the drive are also measured. Additionally, if Enable Stator
Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). A stationary autotune does
not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a stationary
autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then
performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency Pr 00.047 {05.006} x 2/3, and
the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation
breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The power factor is also modified for user information
only, but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set
Pr 00.040 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration.
Applied torque (sensorless mode) This test may give inaccurate results, if the motor rated speed is not set to the correct value for the motor,
or if standard ramp mode is active. During the inertia measurement test a series of progressively larger torque levels are applied to the motor
(20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to 3/4 x Rated Speed Pr 00.045 {05.008} to determine the inertia from the
acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque level is used. When 100
% torque is used the test allows 60 s for the required speed to be reached, but if this is unsucessful an Autotune trip is initiated. To reduce the
time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a non-
zero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the
required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required
torque level to accelerate the motor quickly enough. If this is the case, the maximum speed reference should be reduced. To perform an Inertia
measurement autotune, set Pr 00.040 to 4, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or
27).

88 Unidrive M600 Control User Guide

Pr 00.007 {03.010} Speed Controller Proportional Gain Kp1 Defines the proportional gain for the speed controller

Pr 00.008 {03.011} Speed Controller Integral Gain Ki1 Defines the integral gain for the speed controller

Pr 00.009 {03.012} Speed Controller Differential Feedback Gain Kd1 Defines the differential gain for the speed controller
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains
Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly
a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth
dependant on the setting of Pr 03.017.
Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is
reached.
Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application. For RFC-A Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.
Differential Gain (Kd), Pr 00.009 {03.012} and Pr 03.015
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

Unidrive M600 Control User Guide 89

Pr 00.007, Pr 00.008, Pr 00.009 Continued

There are six methods of tuning the speed loop gains dependant on the
setting of Pr 03.017:
1. Pr 03.017 = 0, User set-up. Speed demand
This involves the connecting of an oscilloscope to analog output 1 to
monitor the speed feedback.
Give the drive a step change in speed reference and monitor the
response of the drive on the oscilloscope. Insufficient proportional
gain [00.007]
The proportional gain (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where Excessive proportional
gain [00.007]
the speed becomes unstable and then reduced slightly.
It may now be possible to increase the proportional gain to a higher
value and the process should be repeated until the system response
Excessive integral gain
matches the ideal response as shown. [00.008]
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.
2. Pr 03.017 = 1, Bandwidth set-up Ideal response
If bandwidth based set-up is required, the drive can calculate Kp and
Ki if the following parameters are set up correctly:
Pr 03.020 - Required bandwidth,
Pr 03.021 - Required damping factor, 5. Pr 03.017 = 4 - 6
Pr 03.018 - Motor and load inertia. If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the
The drive can be made to measure the motor and load inertia by Speed Controller Proportional Gain Kp1 Pr 00.007 {03.010} and Speed
performing an inertia measurement autotune (see Autotune Controller Integral Gain Ki1 Pr 00.008 {03.011} are automatically set up to
Pr 00.040, earlier in this table). give the bandwidths given in the table below and a damping factor of unity.
These settings give low, standard or high performance.
3. Pr 03.017 = 2, Compliance angle set-up
If compliance angle based set-up is required, the drive can calculate Pr 03.017 Performance Bandwidth
Kp and Ki if the following parameters are set up correctly: 4 Low 5 Hz
Pr 03.019 - Required compliance angle, 5 Standard 25 Hz
Pr 03.021 - Required damping factor,
6 High 100 Hz
Pr 03.018 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 00.040, earlier in this 6. Pr 03.017 = 7
table). If Speed Controller Set-up Method (03.017) = 7 then Speed Controller
4. Pr 03.017 = 3, Kp gains times 16 Proportional Gain Kp1 Pr 00.007 {03.010}, Speed Controller Integral Gain
If Speed Controller Set-up Method (03.017) = 3 the selected Ki1 Pr 00.008 {03.011} and Speed Controller Differential Feedback Gain
proportional gain used by the drive is multiplied by 16. Kd1 Pr 00.009 {03.012} are set up to give a closed-loop speed controller
response that approximates to a first order system with a transfer function of
1 / (sτ + 1), where τ= 1/ωbw and ωbw = 2π x Bandwidth (03.020). In this
case the damping factor is meaningless, and Damping Factor (03.021) and
Compliance Angle (03.019) have no effect.

90 Unidrive M600 Control User Guide

8.1.4 RFC-S Sensorless mode

Permanent magnet motor without Position feedback
Pr 00.046 {05.007} Rated Current Defines the maximum motor continuous current
The motor rated current parameter must be set to the maximum continuous current of the motor. The motor rated current is used in the following:
• Current limits (see section 8.3 Current limits on page 94, for more information)
• Motor thermal overload protection (see section 8.4 Motor thermal protection on page 94, for more information)
Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles
The number of motor poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor. This parameter
must be set correctly for the control algorithms to operate correctly. When Pr 00.042 is set to "Automatic" the number of poles is 6.
Pr 00.040 {05.012} Autotune Defines the auto-tune test to be performed
There are three autotune tests available in RFC-S sensorless mode, a stationary autotune and an inertia measurement test.
• Stationary Autotune (Pr 00.040 {05.012} = 1)
The stationary autotune can be used to measure all the necessary parameters for basic control. The tests measures Stator Resistance (05.017), Ld
(05.024), No Load Lq Pr 00.056 {05.072}, Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060).
If Enable Stator Compensation (05.049) = 1 then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). The Stator
Resistance (05.017) and Ld (05.024) are then used to set up Current controller Kp Gain Pr 00.038 {04.013} and Current Controller Ki Gain Pr
00.039 {04.014}. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run
signal (on terminal 26 or 27).
• Rotating Autotune (Pr 00.040 {05.012} = 2)
In sensorless mode, if Rotating autotune is selected (Pr 00.040 = 2), then a stationary autotune is performed.
• Inertia measurement test (Pr 00.040 {05.012} = 4)
NOTE: It is not possible to perform this test if, after autotune, the ratio No load Lq Pr 00.056 {05.072} / Ld (05.024) < 1.1 and Pr 00.054 {05.064} has
been set to Non-salient.
The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration. The test may give inaccurate results, if the motor rated speed is not
set to the correct value for the motor, or if standard ramp mode is active. During the inertia measurement test a series of progressively larger torque
levels are applied to the motor (20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to 3/4 x Rated Speed Pr 00.045 {05.008} to
determine the inertia from the acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque
level is used. When 100 % torque is used the test allows 60 s for the required speed to be reached, but if this is unsucessful an Autotune trip is
initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level
(05.021) to a non-zero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to
reach the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the
required torque level to accelerate the motor quickly enough. If this is the case, the maximum speed reference should be reduced. To perform an
Inertia measurement autotune, set Pr 00.040 to 4, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26
or 27).
Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition
before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe
Torque Off signal from terminal 31, setting the drive Enable Parameter (06.015) to Off (0) or disabling the drive via the control word
(Pr 06.042 & Pr 06.043).

Pr 00.038 {04.013} Current Controller Kp Gain Defines the current loop controller proportional gain
Pr 00.039 {04.014} Current Controller Ki Gain Defines the current loop controller integral gain
The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The
default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to
change the gains to improve the performance. The proportional gain Pr 00.038 {04.013} is the most critical value in controlling the performance. The
values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040, earlier in this table) the
drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.
This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor
of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral
gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux
very closely the integral gain may need to have a significantly higher value.

Unidrive M600 Control User Guide 91

Pr 00.007 {03.010} Speed Controller Proportional Gain Kp1 Defines the proportional gain for the speed controller

Pr 00.008 {03.011} Speed Controller Integral Gain Ki1 Defines the integral gain for the speed controller

Pr 00.009 {03.012} Speed Controller Differential Feedback Gain Kd1 Defines the differential gain for the speed controller
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains
Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly
a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth
dependant on the setting of Pr 03.017.
NOTE: In sensorless mode, the speed controller bandwidth may need to be limited to 10 Hz or less for stable operation.
Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is
reached.
Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application. For RFC-S Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.
Differential Gain (Kd), Pr 00.009 {03.012} and Pr 03.015
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

92 Unidrive M600 Control User Guide

Pr 00.007, Pr 00.008, Pr 00.009 Continued

Unidrive M600 Control User Guide 93

8.2 Maximum motor rated current If Rated Current Pr 00.046 {05.007} ≤ Maximum Heavy Duty Current Pr
00.032 {11.032}
The maximum motor rated current allowed by the drive is greater than
the Maximum Heavy Duty Current Rating Pr 00.032 {11.032}. The ratio Figure 8-1 Motor thermal protection (Heavy Duty)
between the Normal Duty rating (11.060) and the Maximum Heavy Duty
Current Rating Pr 00.032 {11.032} varies between drive sizes. The 1.00
1.05
values for the Normal and Heavy Duty rating can be found in the
appropriate Power Installation Guide for the drive. If the motor Rated
0.70 Pr 04.025 = 0
Current (00.046) is set above the Maximum Heavy Duty Current Rating Pr 04.025 = 1
Pr 00.032 {11.032}, the current limits and the motor thermal protection K
scheme are modified (see section 8.3 and section 8.4 for more
information).

8.3 Current limits 0.00

The default setting for the current limit parameters are:
• 165 % x motor rated torque producing current for open loop mode 50% of base Base speed/
speed/frequency frequency
• 175 % x motor rated torque producing current for RFC-A and RFC-S
modes If Pr 04.025 is 0 the characteristic is for a motor which can operate at
There are three parameters which control the current limits: rated current over the whole speed range. Induction motors with this
type of characteristic normally have forced cooling. If Pr 04.025 is 1 the
• Motoring current limit: power flowing from the drive to the motor characteristic is intended for motors where the cooling effect of motor
• Regen current limit: power flowing from the motor to the drive fan reduces with reduced motor speed below 50 % of base speed/
• Symmetrical current limit: current limit for both motoring and regen frequency. The maximum value for K1 is 1.05, so that above the knee of
operation the characteristics the motor can operate continuously up to 105 %
The lowest of either the motoring and regen current limit, or the current.
symmetrical current limit applies.
The maximum setting of these parameters depends on the values of Figure 8-2 Motor thermal protection (Normal Duty)
motor rated current, drive rated current and the power factor.
Increasing the motor rated current (Pr 00.046 {05.007}) above the Heavy 1.00 1.01
Duty rating (default value), will automatically reduce the current limits in
Pr 04.005 to Pr 04.007. If the motor rated current is then set to or below
0.70 Pr 04.025 = 0
the Heavy Duty rating, the current limits will be left at their reduced Pr 04.025 = 1
values. K
The drive can be oversized to permit a higher current limit setting to
provide higher accelerating torque as required up to a maximum of
1000 %.
0.00
8.4 Motor thermal protection
A dual time constant thermal model is provided to estimate the motor 15% of 50% of Base speed/
base speed/ base speed/ frequency
temperature as a percentage of its maximum allowed temperature. frequency frequency
The motor thermal protection is modelled using losses in the motor. The
losses in the motor are calculated as a percentage value, so that under Both settings of Pr 04.025 are intended for motors where the cooling
these conditions the Motor Protection Accumulator (04.019) would effect of the motor fan reduces with reduced motor speed, but with
eventually reach 100 %. different speeds below which the cooling effect is reduced. If Pr 04.025
Percentage losses = 100 % x [Load related losses + Iron losses] is 0 the characteristic is intended for motors where the cooling effect
reduces with motor speed below 15 % of base speed/frequency. If
Where:
Pr 04.025 is 1 the characteristic is intended for motors where the cooling
Load related losses = (1 - Kfe) x (I / (K1 x IRated))2 effect reduces with motor speed below 50 % of base speed/frequency.
The maximum value for K1 is 1.01, so that above the knee of the
Iron losses = Kfe x (w / wRated)1.6 characteristics the motor can operate continuously up to 101 % current.
Where: When the estimated temperature in Pr 04.019 reaches 100 % the drive
I = Current Magnitude Pr 00.012 {04.001} takes some action depending on the setting of Pr 04.016. If Pr 04.016 is
0, the drive trips when Pr 04.019 reaches 100 %. If Pr 04.016 is 1, the
IRated = Rated Current Pr 00.046 {05.007}
current limit is reduced to (K - 0.05) x 100 % when Pr 04.019 reaches
Kfe = Rated Iron Losses As Percentage Of Losses (04.039) / 100 % 100 %.
The Motor Protection Accumulator (04.019) is given by: The current limit is set back to the user defined level when Pr 04.019
falls below 95 %. The thermal model temperature accumulator
Pr 04.019 = Percentage Losses x [(1 - K2) (1 - e-t/τ1) + K2 (1 - e-t/τ2)]
accumulates the temperature of the motor while the drive remains
Where: powered-up. By default, the accumulator is set to the power down value
T = Motor Protection Accumulator (04.019) at power up. If the rated current defined by Pr 00.046 {05.007} is altered,
the accumulator is reset to zero.
K2 = Motor Thermal Time Constant 2 Scaling (04.038) / 100 %
The default setting of the thermal time constant Pr 00.053 {04.015} is 89
τ1 = Motor Thermal Time Constant 1 Pr 00.053 {04.015} s which is equivalent to an overload of 150 % for 60 s from cold.
τ2
= Motor Thermal Time Constant 2 (04.037)
K1 = Varies, see below

94 Unidrive M600 Control User Guide

8.5 Switching frequency 8.6 High speed operation

The default switching frequency is 3 kHz, however this can be increased 8.6.1 Field weakening (constant power) operation
up to a maximum of 16 kHz by Pr 00.041 {05.018} (dependent on drive (Open loop and RFC-A mode only)
size). The available switching frequencies are shown below. The drive can be used to run an induction machine above synchronous
Table 8-1 Available switching frequencies speed into the constant power region. The speed continues to increase
and the available shaft torque reduces. The characteristics below show
Drive 2 3 4 6 8 12 16 the torque and output voltage characteristics as the speed is increased
Model
size kHz kHz kHz kHz kHz kHz kHz above the rated value.
3 Figure 8-3 Torque and rated voltage against speed
4
5
Torque
6
All       
7
8
9
10
Speed
11 400V     
11 575 and 690V   
Rated
If switching frequency is increased from 3 kHz the following apply: voltage

1. Increased heat loss in the drive, which means that derating to the
output current must be applied.
See the derating tables for switching frequency and ambient
temperature in the Power Installation Guide.
2. Reduced heating of the motor - due to improved output waveform Rated speed Speed
quality. Care must be taken to ensure the torque available above base speed is
3. Reduced acoustic noise generated by the motor. sufficient for the application to run satisfactorily.
4. Increased sample rate on the speed and current controllers. A trade
The saturation breakpoint parameters (Pr 05.029, Pr 05. 030, Pr 05.062
off must be made between motor heating, drive heating and the
and Pr 05.063) found during the autotune in RFC-A mode ensure the
demands of the application with respect to the sample time required.
magnetizing current is reduced in the correct proportion for the specific
Table 8-2 Sample rates for various control tasks at each motor. (In open loop mode the magnetizing current is not actively
switching frequency controlled).
3, 6, 12 2, 4, 8, 16 Open RFC-A 8.6.2 Permanent magnet motor high speed operation
kHz kHz loop RFC-S High speed servo mode is enabled by setting Pr 05.022 =1. Care must
be taken when using this mode with permanent magnet motor to avoid
2 kHz = 250 μs
3 kHz = 167μs damaging the drive. The voltage produced by the permanent magnet
4 kHz = 125 μs Current
Level 1 6 kHz = 83 μs Peak limit motor magnets is proportional to speed. For high speed operation the
8 kHz = 62.5 μs controllers
12 kHz = 83 μs drive must apply currents to the motor to counter-act the flux produced
16 kHz = 62.5 μs
by the magnets. It is possible to operate the motor at very high speeds
2 kHz -500 μs that would give a very high motor terminal voltage, but this voltage is
Current Speed
4 kHz - 250 μs prevented by the action of the drive.
Level 2 250 μs limit and controller
8 kHz - 125 μs
ramps and ramps If however, the drive is disabled (or tripped) when the motor voltages
16 kHz - 125 μs
would be higher than the rating of the drive without the currents to
Level 3 1 ms Voltage controller counter-act the flux from the magnets, it is possible to damage the drive.
Time critical user If high speed mode is enabled the motor speed must be limited to the
Level 4 4 ms
interface levels given in the table below unless an additional hardware protection
Non-time critical user system is used to limit the voltages applied to the drive output terminals
Background
interface to a safe level.
Drive Maximum safe line to line
Maximum motor speed
voltage voltage at the motor
(rpm)
rating terminals (V rms)
200 400 x 1000 / (Ke x √2) 400 / √2
400 800 x 1000 / (Ke x √2) 800 / √2
575 955 x 1000 / (Ke x √2) 955 / √2
690 1145 x 1000 / (Ke x √2) 1145 / √2
Ke is the ratio between r.m.s. line to line voltage produced by the motor
and the speed in V/1000 rpm. Care must also be taken not to de-
magnetize the motor. The motor manufacturer should always be
consulted before using this mode.
By default, high speed operation is disabled (Pr 05.022 = 0).
It is also possible to enable high speed operation, and allow the drive to
automatically limit the motor speed to the levels specified in the tables
and generate an Overspeed.1 trip if the levels are exceeded (Pr 05.022
= -1)

Unidrive M600 Control User Guide 95

8.6.3 Maximum speed / frequency

In all operating modes (Open loop, RFC-A and RFC-S) the maximum
output frequency is limited to 550 Hz. However, in RFC-S mode the
speed is also limited by the voltage constant (Ke) of the motor. Ke is a
specific constant for the servo motor being used. It can normally be
found on the motor data sheet in V/k rpm (volts per 1,000 rpm).
8.6.4 Switching frequency
With a default switching frequency of 3 kHz the maximum output
frequency should be limited to 250 Hz. Ideally a minimum ratio of 12:1
should be maintained between the output frequency and the switching
frequency. This ensures the number of switchings per cycle is sufficient
to ensure the output waveform quality is maintained at a minimum level.
If this is not possible, quasi-square switching should be enabled
(Pr 05.020 =1). The output waveform will be quasi square above base
speed ensuring a symmetrical output waveform, which results in a better
quality output than would otherwise result.
8.6.5 Quasi-Square wave (open-loop only)
The maximum output voltage level of the drive is normally limited to an
equivalent of the drive input voltage minus voltage drops within the drive
(the drive will also retain a few percent of the voltage in order to maintain
current control). If the motor rated voltage is set at the same level as the
supply voltage, some pulse deletion will occur as the drive output voltage
approaches the rated voltage level. If Pr 05.020 (Quasi-square wave
enable) is set to 1 the modulator will allow over modulation, so that as
the output frequency increases beyond the rated frequency the voltage
continues to increase above the rated voltage. The modulation depth will
increase beyond unity; first producing trapezoidal and then quasi-square
waveforms.
This can be used for example:
• To obtain high output frequencies with a low switching frequency
which would not be possible with space vector modulation limited to
unity modulation depth,
or
• In order to maintain a higher output voltage with a low supply
voltage.
The disadvantage is that the machine current will be distorted as the
modulation depth increases above unity, and will contain a significant
amount of low order odd harmonics of the fundamental output frequency.
The additional low order harmonics cause increased losses and heating
in the motor.

96 Unidrive M600 Control User Guide

8.7 CT Modbus RTU specification

This section describes the adaptation of the MODBUS RTU protocol offered on Control Techniques' products. The portable software class which
implements this protocol is also defined.
MODBUS RTU is a master slave system with half-duplex message exchange. The Control Techniques (CT) implementation supports the core
function codes to read and write registers. A scheme to map between MODBUS registers and CT parameters is defined. The CT implementation also
defines a 32 bit extension to the standard 16 bit register data format.

8.7.1 MODBUS RTU

Physical layer
Attribute Description
Normal physical layer for multi-drop operation EIA 485 2 wire
Bit stream Standard UART asynchronous symbols with Non Return to Zero (NRZ)
Each symbol consists of:-
1 start bit
Symbol
8 data bits (transmitted least significant bit first)
2 stop bits*
Baud rates 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 76800, 115200

* The drive will accept a packet with 1 or 2 stop bits but will always transmit 2 stop bits
RTU framing
The frame has the following basic format

SLAVE FUNCTION Silent

message data 16bit CRC
ADDRESS CODE interval

Message data

The frame is terminated with a minimum silent period of 3.5 character times (for example, at 19200 baud the minimum silent period is 2 ms). Nodes
use the terminating silence period to detect the end of frame and begin frame processing. All frames must therefore be transmitted as a continuous
stream without any gaps greater or equal to the silence period. If an erroneous gap is inserted then receiving nodes may start frame processing early
in which case the CRC will fail and the frame will be discarded.
MODBUS RTU is a master slave system. All master requests, except broadcast requests, will lead to a response from an individual slave. The slave
will respond (i.e. start transmitting the response) within the quoted maximum slave response time (this time is quoted in the data sheet for all Control
Techniques products). The minimum slave response time is also quoted but will never be less that the minimum silent period defined by 3.5 character
times.
If the master request was a broadcast request then the master may transmit a new request once the maximum slave response time has expired.
The master must implement a message time out to handle transmission errors. This time out period must be set to the maximum slave response time
+ transmission time for the response.

minimum silence minimum silence

period period

Slave frame
Master request frame detect Slave response Master request
processing

New master request

Slave response time
can start here

Time

8.7.2 Slave address

The first byte of the frame is the slave node address. Valid slave node addresses are 1 through 247 decimal. In the master request this byte indicates
the target slave node; in the slave response this byte indicates the address of the slave sending the response.
Global addressing
Address zero addresses all slave nodes on the network. Slave nodes suppress the response messages for broadcast requests.

Unidrive M600 Control User Guide 97

8.7.3 MODBUS registers

The MODBUS register address range is 16 bit (65536 registers) which at the protocol level is represented by indexes 0 through 65535.
PLC registers
Modicon PLCs typically define 4 register 'files' each containing 65536 registers. Traditionally, the registers are referenced 1 through 65536 rather than
0 through 65535. The register address is therefore decremented on the master device before passing to the protocol.

File type Description

1 Read only bits ("coil")
2 Read / write bits ("coil")
3 Read only 16bit register
4 Read / write 16bit register
The register file type code is NOT transmitted by MODBUS and all register files can be considered to map onto a single register address space.
However, specific function codes are defined in MODBUS to support access to the "coil" registers. All standard CT drive parameters are mapped to
register file '4' and the coil function codes are not required.
CT parameter mapping
The Modbus register address is 16 bits in size, of which the upper two bits are used for data type selection leaving 14 bits to represent the parameter
address, taking into account the slave increments the address value by 1, this results in a theoretical maximum parameter address of 163.84 (limited
to 162.99 in software) when the default standard addressing mode (see Serial Mode Pr 00.035 {11.024}) is used.
To access a parameter number above 99 in any drive menu then the modified addressing mode must be used (see Serial Mode Pr 00.035 {11.024}),
this will allow access to parameter numbers up to 255 but also limit the maximum menu number to 63.
The Modbus slave device increments the register address by 1 before processing the command, this effectively prevents access to parameter
Pr 00.000 in the drive or option module.
The table below shows how the start register address is calculated for both addressing modes.

Parameter Addressing mode Protocol register

Standard mm x 100 + ppp - 1
0.mm.ppp
Modified mm x 256 + ppp - 1
Examples
16-bit 32-bit
Decimal Hex (0x) Decimal Hex (0x)
Standard 120 00 78 16504 40 78
0.01.021
Modified 276 01 14 16660 41 14
Standard 99 00 63 16483 40 63
0.01.000
Modified 255 00 FF 16639 40 FF
Standard N/A N/A N/A N/A
0.03.161
Modified 928 03 A0 17312 43 A0

Data types
The MODBUS protocol specification defines registers as 16 bit signed integers. All CT devices support this data size. Refer to the section
8.7.7 Extended data types on page 100 for detail on accessing 32 bit register data.

8.7.4 Data consistency

All CT devices support a minimum data consistency of one parameter (16 bit or 32 bit data). Some devices support consistency for a complete
multiple register transaction.

8.7.5 Data encoding

MODBUS RTU uses a 'big-endian' representation for addresses and data items (except the CRC, which is 'little-endian'). This means that when a
numerical quantity larger than a single byte is transmitted, the MOST significant byte is sent first. So for example
16 - bits 0x1234 would be 0x12 0x34
32 - bits 0x12345678 would be 0x12 0x34 0x56 0x78

8.7.6 Function codes

The function code determines the context and format of the message data. Bit 7 of the function code is used in the slave response to indicate an
exception.
The following function codes are supported:
Code Description
3 Read multiple 16 bit registers
6 Write single register
16 Write multiple 16 bit registers
23 Read and write multiple 16 bit registers

98 Unidrive M600 Control User Guide

FC03 Read multiple

Read a contiguous array of registers. The slave imposes an upper limit on the number of registers, which can be read. If this is exceeded the slave
will issue an exception code 2.
Table 8-3 Master request
Byte Description
0 Slave destination node address 1 through 247, 0 is global
1 Function code 0x03
2 Start register address MSB
3 Start register address LSB
4 Number of 16 bit registers MSB
5 Number of 16 bit registers LSB
6 CRC LSB
7 CRC MSB

Table 8-4 Slave response

Byte Description
0 Slave source node address
1 Function code 0x03
2 Length of register data in read block (in bytes)
3 Register data 0 MSB
4 Register data 0 LSB
3+byte count CRC LSB
4+byte count CRC MSB

FC06 Write single register

Writes a value to a single 16 bit register. The normal response is an echo of the request, returned after the register contents have been written. The
register address can correspond to a 32 bit parameter but only 16 bits of data can be sent.
Table 8-5 Master request
Byte Description
0 Slave node address 1 through 247, 0 is global
1 Function code 0x06
2 Register address MSB
3 Register address LSB
4 Register data MSB
5 Register data LSB
6 CRC LSB
7 CRC MSB

Table 8-6 Slave response

Byte Description
0 Slave source node address
1 Function code 0x06
2 Register address MSB
3 Register address LSB
4 Register data MSB
5 Register data LSB
6 CRC LSB
7 CRC MSB

FC16 Write multiple

Writes a contiguous array of registers. The slave imposes an upper limit on the number of registers which can be written. If this is exceeded the slave
will discard the request and the master will time out.

Unidrive M600 Control User Guide 99

Table 8-7 Master request

Byte Description
0 Slave node address 1 through 247, 0 is global
1 Function code 0x10
2 Start register address MSB
3 Start register address LSB
4 Number of 16 bit registers MSB
5 Number of 16 bit registers LSB
6 Length of register data to write (in bytes)
7 Register data 0 MSB
8 Register data 0 LSB
7+byte count CRC LSB
8+byte count CRC MSB

Table 8-8 Slave response

Byte Description
0 Slave source node address
1 Function code 0x10
2 Start register address MSB
3 Start register address LSB
4 Number of 16 bit registers written MSB
5 Number of 16 bit registers written LSB
6 CRC LSB
7 CRC MSB

FC23 Read/Write multiple

Writes and reads two contiguous arrays of registers. The slave imposes an upper limit on the number of registers which can be written. If this is
exceeded the slave will discard the request and the master will time out.
Table 8-9 Master request
Byte Description
0 Slave node address 1 through 247, 0 is global
1 Function code 0x17
2 Start register address to read MSB
3 Start register address to read LSB
4 Number of 16 bit registers to read MSB
5 Number of 16 bit registers to read LSB
6 Start register address to write MSB
7 Start register address to write LSB
8 Number of 16 bit registers to write MSB
9 Number of 16 bit registers to write LSB
10 Length of register data to write (in bytes)
11 Register data 0 MSB
12 Register data 0 LSB
11+byte count CRC LSB
12+byte count CRC MSB

Table 8-10 Slave response

Byte Description
0 Slave source node address
1 Function code 0x17
2 Length of register data in read block (in bytes)
3 Register data 0 MSB
4 Register data 0 LSB
3+byte count CRC LSB
4+byte count CRC MSB
s

8.7.7 Extended data types

Standard MODBUS registers are 16bit and the standard mapping maps a single #X.Y parameter to a single MODBUS register. To support 32 bit data
types (integer and float) the MODBUS multiple read and write services are used to transfer a contiguous array of 16bit registers.

100 Unidrive M600 Control User Guide

Slave devices typically contain a mixed set of 16 bit and 32 bit registers. To permit the master to select the desired 16 bit or 32 bit access the top two
bits of the register address are used to indicate the selected data type.
NOTE
The selection is applied for the whole block access.

bit 15 bit 14
bits 0 - 13
TYP1 TYP0

Type select Parameter address

X x 100+Y-1

The 2bit type field selects the data type according to the table below:
Type field
Selected data type Comments
bits 15-14
00 INT16 backward compatible
01 INT32
IEEE754 standard
10 Float32
Not supported on all slaves
11 Reserved

If a 32 bit data type is selected then the slave uses two consecutive 16 bit MODBUS registers (in 'big endian'). The master must also set the correct
'number of 16 bit registers'.
Example, read Pr 20.021 through Pr 20.024 as 32 bit parameters using FC03 from node 8:
Table 8-11 Master request
Byte Value Description
0 0x08 Slave destination node address
1 0x03 FC03 multiple read
2 0x47 Start register address Pr 20.021
3 0xE4 (16384 + 2021 - 1) = 18404 = 0x47E4
4 0x00 Number of 16bit registers to read
5 0x08 Pr 20.021 through Pr 20.024 is 4x32 bit registers = 8x16 bit registers
6 CRC LSB
7 CRC MSB

Table 8-12 Slave response

Byte Value Description
0 0x08 Slave destination node address
1 0x03 FC03 multiple read
2 0x10 Length of data (bytes) = 4x32 bit registers = 16 bytes
3-6 Pr 20.021 data
7-10 Pr 20.022 data
11-14 Pr 20.023 data
15-18 Pr 20.024 data
19 CRC LSB
20 CRC MSB

Reads when actual parameter type is different from selected

The slave will send the least significant word of a 32 bit parameter if that parameter is read as part of a 16 bit access.
The slave will sign extend the least significant word if a 16 bit parameter is accessed as a 32 bit parameter. The number of 16 bit registers must be
even during a 32 bit access.
Example, If Pr 01.028 is a 32 bit parameter with a value of 0x12345678, Pr 01.029 is a signed 16 bit parameter with a value of 0xABCD, and
Pr 01.030 is a signed 16 bit parameter with a value of 0x0123.

Unidrive M600 Control User Guide 101

Start register Number of 16 bit

Read Response Comments
address registers
Standard 16 bit access to a 32 bit register
Pr 01.028 127 1 0x5678
will return low 16 bit word of truncated data
Pr 01.028 16511* 2 0x12345678 Full 32 bit access
Number of words must be even for 32 bit
Pr 01.028 16511* 1 Exception 2
access
Standard 16 bit access to a 32 bit register
Pr 01.029 128 1 0xABCD
will return low 16 bit word of data
32 bit access to a 16 bit register will return
Pr 01.029 16512* 2 0xFFFFABCD
32 bit sign extended data
32 bit access to a 16 bit register will return
Pr 01.030 16513* 2 0x00000123
32 bit sign extended data
Pr 01.028 to Standard 16 bit access to a 32 bit register
127 2 0x5678, 0xABCD
Pr 01.029 will return low 16 bit word of truncated data
Pr 01.028 to
16511* 4 0x12345678, 0xFFFFABCD Full 32 bit access
Pr 01.029
* Bit 14 is set to allow 32 bit access.
Writes when actual parameter type is different from selected
The slave will allow writing a 32 bit value to a 16 bit parameter as long as the 32 bit value is within the normal range of the 16 bit parameter.
The slave will allow a 16 bit write to a 32 bit parameter. The slave will sign extend the written value, therefore the effective range of this type of write
will be -32768 to +32767.
Examples, if Pr 01.028 has a range of ±100000, and Pr 01.029 has a range of ±10000.

Start register Number of 16bit

Write Data Comments
address registers
Standard 16 bit write to a 32bit register. Value
Pr 01.028 127 1 0x1234
written = 0x00001234
Standard 16 bit write to a 32bit register. Value
Pr 01.028 127 1 0xABCD
written = 0xFFFFABCD
Pr 01.028 16511 2 0x00001234 Value written = 0x00001234
Pr 01.029 128 1 0x0123 Value written = 0x0123
Pr 01.029 16512 2 0x00000123 Value written = 0x00000123
* Bit 14 is set to allow 32 bit access

8.7.8 Exceptions
The slave will respond with an exception response if an error is detected in the master request. If a message is corrupted and the frame is not
received or the CRC fails then the slave will not issue an exception. In this case the master device will time out. If a write multiple (FC16 or FC23)
request exceeds the slave maximum buffer size then the slave will discard the message. No exception will be transmitted in this case and the master
will time out.
Exception message format
The slave exception message has the following format.
Byte Description
0 Slave source node address
1 Original function code with bit 7 set
2 Exception code
3 CRC LSB
4 CRC MSB

Exception codes
The following exception codes are supported.
Code Description
1 Function code not supported
2 Register address out of range, or request to read too many registers

Parameter over range during block write FC16

The slave processes the write block in the order the data is received. If a write fails due to an out of range value then the write block is terminated.
However, the slave does not raise an exception response, rather the error condition is signalled to the master by the number of successful writes field
in the response.
Parameter over range during block read/write FC23
There will be no indication that there has been a value out of range during a FC23 access.

102 Unidrive M600 Control User Guide

8.7.9 CRC
The CRC is a 16 bit cyclic redundancy check using the standard CRC-16 polynomial x16 + x15 + x2 + 1. The 16 bit CRC is appended to the message
and transmitted LSB first.
The CRC is calculated on ALL the bytes in the frame.

8.7.10 Device compatibility parameters

All devices have the following compatibility parameters defined:
Parameter Description
Device ID Unique device identification code
The minimum delay between the end of a message from the master and the time at
Minimum slave response time
which the master is ready to receive a response from the slave.
When global addressing, the master must wait for this time before issuing a new
Maximum slave response time
message. In a network of devices, the slowest time must be used
Baud rate Baud rate used by Modbus RTU
If this data type is not supported then an over range error will be raised if this data type
32 bit float data type supported
is used
Maximum buffer size Determines the maximum block size.

Unidrive M600 Control User Guide 103

9 NV Media Card Operation The Unidrive M is not able to read any other type of Unidrive SP data
block on the card. Although it is possible to transfer difference from
default data blocks from a Unidrive SP into the Unidrive M, the following
9.1 Introduction should be noted:
The Non-Volatile Media Card feature enables simple configuration of 1. If a parameter from the source drive does not exist in the target drive
parameters, parameter back-up, storing / reading PLC programs and then no data is transferred for that parameter.
drive copying using a SMARTCARD or SD card storing / reading PLC 2. If the data for the parameter in the target drive is out of range then
programs. The drive offers backward compatibility for a Unidrive SP the data is limited to the range of the target parameter.
SMARTCARD. 3. If the target drive has a different rating to the source drive then the
The NV Media Card can be used for: normal rules for this type of transfer apply.
Figure 9-2 Basic NV Media Card operation
• Parameter copying between drives
• Saving drive parameter sets
• Saving an onboard user program
The NV Media Card is located at the top of the module under the drive
display (if installed) on the left-hand side.
Drive reads all
Ensure the NV Media Card is inserted with the contacts facing the left- parameters from
hand side of the drive. the NV Media Card
The drive only communicates with the NV Media Card when
commanded to read or write, meaning the card may be "hot swapped".

Beware of possible live terminals when installing the NV Pr 00.030 = Read +

Media Card.
WARNING

Figure 9-1 Installation of the NV Media Card

Programs all drive
parameters to the
NV Media Card
NOTE
Overwrites any
data already in
data block 1

Pr 00.030 = Program +

Drive automatically
writes to the
NV Media Card
when a parameter Auto
save is performed Save

Pr 00.030 = Auto +
1. Installing the NV Media Card
2. NV Media Card installed

NV Media Card Part number

SD Card Adaptor (memory card not included) 3130-1212 Boot Drive boots from the
NV Media Card on
8 kB SMARTCARD 2214-4246 power up and
64 kB SMARTCARD 2214-1006 automatically writes
to the NV Media Card
9.2 NV Media Card support Auto Save when a parameter
save is performed
The NV Media Card can be used to store drive parameter sets and / or
PLC programs set from the Unidrive M in data blocks 001 to 499 on the
card. Pr 00.030 = Boot +
The Unidrive M is compatible with a Unidrive SP SMARTCARD and is
able to read and translate the Unidrive SP parameter set into a
compatible parameter set for Unidrive M. This is only possible if the
Unidrive SP parameter set was transferred to the SMARTCARD using
the difference from defaults transfer method (i.e. 4yyy transfer).

104 Unidrive M600 Control User Guide

The whole card may be protected from writing or erasing by setting the read-only flag as detailed in section 9.3.9 9888 / 9777 - Setting and clearing
the NV Media Card read only flag on page 106.
The card should not be removed during data transfer, as the drive will produce a trip. If this occurs then either the transfer should be re-attempted or
in the case of a card to drive transfer, default parameters should be loaded.

9.3 Transferring data

Data transfer, erasing and protecting the information is performed by entering a code in Pr mm.000 and then resetting the drive as shown in Table 9-1.
Table 9-1 SMARTCARD and SD card codes

Code Operation SMARTCARD SD card

Transfer the drive parameters to parameter file 001 and sets the block as bootable. This will include the
2001  
parameters from attached option modules.
Transfer the drive parameters to parameter file yyy. This will include the parameters from attached option
4yyy  
modules.
5yyy Transfer the onboard user program to onboard user program file yyy.  
Load the drive parameters from parameter file yyy or the onboard user program from onboard user
6yyy  
program file yyy.
7yyy Erase file yyy.  
Compare the data in the drive with file yyy. If the files are the same then Pr mm.000 (mm.000) is simply
8yyy reset to 0 when the compare is complete. If the files are different a ‘Card Compare’ trip is initiated. All  
other NV media card trips also apply.
9555 Clear the warning suppression flag  
9666 Set the warning suppression flag  
9777 Clear the read-only flag  
9888 Set the read-only flag  
9999 Erase and format the NV media card 
Where yyy indicates the block number 001 to 999. However, drive rating dependent parameters will be transferred if only
the current rating is different. If drive rating dependant parameters are
NOTE
not transferred to the destination drive they will contain their default
If the read only flag is set then only codes 6yyy or 9777 are effective. values.
9.3.1 Writing to the NV Media Card Pr 02.008 Standard Ramp Voltage
4yyy - Writes defaults differences to the NV Media Card Pr 04.005 to Pr 04.007 and Pr 21.027 to Pr 21.029 Motoring Current Limits
The data block only contains the parameter differences from the last Pr 04.024, User Current Maximum Scaling
time default settings were loaded.
Pr 05.007, Pr 21.007 Rated Current
All parameters except those with the NC (Not copied) coding bit set are Pr 05.009, Pr 21.009 Rated Voltage
transferred to the NV Media Card. In addition to these parameters all
Pr 05.010, Pr 21.010 Rated Power Factor
menu 20 parameters (except Pr 20.000), can be transferred to the NV
Media Card. Pr 05.017, Pr 21.012 Stator Resistance
Pr 05.018 Maximum Switching Frequency
Writing a parameter set to the NV Media Card (Pr 11.042 =
Program (2)) Pr 05.024, Pr 21.014 Transient Inductance
Setting Pr 11.042 to Program (2) and resetting the drive will save the Pr 05.025, Pr 21.024 Stator Inductance
parameters to the NV Media Card, i.e. this is equivalent to writing 4001 Pr 06.006 Injection Braking Level
to Pr mm.000. All NV Media Card trips apply except 'Card Change'. If
Pr 06.048 Supply Loss Detection Level
the data block already exists it is automatically overwritten. When the
action is complete this parameter is automatically reset to None (0). Pr 06.065 Standard Under Voltage Threshold
Pr 06.066 Low Under Voltage Threshold
9.3.2 Reading from the NV Media Card
6yyy - Reading from NV Media Card
When the data is transferred back to the drive, using 6yyy in Pr mm.000,
it is transferred to the drive RAM and the EEPROM. A parameter save is
not required to retain the data after-power down. Set up data for any
option modules installed stored on the card are transferred to the drive. If
the option modules installed are different between source and
destination drives, the menus for the option module slots where the
option module categories are different are not updated from the card and
will contain their default values after the copying action. The drive will
produce a 'Card Option' trip if the option module installed to the source
and the destination drives are different or are in different slots. If the data
is being transferred to the drive with different voltage or current rating a
'Card Rating' trip will occur.
The following drive rating dependant parameters (RA coding bit set) will
not be transferred to the destination drive by a NV Media Card when the
voltage rating of the destination drive is different from the source drive
and the file is a parameter file.

Unidrive M600 Control User Guide 105

Reading a parameter set from the NV Media Card (Pr 11.042 Setting Pr mm.000 to 2001 will overwrite the data block 1 on the card if it
= Read (1)) already exists.
Setting Pr 11.042 to Read (1) and resetting the drive will transfer the
parameters from the card into the drive parameter set and the drive 9.3.6 8yyy - Comparing the drive full parameter set
EEPROM, i.e. this is equivalent to writing 6001 to Pr mm.000. with the NV Media Card values
All NV Media Card trips apply. Once the parameters are successfully Setting 8yyy in Pr mm.000, will compare the NV Media Card file with the
copied this parameter is automatically reset to None (0). Parameters are data in the drive. If the compare is successful Pr mm.000 is simply set to
saved to the drive EEPROM after this action is complete. 0. If the compare fails a 'Card Compare' trip is initiated.
9.3.3 Auto saving parameter changes (Pr 11.042 = 9.3.7 7yyy / 9999 - Erasing data from the NV Media
Auto (3)) Card values
This setting causes the drive to automatically save any changes made to Data can be erased from the NV Media Card either one block at a time
menu 0 parameters on the drive to the NV Media Card. The latest menu or all blocks in one go.
0 parameter set in the drive is therefore always backed up on the NV • Setting 7yyy in Pr mm.000 will erase NV Media Card data block yyy
Media Card. Changing Pr 11.042 to Auto (3) and resetting the drive will • Setting 9999 in Pr mm.000 will erase all the data blocks on a
immediately save the complete parameter set from the drive to the card, SMARTCARD, but not on an SD Card.
i.e. all parameters except parameters with the NC coding bit set. Once
the whole parameter set is stored only the individual modified menu 0 9.3.8 9666 / 9555 - Setting and clearing the NV Media
parameter setting is updated. Card warning suppression flag
Advanced parameter changes are only saved to the NV Media Card If the option modules installed to the source and destination drive are
when Pr mm.000 is set to 'Save Parameters' or a 1001 and the drive different or are in different slots the drive will produce a 'Card Option' trip.
reset. If the data is being transferred to a drive of a different voltage or current
rating a 'Card Rating' trip will occur. It is possible to suppress these trips
All NV Media Card trips apply, except 'Card Change'. If the data block
already contains information it is automatically overwritten. by setting the warning suppression flag. If this flag is set the drive will not
trip if the option module(s) or drive ratings are different between the
If the card is removed when Pr 11.042 is set to 3 Pr 11.042 is then source and destination drives. The options module or rating dependent
automatically set to None (0). parameters will not be transferred.
When a new NV Media Card is installed Pr 11.042 must be set back to • Setting 9666 in Pr mm.000 will set the warning suppression flag
Auto (3) by the user and the drive reset so the complete parameter set is • Setting 9555 in Pr mm.000 will clear the warning suppression flag
rewritten to the new NV Media Card if auto mode is still required.
When Pr 11.042 is set to Auto (3) and the parameters in the drive are
9.3.9 9888 / 9777 - Setting and clearing the NV Media
saved, the NV Media Card is also updated, and therefore the NV Media
Card read only flag
The NV Media Card may be protected from writing or erasing by setting
Card becomes a copy of the drives stored configuration.
the read only flag. If an attempt is made to write or erase a data block
At power up, if Pr 11.042 is set to Auto (3), the drive will save the when the read only flag is set, a 'Card Read Only' trip is initiated. When
complete parameter set to the NV Media Card. The drive will display the read only flag is set only codes 6yyy or 9777 are effective.
'Card Write' during this operation. This is done to ensure that if a user
• Setting 9888 in Pr mm.000 will set the read only flag
puts a new NV Media Card in during power down the new NV Media
Card will have the correct data. • Setting 9777 in Pr mm.000 will clear the read only flag

NOTE 9.4 Data block header information

When Pr 11.042 is set to Auto (3) the setting of Pr 11.042 itself is saved Each data block stored on a NV Media Card has header information
to the drive EEPROM but not the NV Media Card.
detailing the following:
9.3.4 Booting up from the NV Media Card on every • NV Media Card File Number (11.037)
power up (Pr 11.042 = Boot (4)) • NV Media Card File Type (11.038)
When Pr 11.042 is set to Boot (4) the drive operates the same as Auto • NV Media Card File Version (11.039)
mode except when the drive is powered-up. The parameters on the NV • NV Media Card File Checksum (11.040)
Media Card will be automatically transferred to the drive at power up if The header information for each data block which has been used can be
the following are true: viewed in Pr 11.038 to Pr 11.040 by increasing or decreasing the data
• A card is inserted in the drive block number set in Pr 11.037. If there is no data on the card Pr 11.037
• Parameter data block 1 exists on the card can only have a value of 0.
• The data in block 1 is type 1 to 4 (as defined in Pr 11.038)
• Pr 11.042 on the card set to Boot (4)
The drive will display 'Booting Parameters during this operation. If the
drive mode is different from that on the card, the drive gives a 'Card
Drive Mode' trip and the data is not transferred.
If 'Boot' mode is stored on the copying NV Media Card this makes the
copying NV Media Card the master device. This provides a very fast and
efficient way of re-programming a number of drives.
NOTE
'Boot' mode is saved to the card, but when the card is read, the value of
Pr 11.042 is not transferred to the drive.
9.3.5 Booting up from the NV Media Card on every
power up (Pr mm.000 = 2001)
It is possible to create a bootable parameter data block by setting
Pr mm.000 to 2001 and initiating a drive reset. This data block is created
in one operation and is not updated when further parameter changes are
made.

106 Unidrive M600 Control User Guide

9.5 NV Media Card parameters 11.040 NV Media Card File Checksum

Table 9-2 Key to parameter table coding RO Num ND NC PT
RW Read / Write ND No default value OL
RO Read only NC Not copied -2147483648 to
RFC-A  2147483647

Num Number parameter PT Protected parameter
Bit Bit parameter RA Rating dependant RFC-S
Txt Text string US User save
Displays the checksum of the data block selected in Pr 11.037.
Bin Binary parameter PS Power-down save
FI Filtered DE Destination 11.042 {00.030} Parameter Cloning
RW Txt NC US*
OL
11.036 {00.029} NV Media Card File Previously Loaded None (0), Read (1),
RO Num NC PT RFC-A  Program (2), Auto (3),  None (0)
Boot (4)
OL RFC-S

RFC-A  0 to 999  0 * Only a value of 3 or 4 in this parameter is saved.

RFC-S NOTE
If Pr 11.042 is equal to 1 or 2, this value is not transferred to the drive or
This parameter shows the number of the data block last transferred from saved to the EEPROM. If Pr 11.042 is set to 3 or 4 the value is saved to
a NV Media Card to the drive. If defaults are subsequently reloaded this the EEPROM
parameter is set to 0. None (0) = Inactive
Read (1) = Read parameter set from the NV Media Card
11.037 NV Media Card File Number
RW Num Program (2) = Program a parameter set to the NV Media Card
Auto (3) = Auto save
OL
Boot (4) = Boot mode
RFC-A  0 to 999  0

RFC-S 11.072 NV Media Card Create Special File

RW Num NC
This parameter should have the data block number which the user would
OL
like the information displayed in Pr 11.038, Pr 11.039 and Pr 11.040.
RFC-A  0 to 1  0
11.038 NV Media Card File Type
RFC-S
RO Txt ND NC PT
OL None (0), Open-loop (1), If NV Media Card Create Special File (11.072) = 1 when a parameter file
RFC-A (2), RFC-S (3), is transferred to an NV media card the file is created as a macro file. NV
RFC-A  Regen (4), User Prog (5),
 Media Card Create Special File (11.072) is reset to 0 after the file is
Option App (6) created or the transfer fails.
RFC-S

Displays the type/mode of the data block selected with Pr 11.037. 11.073 NV Media Card Type
RO Txt ND NC PT
Pr 11.038 String Type / mode
OL
0 None No file selected None (0),
1 Open-loop Open-loop mode parameter file RFC-A  SMART Card (1), 
2 RFC-A RFC-A mode parameter file SD Card (2)
RFC-S
3 RFC-S RFC-S mode parameter file
4 Regen Regen mode parameter file This will display the type of media card inserted; it will contain one of the
following values:
5 User Prog Onboard user program file
6 Option App Option module application file "None" (0) - No NV Media Card has been inserted.
"SMART Card" (1) - A SMARTCARD has been inserted.
11.039 NV Media Card File Version "SD Card" (2) - A FAT formatted SD card has been inserted.
RO Num ND NC PT
11.075 NV Media Card Read-only Flag
OL
RO Bit ND NC PT
RFC-A  0 to 9999  OL
RFC-S
RFC-A  Off (0) or On (1) 
Displays the version number of the file selected in Pr 11.037. RFC-S

NV Media Card Read-only Flag (11.075) shows the state of the read-
only flag for the currently installed card.

Unidrive M600 Control User Guide 107

11.076 NV Media Card Warning Suppression Flag

RO Bit ND NC PT
OL
RFC-A  Off (0) or On (1) 
RFC-S

NV Media Card Warning Suppression Flag (11.076) shows the state of

the warning flag for the currently installed card.

11.077 NV Media Card File Required Version

RW Num ND NC PT
OL

RFC-A  0 to 9999 
RFC-S

The value of NV Media Card File Required Version (11.077) is used as

the version number for a file when it is created on an NV Media Card. NV
Media Card File Required Version (11.077) is reset to 0 when the file is
created or the transfer fails.

9.6 NV Media Card trips

After an attempt to read, write or erase data from a NV Media Card a trip
is initiated if there has been a problem with the command.
See Chapter 12 Diagnostics on page 189 for more information on NV
Media Card trips.

108 Unidrive M600 Control User Guide

10 Onboard PLC 10.3 Features

The Unidrive M Onboard PLC user program has the following features:
10.1 Onboard PLC and Machine Control 10.3.1 Tasks
Studio The Onboard PLC allows use of two tasks.
The drive has the ability to store and execute a 16 kB Onboard PLC user • Clock: A high priority real time task. The clock task interval can be
program without the need for additional hardware in the form of an set from 4 ms to 262 s in multiples of 4 ms. The parameter Onboard
option module. User Program: Clock Task Time Used (11.051) shows the
percentage of the available time used by clock task. A read or write
Machine Control Studio is an IEC61131-3 development environment
designed for use with Unidrive M and compatible application modules. of a drive parameter by the user program takes a finite period of
time. It is possible to select up to 10 parameters as fast access
Machine Control Studio is based on CODESYS from 3S-Smart Software
parameter which reduced the amount of time it takes for the user
Solutions.
program to read from or write to a drive parameter. This is useful
All of the programming languages defined in the IEC standard IEC when using a clock task with a fast update rate as selecting a
61131-3 are supported in the Machine Control Studio development parameter for fast access reduces the amount of the clock task
environment. resource required to access parameters.
• ST (Structured text) • Freewheeling: A non-real time background task. The freewheeling
• LD (Ladder diagram) task is scheduled for a short period once every 64 ms. The time for
• FBD (Function block diagram) which the task is scheduled will vary depending on the loading of the
• IL (Instruction list) drive's processor. When scheduled, several scans of the user
• SFC (Sequential function chart) program may be performed. Some scans may execute in
• CFC (Continuous Function Chart). CFC is an extension to the microseconds. However, when the main drive functions are
standard IEC programming languages scheduled there will be a pause in the execution of the program
Machine Control Studio provides a complete environment for the causing some scans to take many milliseconds. The parameter
development of user programs. Programs can be created, compiled and Onboard User Program: Freewheeling Tasks Per Second (11.050)
downloaded to a Unidrive M for execution, via the communications port shows the number of times the freewheeling task has started per
on the front of the drive. The run-time operation of the compiled program second.
on the target can also be monitored using Machine Control Studio and 10.3.2 Variables
facilities are provided to interact with the program on the target by setting The Onboard PLC supports the use of variables with the data types of
new values for target variables and parameters. Boolean, integer (8 bit, 16 bit and 32 bit, signed and unsigned), floating
The Onboard PLC and Machine Control Studio form the first level of point (64 bit only), strings and time.
functionality in a range of programmable options for Unidrive M. 10.3.3 Custom menu
Machine Control Studio can be downloaded from Machine Control Studio can construct a custom drive menu to reside in
www.controltechniques.com. menu 30 on the drive. The following properties of each parameter can be
See the Machine Control Studio help file for more information regarding defined using Machine Control Studio:
using Machine Control Studio, creating user programs and downloading • Parameter name
user programs to the drive. • Number of decimal places
• The units for the parameter to be display on the keypad.
• The minimum, maximum and default values
10.2 Benefits • Memory handling (i.e. power down save, user save or volatile)
• Data type. The drive provides a limited set of 1 bit, 8 bit, 16 bit and
The combination of the Onboard PLC and Machine Control Studio,
32 bit integer parameters to create the customer menu.
means that the drive can replace nano and some micro PLCs in many
applications Parameters in this customer menu can be accessed by the user
program and will appear on the keypad.
Machine Control Studio benefits from access to the standard CODESYS
function and function block libraries as well as those from third parties.
10.3.4 Limitations
The Onboard PLC user program has the following limitations:
Functions and function blocks available as standard in Machine Control
Studio include, but not limited to, the following: • The flash memory allocated to the Onboard PLC is 16 kB which
includes the user program and its header which results in a
• Arithmetic blocks
maximum user program size of about 12 kB
• Comparison blocks
• Timers • The Onboard PLC is provided with 2 kB of RAM.
• The drive is rated for 100 program downloads. This limitation is
• Counters
imposed by the flash memory used to store the program within the
• Multiplexers
• Latches drive.
• There is only one real-time task with a minimum period of 4 ms.
• Bit manipulation
• The freewheeling background task runs at a low priority. The drive is
prioritized to perform the clock task and its major functions first, e.g.
Typical applications for the Onboard PLC include: motor control, and will use any remaining processing time to execute
• Ancillary pumps the freewheeling task as a background activity. As the drive's
• Fans and control valves processor becomes more heavily loaded, less time is spent
• Interlocking logic executing the freewheeling task.
• Sequences routines • Breakpoints, single stepping and online program changes are not
• Custom control words. possible.
• The Graphing tool is not supported.
• The variable data types REAL (32 bit floating point), LWORD (64 bit
integer) and WSTRING (Unicode string), and retained variables are
not supported.

Unidrive M600 Control User Guide 109

10.4 Onboard PLC parameters Onboard User Program: Clock Task Scheduled
11.055
The following parameters are associated with the Onboard PLC user Interval
program. RO NC PT

11.047 Onboard User Program: Enable  0 to 262128 ms 

RW Txt US This parameter shows the interval at which the clock task is scheduled to
 Stop (0) or Run (1)  Run (1) run at in ms.

This parameter stops and starts the user program. 10.5 Onboard PLC trips
0 - Stop the User Program If the drive detects an error in the user program it will initiate a User
The onboard user program is stopped. If it is restarted by setting Program trip. The sub-trip number for the User Program trip details the
Onboard User Program: Enable (11.047) to a non-zero value the reason for the error. See Chapter 12 Diagnostics on page 189 for more
background task starts from the beginning. information on the User Program trip.
1 - Run the User Program
The user program will execute.

11.048 Onboard User Program: Status

RO Txt NC PT
-2147483648 to
 2147483647

This parameter is read-only and indicates the status of the user program
in the drive. The user program writes the value to this parameter.
0: Stopped
1: Running
2: Exception
3: No user program present

11.049 Onboard User Program: Programming Events

RO Uni NC PT PS
 0 to 65535 
This parameter holds the number of times an Onboard PLC user
program download has taken place and is 0 on dispatch from the factory.
The drive is rated for one hundred program downloads. This parameter
is not altered when defaults are loaded.

Onboard User Program: Freewheeling Tasks Per

11.050
Second
RO Uni NC PT
 0 to 65535 
This parameter shows the number of times the freewheeling task has
started per second.

11.051 Onboard User Program: Clock Task Time Used

RO NC PT
 0.0 to 100.0 % 
This parameter shows the percentage of the available time used by the
user program clock task.

110 Unidrive M600 Control User Guide

11 Advanced parameters Operation mode abbreviations:

Open-loop:
This is a quick reference to all parameters in the drive showing units, Sensorless control for induction motors
ranges limits etc, with block diagrams to illustrate their function. Full RFC-A Sensorless:
descriptions of the parameters can be found in the Parameter Reference
Asynchronous Rotor Flux Sensorless Control for induction motors
Guide.
RFC-S Sensorless: Synchronous Rotor Flux Sensorless Control for
These advanced parameters are listed for reference synchronous motors including permanent magnet motors.
purposes only. The lists in this chapter do not include
Default abbreviations:
sufficient information for adjusting these parameters.
Incorrect adjustment can affect the safety of the system, Standard default value (50 Hz AC supply frequency)
WARNING
and damage the drive and or external equipment. Before USA default value (60 Hz AC supply frequency)
attempting to adjust any of these parameters, refer to
NOTE
the Parameter Reference Guide.
Parameter numbers shown in brackets {...} are the equivalent Menu 0
parameters. Some Menu 0 parameters appear twice since their function
Table 11-1 Menu descriptions depends on the operating mode.
Menu Description The Range - RFC-A / S column applies to both RFC-A and RFC-S. For
Commonly used basic set up parameters for quick / easy some parameters, this column applies to only one of these modes, this is
0 indicated accordingly in the Default columns.
programming
1 Frequency / Speed reference In some cases, the function or range of a parameter is affected by the
2 Ramps setting of another parameter. The information in the lists relates to the
default condition of any parameters affected in this way.
3 Speed feedback and speed control
4 Torque and current control Table 11-2 Key to parameter table coding
5 Motor control Coding Attribute
6 Sequencer and clock RW Read/Write: can be written by the user
7 Analog I/O, Temperature monitoring
RO Read only: can only be read by the user
8 Digital I/O
Bit 1 bit parameter. ‘On’ or ‘Off’ on the display
Programmable logic, motorized pot, binary sum, timers and
9 Num Number: can be uni-polar or bi-polar
scope
Txt Text: the parameter uses text strings instead of numbers.
10 Status and trips
Bin Binary parameter
11 Drive set-up and identification, serial communications
12 Threshold detectors and variable selectors IP IP Address parameter
13 Standard motion control Mac Mac Address parameter
14 User PID controller Date Date parameter
15 Option module slot 1 set-up menu Time Time parameter
16 Option module slot 2 set-up menu Chr Character parameter
17 Option module slot 3 set-up menu Filtered: some parameters which can have rapidly changing
18 General option module application menu 1 FI values are filtered when displayed on the drive keypad for
easy viewing.
19 General option module application menu 2
Destination: This parameter selects the destination of an
20 General option module application menu 3 DE
input or logic function.
21 Second motor parameters
Rating dependent: this parameter is likely to have different
22 Menu 0 set-up
values and ranges with drives of different voltage and
23 Not allocated current ratings. Parameters with this attribute will be
28 Reserved menu transferred to the destination drive by non-volatile storage
29 Reserved menu RA media when the rating of the destination drive is different
30 Onboard user programming application menu from the source drive and the file is a parameter file.
Slot 1 Slot 1 option menus* However, the values will be transferred if only the current
rating is different and the file is a difference from default
Slot 2 Slot 2 option menus*
type file.
Slot 3 Slot 3 option menus*
No default: The parameter is not modified when defaults are
ND
* Only displayed when the option modules are installed. loaded
Not copied: not transferred to or from non-volatile media
NC
during copying.
PT Protected: cannot be used as a destination.
User save: parameter saved in drive EEPROM when the
US
user initiates a parameter save.
Power-down save: parameter automatically saved in drive
PS
EEPROM when the under volts (UV) state occurs.

Unidrive M600 Control User Guide 111

Table 11-3 Feature look-up table

Feature Related parameters (Pr)

02.011 to
Acceleration rates 02.010 02.032 02.033 02.034 02.002
02.019
Analog speed reference 1 01.036 07.010 07.001 07.007 07.008 07.009 07.025 07.026 07.030
Analog speed reference 2 01.037 07.014 01.041 07.002 07.011 07.012 07.013 07.028 07.031
Analog I/O Menu 7
Analog input 1 07.001 07.007 07.008 07.009 07.010 07.025 07.026 07.028 07.030 07.040 07.043 7.051
Analog input 2 07.002 07.011 07.012 07.013 07.014 07.022 07.023 07.027 07.031 07.041 07.044
Analog input 3 07.003 07.015 07.016 07.017 07.018 07.032 07.042 07.045 07.046 07.047 07.048 07.049 07.050
Analog output 1 07.019 07.020
Analog output 2 07.022 07.023
Application menu Menu 18 Menu 19 Menu 20
At speed indicator bit 03.006 03.007 03.009 10.006 10.005 10.007
Auto reset 10.034 10.035 10.036 10.001
Autotune 05.010 05.012 05.017 05.024 05.025 05.029 05.030 05.059 05.060 05.062
Binary sum 09.029 09.030 09.031 09.032 09.033 09.034
Bipolar speed 01.010
Brake control 12.040 to 12.055
Braking 10.011 10.010 10.030 10.031 06.001 02.004 02.002 10.012 10.039 10.040
Catch a spinning motor 06.009 05.040
Coast to stop 06.001
Comms 11.023 to 11.026
Copying 11.042 11.036 to 11.040
Cost - per kWh electricity 06.016 06.017 06.024 06.025 06.026 06.027 06.028
Current controller 04.013 04.014
Current feedback 04.001 04.002 04.017 04.004 04.012 04.020 04.023 04.024 04.026 10.008 10.009 10.017
Current limits 04.005 04.006 04.007 04.018 04.015 04.019 04.016 05.007 05.010 10.008 10.009 10.017
DC bus voltage 05.005 02.008
DC injection braking 06.006 06.007 06.001
02.021 to 02.035 to
Deceleration rates 02.020 02.004 02.002 02.008 06.001 10.030 10.031 10.039 02.009
02.029 02.037
Defaults 11.043 11.046
Digital I/O Menu 8
Digital I/O read word 08.020
Digital I/O 1 T24 08.001 08.011 08.021 08.031
Digital I/O 2 T25 08.002 08.012 08.022 08.032
Digital I/O 3 T26 08.003 08.013 08.023 08.033
Digital input 4 T27 08.004 08.014 08.024
Digital input 5 T28 08.005 08.015 08.025
Digital input 6 T29 08.006 08.016 08.026
Digital lock 13.010 13.001 to 13.009 13.011 13.012 13.016 03.022 03.023 13.019 to 13.023
Digital output T22 08.008 08.018 08.028
Direction 10.013 06.030 06.031 01.003 10.014 02.001 03.002 08.003 08.004 10.040
Drive active 10.002 10.040
Drive derivative 11.028
Drive healthy 10.001 08.027 08.007 08.017 10.036 10.040
Dynamic performance 05.026
Dynamic V/F 05.013
Enable 06.010 06.015 06.029 08.009 08.040
External trip 10.032 08.010 08.007
Fan speed 06.045 07.036
Fast disable 06.029
Field weakening - induction motor 05.029 05.030 01.006 05.028
Field weakening - PM motor 05.022 01.006 05.009
Filter change 06.019 06.018 06.021 06.022 06.023
Frequency reference selection 01.014 01.015
Heavy duty rating 05.007 11.032
High stability space vector
05.019
modulation
I/O sequencer 06.030 06.031 06.032 06.033 06.034 06.042 06.043 06.041
Inertia compensation 02.038 05.012 04.022 03.018
Jog reference 01.005 02.019 02.029
Keypad reference 01.017 01.014 01.043 01.051 06.012 06.013
Kt 05.032
Limit switches 06.035 06.036

112 Unidrive M600 Control User Guide

Feature Related parameters (Pr)

Line power supply loss 06.003 10.015 10.016 05.005 06.048
Local position reference 13.020 to 13.023
Logic function 1 09.001 09.004 09.005 09.006 09.007 09.008 09.009 09.010
Logic function 2 09.002 09.014 09.015 09.016 09.017 09.018 09.019 09.020
Low voltage supply 06.044
Maximum speed 01.006
Menu 0 set-up Menu 22
Minimum speed 01.007 10.004
Modules - number of 11.035
Motor map 05.006 05.007 05.008 05.009 05.010 05.011
Motor map 2 Menu 21 11.045
Motorized potentiometer 09.021 09.022 09.023 09.024 09.025 09.026 09.027 09.028
Offset speed reference 01.004 01.038 01.009
Onboard PLC 11.047 to 11.051
Open loop vector mode 05.014 05.017
Operating mode 00.048 11.031 03.024 05.014
Orientation 13.010 13.013 to 13.015
Output 05.001 05.002 05.003 05.004
Overspeed threshold 03.008
PID controller Menu 14
Positive logic 08.029
Power up parameter 11.022 11.021
Precision reference 01.018 01.019 01.020 01.044
Preset speeds 01.015 01.021 to 01.028 01.016 01.014 01.042 01.045 to 01.048 01.050
Programmable logic Menu 9
Quasi square operation 05.020
Ramp (accel / decel) mode 02.004 02.008 06.001 02.002 02.003 10.030 10.031 10.039
Rated speed autotune 05.016 05.008
Regenerating 10.010 10.011 10.030 10.031 06.001 02.004 02.002 10.012 10.039 10.040
Relative jog 13.017 to 13.019
Relay output 08.007 08.017 08.027
Reset 10.033 08.002 08.022 10.034 10.035 10.036 10.001 10.038
RFC-A Sensorless 03.024 03.042 04.012
S ramp 02.006 02.007
Sample rates 05.018
Safe Torque Off input 08.009 08.040
Security code 11.030 11.044
Serial comms 11.023 to 11.027 11.020
Skip speeds 01.029 01.030 01.031 01.032 01.033 01.034 01.035
Slip compensation 05.027 05.008
NV media card 11.036 to 11.040 11.042
Firmware version 11.029 11.034 11.062
Speed controller 03.010 to 03.017 03.019 03.020 03.021
Speed feedback 03.002 03.003 03.004
Speed feed forward 01.039 01.040
Speed feedback - drive 03.026 03.080
Speed reference selection 01.014 01.015 01.049 01.050 01.001
Status word 10.040
Supply 06.044 05.005
Switching frequency 05.018 05.035 07.034 07.035
Thermal protection - drive 05.018 05.035 07.004 07.005 07.006 07.034 07.035 07.036 10.018
Thermal protection - motor 04.015 05.007 04.019 04.016 04.025 07.015
Thermistor input 07.003 07.015 07.046 07.047 07.048 07.049 07.050
Threshold detector 1 12.001 12.003 to 12.007
Threshold detector 2 12.002 12.023 to 12.027
Time - filter change 06.019 06.018 06.021 06.022 06.023
Time - powered up log 06.019 06.020
Time - run log 06.019
Torque 04.003 04.026 05.032
Torque mode 04.008 04.011 04.009 04.010
Trip detection 10.037 10.038 10.020 to 10.029
Trip log 10.020 to 10.029 10.041 to 10.060 10.070 to 10.079
Under voltage 05.005 10.016 10.015
Variable selector 1 12.008 to 12.016
Variable selector 2 12.028 to 12.036

Unidrive M600 Control User Guide 113

Feature Related parameters (Pr)

Voltage controller 05.031
Voltage mode 05.015 05.017
Voltage rating 11.033 05.009 05.005
Voltage supply 06.044 05.005
Warning 10.019 10.012 10.017 10.018 10.040
Zero speed indicator bit 03.005 10.003

11.1 Parameter ranges and Variable minimum/maximums:

Some parameters in the drive have a variable range with a variable minimum and a variable maximum values which is dependent on one of the
following:
• The settings of other parameters
• The drive rating
• The drive mode
• Combination of any of the above
The tables below give the definition of variable minimum/maximum and the maximum range of these.

VM_AC_VOLTAGE Range applied to parameters showing AC voltage

Units V
Range of [MIN] 0
Range of [MAX] 0 to 930
VM_AC_VOLTAGE[MAX] is drive voltage rating dependent. See Table 11-4
Definition
VM_AC_VOLTAGE[MIN] = 0

VM_AC_VOLTAGE_SET Range applied to the AC voltage set-up parameters

Units V
Range of [MIN] 0
Range of [MAX] 0 to 690
VM_AC_VOLTAGE_SET[MAX] is drive voltage rating dependent. See Table 11-4
Definition
VM_AC_VOLTAGE_SET[MIN] = 0

114 Unidrive M600 Control User Guide

VM_ACCEL_RATE Maximum applied to the ramp rate parameters

Units s / 100 Hz, s / 1000 rpm, s / 1000 mm/s
Open-loop: 0.0
Range of [MIN]
RFC-A, RFC-S: 0.000
Open-loop: 0.0 to 3200.0
Range of [MAX]
RFC-A, RFC-S: 0.000 to 3200.000
A maximum needs to be applied to the ramp rate parameters because the units are a time for a change of speed from
zero to a defined level or to maximum speed. The defined level is 100 Hz for Open-loop mode and 1000rpm or
1000mm/s for RFC-A and RFC-S modes. If the change of speed is to the maximum speed then changing the maximum
speed changes the actual ramp rate for a given ramp rate parameter value. The variable maximum calculation ensures
that longest ramp rate (parameter at its maximum value) is not slower than the rate with the defined level, i.e. 3200.00 s
/ Hz for Open-loop mode, and 3200.000 s / 1000 rpm or 3200.000 s / 1000 mm/s for RFC-A and RFC-S modes.

The maximum frequency/speed is taken from Maximum Reference Clamp (01.006) if Select Motor 2 Parameters
(11.045) = 0, or M2 Maximum Reference Clamp (21.001) if Select Motor 2 Parameters (11.045) = 1.

Open-loop mode
VM_ACCEL_RATE[MIN] = 0.0
Definition
If Ramp Rate Units (02.039) = 0:
VM_ACCEL_RATE[MAX] = 3200.0
Otherwise:
VM_ACCEL_RATE[MAX] = 3200.0 x Maximum frequency / 100.0

RFC-A, RFC-S modes

VM_ACCEL_RATE[MIN] = 0.000

If Ramp Rate Units (02.039) = 0:

VM_ACCEL_RATE[MAX] = 3200.000
Otherwise:
VM_ACCEL_RATE[MAX] = 3200.000 x Maximum speed / 1000.0

VM_DC_VOLTAGE Range applied to parameters showing DC voltage

Units V
Range of [MIN] 0
Range of [MAX] 0 to 1190
VM_DC_VOLTAGE[MAX] is the full scale DC bus voltage feedback (over voltage trip level) for the drive. This level is
drive voltage rating dependent. See Table 11-4
Definition
VM_DC_VOLTAGE[MIN] = 0

VM_DC_VOLTAGE_SET Range applied to DC voltage reference parameters

Units V
Range of [MIN] 0
Range of [MAX] 0 to 1150
VM_DC_VOLTAGE_SET[MAX] is drive voltage rating dependent. See Table 11-4
Definition
VM_DC_VOLTAGE_SET[MIN] = 0

VM_DRIVE_CURRENT Range applied to parameters showing current in A

Units A
Range of [MIN] -99999.999 to 0.000
Range of [MAX] 0.000 to 99999.999
VM_DRIVE_CURRENT[MAX] is equivalent to the full scale (over current trip level) or Kc value for the drive and is given
by Full Scale Current Kc (11.061).
Definition
VM_DRIVE_CURRENT[MIN] = - VM_DRIVE_CURRENT[MAX]

Unidrive M600 Control User Guide 115

VM_DRIVE_CURRENT_UNIPOLAR Unipolar version of VM_DRIVE_CURRENT

Units A
Range of [MIN] 0.000
Range of [MAX] 0.000 to 99999.999
VM_DRIVE_CURRENT_UNIPOLAR[MAX] = VM_DRIVE_CURRENT[MAX]
Definition
VM_DRIVE_CURRENT_UNIPOLAR[MIN] = 0.000

VM_HIGH_DC_VOLTAGE Range applied to parameters showing high DC voltage

Units V
Range of [MIN] 0
Range of [MAX] 0 to 1500
VM_HIGH_DC_VOLTAGE[MAX] is the full scale DC bus voltage feedback for the high DC bus voltage measurement
which can measure the voltage if it goes above the normal full scale value. This level is drive voltage rating dependent.
Definition See Table 11-4

VM_HIGH_DC_VOLTAGE[MIN] = 0

VM_LOW_UNDER_VOLTS Range applied the low under-voltage threshold

Units V
Range of [MIN] 24
Range of [MAX] 24 to 1150
If Back-up Mode Enable (06.068) = 0:
VM_LOW_UNDER_VOLTS[MAX] = VM_STD_UNDER_VOLTS[MIN]
If Back-up Mode Enable (06.068) = 1:
Definition
VM_LOW_UNDER_VOLTS[MAX] = VM_STD_UNDER_VOLTS[MIN] / 1.1.

VM_LOW_UNDER_VOLTS[MIN] = 24.

VM_MIN_SWITCHING_FREQUENCY Range applied to the minimum switching frequency parameter

Units User units
Range of [MIN] 0
Range of [MAX] 0 to 6
VM_MIN_SWITCHING_FREQUENCY[MAX] = Maximum Switching Frequency (05.018)
Definition
VM_MIN_SWITCHING_FREQUENCY[MIN] = 0 for motor control modes, or 1 for Regen mode (subject to the
maximum)

116 Unidrive M600 Control User Guide

VM_MOTOR1_CURRENT_LIMIT
Range applied to current limit parameters
VM_MOTOR2_CURRENT_LIMIT
Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0
VM_MOTOR1_CURRENT_LIMIT[MIN] = 0.0

Open-loop
VM_MOTOR1_CURRENT_LIMIT[MAX] = (ITlimit / ITrated) x 100 %
Where:
ITlimit = IMaxRef x cos(sin-1(IMrated / IMaxRef))
IMrated = Pr 05.007 sin φ
ITrated = Pr 05.007 x cos φ
cos φ = Pr 05.010
IMaxRef is 0.7 x Pr 11.061 when the motor rated current set in Pr 05.007 is less than or equal to Pr 11.032 (i.e.
Heavy duty), otherwise it is the lower of 0.7 x Pr 11.061 or 1.1 x Pr 11.060 (i.e. Normal duty).

RFC-A
VM_MOTOR1_CURRENT_LIMIT[MAX] = (ITlimit / ITrated) x 100 %
Where:
Definition
ITlimit = IMaxRef x cos(sin-1(IMrated / IMaxRef))
IMrated = Pr 05.007 x cos φ1
ITrated = Pr 05.007 x sin φ1
φ1 = cos-1 (Pr 05.010) + φ2. φ1 is calculated during an autotune. See the variable minimum / maximum calculations
in the Parameter Reference Guide for more information regarding φ2.
IMaxRef is 0.9 x Pr 11.061 when the motor rated current set in Pr 05.007 is less than or equal to Pr 11.032 (i.e.
Heavy duty), otherwise it is the lower of 0.9 x Pr 11.061 or 1.1 x Pr 11.060 (i.e. Normal duty).

RFC-S and Regen

VM_MOTOR1_CURRENT_LIMIT[MAX] = (IMaxRef / Pr 05.007) x 100 %
Where:
IMaxRef is 0.9 x Pr 11.061 when the motor rated current set in Pr 05.007 is less than or equal to Pr 11.032 (i.e.
Heavy duty), otherwise it is the lower of 0.9 x Pr 11.061 or 1.1 x Pr 11.060 (i.e. Normal duty).

For VM_MOTOR2_CURRENT_LIMIT[MAX] use Pr 21.007 instead of Pr 05.007 and Pr 21.010 instead of Pr 05.010.

Unidrive M600 Control User Guide 117

VM_NEGATIVE_REF_CLAMP1
Limits applied to the negative frequency or speed clamp
VM_NEGATIVE_REF_CLAMP2
Open-loop: Hz
Units
RFC-A, RFC-S: rpm or mm/s
Open-loop: -550.0 to 0.0
Range of [MIN]
RFC-A, RFC-S: -50000.0 to 0.0
Open-loop: 0.0 to 550.0
Range of [MAX]
RFC-A, RFC-S: 0.0 to 50000.0

Negative Reference Bipolar Reference VM_NEGATIVE_REF_ VM_NEGATIVE_REF_

Clamp Enable (01.008) Enable (01.010) CLAMP1[MIN] CLAMP1[MAX]
0 0 0.0 Pr 01.006
Definition
0 1 0.0 0.0
1 X -VM_POSITIVE_REF_CLAMP[MAX] 0.0

VM_NEGATIVE_REF_CLAMP2 is defined in the same way except that Pr 21.001 is used instead of Pr 01.006.

VM_POSITIVE_REF_CLAMP1
Limits applied to the positive frequency or speed reference clamp
VM_POSITIVE_REF_CLAMP2
Open-loop: Hz
Units
RFC-A, RFC-S: rpm or mm/s
Open-loop: 0.0
Range of [MIN]
RFC-A, RFC-S: 0.0
Open-loop: 550.0
Range of [MAX]
RFC-A, RFC-S: 0.0 to 50000.0
VM_POSITIVE_REF_CLAMP1[MAX] defines the range of the positive reference clamp, Maximum Reference Clamp
(01.006), which in turn limit the references. In RFC-A and RFC-S modes a limit is applied so that the position feedback
does not exceed the speed where the drive can no longer interpret the feedback signal correctly as given in the table
below. The limit is based on the position feedback device selected with Motor Control Feedback Select (03.026). It is
possible to disable this limit if the RFC Feedback Mode (03.024) ≥ 1 so that the motor can be operated at a speed
above the level where the drive can interpret the feedback in sensorless mode. It should be noted that the position
feedback device itself may have a maximum speed limit that is lower than those given in the table. Care should be
taken not to exceed a speed that would cause damage to the position feedback device.

Feedback device VM_POSITIVE_REF_CLAMP1[MAX]

AB, (500 kHz x 60 / rotary lines per revolution) rpm
AB Servo (500 kHz / linear line pitch in mm) mm/s
FD, FR, (500 kHz x 60 / rotary lines per revolution)/2 rpm
Definition FD Servo, FR Servo (500 kHz / linear line pitch in mm)/2 mm/s
SC,
(500 kHz x 60 / sine waves per revolution) rpm
SC Hiper, SC EnDat,
(500 kHz x linear line pitch in mm) mm/s
SC SSI, SC Servo
Any other device 50000.0 rpm or mm/s

In open-loop mode VM_POSITIVE_REF_CLAMP1[MAX] is fixed at 550.0 Hz

In RFC mode a limit is applied to the speed reference of 550 x 60 / Motor pole pairs. Therefore, with a 4 pole motor the
limit for VM_POSITIVE_REF_CLAMP1[MAX] will be 16,500 rpm.
VM_POSITIVE_REF_CLAMP1[MIN] = 0.0
VM_POSITIVE_REF_CLAMP2 is defined in the same way as VM_POSITIVE_REF_CLAMP1 except
VM_POSITIVE_REF_CLAMP2[MAX] defines the range of the positive reference clamp, M2 Maximum Reference
Clamp (21.001), which in turn limits the references.

118 Unidrive M600 Control User Guide

VM_POWER Range applied to parameters that either set or display power

Units kW
Range of [MIN] -99999.999 to 0.000
Range of [MAX] 0.000 to 99999.999
VM_POWER[MAX] is rating dependent and is chosen to allow for the maximum power that can be output by the drive
with maximum a.c. output voltage, at maximum controlled current and unity power factor.
Definition
VM_POWER[MAX] = √3 x VM_AC_VOLTAGE[MAX] x VM_DRIVE_CURRENT[MAX] / 1000

VM_POWER[MIN] = -VM_POWER[MAX]

VM_RATED_CURRENT Range applied to rated current parameters

Units A
Range of [MIN] 0.000
Range of [MAX] 0.000 to 99999.999
VM_RATED_CURRENT [MAX] = Maximum Rated Current (11.060) and is dependent on the drive rating. This is the
Normal Duty rating of the drive.
Definition
VM_RATED_CURRENT [MIN] = 0.00

VM_REGEN_REACTIVE Range applied to the reactive current reference in Regen mode

Units %
Range of [MIN] -1000.0 to 0.0
Range of [MAX] 0.0 to 1000.0
A maximum is applied to the reactive current reference parameter so that the combined current reference for the active
and reactive currents does not exceed IMaxRef.

VM_REGEN_REACTIVE = v(VM_MOTOR1_CURRENT_LIMIT2 – ILimit2)

where

Definition ILimit is gives the highest level of the active current reference that can occur. This value is defined by the current limit
values. If the current limits are all set to their maximum values (i.e. VM_MOTOR1_CURRENT_LIMIT) then there is no
current capability left for the reactive current. However, if the current limits are reduced the resulting headroom can be
used for the reactive current. ILimit is defined by a combination of all the current limits excluding any reduction of the
current limit due to the motor thermal model, It should be noted that if Island Detection Enable (03.030) = 1 then
VM_REGEN_REACTIVE is reduced by 5% to allow for the islanding system injection current.

VM_REGEN_REACTIVE[MIN] = - VM_REGEN_REACTIVE[MAX]

VM_SPEED Range applied to parameters showing speed

Units Open-loop, RFC-A, RFC-S: rpm or mm/s
Range of [MIN] Open-loop, RFC-A, RFC-S: -50000.0 to 0.0
Range of [MAX] Open-loop, RFC-A, RFC-S: 0.0 to 50000.0
This variable minimum/maximum defines the range of speed monitoring parameters. To allow headroom for overshoot
the range is set to twice the range of the speed references.
Definition
VM_SPEED[MAX] = 2 x VM_SPEED_FREQ_REF[MAX]

VM_SPEED[MIN] = 2 x VM_SPEED_FREQ_REF[MIN]

Unidrive M600 Control User Guide 119

VM_SPEED_FREQ_KEYPAD_REF Range applied Keypad Control Mode Reference (01.017)

Units Open-loop: Hz RFC-A, RFC-S: rpm or mm/s
Range of [MIN] Open-loop: -550.0 to 550.0 RFC-A, RFC-S: -50000.0 to 50000.0
Range of [MAX] Open-loop: 0.0 to 550.0 RFC-A, RFC-S: 0.0 to 50000.0
This variable maximum is applied to Keypad Control Mode Reference (01.017). The maximum applied to these
parameters is the same as other frequency reference parameters.

VM_SPEED_FREQ_USER_REFS [MAX] = VM_SPEED_FREQ_REF[MAX]

However the minimum is dependent on Negative Reference Clamp Enable (01.008) and Bipolar Reference Enable
(01.010).

Definition Negative
Bipolar Reference
Reference Clamp VM_SPEED_FREQ_USER_REFS[MIN]
Enable (01.010)
Enable (01.008)
If Select Motor 2 Parameters (11.045) = 0 Minimum Reference
0 0
Clamp (01.007), otherwise M2 Minimum Reference Clamp (21.002)
0 1 -VM_SPEED_FREQ_REF[MAX]
1 0 0.0
1 1 -VM_SPEED_FREQ_REF[MAX]

VM_SPEED_FREQ_REF Range applied to the frequency or speed reference parameters

Open-loop: Hz
Units
RFC-A, RFC-S: rpm or mm/s
Open-loop: -550.0 to 0.0
Range of [MIN]
RFC-A, RFC-S: -50000.0 to 0.0
Open-loop: 0.0 to 550.0
Range of [MAX]
RFC-A, RFC-S: 0.0 to 50000.0
This variable minimum/maximum is applied throughout the frequency and speed reference system so that the
references can vary in the range from the minimum to maximum clamps.

Negative
VM_SPEED_FREQ_REF[MAX] if Select VM_SPEED_FREQ_REF[MAX] if Select Motor 2
Reference Clamp
Motor 2 Parameters (11.045) = 0 Parameters (11.045) = 1
Enable (01.008)
Definition 0 Maximum Reference Clamp (01.006) M2 Maximum Reference Clamp (21.001)
Maximum Reference Clamp (01.006) or M2 Maximum Reference Clamp (21.001) or |M2
1 |Minimum Reference Clamp (01.007)| Minimum Reference Clamp (21.002)| whichever
whichever the larger the larger

VM_SPEED_FREQ_REF[MIN] = -VM_SPEED_FREQ_REF[MAX].

VM_SPEED_FREQ_REF_UNIPOLAR Unipolar version of VM_SPEED_FREQ_REF

Open-loop: Hz
Units
RFC-A, RFC-S: rpm or mm/s
Open-loop: 0.0
Range of [MIN]
RFC-A, RFC-S: 0.0
Open-loop: 0.0 to 550.0
Range of [MAX]
RFC-A, RFC-S: 0.0 to 50000.0
VM_SPEED_FREQ_REF_UNIPOLAR[MAX] = VM_SPEED_FREQ_REF[MAX]
Definition
VM_SPEED_FREQ_REF_UNIPOLAR[MIN] = 0.0

120 Unidrive M600 Control User Guide

VM_SPEED_FREQ_USER_REFS Range applied to some analog reference parameters

Open-loop: Hz
Units
RFC-A, RFC-S: rpm or mm/s
Open-loop: -550.00 to 550.00
Range of [MIN]
RFC-A, RFC-S: -50000.0 to 50000.0
Open-loop: 0.00 to 550.00
Range of [MAX]
RFC-A, RFC-S: 0.0 to 50000.0
VM_SPEED_FREQ_USER_REFS[MAX] = VM_SPEED_FREQ_REF[MAX]

Negative Reference Bipolar Reference

VM_SPEED_FREQ_USER_REFS [MIN]
Clamp Enable (01.008) Enable (01.010)
0 0 Pr 01.007
Definition
0 1 -VM_SPEED_FREQ_REF[MAX]
1 0 0.0
1 1 -VM_SPEED_FREQ_REF[MAX]

If the second motor map is selected (Pr 11.045 = 1) Pr 21.002 is used instead of Pr 01.007.

VM_STD_UNDER_VOLTS Range applied the standard under-voltage threshold

Units V
Range of [MIN] 0 to 1150
Range of [MAX] 0 to 1150
VM_STD_UNDER_VOLTS[MAX] = VM_DC_VOLTAGE_SET / 1.1
Definition
VM_STD_UNDER_VOLTS[MIN] is voltage rating dependent. See Table 11-4

VM_SUPPLY_LOSS_LEVEL Range applied to the supply loss threshold

Units V
Range of [MIN] 0 to 1150
Range of [MAX] 0 to 1150
VM_SUPPLY_LOSS_LEVEL[MAX] = VM_DC_VOLTAGE_SET[MAX]
Definition
VM_SUPPLY_LOSS_LEVEL[MIN] is drive voltage rating dependent. See Table 11-4

VM_SWITCHING_FREQUENCY Range applied to the maximum switching frequency parameters

Units User units
Range of [MIN] 0
Range of [MAX] 0 to 6
VM_SWITCHING_FREQUENCY[MAX] = Power stage dependent
Definition
VM_SWITCHING_FREQUENCY[MIN] = 0 for motor control modes, or 1 for Regen mode (subject to the maximum)

Range applied to torque and torque producing current parameters (where this is used in
VM_TORQUE_CURRENT
Regen mode it refers to the active current)
Units %
Range of [MIN] -1000.0 to 0.0
Range of [MAX] 0.0 to 1000.0

Select Motor 2 Parameters (11.045) VM_TORQUE_CURRENT [MAX]

Definition 0 VM_MOTOR1_CURRENT_LIMIT[MAX]
1 VM_MOTOR2_CURRENT_LIMIT[MAX]
VM_TORQUE_CURRENT[MIN] = -VM_TORQUE_CURRENT[MAX]

Unidrive M600 Control User Guide 121

VM_TORQUE_CURRENT_UNIPOLAR Unipolar version of VM_TORQUE_CURRENT

Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0
VM_TORQUE_CURRENT_UNIPOLAR[MAX] = VM_TORQUE_CURRENT[MAX]

VM_TORQUE_CURRENT_UNIPOLAR[MIN] =0.0

User Current Maximum Scaling (04.024) defines the variable maximum/minimums VM_USER_CURRENT and
VM_USER_CURRENT_HIGH_RES which are applied to Percentage Load (04.020), Torque Reference (04.008) and
Definition Torque Offset (04.009). This is useful when routing these parameters to an analog output as it allows the full scale
output value to be defined by the user. This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT or
MOTOR2_CURRENT_LIMIT depending on which motor map is currently active.

The maximum value (VM_TORQUE_CURRENT_UNIPOLAR [MAX] varies between drive sizes with default
parameters loaded. For some drive sizes the default value may be reduced below the value given by the parameter
range limiting.

VM_USER_CURRENT Range applied to torque reference and percentage load parameters with one decimal place
Units %
Range of [MIN] -1000.0 to 0.0
Range of [MAX] 0.0 to 1000.0
VM_USER_CURRENT[MAX] = User Current Maximum Scaling (04.024)

VM_USER_CURRENT[MIN] = -VM_USER_CURRENT[MAX]

Range applied to torque reference and percentage load parameters with two decimal
VM_USER_CURRENT_HIGH_RES
places
Units %
Range of [MIN] -1000.00 to 0.00
Range of [MAX] 0.00 to 1000.00
VM_USER_CURRENT_HIGH_RES[MAX] = User Current Maximum Scaling (04.024) with an additional decimal place

VM_USER_CURRENT_HIGH_RES[MIN] = -VM_USER_CURRENT_HIGH_RES[MAX]

122 Unidrive M600 Control User Guide

Table 11-4 Voltage ratings dependant values

Voltage level (V)

Variable min/max
200 V 400 V 575 V 690 V
VM_DC_VOLTAGE_SET[MAX] 400 800 955 1150
VM_DC_VOLTAGE[MAX] 415 830 990 1190
VM_AC_VOLTAGE_SET[MAX] 265 530 635 765
VM_AC_VOLTAGE[MAX] 325 650 780 930
VM_STD_UNDER_VOLTS[MIN] 175 330 435 435
VM_SUPPLY_LOSS_LEVEL[MIN] 205 410 540 540
VM_HIGH_DC_VOLTAGE 1500 1500 1500 1500

Unidrive M600 Control User Guide 123

11.2 Menu 1: Frequency / speed reference

Figure 11-1 Menu 1 logic diagram

LOCAL/REMOTE

28
Analog Reference

Analog Input 1
Analog Menu 8
Reference 1
5
01.036
6
01.041 Reference Select
Menu 7 Flag 1

7 01.037

Analog Input 2 Analog

Reference 2
Reference Select
01.042 Flag 2

Preset Reference
Preset Reference Reference Select
01.015 01.043 Flag 3
Selector
Preset Reference Select Bits 1 ~ 3
Reference Select
01.044
01.047 01.046 Flag 4
01.045 Reference
Selector
01.014
Reference Selected
Indicator

0 01.049
01.021 ~01.028 1
Preset 2 +
References
1 to 8 3
+
4
5
Scan Timer 6
01.038 01.001
1.20
Preset Reference
Reference Pr 01.050 set Percentage Level Of
Selected 01.050 to greater than 1 Trim Reference
01.016 Indicator Selected
Preset Selector
Timer 01.004
Reference
Offset
01.048 Pr01.049Pr01.050 Reference being used
1 1 Analog Reference 1 01.009
Preset Selector
1 >1 Preset Reference defined by Pr01.050
Timer Reset Reference
2 1 Analog Reference 2
2 >1 Preset Reference defined by Pr01.050 Offset Mode
Keypad Reference Power-Up Keypad 3 x Preset Reference defined by Pr01.050 Select
01.051 Control Mode 4 x Keypad Control Mode Reference (01.017)
Reference 5 x Precision Reference
6 x Keypad Control Mode Reference (01.017)

01.017

Keypad Control
Mode Reference

Precision Reference
Precision-Reference
UpdateDisable Key

01.020
X Input Read-write (RW)
X terminals mm.ppp
Precision parameter
Reference
Coarse X Read-only (RO)
X Output mm.ppp
01.018 Memory terminals parameter
01.019
The parameters are all shown in their default settings
Precision
Reference Fine

124 Unidrive M600 Control User Guide

JOG RUN FORWARD RUN REVERSE

29 26 27

Menu 8
Menu 6
Sequencer

Sequencer (Menu 6)
Jog Selected 01.013 Reference In Skip
Indicator Freq./Speedband
Indicator
Menu 13
Bipolar Position control Reference
Reference 01.010 01.035
01.011 Enabled
Enable Indicator
Pre-Ramp
Reference

Feed-Forward Pre-Skip Filter

Selected 01.006 01.002 Reference 01.003
Indicator Maximum
Reverse Freq./Speed
Selected 01.012 01.040 "Clamp"
Indicator
01.007
Menu 2
Minimum
Negative Freq./Speed
Reference "Clamp"
Clamp (Maximum 01.057
Enable Reverse
Freq./Speed) Force
01.008 Reference
Direction
[01.006]
[01.007]

[01.007]
[01.006]
x(-1)

01.029 01.031 01.033

01.039 [01.006]
Skip Freq./ Skip Freq./ Skip Freq./
Speed 1 Speed 2 Speed 3
Velocity
01.005 Feed-Forward
Reference [01.006] 01.030 01.032 01.034
Jog
Skip Freq./ Skip Freq./ Skip Freq./
Reference
Speed band Speed band Speed band
1 2 3
[01.006]

[01.007]

Unidrive M600 Control User Guide 125

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
01.001 Reference Selected VM_SPEED_FREQ_REF Hz VM_SPEED_FREQ_REF rpm RO Num ND NC PT
01.002 Pre-Skip Filter Reference VM_SPEED_FREQ_REF Hz VM_SPEED_FREQ_REF rpm RO Num ND NC PT
01.003 Pre-Ramp Reference VM_SPEED_FREQ_REF Hz VM_SPEED_FREQ_REF rpm RO Num ND NC PT
01.004 Reference Offset VM_SPEED_FREQ_REF Hz VM_SPEED_FREQ_REF rpm 0.0 RW Num US
01.005 Jog Reference 0.0 - 400.0 Hz 0.0 - 4000.0 rpm 0.0 RW Num US
0.0 to VM_POSITIVE_REF_ 0.0 to VM_POSITIVE_REF_ 50Hz: 50.0 50Hz: 1500.0
01.006 Maximum Reference Clamp RW Num US
CLAMP1 Hz CLAMP1 rpm 60Hz: 60.0 60Hz: 1800.0
VM_NEGATIVE_REF_ VM_NEGATIVE_REF_
01.007 Minimum Reference Clamp 0.0 RW Num US
CLAMP1 to 0.0 CLAMP1 to 0.0
01.008 Negative Reference Clamp Enable Off (0) or On (1) Off (0) RW Bit US
01.009 Reference Offset Select Off (0) or On (1) Off (0) RW Bit US
01.010 Bipolar Reference Enable Off (0) or On (1) Off (0) RW Bit US
01.011 Reference On Off (0) or On (1) RO Bit ND NC PT
01.012 Reverse Select Off (0) or On (1) RO Bit ND NC PT
01.013 Jog Select Off (0) or On (1) RO Bit ND NC PT
A1 A2 (0), A1 Preset (1), A2 Preset (2)
01.014 Reference Selector Preset (3), Keypad (4), Precision (5) A1 A2 (0) RW Txt ND US
Keypad Ref (6)
01.015 Preset Selector 0 to 9 0 RW Num US
01.016 Preset Selector Time 0.0 to 400.0 s 10.0 s RW Num US
01.017 Keypad Control Mode Reference VM_SPEED_FREQ_KEYPAD_REF 0.0 RO Num NC PT PS
01.018 Precision Reference Coarse VM_SPEED_FREQ_REFS 0.0 RW Num US
01.019 Precision Reference Fine 0.000 to 0.099 Hz 0.000 to 0.099 rpm 0.000 Hz 0.000 rpm RW Num us
01.020 Precision Reference Update Disable Off (0) or On (1) Off (0) RW Bit NC
01.021 Preset Reference 1 VM_SPEED_FREQ_REF 0.0 RW Num US
01.022 Preset Reference 2 VM_SPEED_FREQ_REF 0.0 RW Num US
01.023 Preset Reference 3 VM_SPEED_FREQ_REF 0.0 RW Num US
01.024 Preset Reference 4 VM_SPEED_FREQ_REF 0.0 RW Num US
01.025 Preset Reference 5 VM_SPEED_FREQ_REF 0.0 RW Num US
01.026 Preset Reference 6 VM_SPEED_FREQ_REF 0.0 RW Num US
01.027 Preset Reference 7 VM_SPEED_FREQ_REF 0.0 RW Num US
01.028 Preset Reference 8 VM_SPEED_FREQ_REF 0.0 RW Num US
01.029 Skip Reference 1 0.0 to 550.0 Hz 0 to 33, 000 rpm 0.0 0 RW Num US
01.030 Skip Reference Band 1 0.0 to 25.0 Hz 0 to 250 rpm 0.0 0 RW Num US
01.031 Skip Reference 2 0.0 to 550.0 Hz 0 to 33, 000 rpm 0.0 0 RW Num US
01.032 Skip Reference Band 2 0.0 to 25.0 Hz 0 to 250 rpm 0.0 0 RW Num US
01.033 Skip Reference 3 0.0 to 550.0 Hz 0 to 33, 000 rpm 0.0 0 RW Num US
01.034 Skip Reference Band 3 0.0 to 25.0 Hz 0 to 250 rpm 0.0 0 RW Num US
01.035 Reference In Rejection Zone Off (0) or On (1) Off (0) or On (1) RO Bit ND NC PT
VM_SPEED_FREQ_USER_ VM_SPEED_FREQ_USER_
01.036 Analog Reference 1 0.0 RO Num NC
REFS Hz REFS rpm
VM_SPEED_FREQ_USER_ VM_SPEED_FREQ_USER_
01.037 Analog Reference 2 0.0 RO Num NC
REFS Hz REFS rpm
01.038 Percentage Trim ±100.00 % 0.00 % RW Num NC
01.039 Speed Feed-forwards VM_SPEED_FREQ_REF RO Num ND NC PT
01.040 Speed Feed-forwards Select Off (0) or On (1) RO Bit ND NC PT
01.041 Reference Select Flag 1 Off (0) or On (1) Off (0) RW Bit ND NC PT
01.042 Reference Select Flag 2 Off (0) or On (1) Off (0) RW Bit ND NC PT
01.043 Reference Select Flag 3 Off (0) or On (1) Off (0) RW Bit ND NC PT
01.044 Reference Select Flag 4 Off (0) or On (1) Off (0) RW Bit ND NC PT
01.045 Preset Select Flag 1 Off (0) or On (1) Off (0) RW Bit ND NC PT
01.046 Preset Select Flag 2 Off (0) or On (1) Off (0) RW Bit ND NC PT
01.047 Preset Select Flag 3 Off (0) or On (1) Off (0) RW Bit ND NC PT
01.048 Preset Selector Timer Reset Off (0) or On (1) Off (0) RW Bit ND NC PT
01.049 Reference Selected Indicator 1 to 6 RO Num ND NC PT
01.050 Preset Selected Indicator 1 to 8 RO Num ND NC PT
Power-up Keypad Control Mode
01.051 Reset (0), Last (1), Preset (2) Reset (0) RW Txt US
Reference
01.057 Force Reference Direction None (0), Forward (1), Reverse (2) None (0) RW Num

126 Unidrive M600 Control User Guide

Unidrive M600 Control User Guide 127

11.3 Menu 2: Ramps

Figure 11-2 Menu 2 logic diagram

Key
Acceleration Rate Select Bits
2.32 X Input Read-write (RW)
02.034 02.033 02.032 X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

0 0 0 1 X
terminals parameter
0 0 1 2
0 1 0 3 The parameters are all shown in their default settings
0 1 1 4
1 0 0 5
1 0 1 6
Acceleration
1 1 0 7 Rate Selector
1 1 1 8 02.010

Acceleration rates 1 ~ 8
0

02.011 Acceleration Rate 1 1

02.012 Acceleration Rate 2 2 02.030

Acceleration
Rate Selected
02.013 Acceleration Rate 3 3

02.014 Acceleration Rate 4 4

02.015 Acceleration Rate 5 5

02.016 Acceleration Rate 6 6

02.017 Acceleration Rate 7 7

02.018 Acceleration Rate 8 8

Jog Acceleration
02.019
Rate
Preset Selected 01.050
Indicator

1 0
Jog Select 01.013
1 1
Reverse Forward
2 2
Accel. Rate Accel. Rate
3 3 N N
4 4
t t
5 5
6 6
Acceleration
7 7
8 8 Ramp Control
02.003 Ramp Hold

Pre-Ramp Speed 02.004 Ramp Mode Select

01.003
Reference
02.007 Maximum Rate Of Change Of Acceleration

02.008 Standard Ramp Voltage

02.009 Deceleration Fail Detection Disable

02.039 Ramp Rate Units

02.040 S Ramp Percentage

02.041 S Ramp Set Up Mode

02.042 Maximum Rate Of Change Of Acceleration 1

02.043 Maximum Rate Of Change Of Acceleration 2

02.044 Maximum Rate Of Change Of Acceleration 3

02.045 Maximum Rate Of Change Of Acceleration 4

128 Unidrive M600 Control User Guide

Deceleration Rate Select Bits

02.037 02.036 02.035

1 0 0 0
2 0 0 1

3 0 1 0
4 0 1 1
5 1 0 0
6 1 0 1
Deceleration
Rate Selector 7 1 1 0
8 1 1 1
02.020

Deceleration Rates 1 ~ 8
0

1 02.021 Deceleration Rate 1

Deceleration
Rate Selected 02.031 2 02.022 Deceleration Rate 2

3 02.023 Deceleration Rate 3

4 02.024 Deceleration Rate 4

5 02.025 Deceleration Rate 5

6 02.026 Deceleration Rate 6

7 02.027 Deceleration Rate 7

8 02.028 Deceleration Rate 8

9
02.029 Jog Deceleration
Rate

Preset
01.050 Selected
0 1
Indicator

Jog Selected
01.013 Indicator
1 1
Forward Reverse
Decel. rate Decel. rate 2 2
N N 3 3

Current control 4 4
t t
Menu 4 5 5
(Open-loop only) Ramp Enable
02.002 (RFC-A, RFC-S 6 6
Deceleration
modes only) 7 7
_
Ramps always enabled Post-Ramp
Ramp Control in Open-loop 8 8
+ Reference
02.003 Ramp Hold 1

02.004 Ramp Mode Select 02.001

0
02.007 Maximum Rate Of Change Of Acceleration

02.008 Standard Ramp Voltage Motor And Load 03.018

Inertia
02.009 Deceleration Fail Detection Disable
d/dt 02.038
02.039 Ramp Rate Units Torque Per Amp 05.032
Inertia
02.040 S Ramp Percentage Compensation
Torque
02.041 S Ramp Set Up Mode

02.042 Maximum Rate Of Change Of Acceleration 1

02.043 Maximum Rate Of Change Of Acceleration 2

02.044 Maximum Rate Of Change Of Acceleration 3

02.045 Maximum Rate Of Change Of Acceleration 4

Unidrive M600 Control User Guide 129

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
VM_SPEED_FREQ_ VM_SPEED_FREQ_
02.001 Post Ramp Reference RO Num ND NC PT
REF Hz REF rpm
02.002 Ramp Enable Off (0) or On (1) On (1) RW Bit US
02.003 Ramp Hold Off (0) or On (1) Off (0) RW Bit US
Fast (0), Standard (1),
02.004 Ramp Mode Fast (0), Standard (1) Standard (1) RW Txt US
Std boost (2)
02.005 Disable Ramp Output Off (0) or On (1) Off (0) RW Bit US
02.006 S Ramp Enable Off (0) or On (1) Off (0) RW Bit US
02.007 Maximum Rate Of Change Of Acceleration 0.0 to 300.0 s2/100 Hz 0.000 to 100.000 s2/1000 rpm 3.1 1.500 RW Num US
200 V drive: 375 V
400 V drive 50 Hz: 750 V
02.008 Standard Ramp Voltage 0 to VM_DC_VOLTAGE_SET V 400 V drive 60 Hz: 775 V RW Num RA US
575 V drive: 895 V
690 V: 1075 V
02.009 Deceleration Fail Detection Disable Off (0) or On (1) Off (0) or On (1) Off (0) RW Bit US
02.010 Acceleration Rate Selector 0 to 9 0 to 9 0 RW Num US
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.011 Acceleration Rate 1 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.012 Acceleration Rate 2 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.013 Acceleration Rate 3 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.014 Acceleration Rate 4 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.015 Acceleration Rate 5 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.016 Acceleration Rate 6 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.017 Acceleration Rate 7 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.018 Acceleration Rate 8 5.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.019 Jog Acceleration Rate 0.2 s 0.000 s RW Num US
s/100 Hz s/1000 rpm
02.020 Deceleration Rate Selector 0 to 9 0 RW Num US
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.021 Deceleration Rate 1 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.022 Deceleration Rate 2 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.023 Deceleration Rate 3 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.024 Deceleration Rate 4 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.025 Deceleration Rate 5 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.026 Deceleration Rate 6 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.027 Deceleration Rate 7 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.028 Deceleration Rate 8 10.0 s 2.000 s RW Num US
s/100 Hz s/1000 rpm
0.0 to VM_ACCEL_RATE 0.000 to VM_ACCEL_RATE
02.029 Jog Deceleration Rate 0.2 s 0.000 s RW Num US
s/100 Hz s/1000 rpm
02.030 Acceleration Rate Selected 0 to 8 RO Num ND NC PT
02.031 Deceleration Rate Selected 0 to 8 RO Num ND NC PT
02.032 Acceleration Rate Select Bit 0 Off (0) or On (1) Off (0) RW Bit NC
02.033 Acceleration Rate Select Bit 1 Off (0) or On (1) Off (0) RW Bit NC
02.034 Acceleration Rate Select Bit 2 Off (0) or On (1) Off (0) RW Bit NC
02.035 Deceleration Rate Select Bit 0 Off (0) or On (1) Off (0) RW Bit NC
02.036 Deceleration Rate Select Bit 1 Off (0) or On (1) Off (0) RW Bit NC
02.037 Deceleration Rate Select Bit 2 Off (0) or On (1) Off (0) RW Bit NC
02.038 Inertia Compensation Torque ±1000.0 % RO Num ND NC PT
Off = 100 Hz (0) or Off = 1000 rpm or
Off = 1000 rpm or
02.039 Ramp Rate Units On = Maximum 1000 mm/s (0) or Off = 100 Hz (0) RW Bit US
1000 mm/s (0)
frequency (1) On = Maximum speed (1)
02.040 S Ramp Percentage 0.0 to 50.0 % 0.0 % RW Num US
02.041 S Ramp Set-up Mode Single (0), Percentage (1), Independent (2) Single (0) RW Txt US
02.042 Maximum Rate Of Change Of Acceleration 1 0.0 to 300.0 s2/100 Hz 0.000 to 100.000 s2/ 1000 rpm 0.0 s2/100 Hz 0.000 s2/ 1000 rpm RW Num US
02.043 Maximum Rate Of Change Of Acceleration 2 0.0 to 300.0 s2/100 Hz 0.000 to 100.000 s2/ 1000 rpm 0.0 s2/100 Hz 0.000 s2/ 1000 rpm RW Num US
02.044 Maximum Rate Of Change Of Acceleration 3 0.0 to 300.0 s2/100 Hz 0.000 to 100.000 s2/ 1000 rpm 0.0 s2/100 Hz 0.000 s2/ 1000 rpm RW Num US
02.045 Maximum Rate Of Change Of Acceleration 4 0.0 to 300.0 s2/100 Hz 0.000 to 100.000 s2/ 1000 rpm 0.0 s2/100 Hz 0.000 s2/ 1000 rpm RW Num US

130 Unidrive M600 Control User Guide

11.4 Menu 3: Speed feedback and speed control

Figure 11-3 Menu 3 Open-loop logic diagram

Slip
compensation
Menu 5
Post Ramp Motor
Reference Frequency
+
+
Menu 2 02.001 05.001

Zero Speed Bipolar Reference

Threshold Zero Speed Enable
03.005 + 01.010
10.003
_
At Or Below
Minimum Speed
Minimum
Reference Clamp 1
01.007 +0.5Hz + 10.004
0
_

Maximum + Over Speed

Reference Clamp 01.006 +20% 0 _ Trip
Over Speed
Threshold 03.008 1

03.008>0

At Speed
Lower Limit Below Set-Speed

03.006 +
10.005
_
Pre Ramp At Speed
Reference _ 1

+ NOR 10.006
01.003 0

+
10.007 Key
03.009 03.007
_
Above Set-Speed X Input Read-write (RW)
Absolute At Speed X mm.ppp
At-Speed Upper Limit terminals parameter
Select
X Output mm.ppp Read-only (RO)
X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 131

Figure 11-4 Menu 3 RFC-A, RFC-S logic diagram

Hard Speed
Reference 03.022

Hard Speed
Reference 1 0
Select
03.023

Reference
1 0
On
01.011
Post-Ramp VM_SPEED_FREQ_REF[MAX] Final Speed
Reference + Reference

02.001 0 + 03.001

VM_SPEED_FREQ_REF[MIN]
02.005
Disable Ramp 7
Output

Motor Control
Feedback Select
03.026

Option Slot 1
15.027
P1 Speed Feedback

Option Slot 1 2 Sensorless Mode

25.027 Active RFC Feedback
P2 Speed Feedback
3 Mode
03.078 03.024
Option Slot 2 4
16.027
P1 Speed Feedback
d/dt 0
5
Option Slot 2
26.027
P2 Speed Feedback 6
1
7
Option Slot 3
17.027
P1 Speed Feedback

2
Option Slot 3
27.027
P2 Speed Feedback

03.080 d/dt 03.079

Sensorless
Mode Filter
Sensorless
Position

NOTE
* Automatic change over if the relevant ‘bit’ of Position Feedback Initialized (03.076) is 0.

132 Unidrive M600 Control User Guide

Speed Controller
03.017
Set Up Method
03.018 Motor And Load
Inertia
03.019 Compliance Angle
Speed Controller
03.020 Bandwidth Gain Select
03.016
03.021 Damping Factor

04.033 Inertia Times 1000

Speed
03.010 (Kp1) Controller
Speed Error 0 Output
03.011 (Ki1)
+ 03.003
+ Speed Loop Gains 03.004 Menu 4
_ _ 03.013 (Kp2)
1
03.014 (Ki2)

(Kd1) (Kd2)
Speed Controller
Differential 03.012 03.015
Feedback Gains
0 1

Zero Speed Bipolar Reference

Threshold Zero Speed Enable
03.005 + 01.010
10.003
_ Running At Or
Below Minimum
Speed
Min Reference Clamp 1
01.007 +5min
-1
+ 10.004
0
_

Speed Feedback
+
Max Reference Clamp Over Speed Trip
01.006 +20% 0 _
03.002
Overspeed Threshold 1
03.008
03.008>0

Below Set Speed

At Speed
Lower Limit 03.006 +
10.005
_
Pre Ramp At Speed
Reference _ 1
NOR 10.006
+
01.003 0

+
10.007
03.007
_
03.009
At Speed Above Set Speed
Absolute Upper Limit Key
At-Speed
Select
X Input Read-write (RW)
X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 133

Range Default
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
03.001 Final Speed Reference VM_SPEED RO Num ND NC PT FI
03.002 Speed Feedback VM_SPEED RO Num ND NC PT FI
03.003 Speed Error VM_SPEED RO Num ND NC PT FI
03.004 Speed Controller Output VM_TORQUE_CURRENT % RO Num ND NC PT FI

03.005 0.0 to 1.0 Hz 5 rpm RW

Zero Speed Threshold 0 to 200 rpm Num US
20.0 Hz

03.006 0.0 to 1.0 Hz 5 rpm RW

At Speed Lower Limit 0 to 33000 rpm Num US
550.0 Hz

03.007 0.0 to 1.0 Hz 5 rpm RW

At Speed Upper Limit 0 to 33000 rpm Num US
550.0 Hz

03.008 0.0 to 0.0 Hz 0 rpm RW

Over Speed Threshold 0 to 40000 rpm Num US
550.0 Hz
03.009 Absolute At Speed Select Off (0) or On (1) Off (0) RW Bit US
03.010 Speed Controller Proportional Gain Kp1 0.0000 to 200.0000 s/rad 0.0300 s/rad 0.0100 s/rad RW Num US
03.011 Speed Controller Integral Gain Ki1 0.00 to 655.35 s2/rad 0.10 s2/rad 0.05 s2/rad RW Num US

03.012 Speed Controller Differential Feedback Gain 0.00000 1/rad RW

0.00000 to 0.65535 1/rad Num US
Kd1
03.013 Speed Controller Proportional Gain Kp2 0.0000 to 200.0000 s/rad 0.0300 s/rad 0.0100 s/rad RW Num US
03.014 Speed Controller Integral Gain Ki2 0.00 to 655.35 s2/rad 0.10 s2/rad 0.05 s2/rad RW Num US

03.015 Speed Controller Differential Feedback Gain 0.00000 1/rad RW

0.00000 to 0.65535 1/rad Num US
Kd2
03.016 Speed Controller Gain Select Off (0) or On (1) Off (0) RW Bit US

Disabled (0), Bandwidth (1),

Comp Angle (2),
03.017 Kp Gain Times 16 (3), Disabled (0) RW
Speed Controller Set-up Method Txt US
Low Performance (4),
Std Performance (5),
High Performance (6), First Order (7)

03.018 Motor And Load Inertia 0.00000 to 1000.00000 kgm2 0.00000 kgm2 RW Num US
03.019 Compliance Angle 0.0 to 360.0 ° 4.0 ° RW Num US
03.020 Bandwidth 5 to 1000 Hz 10 Hz RW Num US
03.021 Damping Factor 0.0 to 10.0 1.0 RW Num US

03.022 VM_SPEED_ 0.0 RW

Hard Speed Reference VM_SPEED Num US
FREQ_REF
03.023 Hard Speed Reference Select Off (0) or On (1) Off (0) RW Bit US
Feedback (0),
Sensorless (1), Sensorless
03.024 RFC Feedback Mode RW Txt US
Feedback NoMax (2), NoMax (3)
Sensorless NoMax (3)
P1 Slot 1 (2),
P2 Slot 1 (3),
03.026 P1 Slot 2 (4), P1 Slot 3 (6) RW
Motor Control Feedback Select Txt US
P2 Slot 2 (5),
P1 Slot 3 (6),
P2 Slot 3 (7)
03.075 Initialise Position Feedback Off (0) or On (1) Off (0) RW Bit NC
03.076 Position Feedback Initialized 0000000000 to 1111111111 0000000000 RO Bin NC PT
03.078 Sensorless Mode Active Off (0) or On (1) RO Bit ND NC PT
03.079 Sensorless Mode Filter 4 (0), 8 (1), 16 (2),32 (3), 64 (4) ms 4 (0) ms RW Txt US
03.080 Sensorless Position -2147483648 to 2147483647 RO Num ND NC PT

134 Unidrive M600 Control User Guide

11.5 Menu 4: Torque and current control

Figure 11-5 Menu 4 Open loop logic diagram
Menu 2 ramp Torque Mode
Pre Ramp controller Selector
Reference
04.011 Post Ramp Output
+
01.003
2.01 Reference Frequency

+ 02.001
2.01 Motor map 05.001

10.009
Current
Limit
Active Current loop
04.013 P Gain

04.014 I Gain 04.002 Torque

Producing
Current Current
Magnitude
_
04.002
04.020 04.001
+ 04.020 - Percentage
Load
Output
Frequency Rated
04.021 - Current Feedback
Frequency
Filter Disable
04.017 Magnetising
05.001 05.006 Current
Final
Torque Final Current
Reference Reference

Torque + Torque to Percentage

Reference 04.008 04.003 current 04.004 Torque Rated
conversion Torque
+
04.026 04.041
Torque
Offset 04.010
Select

04.009
Torque Offset

04.015 Motor Thermal Time Constant 1

Current limits Final
Maximum Current Limit 04.016 Thermal Protection Mode
04.005 Motoring
Heavy Duty 11.032
Rating 04.025 Low Speed Thermal Protection Mode
04.006 Regenerating 04.018
Rated Overload 04.036 Motor Protection Accumulator Power Up Value
05.007
Current 04.007 Symmetrical Detection 04.037 Motor Thermal Time Constant 2

04.038 Motor Thermal Time Constant 2 Scaling

04.039 Rated Iron Losses As Percentage Of Losses

10.008 10.009 10.039 04.019 10.017

Rated Current Limit Braking Resistor Motor Motor Overload

Load Reached Active Thermal Protection Alarm
Accumulator Accumulator

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 135

Figure 11-6 Menu 4 RFC-A logic diagram

Speed Estimation Algorithm

Inertia
Compensation
Torque

02.038
Current Current
Speed Reference Reference
Rated
Feedback Inertia Filter 1 Time Filter 2 Time
Rated Power Speed
03.002 04.022 Compensation Current Factor Constant Constant
Enable Controller
05.007 05.010 Gain 04.012 04.023
Torque Mode Select
Speed Controller 04.011
_ Output Selector 03.016
+
Final Final
+ + Torque
Speed 03.001 03.004 0 Current Controller
Reference Reference
1 Current Loop
+ 04.013 P Gain
Bi-directional 2 04.003 04.004
Speed Current Loop
+ _ 04.014 I Gain
Over-Ride 3
Final Filter
Level Current
4
Reference
5 Torque Producing
Speed + Current Current
Over-Ride (Amp) Magnitude
Level

Coiler/Uncoiler
Speed 04.002 04.001
Zero Over-Ride 04.020 - Percentage
Speed 03.005 Level Load
Threshold
04.021 - Current Feedback
+ Filter Disable
Torque
Reference 04.008 04.017 Magnetising
04.024 - User Current Current
+ Percentage Maximum Scaling
Torque Torque Rated
Offset 04.010 Torque
Select 04.026 04.041
04.009
Torque Offset
04.015 Motor Thermal Time Constant 1
Current limits
Final 04.016 Thermal Protection Mode
Maximum 04.005 Motoring Current Limit
Heavy Duty 11.032 04.025 Low Speed Thermal Protection Mode
Rating 04.006 Regenerating 04.018 Overload 04.036 Motor Protection Accumulator Power Up Value
Rated
Current
05.007 04.007 Symmetrical Detection 04.037 Motor Thermal Time Constant 2
04.049 Magnetising
04.038 Motor Thermal Time Constant 2 Scaling

04.039 Rated Iron Losses As Percentage Of Losses

Key

X Input Read-write (RW) 10.008 10.009 10.039 04.019 10.017

X terminals mm.ppp
parameter
Rated Load Current Limit Braking Resistor Motor Motor
X Output mm.ppp Read-only (RO) Reached Active Thermal Protection Overload
X
terminals parameter Accumulator Accumulator Alarm

The parameters are all shown in their default settings

136 Unidrive M600 Control User Guide

Figure 11-7 Menu 4 RFC-S logic diagram

Speed Estimation Algorithm

Inertia
Compensation
Torque
Current Current
Reference Reference
02.038 Filter 1 Time Filter 2 Time
Speed Constant Constant
Feedback Inertia 04.012 04.023
Rated Rated
03.002 04.022 Compensation Current Speed Speed Controller
Enable
Gain Select
05.007 05.008
Speed Controller Torque Mode 03.016
_ 04.011
Output Selector
+
Final Final
+ + Torque
Speed 03.001 03.004 0 Final Current Current controller
Reference Reference Reference
1 + Kp Gain
04.013
Bi-directional 2 04.003 04.004
Speed 04.014 Ki Gain
Over-Ride + 3 _
Level Filter
4
+ 5
Speed Torque
Over-Ride Producing Current
Level Current Feedback
Filter Disable

Coiler/Uncoiler 04.002 04.021

Speed
Zero Over-Ride
Speed 03.005 Percentage User Current
Level
Threshold Load Maximum
Scaling
Torque + 04.020 04.024
Reference 04.008
+
Percentage
Torque Torque Rated
Offset 04.010 Torque
Select
04.026 04.041
04.009
Maximum Torque Offset
Heavy Duty 04.015 Motor Thermal Time Constant 1
Rating Current limits Final 04.016 Thermal Protection Mode
Current Limit
04.005 Motoring
11.032 04.025 Low Speed Thermal Protection Mode
04.006 Regenerating 04.018 Overload 04.036 Motor Protection Accumulator Power Up Value
05.007
Symmetrical
Detection 04.037 Motor Thermal Time Constant 2
04.007
Rated
Current 04.038 Motor Thermal Time Constant 2 Scaling

04.039 Rated Iron Losses As Percentage Of Losses

Key

X Input Read-write (RW) 10.008 10.009 10.039 04.019 10.017

X terminals mm.ppp
parameter
Rated Current Limit Braking Resistor Motor Motor
X Output mm.ppp Read-only (RO) Load Reached Active Thermal Protection Overload Alarm
X
terminals parameter Accumulator Accumulator

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 137

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
04.001 Current Magnitude 0.000 to VM_DRIVE_CURRENT_UNIPOLAR RO Num ND NC PT FI
04.002 Torque Producing Current / Iq VM_DRIVE_CURRENT RO Num ND NC PT FI
04.003 Final Torque Reference VM_TORQUE_CURRENT RO Num ND NC PT FI
04.004 Final Current Reference VM_TORQUE_CURRENT RO Num ND NC PT FI
04.005 Motoring Current Limit 0.0 to VM_MOTOR1_CURRENT_LIMIT 165.0 % * 175.0 % ** RW Num RA US
04.006 Regenerating Current Limit 0.0 to VM_MOTOR1_CURRENT_LIMIT 165.0 % * 175.0 % ** RW Num RA US
04.007 Symmetrical Current Limit 0.0 to VM_MOTOR1_CURRENT_LIMIT 165.0 % * 175.0 % ** RW Num RA US
04.008 Torque Reference VM_USER_CURRENT_HIGH_RES 0.00 % RW Num US
04.009 Torque Offset VM_USER_CURRENT 0.0 % RW Num US
04.010 Torque Offset Select Off (0) or On (1) Off (0) RW Bit US
04.011 Torque Mode Selector 0 to 1 0 to 5 0 RW Num US
04.012 Current Reference Filter 1 Time Constant 0.0 to 25.0 ms 1.0 ms 2.0ms RW Num US
04.013 Current Controller Kp Gain 0 to 30000 20 150 RW Num US
04.014 Current Controller Ki Gain 0 to 30000 40 2000 RW Num US
04.015 Motor Thermal Time Constant 1 1.0 to 3000.0 s 89.0 s RW Num US
04.016 Thermal Protection Mode 00 to 11 00 RW Bin US
04.017 Magnetising Current / Id VM_DRIVE_CURRENT RO Num ND NC PT FI
04.018 Final Current Limit VM_TORQUE_CURRENT RO Num ND NC PT
04.019 Motor Protection Accumulator 0.0 to 100.0 % RO Num ND NC PT PS
04.020 Percentage Load VM_USER_CURRENT RO Num ND NC PT FI
04.021 Current Feedback Filter Disable Off (0) or On (1) Off (0) RW Bit US
04.022 Inertia Compensation Enable Off (0) or On (1) Off (0) RW Bit US
04.023 Current Reference Filter 2 Time Constant 0.0 to 25.0 ms 1.0 ms RW Num US
04.024 User Current Maximum Scaling 0.0 to VM_TORQUE_CURRENT_UNIPOLAR 165.0 % * 175.0 % ** RW Num RA US
04.025 Low Speed Thermal Protection Mode 0 to 1 0 RW Num US
0.0 to VM_USER_
04.026 Percentage Torque RO Num ND NC PT FI
CURRENT %
04.033 Inertia Times 1000 Off (0) or On (1) Off (0) RW Bit US
04.036 Motor Protection Accumulator Power-up Value Power down (0), Zero (1), Real time (2) Power down (0) RW Txt US
04.037 Motor Thermal Time Constant 2 1.0 to 3000.0 s 89.0 s RW Num US
04.038 Motor Thermal Time Constant 2 Scaling 0 to 100 % 0% RW Num US
04.039 Rated Iron Losses As Percentage Of Losses 0 to 100 % 0% RW Num US
04.041 Rated Torque 0.00 to 50000.00 Nm 0.00 Nm RW Num US
04.049 Magnetising current limit 0.0 to 100.0 % 100.0 % RW Num US

* For size 9 and above the default is 141.9 %

**For size 9 and above the default is 150.0 %

138 Unidrive M600 Control User Guide

11.6 Menu 5: Motor control

Figure 11-8 Menu 5 Open-loop logic diagram

Open-Loop
L1 L2 L3
05.014 Control Mode
Autotune
05.012 DC Bus
Dynamic V To F Voltage
05.013
Select
Low Frequency 05.005
Motormap 05.015 Voltage Boost
Rated Stator
05.006 Frequency 05.017
Post Ramp Resistance
Reference Rated Transient Output
05.007 Current 05.024
+ Inductance Voltage
02.001 Rated Stator
05.008 Speed 05.024
05.025
Inductance 05.002 Volt
+ Rated
05.009
Voltage
Rated
05.010 Power Factor
Number Of 05.001 Hertz
05.011 Motor Poles Output
Frequency
05.018 Maximum Switching Frequency

Enable Motor 05.019 High Stability Space Vector Modulation

Slip RPM 05.004
Compensation 0 1 05.020 Quasi Square Enable
Output
05.027 Power (kW)
05.003 Ö3xVxI
Switching 05.031 Voltage Controller Gain
Frequency 05.037
05.035 Auto Switching Frequency Change Disable
Slip
compensation Maximum Deadtime 05.036 Auto-Switching Frequency Step Size
Compensation 05.059
05.039 Maximum Inverter Temperature Ripple

Current At Maximum 05.042 Reverse Output Phase Sequence

05.037
Deadtime Compensation
05.061 Disable Deadtime Compensation

Torque Current
Producing Magnitude
Current
04.002
04.001
04.020
Percentage
Load
Key

X Input Read-write (RW)

X terminals mm.ppp 04.017
parameter
Magnetising
Current
X Output mm.ppp Read-only (RO)
X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 139

Figure 11-9 Menu 5 RFC-A, RFC-S logic diagram

Output
Frequency

05.001

Flux Calculator
RFC-S
Rated Sensorless
Speed 05.007 Current 05.063 Mode Current Ramp
Feedback
Position Number Of RFC Low
05.011 Motor Poles 05.064
Feedback Speed Mode
ò
Flux angle Reference
03.002 Stator Saliency Torque frame
05.017 Resistance 05.065 Control Select transformation
05.024 Transient Active Saliency
Inductance 05.066 Torque Mode
05.067 Required Over
RFC-A Current Trip Level
Rated Actual Over
05.006 Frequency 05.068 Current Trip Level
Rated Speed Inverted Saturation
05.008 05.070 Characteristic
Rated Low Speed
05.009 Voltage 05.071 Sensorless Current Limit
Rated 05.072 No-Load Lq
05.010 Power Factor
Stator 05.075 Iq Test Current For
05.025 Inductance Inductance Measurement
Saturation 05.077 Phase Offset At Iq Test
05.029 Break-Point 1 Current
Saturation 05.078 Lq At The Defined Iq Test
05.030 Break-Point 3 Current
Saturation 05.082 Id Test Current For
05.062 Break-Point 2 Inductance Measurement
Saturation 05.084 Lq At The Defined Id Test
05.063 Break-Point 4 Current
05.088 Estimated Lq

05.089 Rated Torque Angle

Current Flux
References Magnitude

Speed
controller
output Current control
Menu 4
03.004 Current limits
Overload detection
Current loop gains
Current demand filter
Torque reference

Current
05.012 Autotune
feedback
05.015 Low frequency Voltage Boost

05.026 High Dynamic Performance Enable

05.031 Voltage Controller Gain

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

140 Unidrive M600 Control User Guide

Output
Frequency

Voltage reference

DC Bus
Voltage

05.005

Modulator

Current At 05.018 Maximum Switching Frequency

Maximum Auto Switching Frequency Change
05.060 05.035
Deadtime Disable
Compensation
05.036 Auto Switching Frequency Step Size

05.038 Minimum Switching Frequency U

Switching
05.037 Maximum Inverter Temperature
Frequency 05.039 Ripple V
05.061 Disable Deadtime Compensation
W

Flux Controller
Rated Voltage
05.009

RFC-A Output
05.002
05.013 Flux Optimization Select Voltage
Output
Rated Speed
05.016 Optimization Select Power

05.028 Flux Compensation

Power Calculation (Ö 3 x V x I) 05.003
RFC-S

05.022 Enable High Speed Mode

Torque Linearisation Current
05.028 Disable Torque Magnitude
Producing
Current
04.002 04.001

04.017
Magnetising
Current

Unidrive M600 Control User Guide 141

Range() Default()
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
VM_SPEED_
05.001 Output Frequency ±2000.0 Hz RO Num ND NC PT FI
FREQ_REF Hz
05.002 Output Voltage 0 to VM_AC_VOLTAGE V RO Num ND NC PT FI
05.003 Output Power VM_POWER kW RO Num ND NC PT FI
05.004 Motor Rpm ±180000 rpm RO Num ND NC PT FI
05.005 D.c. Bus Voltage 0 to VM_DC_VOLTAGE V RO Num ND NC PT FI

50Hz: 50.0
05.006 Rated Frequency 0.0 to 550.0 Hz RW Num US
60Hz: 60.0

05.007 Rated Current 0.000 to VM_RATED_CURRENT Maximum Heavy Duty Rating (11.032) RW Num RA US
50Hz -
50Hz - 1500 1450.00
rpm rpm 3000.00
05.008 Rated Speed 0 to 33000 rpm 0.00 to 33000.00 rpm RW Num US
60Hz - 1800 60Hz - rpm
rpm 1750.00
rpm
200 V drive: 230 V
50Hz - 400 V drive: 400 V
05.009 Rated Voltage 0 to VM_AC_VOLTAGE_SET V 60Hz - 400 V drive: 460 V RW Num RA US
575 V drive: 575 V
690 V drive: 690 V
05.010 Rated Power Factor 0.000 to 1.000 0.850 RW Num RA US
05.011 Number Of Motor Poles Automatic (0) to 480 Poles (240) Automatic (0) 8 Poles (4) RW Txt US
05.012 Autotune 0 to 2 0 to 5 0 to 6 0 RW Num NC
Dynamic V To F Select Off (0) or On (1) Off (0) RW Bit US
05.013
Flux Optimization Select Off (0) or On (1) Off (0) RW Bit US

Ur S (0), Ur (1),
05.014 Open-loop Control Mode Fixed (2), Ur Auto (3), Ur I (4) RW Txt US
Ur I (4), Square (5)

Low Frequency Voltage Boost 0.0 to 25.0 % 3.0 % RW Num US

05.015 1,2,3,6,12,25,
Minimal Movement Phasing Test Current 1% RW Num US
50,100 %
Disabled (0)
Classic Slow (1)
Classic fast (2)
Rated Speed Optimization Select Disabled (0) RW Num US
Combined (3)
05.016
VARs Only (4)
Voltage Only(5)

Minimal Movement Phasing Test Angle 0.00 to 25.00 ° 0.00 ° RW Num US

05.017 Stator Resistance 0.000000 to 1000.000000 Ω 0.000000 Ω RW Num RA US

2 (0) kHz, 3 (1) kHz, 4 (2) kHz, 6 (3) kHz,

05.018 Maximum Switching Frequency 3 (1) kHz RW Txt RA US
8 (4) kHz, 12 (5) kHz, 16 (6) kHz

High Stability Space Vector Modulation Off (0) or On (1) Off (0) RW Bit US
05.019
Rated Speed Optimisation Minimum
0 to 100 % 10 % RW Num US
Frequency
Quasi-square Enable Off (0) or On (1) Off (0) RW Bit US
05.020 Rated Speed Optimisation Minimum
0 to 100 % 50 % RW Num US
Load
05.021 Mechanical Load Test Level 0 to 100 % 0% RW Num US
Limit (-1),
05.022 Enable High Speed Mode Disable (0), Limit (-1) RW Txt US
Enable (1)
05.023 D.c. Bus Voltage High Range 0 to VM_HIGH_DC_VOLTAGE RO Num ND NC PT FI
05.024 Transient Inductance / Ld 0.000 to 500.000 mH 0.000 mH RW Num RA US
05.025 Stator Inductance 0.00 to 5000.00 mH 0.00 mH RW Num RA US
05.026 High Dynamic Performance Enable Off (0) or On (1) Off (0) RW Bit RA US
Enable Slip Compensation Off (0) or On (1) On (1) RW Bit RA US
05.027
Flux Control Gain 0.1 to 10.0 1.0 RW Num US
Flux Compensation 0 to 2 0 RW Num US
05.028 Off (0) or
Torque Linearisation Disable Off (0) RW Bit US
On (1)
05.029 Saturation Breakpoint 1 0.0 to 50.0 % RW Num US
05.030 Saturation Breakpoint 3 100.0 % 75.0 % RW Num US
05.031 Voltage Controller Gain 1 to 30 1 RW Num US
05.032 Torque Per Amp 0.00 to 500.00 Nm/A RO Num ND NC PT
05.033 Volts Per 1000rpm 0 to 10000 V 98 V RW Num US
05.034 Percentage Flux 0.0 to 150.0 % RO Num ND NC PT

142 Unidrive M600 Control User Guide

Range() Default()
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
Auto-switching Frequency Change
05.035 Enabled (0), Disabled (1), No Ripple Detect (2) Enabled (0) RW Txt US
Disable
05.036 Auto-switching Frequency Step Size 1 to 2 2 RW Num US
2 (0) kHz, 3 (1) kHz, 4 (2) kHz, 6 (3) kHz,
05.037 Switching Frequency RO Txt ND NC PT
8 (4) kHz, 12 (5) kHz, 16 (6) kHz

05.038 Minimum Switching Frequency 0 to VM_MIN_SWITCHING_FREQUENCY kHz 2 (0) kHz RW Txt US

05.039 Maximum Inverter Temperature Ripple 20 to 60 °C 60 °C RW Num US

05.040 Spin Start Boost 0.0 to 10.0 1.0 RW Num US

05.041 Voltage Headroom 0 to 20 % 0% 10 % RW Num US
05.042 Reverse Output Phase Sequence Off (0) or On (1) Off (0) RW Bit US
05.059 Maximum Deadtime Compensation 0.000 to 10.000 µs RO Num NC PT US
Current At Maximum Deadtime
05.060 0.00 to 100.00 % RO Num NC PT US
Compensation
05.061 Disable Deadtime Compensation Off (0) or On (1) Off (0) RW Bit US
0.0 to
05.062 Saturation Breakpoint 2 0.0 % RW Num US
100.0 %
0.0 to
Saturation Breakpoint 4 0.0 % RW Num US
05.063 100.0 %
Sensorless Mode Current Ramp 0.00 to 1.00 s 0.20 s RW Num US
Injection (0),
Non-
salient (1) Non-
05.064 RFC Low Speed Mode RW Txt US
Current (2) salient (1)
Current No
Test (3)
Disabled (0)
Low (1)
05.065 Saliency Torque Control Select Disabled (0) RW Txt US
High (2)
Auto (3)
Disabled (0)
05.066 Active Saliency Torque Mode Low (1) RO Txt ND NC PT US
High (2)
05.067 Required Over-current Trip Level 0 to 100 % 0% RW Num US
05.068 Actual Over-Current Trip Level 0 to 500 % RO Num ND NC PT
Off (0) or
05.070 Inverted Saturation Characteristic Off (0) RW Bit US
On (1)
Low Speed Sensorless Mode Current 0.0 to
05.071 20.0 % RW Num RA US
Limit 1000.0 %
0.000 to
05.072 No-load Lq 0.000 mH RW Num RA US
500.000 mH
Iq Test Current For Inductance
05.075 0 to 200 % 100 % RW Num US
Measurement
05.077 Phase Offset At Iq Test Current ±90.0 ° 0.0 ° RW Num RA US
0.000 to
05.078 Lq At The Defined Iq Test Current 0.000 mH RW Num RA US
500.000 mH
Id Test Current for Inductance
05.082 -100 to 0 % -50 % RW Num US
Measurement
0.000 to
05.084 Lq At The Defined Id Test Current 0.000 mH RW Num RA US
500.000 mH
0.000 to
05.088 Estimated Lq RO Num ND NC PT FI
500.000 mH
05.089 Rated Torque Angle 0 to 90 ° RO Num ND NC PT

Unidrive M600 Control User Guide 143

11.7 Menu 6: Sequencer and clock

Figure 11-10 Menu 6 logic diagram
Control word
Enable
06.043
0

Control Word
06.042
Drive Enable 0
06.015 Sequencer
Run Forward 1
T25 digital I/O 2 06.030 06.001 Stop Mode
Jog 1 Limit Switch
06.002
25 06.031 Stop Mode
Run 0 Supply Loss Mode
06.003
T26 digital I/O 3 06.032 Hold Zero Speed/ 01.011 Reference On
Forward / Reverse 0 06.008 Motor Pre-Heat
26 Menu 8 06.033 Enable
Catch A
06.009
Run 0 Spinning Motor
T27 digital input 4
06.034 Enable Sequencer
06.040 01.012 Reverse Select
Latching
Jog Reverse 0
27 Motor Pre-heat
06.037 06.052
Current Magnitude
Not Stop 0
06.039
0 01.013 Jog Select
Hardware
Enable 06.029

Forward Limit Switch 06.035

0 Sequencer State
06.011
Machine Inputs
Reverse Limit Switch 06.036
0
RUN

STOP/ RESET
RESET
Pr 01.052 = 0 Inverter enable

Auxiliary

Logic 1
RFC only
0 1 Menu 2
Reference
Selected 01.049 Pr 01.049 = 4 Ramp enable
Indicator Open loop only Menu 3
Hard speed
reference enable
Enable 06.006 Injection
06.012 Braking Level
Stop Key
06.007 Injection
Mains / Phase Loss Braking Time
Supply Loss
Detection System
Input Phase Loss
06.047 10.015
Detection Mode
Supply Loss
06.048
Detection Level
Clock control
Hold Supply Loss
06.051
Active Date/Time
06.019
Selector 06.024 Reset Energy Meter 06.023 Time Before Filter
Change Due
0 Set
06.016 Date 1 Powered
2 Running 06.021 Time Between Filter
Changes
06.017 Time 3 Accumulated powered
4 Local keypad
5 Remote keypad 06.022 Filter Change 06.028 Running Cost
Day Of Required/Done
6 Slot 1
06.018 Week
7 Slot 2 Energy Cost
8 Slot 3 06.027
Per kWh
9 Slot 4
06.020 Date Format 06.025
Output Energy Meter
06.026
06.084 Date And Output
05.003
Time Offset Power

DC Bus Voltage 05.005

Drive power supply monitor 06.044 Active Supply

Low voltage supply

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

144 Unidrive M600 Control User Guide

Figure 11-11 Menu 6 under-voltage and power supply control

Low Under
Voltage Threshold Back-Up Supply
Select Mode Enable
06.067 06.068

Standard
Under Voltage
Threshold
06.065
Under Voltage
Active
Low Under
Voltage
Threshold 10.016
06.066

D.C. Bus
Voltage

05.005

Under voltage
control logic
06.069

Inverter Enable
Under Voltage
System Contator
Close

Under Voltage
06.070 System Contactor 06.071 Slow Rectifier
Closed Charge Rate Enable

06.072 User Supply Select

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 145

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
Coast (0), Ramp (1),
Coast (0), Ramp (1),
06.001 Stop Mode Ramp dc I (2), dc I (3), Ramp (1) RW Txt US
No Ramp (2)
Timed dc I (4), Disable (5)
06.002 Limit Switch Stop Mode Stop (0) or Ramp (1) Stop (0) RW Txt US

Disable (0),
Disable (0), Ramp Stop (1), Ramp Stop (1),
06.003 Supply Loss Mode Disable (0) RW Txt US
Ride Thru (2) Ride Thru (2),
Limit Stop (3)

06.006 Injection Braking Level 0.0 to 150.0 % 100.0 % RW Num RA US

06.007 Injection Braking Time 0.0 to 100.0 s 1.0 s RW Num US
06.008 Hold Zero Speed Off (0) or On (1) Off (0) RW Bit US
06.009 Catch A Spinning Motor Disable (0), Enable (1), Fwd Only (2), Rev Only (3) Disable (0) RW Txt US
06.010 Enable Conditions 000000000000 to 111111111111 RO Bin ND NC PT
06.011 Sequencer State Machine Inputs 0000000 to 1111111 RO Bin ND NC PT
06.012 Enable Stop Key Off (0) or On (1) Off (0) RW Bit US
06.013 Enable Auxiliary Key Disabled (0), Forward / Reverse (1), Run Reverse (2) Disabled (0) RW Txt US
06.015 Drive Enable Off (0) or On (1) On (1) RW Bit US
06.016 Date 00-00-00 to 31-12-99 00-00-00 RW Date ND NC PT
06.017 Time 00:00:00 to 23:59:59 RW Time ND NC PT

Sunday (0), Monday (1), Tuesday (2), Wednesday (3),

06.018 Day Of Week RO Txt ND NC PT
Thursday (4), Friday (5), Saturday (6)

Set (0), Powered (1), Running (2), Acc Powered (3),

06.019 Date/Time Selector Local Keypad (4), Remote Keypad (5), Powered (1) RW Txt US
Slot 1 (6), Slot 2 (7), Slot 3 (8), Slot 4 (9)

06.020 Date Format Std (0) or US (1) Std (0) RW Txt US

06.021 Time Between Filter Changes 0 to 30000 Hours 0 Hours RW Num US
06.022 Filter Change Required / Change Done Off (0) or On (1) Off (0) RW Bit ND NC
06.023 Time Before Filter Change Due 0 to 30000 Hours RO Num ND NC PT PS
06.024 Reset Energy Meter Off (0) or On (1) Off (0) RW Bit
06.025 Energy Meter: MWh ±999.9 MWh RO Num ND NC PT PS
06.026 Energy Meter: kWh ±99.99 kWh RO Num ND NC PT PS
06.027 Energy Cost Per kWh 0.0 to 600.0 0.0 RW Num US
06.028 Running Cost ±32000 RO Num ND NC PT
06.029 Hardware Enable Off (0) or On (1) RO Bit ND NC PT
06.030 Run Forward Off (0) or On (1) Off (0) RW Bit NC
06.031 Jog Off (0) or On (1) Off (0) RW Bit NC
06.032 Run Reverse Off (0) or On (1) Off (0) RW Bit NC
06.033 Forward/Reverse Off (0) or On (1) Off (0) RW Bit NC
06.034 Run Off (0) or On (1) Off (0) RW Bit NC
06.035 Forward Limit Switch Off (0) or On (1) Off (0) RW Bit NC
06.036 Reverse Limit Switch Off (0) or On (1) Off (0) RW Bit NC
06.037 Jog Reverse Off (0) or On (1) Off (0) RW Bit NC
06.039 Not Stop Off (0) or On (1) Off (0) RW Bit NC
06.040 Enable Sequencer Latching Off (0) or On (1) Off (0) RW Bit US
06.041 Drive Event Flags 00 to 11 00 RW Bin NC
06.042 Control Word 000000000000000 to 111111111111111 000000000000000 RW Bin NC
06.043 Control Word Enable Off (0) or On (1) Off (0) RW Bit US
06.044 Active Supply Off (0) or On (1) RO Bit ND NC PT
06.045 Cooling Fan control 0 to 11 10 RW Num US
06.047 Input Phase Loss Detection Mode Full (0), Ripple Only (1), Disabled (2) Full (0) RW Txt US
200 V drive: 205 V
400 V drive: 410 V
06.048 Supply Loss Detection Level 0 to VM_SUPPLY_LOSS_LEVEL RW Num RA US
575 V drive: 540 V
690 V drive: 540 V

06.051 Hold Supply Loss Active Off (0) or On (1) Off (0) RW Bit NC

06.052 Motor Pre-heat Current Magnitude 0 to 100 % 0% RW Num US

0.5 s (0)
1.0 s (1)
06.058 Output Phase Loss Detection Time 0.5 s (0) RW Txt US
2.0 s (2)
4.0 s (3)
06.059 Output Phase Loss Detection Enable Disabled (0), Enabled (1) Disabled (0) RW Txt US
06.060 Standby Mode Enable Off (0) or On (1) Off (0) RW Bit US

146 Unidrive M600 Control User Guide

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
06.061 Standby Mode Mask 0000000 to 1111111 0000000 RW Bin US
200 V drive: 175 V
400 V drive: 330 V
06.065 Standard Under Voltage Threshold 0 to VM_STD_UNDER_VOLTS RW Num RA US
575 V drive: 435 V
690 V drive: 435 V
200 V drive: 175 V
400 V drive: 330 V
06.066 Low Under Voltage Threshold 24 to VM_LOW_UNDER_VOLTS RW Num RA US
575 V drive: 435 V
690 V drive: 435 V
06.067 Low Under Voltage Threshold Select Off (0) or On (1) Off (0) RW Bit US
06.068 Back Up Supply Mode Enable Off (0) or On (1) Off (0) RW Bit US
06.069 Under-Voltage System Contactor Close Off (0) or On (1) RO Bit ND NC PT
06.070 Under-Voltage System Contactor Closed Off (0) or On (1) Off (0) RW Bit US
06.071 Slow Rectifier Charge Rate Enable Off (0) or On (1) Off (0) RW Bit US
06.072 User Supply Select Off (0) or On (1) Off (0) RW Bit US
200 V drive: 390 V
400 V drive: 780 V
06.073 Braking IGBT Lower Threshold 0 to VM_DC_VOLTAGE_SET V RW Num RA US
575 V drive: 930 V
690 V drive: 1120 V
200 V drive: 390 V
400 V drive: 780 V
06.074 Braking IGBT Upper Threshold 0 to VM_DC_VOLTAGE_SET V RW Num RA US
575 V drive: 930 V
690 V drive: 1120 V
06.075 Low Voltage Braking IGBT Threshold 0 to VM_DC_VOLTAGE_SET V 0V RW Num RA US
Low Voltage Braking IGBT
06.076 Off (0) or On (1) Off (0) RW Bit
Threshold Select
06.084 Date And Time Offset ±24.00 Hours 0.00 Hours RW Num US

RW Read / Write RO Read only Num Number parameter Bit Bit parameter Txt Text string Bin Binary parameter FI Filtered
ND No default value NC Not copied PT Protected parameter RA Rating dependent US User save PS Power-down save DE Destination
IP IP address Mac Mac address Date Date parameter Time Time parameter SMP Slot,menu,parameter Chr Character parameter Ver Version number

Unidrive M600 Control User Guide 147

11.8 Menu 7: Analog I/O

Figure 11-12 Menu 7 analog inputs logic diagram

Analog
Input 1 Current Analog
Loop Loss Input 1
Analog Input Analog Input
1 Maximum 1 Offset Any
07.028 07.001 Analog Input 1 unprotected
Analog Input 1 07.043 07.030 07.010
Destination variable
parameter Analog Input 1
+ Analog Fast Update Active
5 ??.??? Ref. 1
07.007 + 07.008
V/f
6 01.036 07.026
Analog Input Analog
Analog Input Mode Input 1 x(-1) ??.???
07.040 Scaling
1 Minimum
07.009 Analog
07.025 Input 1 Invert
Calibrate Analog
Analog Input 1 Input 2 Current
Full Scale Loop Loss Analog
Input 2
Analog Input Analog Input 2
Analog Input 07.029 2 Offset Destination
2 Maximum 07.002 Any
07.014 unprotected
07.031
7.31
Analog input 2 07.044 variable
parameter Analog Input 2
Analog Fast Update Active
+ ??.???
+ Ref. 2
7 A/D 07.011 07.012
01.037 07.027
Analog Input Analog
2 Mode Input 2 x(-1) ??.???
07.041 Scaling
07.013 Analog
Analog Input Input 2 Invert
2 Minimum
Analog
Input 3
Analog Input Analog Input 3
3 Offset Destination
Analog Input 07.003 Any
3 Maximum 07.018 unprotected
07.032
7.31
Analog Input 3 variable
07.045
parameter
+ ??.???
07.015 + 07.016
8 A/D
Analog Input 3 Analog
Mode Selector Input 3 x(-1) ??.???
07.042
Scaling
Analog Input
07.017 Analog
3 Minimum Analog Input 3 Input 3 Invert
Mode
07.015

Analog Input 3
Thermistor Feedback

Th Short Circuit trip

07.047 Short circuit detect

07.046 Analog Input 3 Thermistor Type

07.048 Analog Input 3 Thermistor Trip Threshold Thermistor trip
07.049 Analog Input 3 Thermistor Reset Threshold

Analog Input 3
Thermistor
Temperature

Resistance to temperature
07.050
conversion

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

148 Unidrive M600 Control User Guide

Unidrive M600 Control User Guide 149

Figure 11-13 Menu 7 analog outputs diagram

Analog Output
Any variable 1 Source
Analog Output 1
Output parameter 07.019
Frequency ??.??
OL> 05.001
RFC-A> 07.020 9
03.002
RFC-S>
??.?? Analog
Speed
Output1
Feedback
Scaling

Analog Output
2 Source
Any 07.022
variable Analog Output 2
Torque parameter
Producing ??.??
Current
04.002 07.023 10
??.?? Analog
Output 2
Scaling

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Figure 11-14 Menu 7 thermal monitoring diagram

Temperature Monitor
Select 1
07.038

Monitored
Temperature 1

07.004
Percentage Of
Drive Thermal Trip
Level
Temperature Monitor
Select 2 07.036
07.039

Monitored
Temperature 2

07.005

Temperature
Nearest To Trip Level
Temperature Monitor
Select 3
Drive power stage 07.037
and control system 07.052

Monitored
Temperature 3

07.006

Inverter
Temperature

07.034

Key
Percentage Of
d.c. Link Thermal Trip Level X Input Read-write (RW)
X terminals mm.ppp
parameter
07.035
X Output mm.ppp Read-only (RO)
X
terminals parameter

The parameters are all shown in their default settings

150 Unidrive M600 Control User Guide

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
07.001 Analog Input 1 ±100.00 % RO Num ND NC PT FI
07.002 Analog Input 2 ±100.00 % RO Num ND NC PT FI
07.003 Analog Input 3 ±100.00 % RO Num ND NC PT FI
07.004 Monitored Temperature 1 ±250 °C RO Num ND NC PT
07.005 Monitored Temperature 2 ±250 °C RO Num ND NC PT
07.006 Monitored Temperature 3 ±250 °C RO Num ND NC PT
4-20 mA Low (-4), 20-4 mA Low (-3), 4-20 mA Hold (-2),
20-4 mA Hold (-1), 0-20 mA (0), 20-0 mA (1),
07.007 Analog Input 1 Mode Volt (6) RW Txt US
4-20 mA Trip (2), 20-4 mA Trip (3), 4-20 mA (4),
20-4 mA (5), Volt (6)
07.008 Analog Input 1 Scaling 0.000 to 10.000 1.000 RW Num US
07.009 Analog Input 1 Invert Off (0) or On (1) Off (0) RW Bit US
07.010 Analog Input 1 Destination 0.000 to 59.999 1.036 RW Num DE PT US
4-20 mA Low (-4), 20-4 mA Low (-3), 4-20 mA Hold (-2),
20-4 mA Hold (-1), 0-20 mA (0), 20-0 mA (1),
07.011 Analog Input 2 Mode Volt (6) RW Txt US
4-20 mA Trip (2), 20-4 mA Trip (3), 4-20 mA (4),
20-4 mA (5), Volt (6)
07.012 Analog Input 2 Scaling 0.000 to 10.000 1.000 RW Num US
07.013 Analog Input 2 Invert Off (0) or On (1) Off (0) RW Bit US
07.014 Analog Input 2 Destination 0.000 to 59.999 1.037 RW Num DE PT US
Volt (6), Therm Short Cct (7), Thermistor (8),
07.015 Analog Input 3 Mode Volt (6) RW Txt US
Therm No Trip (9)
07.016 Analog Input 3 Scaling 0.000 to 10.000 1.000 RW Num US
07.017 Analog Input 3 Invert Off (0) or On (1) Off (0) RW Bit US
07.018 Analog Input 3 Destination 0.000 to 59.999 0.000 RW Num DE PT US
07.019 Analog Output 1 Source 0.000 to 59.999 5.001 3.002 RW Num PT US
07.020 Analog Output 1 Scaling 0.000 to 10.000 1.000 RW Num US
07.022 Analog Output 2 Source 0.000 to 59.999 4.002 RW Num PT US
07.023 Analog Output 2 Scaling 0.000 to 10.000 1.000 RW Num US
07.025 Calibrate Analog Input 1 Full Scale Off (0) or On (1) Off (0) RW Bit NC
07.026 Analog Input 1 Fast Update Active Off (0) or On (1) RO Bit ND NC PT
07.027 Analog Input 2 Fast Update Active Off (0) or On (1) RO Bit ND NC PT
07.028 Analog Input 1 Current Loop Loss RO Bit ND NC PT
Off (0) or On (1)
07.029 Analog Input 2 Current Loop Loss RO Bit ND NC PT
07.030 Analog Input 1 Offset ±100.00 % 0.00 % RW Num US
07.031 Analog Input 2 Offset ±100.00 % 0.00 % RW Num US
07.032 Analog Input 3 Offset ±100.00 % 0.00 % RW Num US
07.033 Power Output ±100.0 % RO Num ND NC PT
07.034 Inverter Temperature ±250 °C RO Num ND NC PT
07.035 Percentage Of d.c. Bus Thermal Trip Level 0 to 100 % RO Num ND NC PT
07.036 Percentage Of Drive Thermal Trip Level 0 to 100 % RO Num ND NC PT
07.037 Temperature Nearest To Trip Level 0 to 20999 RO Num ND NC PT
07.038 Temperature Monitor Select 1 0 to 1999 1001 RW Num US
07.039 Temperature Monitor Select 2 0 to 1999 1002 RW Num US
07.040 Analog Input 1 Minimum ±100.00 % -100.00 % RW Num US
07.041 Analog Input 2 Minimum ±100.00 % -100.00 % RW Num US
07.042 Analog Input 3 Minimum ±100.00 % -100.00 % RW Num US
07.043 Analog Input 1 Maximum ±100.00 % 100.00 % RW Num US
07.044 Analog Input 2 Maximum ±100.00 % 100.00 % RW Num US
07.045 Analog Input 3 Maximum ±100.00 % 100.00 % RW Num US
DIN44082 (0), KTY84 (1), PT100 (4W) (2),
PT1000 (4W) (3), PT2000 (4W) (4), 2.0 mA (4W) (5),
07.046 Analog Input 3 Thermistor Type DIN44082 (0) RW Txt US
PT100 (2W) (6), PT1000 (2W) (7), PT2000 (2W) (8),
2.0 mA (2W) (9)
07.047 Analog Input 3 Thermistor Feedback 0 to 5000 Ω RO Num ND NC PT
07.048 Analog Input 3 Thermistor Trip Threshold 0 to 5000 Ω 3300 Ω RW Num US
07.049 Analog Input 3 Thermistor Reset Threshold 0 to 5000 Ω 1800 Ω RW Num US
07.050 Analog Input 3 Thermistor Temperature -50 to 300 °C RO Num ND NC PT
07.051 Analog Input 1 Full Scale 0 to 65535 RO Num ND NC PT PS
07.052 Temperature Monitor Select 3 0 to 1999 1 RW Num US

Unidrive M600 Control User Guide 151

11.9 Menu 8: Digital I/O

Figure 11-15 Menu 8 logic diagram

T24 Digital
I/O 1 State At Zero
T24 Output ??.??? Speed
Select
08.001 08.031 10.003

x(-1) ??.???
Any bit
T24 Digital I/O 1 T24 Digital parameter
08.021
I/O 1 Source/
Destination
24 08.029
08.011 T24 Digital
I/O Input Any
I/O 1 Invert
Logic Polarity unprotected
bit parameter
??.???

x(-1) ??.???

Any bit
T25 Digital parameter
I/O 2 State T25 Output
Select ??.???

08.002 08.032

x(-1) ??.???

T25 Digital I/O 2 T25 digital

08.022 I/O 2 Source/
Destination
25 08.029
Any
I/O Input 08.012 T25 Digital unprotected
I/O 2 Invert
Logic Polarity bit
parameter

??.??? Drive Reset

10.033
x(-1)
??.???

Any bit
T26 Digital parameter
I/O 3 State T26 Output
??.???
Select
08.003 08.033

x(-1) ??.???

T26 Digital I/O 3 T26 Digital

08.023 I/O 3 Source/
08.029 Destination
26
Any
I/O Input 08.013 T26 Digital
I/O 3 Invert unprotected
Logic Polarity bit
parameter
??.??? Run Forward
06.030
x(-1)
??.???

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

152 Unidrive M600 Control User Guide

24 V Supply
Input State 24 V Supply 24 V Supply
Input Invert Input Destination
08.043 08.053 08.063 Any
unprotected
bit
T2 digital input parameter
??.???
2
00.000
x(-1)
??.???

T27 Digital Stop/Start T27 Digital Input 4

T27 Digital Input 4 Invert Logic Select Destination
Input 4 State
08.004 08.014 06.004 08.024 Any
unprotected
bit
T27 digital input 4 parameter
??.??? Run Reverse
27 08.029
06.032
I/O Input
x(-1)
Logic Polarity ??.???

T28 Digital
T28 Digital Input 5
T28 Digital Input 5 Invert Destination Any
Input 5 State unprotected
08.005 08.015 08.025 bit
T28 Digital Input 5 parameter
Analog Input 1 /
??.??? Input 2 Select
28 08.029
01.041
I/O Input x(-1)
Logic Polarity ??.???

T29 Digital
T29 Digital Input 6
T29 Digital Input 6 Invert Destination
Input 6 State
08.006 08.016 08.026 Any
unprotected
bit
T29 Digital Input 6 parameter
??.??? Jog Forward
29 08.029
06.031
I/O Input
x(-1)
Logic Polarity ??.???

T22 24V Output T22 24V Output Source

T22 24V Source Invert
Output 08.028 Any
State 08.008 08.018 unprotected
bit
parameter
T22 24V Output ??.???

00.000
22
x(-1) ??.???

STO Input 1 State

T31 STO input 1

08.009
31

External Trip Generator

An Option Module with Combine with I/O
safety functions can External External Trip 1 06.029
External Trip 2 input (Menu 6)
open these switches Trip Mode 08.010
Hardware
Enable

08.040

STO Input 2 State

Unidrive M600 Control User Guide 153

Figure 11-16 Menu 8 Relay output logic diagram

Relay Source Relay

Invert Source
08.017 08.027
Any bit
parameter
Relay
State ??.??
Drive OK
10.001
41 08.007
x(-1) ??.??

42
0V

Figure 11-17 Menu 8 Keypad buttons logic diagram

Keypad Stop
Button State

08.044

Keypad Run
Button State Keypad Run Button Keypad Run
Invert/Toggle Button Destination
Stop button
08.041 08.051 08.061 Any
unprotected
bit parameter

Run button 0 ??.???

1 00.000
2 ??.???
x(-1)

Toggle
Keypad Auxiliary Keypad
Button State Keypad Auxiliary Auxiliary Button
Button Invert/Toggle Destination
08.042 08.052 08.062 Any
unprotected
bit parameter

Auxiliary Button ??.???

0
1 00.000

2 ??.???
x(-1)

Key
Toggle
X Input Read-write (RW)
X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

154 Unidrive M600 Control User Guide

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
08.001 Digital I/O 01 State Off (0) or On (1) RO Bit ND NC PT
08.002 Digital I/O 02 State Off (0) or On (1) RO Bit ND NC PT
08.003 Digital I/O 03 State Off (0) or On (1) RO Bit ND NC PT
08.004 Digital Input 04 State Off (0) or On (1) RO Bit ND NC PT
08.005 Digital Input 05 State Off (0) or On (1) RO Bit ND NC PT
08.006 Digital Input 06 State Off (0) or On (1) RO Bit ND NC PT
08.007 Relay Output State Off (0) or On (1) RO Bit ND NC PT
08.008 24V Supply Output State Off (0) or On (1) RO Bit ND NC PT
08.009 STO Input 01 State Off (0) or On (1) RO Bit ND NC PT
08.010 External Trip Mode Disable (0), STO 1 (1), STO 2 (2), STO 1 OR STO 2 (3) Disable (0) RW Txt US
08.011 Digital I/O 01 Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.012 Digital I/O 02 Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.013 Digital I/O 03 Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.014 Digital Input 04 Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.015 Digital Input 05 Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.016 Digital Input 06 Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.017 Relay Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.018 24V Supply Output Invert Not Invert (0) or Invert (1) Invert (1) RW Txt US
08.020 Digital I/O Read Word 0 to 511 RO Num ND NC PT
08.021 Digital I/O 01 Source/Destination 0.000 to 59.999 10.003 RW Num DE PT US
08.022 Digital I/O 02 Source/Destination 0.000 to 59.999 10.033 RW Num DE PT US
08.023 Digital I/O 03 Source/Destination 0.000 to 59.999 6.030 RW Num DE PT US
08.024 Digital Input 04 Destination 0.000 to 59.999 6.032 RW Num DE PT US
08.025 Digital Input 05 Destination 0.000 to 59.999 1.041 RW Num DE PT US
08.026 Digital Input 06 Destination 0.000 to 59.999 6.031 RW Num DE PT US
08.027 Relay Output Source 0.000 to 59.999 10.001 RW Num PT US
08.028 24V Supply Output Source 0.000 to 59.999 0.000 RW Num PT US
08.029 Input Logic Polarity Negative Logic (0) or Positive Logic (1) Positive Logic (1) RW Txt US
08.031 Digital I/O 01 Output Select Off (0) or On (1) On (1) RW Bit US
08.032 Digital I/O 02 Output Select Off (0) or On (1) RW Bit US
Off (0)
08.033 Digital I/O 03 Output Select Off (0) or On (1) RW Bit US
08.040 STO Input 02 State Off (0) or On (1) RO Bit ND NC PT
08.041 Keypad Run Button State Off (0) or On (1) RO Bit ND NC PT
08.042 Keypad Auxiliary Button State Off (0) or On (1) RO Bit ND NC PT
08.043 24V Supply Input State Off (0) or On (1) RO Bit ND NC PT
08.044 Keypad Stop Button State Off (0) or On (1) RO Bit ND NC PT
08.051 Keypad Run Button Invert/Toggle Not Invert (0), Invert (1) or Toggle (2) Not Invert (0) RW Txt US
08.052 Keypad Auxiliary Button Invert/Toggle Not Invert (0), Invert (1) or Toggle (2) Not Invert (0) RW Txt US
08.053 24V Supply Input Invert Not Invert (0) or Invert (1) Not Invert (0) RW Txt US
08.061 Keypad Run Button Destination 0.000 to 59.999 0.000 RW Num DE PT US
08.062 Keypad Auxiliary Button Destination 0.000 to 59.999 0.000 RW Num DE PT US
08.063 24V Supply Input Destination 0.000 to 59.999 0.000 RW Num DE PT US
08.071 DI/O Output Enable Register 1 0000000000000000 to 1111111111111111 0000000000000000 RW Bin PT US
08.072 DI/O Input Register 1 0000000000000000 to 1111111111111111 RO Bin ND NC PT
08.073 DI/O Output Register 1 0000000000000000 to 1111111111111111 0000000000000000 RW Bin PT

Unidrive M600 Control User Guide 155

156 Unidrive M600 Control User Guide

11.10 Menu 9: Programmable logic, motorized pot, binary sum and timers
Figure 11-18 Menu 9 logic diagram: Programmable logic

Any bit Logic Function 1 09.005

parameter Source 1 Invert Logic
??.??? Function 1
Output Logic Function 1
Destination
Logic Function 1
Output Invert 09.001 09.010
??.??? x(-1) Any
09.008 unprotected
bit
parameter
09.004 Logic Function 1
Source 1 ??.???

09.009
Any bit
Logic Function 1 09.007 x(-1)
parameter Logic Function 1 ??.???
Source 2 Invert
Delay
??.???

??.??? x(-1)

09.006 Logic Function 1

Source 2

Any bit Logic Function 2

parameter 09.015 Logic
Source 1 Invert
Function 2
??.???
Output Logic Function 2
Logic Function 2 Destination
Output Invert 09.002 09.020
??.??? x(-1) Any
09.018 unprotected
bit
parameter
09.014 Logic Function 2
Source 1 ??.???

09.019
Any bit Logic Function 2 09.017
parameter Source 2 Invert x(-1) Logic Function 2 ??.???
Delay
??.???

??.??? x(-1)

Key
09.016 Logic Function 2
Source 2 X Input
X mm.ppp Read-write (RW)
terminals parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 157

Figure 11-19 Menu 9 logic diagram: Motorized pot and binary sum

Motorized
Pot Bipolar Motorized Pot
Motorized Output Motorized Pot
Select
Pot Rate Destination
09.022
09.023 09.003 09.025
Motorized Pot Any
Up unprotected
variable
09.026 parameter
??.???

M 09.024
Motorized Pot ??.???
Scaling
09.027 Function disabled if set
to a non valid destination
Motorized Pot
Down

09.028 09.021 Motorized Pot.

Mode
Motorized Pot
Reset

Binary Sum
Binary Sum Output Binary Sum
Offset Logic Destination
09.034 09.032 09.033
09.029
Any
unprotected
Binary Sum bit
Logic Ones(LSB) parameter
+ ??.???
+
09.030 S
??.???
Binary Sum
Logic Twos Function disabled if set
to a non valid destination

09.031
Key
Binary Sum
Logic Fours(MSB) X Input Read-write (RW)
X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

158 Unidrive M600 Control User Guide

Figure 11-20 Menu 9 logic diagram: Timers

Timer 1
Output Timer 1
Timer 1 Destination
Invert 09.042 09.043
Any
09.035 Timer 1 Start Date 09.041 unprotected
bit
Timer 1 parameter
09.036 Timer 1 Start Time
Enable
??.???
09.040 09.037 Timer 1 Stop Date

09.038 Timer 1 Stop Time x(-1)

??.???
Timer 1 Repeat Timer disabled if set
09.039
Function to a non valid destination
Timer 2
Output Timer 2
Timer 2 Destination
Invert 09.052 09.053
Any
09.045 Timer 2 Start Date 09.051 unprotected
bit
Timer 2 parameter
09.046 Timer 2 Start Time
Enable
??.???
09.050 09.047 Timer 2 Stop Date

09.048 Timer 2 Stop Time x(-1)

??.???
Timer 2 Repeat Timer disabled if set
09.049
Function to a non valid destination

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 159

Figure 11-21 Menu 9 logic diagram: Scope function

Scope Trace 1
Source 09.065 Scope Data
09.055 Not Ready
09.063 Scope Mode
Scope Trace 2
Source 09.067 Scope Sample Time Scope Saving
09.066
09.056 Data
09.068 Scope Trigger Delay
Scope Trace 3
Source 09.070 Scope Auto-save Mode Time Period
09.069
09.057
09.072 Scope Auto-save Reset
Scope Trace 4
Source 09.071 Scope Auto-save
09.058 File Number

Scope Arm Scope Auto-save

09.073
09.064 Status

Scope
Trigger Invert
09.062
Scope
Trigger
09.059
OR
Scope Trigger
Source x(-1)
09.060

Scope Trigger
+
Threshold _
09.061

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

160 Unidrive M600 Control User Guide

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
09.001 Logic Function 1 Output Off (0) or On (1) RO Bit ND NC PT
09.002 Logic Function 2 Output Off (0) or On (1) RO Bit ND NC PT

09.003 Motorized Pot Output ±100.00 % RO Num ND NC PT PS

09.004 Logic Function 1 Source 1 0.000 to 59.999 0.000 RW DE PT US

09.005 Logic Function 1 Source 1 Invert Off (0) or On (1) Off (0) RW Bit US
09.006 Logic Function 1 Source 2 0.000 to 59.999 0.000 RW DE PT US
09.007 Logic Function 1 Source 2 Invert Off (0) or On (1) Off (0) RW Bit US
09.008 Logic Function 1 Output Invert Off (0) or On (1) Off (0) RW Bit US
09.009 Logic Function 1 Delay ±25.0 s 0.0 s RW Num US
09.010 Logic Function 1 Destination 0.000 to 59.999 0.000 RW DE PT US
09.014 Logic Function 2 Source 1 0.000 to 59.999 0.000 RW Num PT US
09.015 Logic Function 2 Source 1 Invert Off (0) or On (1) Off (0) RW Bit US
09.016 Logic Function 2 Source 2 0.000 to 59.999 0.000 RW Num PT US
09.017 Logic Function 2 Source 2 Invert Off (0) or On (1) Off (0) RW Bit US
09.018 Logic Function 2 Output Invert Off (0) or On (1) Off (0) RW Bit US
09.019 Logic Function 2 Delay ±25.0 s 0.0 s RW Num US
09.020 Logic Function 2 Destination 0.000 to 59.999 0.000 RW DE PT US
09.021 Motorized Pot Mode 0 to 4 0 RW Num US
09.022 Motorized Pot Bipolar Select Off (0) or On (1) Off (0) RW Bit US
09.023 Motorized Pot Rate 0 to 250 s 20 s RW Num US
09.024 Motorized Pot Scaling 0.000 to 4.000 1.000 RW Num US
09.025 Motorized Pot Destination 0.000 to 59.999 0.000 RW DE PT US
09.026 Motorized Pot Up Off (0) or On (1) Off (0) RW Bit NC
09.027 Motorized Pot Down Off (0) or On (1) Off (0) RW Bit NC
09.028 Motorized Pot Reset Off (0) or On (1) Off (0) RW Bit NC
09.029 Binary Sum Ones Off (0) or On (1) Off (0) RW Bit NC
09.030 Binary Sum Twos Off (0) or On (1) Off (0) RW Bit NC
09.031 Binary Sum Fours Off (0) or On (1) Off (0) RW Bit NC
09.032 Binary Sum Output 0 to 255 RO Num ND NC PT
09.033 Binary Sum Destination 0.000 to 59.999 0.000 RW DE PT US
09.034 Binary Sum Offset 0 to 248 0 RW Num US
09.035 Timer 1 Start Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.036 Timer 1 Start Time 00:00:00 to 23:59:59 00:00:00 RW Time US
09.037 Timer 1 Stop Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.038 Timer 1 Stop Time 00:00:00 to 23:59:59 00:00:00 RW Time US
None (0), Hour (1), Day (2), Week (3), Month (4), Year (5),
09.039 Timer 1 Repeat Function None (0) RW Txt US
One off (6), Minute (7)
09.040 Timer 1 Enable Off (0) or On (1) Off (0) RW Bit US
09.041 Timer 1 Invert Off (0) or On (1) Off (0) RW Bit US
09.042 Timer 1 Output Off (0) or On (1) RO Bit ND NC PT
09.043 Timer 1 Destination 0.000 to 59.999 0.000 RW DE PT US
09.045 Timer 2 Start Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.046 Timer 2 Start Time 00:00:00 to 23:59:59 00:00:00 RW Time US
09.047 Timer 2 Stop Date 00-00-00 to 31-12-99 00-00-00 RW Date US
09.048 Timer 2 Stop Time 00:00:00 to 23:59:59 00:00:00 RW Time US
None (0), Hour (1), Day (2), Week (3), Month (4), Year (5),
09.049 Timer 2 Repeat Function None (0) RW Txt US
One off (6), Minute (7)
09.050 Timer 2 Enable Off (0) or On (1) Off (0) RW Bit US
09.051 Timer 2 Invert Off (0) or On (1) Off (0) RW Bit US
09.052 Timer 2 Output Off (0) or On (1) RO Bit ND NC PT
09.053 Timer 2 Destination 0.000 to 59.999 0.000 RW DE PT US
09.055 Scope Trace 1 Source 0.000 to 59.999 0.000 RW Num PT US
09.056 Scope Trace 2 Source 0.000 to 59.999 0.000 RW Num PT US
09.057 Scope Trace 3 Source 0.000 to 59.999 0.000 RW Num PT US
09.058 Scope Trace 4 Source 0.000 to 59.999 0.000 RW Num PT US
09.059 Scope Trigger Off (0) or On (1) Off (0) RW Bit
09.060 Scope Trigger Source 0.000 to 59.999 0.000 RW Num PT US

09.061 Scope Trigger Threshold -2147483648 to 2147483647 0 RW Num US

Unidrive M600 Control User Guide 161

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
09.062 Scope Trigger Invert Off (0) or On (1) Off (0) RW Bit US
09.063 Scope Mode Single (0), Normal (1), Auto (2) Single (0) RW Txt US
09.064 Scope Arm Off (0) or On (1) Off (0) RW Bit NC
09.065 Scope Data Not Ready Off (0) or On (1) RO Bit ND NC PT
09.066 Scope Saving Data Off (0) or On (1) RO Bit ND NC PT
09.067 Scope Sample Time 1 to 200 1 RW Num US
09.068 Scope Trigger Delay 0 to 100 % 0% RW Num US
09.069 Scope Time Period 0.00 to 200000.00 ms RO Num ND NC PT
09.070 Scope Auto-save Mode Disabled (0), Overwrite (1), Keep (2) Disabled (0) RW Txt US
09.071 Scope Auto-save File Number 0 to 99 0 RO Num PS
09.072 Scope Auto-save Reset Off (0) or On (1) Off (0) RW Bit
09.073 Scope Auto-save Status Disabled (0), Active (1), Stopped (2), Failed (3) Disabled (0) RO Txt PS

162 Unidrive M600 Control User Guide

11.11 Menu 10: Status and trips

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
10.001 Drive Healthy Off (0) or On (1) RO Bit ND NC PT

10.002 Drive Active Off (0) or On (1) RO Bit ND NC PT

10.003 Zero Speed Off (0) or On (1) RO Bit ND NC PT
10.004 Running At Or Below Minimum Speed Off (0) or On (1) RO Bit ND NC PT
10.005 Below Set Speed Off (0) or On (1) RO Bit ND NC PT
10.006 At Speed Off (0) or On (1) RO Bit ND NC PT
10.007 Above Set Speed Off (0) or On (1) RO Bit ND NC PT
10.008 Rated Load Reached Off (0) or On (1) RO Bit ND NC PT
10.009 Current Limit Active Off (0) or On (1) RO Bit ND NC PT
10.010 Regenerating Off (0) or On (1) RO Bit ND NC PT
10.011 Braking IGBT Active Off (0) or On (1) RO Bit ND NC PT
10.012 Braking Resistor Alarm Off (0) or On (1) RO Bit ND NC PT
10.013 Reverse Direction Commanded Off (0) or On (1) RO Bit ND NC PT
10.014 Reverse Direction Running Off (0) or On (1) RO Bit ND NC PT
10.015 Supply Loss Off (0) or On (1) RO Bit ND NC PT
10.016 Under Voltage Active Off (0) or On (1) RO Bit ND NC PT
10.017 Motor Overload Alarm Off (0) or On (1) RO Bit ND NC PT
10.018 Drive Over-temperature Alarm Off (0) or On (1) RO Bit ND NC PT
10.019 Drive Warning Off (0) or On (1) RO Bit ND NC PT
10.020 Trip 0 0 to 255 RO Txt ND NC PT PS
10.021 Trip 1 0 to 255 RO Txt ND NC PT PS
10.022 Trip 2 0 to 255 RO Txt ND NC PT PS
10.023 Trip 3 0 to 255 RO Txt ND NC PT PS
10.024 Trip 4 0 to 255 RO Txt ND NC PT PS
10.025 Trip 5 0 to 255 RO Txt ND NC PT PS
10.026 Trip 6 0 to 255 RO Txt ND NC PT PS
10.027 Trip 7 0 to 255 RO Txt ND NC PT PS
10.028 Trip 8 0 to 255 RO Txt ND NC PT PS
10.029 Trip 9 0 to 255 RO Txt ND NC PT PS
10.030 Braking Resistor Rated Power 0.000 to 99999.999 kW See Table 11-5 RW Num US
10.031 Braking Resistor Thermal Time Constant 0.000 to 1500.000 s See Table 11-5 RW Num US
10.032 External Trip Off (0) or On (1) Off (0) RW Bit NC
10.033 Drive Reset Off (0) or On (1) Off (0) RW Bit NC
10.034 Number Of Auto-reset Attempts None (0), 1, 2, 3, 4, 5, Infinite (6) None (0) RW Txt US
10.035 Auto-reset Delay 1.0 to 600.0 s 1.0 s RW Num US
10.036 Auto-reset Hold Drive Healthy Off (0) or On (1) Off (0) RW Bit US
10.037 Action On Trip Detection 00000 to 11111 00000 RW Bin US
10.038 User Trip 0 to 255 0 RW Num ND NC
10.039 Braking Resistor Thermal Accumulator 0.0 to 100.0 % RO Num ND NC PT
10.040 Status Word 000000000000000 to 111111111111111 RO Bin ND NC PT
10.041 Trip 0 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.042 Trip 0 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.043 Trip 1 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.044 Trip 1 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.045 Trip 2 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.046 Trip 2 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.047 Trip 3 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.048 Trip 3 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.049 Trip 4 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.050 Trip 4 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.051 Trip 5 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.052 Trip 5 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.053 Trip 6 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS

Unidrive M600 Control User Guide 163

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
10.054 Trip 6 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.055 Trip 7 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.056 Trip 7 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.057 Trip 8 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.058 Trip 8 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.059 Trip 9 Date 00-00-00 to 31-12-99 RO Date ND NC PT PS
10.060 Trip 9 Time 00:00:00 to 23:59:59 RO Time ND NC PT PS
10.061 Braking Resistor Resistance 0.00 to 10000.00 Ω See Table 11-5 RW Num US
10.062 Low Load Detected Alarm Off (0) or On (1) RO Bit ND NC PT
10.063 Local Keypad Battery Low Off (0) or On (1) RO Bit ND NC PT
10.064 Remote Keypad Battery Low Off (0) or On (1) RO Bit ND NC PT
10.065 Auto-tune Active Off (0) or On (1) RO Bit ND NC PT
10.066 Limit Switch Active Off (0) or On (1) RO Bit ND NC PT
10.068 Hold Drive Healthy On Under Voltage Off (0) or On (1) Off (0) RW Bit US
10.069 Additional Status Bits 0000000000 to 1111111111 RO Bin ND NC PT
10.070 Trip 0 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.071 Trip 1 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.072 Trip 2 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.073 Trip 3 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.074 Trip 4 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.075 Trip 5 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.076 Trip 6 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.077 Trip 7 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.078 Trip 8 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.079 Trip 9 Sub-trip Number 0 to 65535 RO Num ND NC PT PS
10.080 Stop Motor Off (0) or On (1) RO Bit ND NC PT
10.081 Phase Loss Off (0) or On (1) RO Bit ND NC PT
Inhibit (0), Ready (1), Stop (2), Scan (3), Run (4),
Supply Loss (5), Deceleration (6), dc Injection (7),
10.101 Drive Status Position (8), Trip (9), Active (10), Off (11), RO Txt ND NC PT
Hand (12), Auto (13), Heat (14),
Under Voltage (15), Phasing (16)
10.102 Trip Reset Source 0 to 1023 RO Num ND NC PT PS

10.103 Trip Time Identifier -2147483648 to 2147483647 ms RO Num ND NC PT

None (0), Brake Resistor (1), Motor Overload (2),
Ind Overload (3), Drive Overload (4),
10.104 Active Alarm Auto Tune (5), Limit Switch (6), Fire Mode (7), RO Txt ND NC PT
Low Load (8), Option Slot 1 (9), Option Slot 2 (10),
Option Slot 3 (11), Option Slot 4 (12)

10.106 Potential Drive Damage Conditions 0000 to 1111 RO Bin ND NC PT PS

Table 11-5 Defaults for Pr 10.030, Pr 10.031 and Pr 10.061

Drive size Pr 10.030 Pr 10.031 Pr 10.061

3 50 W 3.3 s 75 Ω
4 and 5 100 W 2.0 s 38 Ω
All other ratings and frame sizes 0.000 0.00

164 Unidrive M600 Control User Guide

11.12 Menu 11: General drive set-up

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
Not Active (0), Slot 1 (1), Slot 2 (2), Slot 3 (3),
11.001 Option Synchronisation Select Slot 4 (4) RW Txt US
Slot 4 (4), Automatic (5)

Not Active (0), Slot 1 (1), Slot 2 (2), Slot 3 (3),

11.002 Option synchronisation Active RO Txt ND NC PT
Slot 4 (4)

11.018 Status Mode Parameter 1 0.000 to 59.999 0.000 RW Num PT US

11.019 Status Mode Parameter 2 0.000 to 59.999 0.000 RW Num PT US

11.020 Reset Serial Communications Off (0) or On (1) Off (0) RW Bit ND NC
11.021 Parameter 00.030 Scaling 0.000 to 10.000 1.000 RW Num US

11.022 Parameter Displayed At Power-up 0.000 to 0.080 0.010 RW Num PT US

11.023 Serial Address 1 to 247 1 RW Num US

8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3),

8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6),
11.024 Serial Mode 8 1 OP M (7), 7 2 NP (8), 7 1 NP (9), 7 1 EP (10), 8 2 NP (0) RW Txt US
7 1 OP (11), 7 2 NP M (12), 7 1 NP M (13),
7 1 EP M (14), 7 1 OP M (15)
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
11.025 Serial Baud Rate 9600 (5), 19200 (6), 19200 (6) RW Txt US
38400 (7), 57600 (8), 76800 (9), 115200 (10)

11.026 Minimum Comms Transmit Delay 0 to 250 ms 2 ms RW Num US

11.027 Silent Period 0 to 250 ms 0 ms RW Num US

11.028 Drive Derivative 0 to 255 RO Num ND NC PT

11.029 Software Version 00.00.00.00 to 99.99.99.99 RO Num ND NC PT

11.030 User Security Code 0 to 2147483647 0 RW Num ND NC PT US

Open- RFC-A RFC-S

11.031 User Drive Mode Open-loop (1), RFC-A (2), RFC-S (3), Regen (4) RW Txt ND NC PT
loop (1) (2) (3)

11.032 Maximum Heavy Duty Rating 0.000 to 99999.999 A RO Num ND NC PT

11.033 Drive Rated Voltage 200 V (0), 400 V (1), 575 V (2), 690 V (3) RO Txt ND NC PT

11.034 Software Sub-version 0 to 99 RO Num ND NC PT

11.035 Number Of Power Modules Test -1 to 20 -1 RW Num US

11.036 NV Media Card File Previously Loaded 0 to 999 RO Num NC PT

11.037 NV Media Card File Number 0 to 999 0 RW Num

None (0), Open-loop (1), RFC-A (2), RFC-S (3),

11.038 NV Media Card File Type RO Txt ND NC PT
Regen (4), User Prog (5), Option App (6)

11.039 NV Media Card File Version 0 to 9999 RO Num ND NC PT

11.040 NV Media Card File Checksum -2147483648 to 2147483647 RO Num ND NC PT

11.042 Parameter Cloning None (0), Read (1), Program (2), Auto (3), Boot (4) RW Txt NC US
None (0)
11.043 Load Defaults None (0), Standard (1), US (2) RW Txt NC
Menu 0 (0), All Menus (1), Read-only Menu 0 (2),
11.044 User Security Status Menu 0 (0) RW Txt ND PT
Read-only (3), Status Only (4), No Access (5)

11.045 Select Motor 2 Parameters Motor 1 (0) or Motor 2 (1) Motor 1 (0) RW Txt US

11.046 Defaults Previously Loaded 0 to 2000 RO Num ND NC PT US

11.047 Onboard User Program: Enable Stop (0) or Run (1) Run (1) RW Txt US

11.048 Onboard User Program: Status -2147483648 to 2147483647 RO Num ND NC PT

11.049 Onboard User Program: Programming Events 0 to 65535 RO Num ND NC PT

11.050 Onboard User Program: Freewheeling Tasks Per Second 0 to 65535 RO Num ND NC PT

11.051 Onboard User Program: Clock Task Time Used 0.0 to 100.0 % RO Num ND NC PT

11.052 Serial Number LS 000000000 to 999999999 RO Num ND NC PT

11.053 Serial Number MS 0 to 999999999 RO Num ND NC PT

11.054 Drive Date Code 0 to 65535 RO Num ND NC PT

11.055 Onboard User Program: Clock Task Scheduled Interval 0 to 262140 ms RO Num ND NC PT

1234 (0), 1243 (1), 1324 (2), 1342 (3), 1423 (4), 1432
(5), 4123 (6), 3124 (7), 4132 (8), 2134 (9), 3142 (10),
2143 (11), 3412 (12), 4312 (13),
11.056 Option Slot Identifiers 1234 (0) RW Txt PT
2413 (14), 4213 (15), 2314 (16), 3214 (17),
2341 (18), 2431 (19), 3241 (20), 3421 (21),
4231 (22), 4321 (23)

11.060 Maximum Rated Current 0.000 to 99999.999 A RO Num ND NC PT

11.061 Full Scale Current Kc 0.000 to 99999.999 A RO Num ND NC PT

11.062 Power Board Software Version Number 0.00 to 99.99 RO Num ND NC PT

11.063 Product Type 0 to 255 RO Num ND NC PT

Unidrive M600 Control User Guide 165

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
11.064 Product Identifier Characters M600 M600 RO Chr ND NC PT

11.065 Drive Rating And Configuration 00000000 to 99999999 RO Num ND NC PT

11.066 Power Stage Identifier 0 to 255 RO Num ND NC PT

11.067 Control Board Identifier 0.000 to 65.535 RO Num ND NC PT

11.068 Internal I/O Identifier 0 to 255 RO Num ND NC PT

11.069 Position Feedback Interface Identifier 0 to 255 RO Num ND NC PT

11.070 Core Parameter Database Version 0.00 to 99.99 RO Num ND NC PT

11.071 Number Of Power Modules Detected 0 to 20 RO Num ND NC PT US

11.072 NV Media Card Create Special File 0 to 1 0 RW Num NC

11.073 NV Media Card Type None (0), SMARTCARD (1), SD Card (2) RO Num ND NC PT

11.075 NV Media Card Read-only Flag Off (0) or On (1) RO Bit ND NC PT

11.076 NV Media Card Warning Suppression Flag Off (0) or On (1) RO Bit ND NC PT

11.077 NV Media Card File Required Version 0 to 9999 0 RW Num ND NC PT

11.079 Drive Name Characters 1-4 - - - -(-2147483648) to - - - -(2147483647) - - - -(0) RW Chr PT US

11.080 Drive Name Characters 5-8 - - - -(-2147483648) to - - - -(2147483647) - - - -(0) RW Chr PT US

11.081 Drive Name Characters 9-12 - - - -(-2147483648) to - - - -(2147483647) - - - -(0) RW Chr PT US

11.082 Drive Name Characters 13-16 - - - -(-2147483648) to - - - -(2147483647) - - - -(0) RW Chr PT US

11.084 Drive Mode Open-loop (1), RFC-A (2), RFC-S (3), Regen (4) RO Txt ND NC PT US

None (0), Read-only (1), Status-only (2),

11.085 Security Status RO Txt ND NC PT PS
No Access (3)

11.086 Menu Access Status Menu 0 (0) or All Menus (1) RO Txt ND NC PT PS

11.090 Keypad Port Serial Address 1 to16 1 RW Num US

11.091 Product Identifier Characters 1 - - - -(-2147483648) to - - - -(2147483647) RO Chr ND NC PT

11.092 Product Identifier Characters 2 - - - -(-2147483648) to - - - -(2147483647) RO Chr ND NC PT

11.093 Product Identifier Characters 3 - - - -(-2147483648) to - - - -(2147483647) RO Chr ND NC PT

11.095 Number Of Rectifiers Detected 0 to 9 RO Num ND NC PT

11.096 Number Of Rectifiers Expected 0 to 9 0 RW Num US

166 Unidrive M600 Control User Guide

11.13 Menu 12: Threshold detectors, variable selectors and brake control function
Figure 11-22 Menu 12 logic diagram
Threshold Threshold
Detector 1 Threshold Detector 1
Detector 1 Output Threshold
Level Detector 1
Destination Any
Any variable 12.004 12.001
Threshold 12.007 unprotected
parameter Detector 1 bit parameter
??.??? ??.???

??.??? x(-1) ??.???

12.003 12.005 12.006

Threshold Threshold Threshold
Detector 1 Detector 1 Detector 1
Source Hysteresis Output Invert

Threshold Threshold
Detector 2 Threshold Detector 2
Detector 2 Output Threshold
Level Detector 2
Destination Any
Any variable 12.024 12.002 unprotected
Threshold 12.027
parameter Detector 2 bit parameter
??.??? ??.???

??.??? x(-1) ??.???

12.023 12.025 12.026 All parameters are shown

Threshold Threshold Threshold at their default setting
Detector 2 Detector 2 Detector 2
Source Hysteresis Output Invert

Key

X Input Read-write (RW)

X mm.ppp Hysteresis
terminals parameter Threshold
level
X Output mm.ppp Read-only (RO) t
X
terminals parameter

Threshold
The parameters are all shown in their default settings output
t

Unidrive M600 Control User Guide 167

Figure 11-23 Menu 12 logic diagram (continued)

Variable Selector 1
Any variable
parameter
Variable Selector 1
??.??? Source 1 Scaling Variable
Selector 1 Variable
12.013 Output Selector 1 Any
Destination unprotected
??.??? variable
12.012 12.011
Variable Selector 1 parameter
12.010
12.008 Variable Selector 1 Mode
??.???
Source 1
Any variable 12.015 Variable Selector 1
parameter Control
Variable Selector 1
??.???
??.??? Source 2 Scaling 12.016 Variable Selector 1
Enable
12.014

??.???

12.009 Variable Selector 1

Source 2

Variable Selector 2
Any variable
parameter
Variable Selector 2
??.??? Source 1 Scaling Variable
Selector 2 Variable
12.033 Any
Output Selector 2
Destination unprotected
??.???
variable
12.032 12.031
12.030 Variable Selector 2 parameter
12.028 Variable Selector 2 Mode
Source 1 ??.???
Any variable 12.035 Variable Selector 2
parameter Control
Variable Selector 2
??.??? Source 2 Scaling 12.036 Variable Selector 2 ??.???
Enable
12.034

??.???

12.029 Variable Selector 2

Source 2 Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

168 Unidrive M600 Control User Guide

The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware and
software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a fault or
failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could result in injury,
WARNING independent protection devices of proven integrity must also be incorporated.

The control terminal relay can be selected as an output to release a brake. If a drive is set up in this manner and a drive replacement takes
place, prior to programming the drive on initial power up, the brake may be released.
When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered. The use of
WARNING
a NV media card in boot mode can ensure drive parameters are immediately programmed to avoid this situation.

Figure 11-24 Open-loop brake function

Current Key
Magnitude
X Input Read-write (RW)
X terminals mm.ppp
04.001 + parameter
_ Drive
Brake Control: X Output mm.ppp Read-only (RO)
Active X
Lower Current 12.043 terminals parameter
Threshold
10.002
The parameters are all shown in their default settings
Hysteresis
Brake Control: Brake Control:
Upper Current Lower Current
Threshold _ Threshold Brake Control:
Brake Delay
12.042 12.043
12.046

Output Ramp
Frequency Hold
02.003
05.001 +
o
I
_
LAT 12.041
Brake Control:
r
Brake Release Brake Control:
Frequency Enable 12.040
12.047
12.044
Brake Control:
Post-Brake Brake Control:
Release Brake
Delay Release
Brake Control:
Brake Apply
Frequency
12.045 + Brake Control:
12.050
_ Initial Direction
Force Reference
01.057
Direction
Reference
On

01.011 x(-1)
input output
i o
+ LAT
reset
_ r

12.051 If the reset input is 1, the output is 0.

Brake Control: If the reset input is 0, the output
Brake Apply Through latches at 1 if the input is 1.
Zero Threshold

Figure 11-25 Open-loop brake sequence

Pr 12.044 Brake Control: Pr 12.045 Brake Control:
Brake Release Frequency Brake Apply Frequency
Pr 05.001 Output Frequency
Pr 12.042 Brake Control:
Upper Current Threshold
Pr 04.001 Current Magnitude

1. Wait for upper current threshold and brake release frequency

Pr 10.002 Drive Active 2. Pre-brake release delay
3. Post-brake release delay
4. Wait for brake apply frequency
5. Wait for zero frequency
Pr 01.011 Reference On 6. 1s delay as phase 2 of stopping sequence (Pr 06.001=1,2 or 3)

Pr 12.040 Brake Control:

Brake Release

Pr 02.003 Ramp Hold

1 2 3 4 5 6

Pr 12.046 Pr 12.047

Unidrive M600 Control User Guide 169

Figure 11-26 RFC-A mode with brake controller mode (12.052) =1 (RFC-A Sensorless mode)
Percentage
Flux
Brake Control:
+ Brake Delay
05.034
Ramp
_ 12.046 Hold
90%
02.003
Current
Brake Control:
Magnitude
o Brake Release
i
_
04.001 LAT
12.040
OR r
+
12.041
Brake 12.047
12.043 Control:
Brake Control: Enable Post-Brake
Lower Current Release Delay
Threshold 10.002 x(-1)

Drive active
12.050 Brake Control:
Initial Direction
Final Speed
Reference 01.057 Force Reference
Direction

03.001 +
i o
_
LAT
Brake Control r
Brake Release
Speed
12.044
input output
i o
Brake Control
LAT
Brake Apply _ reset
Speed r
12.045 +

If the reset input is 1, the output is 0.

If the reset input is 0, the output latches
x(-1) at 1 if the input is 1.

Key

01.011 X Input
X mm.ppp Read-write (RW)
terminals parameter
Reference
On
X Output mm.ppp Read-only (RO)
Brake Control X
terminals parameter
Brake Apply
+
Zero Threshold
_ The parameters are all shown in their default settings
12.051

Figure 11-27 RFC-A sensorless brake sequence

Pr 12.044 Brake Control: Pr 12.045 Brake Control:

Brake Release Frequency Brake Apply Frequency
Pr 05.001 Output Frequency
Pr 12.042 Brake Control:
Upper Current Threshold
Pr 04.001 Current Magnitude

1. Wait for upper current threshold and brake release frequency

Pr 12.040 Brake Control:

Brake Release

Pr 02.003 Ramp Hold

1 2 3 4 5 6

Pr 12.046 Pr 12.047

170 Unidrive M600 Control User Guide

Figure 11-28 RFC-A mode with brake controller mode (12.052) =0 (RFC-A with position feedback mode)
Percentage
Flux
Brake Apply
+ Delay
05.034
_ 12.048
90%

Current
Magnitude Hold zero
i o Speed Brake Control:
_ 06.008 Brake Release
04.001 LAT
OR r
+ 12.040
12.041
Brake Control:
12.043
Enable
Brake Control:
Lower Current Brake Control:
Brake Control: Enable Position During
Threshold Brake Release Brake Release
Source
12.049
10.002 x(-1) 12.055
Brake Control:
External Brake
Drive active Released Indicator Motion
Controller Mode
12.054 i o 13.010
01.011 OR LAT
x(-1) r 02.003
Reference
Ramp Hold
On

12.047
Post Brake
Release Delay

03.002 +
_
input output
i o

12.045 LAT
reset
Brake Control: 12.046 r
Lower Current Brake Delay
Threshold
If the reset input is 1, the output is 0.
If the reset input is 0, the output latches
at 1 if the input is 1.

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Figure 11-29 RFC-A with position feedback brake sequence

Pr 12.045 Brake Control: Brake Apply Speed

Pr 03.002 Speed Feedback

Pr 04.001 Current Magnitude

1. Wait for motor fluxed

Pr 10.002 Drive Active 2. Post-brake release delay
3. Wait for speed threshold
4. Wait for brake apply speed delay
Pr 01.011 Reference On 5. Brake apply delay

Pr 12.040 Brake Control: Brake Release

Pr 02.003 Ramp Hold

Pr 13.010 Position Control
Mode

Pr 06.008 Hold Zero Speed

1 2 3 4 5

Pr 12.047 Pr 12.046 Pr 12.048

Unidrive M600 Control User Guide 171

Figure 11-30 RFC-S brake function

Hold Zero
Speed
06.008
Key

12.048
X Input Read-write (RW) Drive
X mm.ppp
terminals parameter Active Brake Apply BC Brake
Delay Release
X Output mm.ppp Read-only (RO) 10.002
X
terminals parameter 12.040

The parameters are all shown in their default settings BC Enable Position
Controller During
Brake Release
12.049
BC Brake
Release Source
BC External Brake 0 Motion
12.055
Released Indicator Controller Mode
12.054 0 1 13.010 = 1

1
Ramp Hold
Reference Speed 02.003
detection LATCH
On

01.011 12.047
OR
Post-brake
Release Delay

Speed
Feedback

03.002
Input Output

+ LATCH
_ Reset
12.045
BC Brake
Apply Speed
12.046 Latch function
BC Brake
Delay Reset = 1 THEN Output= 0
Reset = 0 AND Input = 1 THEN
Output latches to1

NOTE
RFC-S sensorless mode is only suitable for use with the brake function when RFC Low speed mode Pr 05.064 = (0) Injection
Figure 11-31 RFC-S brake sequence

Pr 12.045 Brake Control: Brake Apply Speed

Pr 03.002 Speed Feedback

Pr 04.001 Current Magnitude

Pr 10.002 Drive Active 1. Post-brake release delay

2. Wait for speed threshold
3. Wait for brake apply speed delay
Pr 01.011 Reference On 4. Brake apply delay

Pr 12.040 Brake Control: Brake Release

Pr 02.003 Ramp Hold

Pr 13.010 Position Control
Mode

Pr 06.008 Hold Zero Speed

1 2 3 4

Pr 12.047 Pr 12.046 Pr 12.048

172 Unidrive M600 Control User Guide

Range() Default()
Parameter Type
OL RFC- A / S OL RFC-A RFC-S
12.001 Threshold Detector 1 Output Off (0) or On (1) RO Bit ND NC PT
12.002 Threshold Detector 2 Output Off (0) or On (1) RO Bit ND NC PT
12.003 Threshold Detector 1 Source 0.000 to 59.999 0.000 RW Num PT US
12.004 Threshold Detector 1 Level 0.00 to 100.00 % RW Num US
0.00 %
12.005 Threshold Detector 1 Hysteresis 0.00 to 25.00 % RW Num US
12.006 Threshold Detector 1 Output Invert Off (0) or On (1) Off (0) RW Bit US
12.007 Threshold Detector 1 Destination RW Num DE PT US
12.008 Variable Selector 1 Source 1 0.000 to 59.999 0.000 RW Num PT US
12.009 Variable Selector 1 Source 2 RW Num PT US

Input 1 (0), Input 2 (1), Add (2), Subtract (3),

12.010 Variable Selector 1 Mode Multiply (4), Divide (5), Time Const (6), Ramp (7), Input 1 (0) RW Txt US
Modulus (8), Powers (9), Sectional (10)

12.011 Variable Selector 1 Destination 0.000 to 59.999 0.000 RW Num DE PT US

12.012 Variable Selector 1 Output ±100.00 % RO Num ND NC PT
12.013 Variable Selector 1 Source 1 Scaling ±4.000 1.000 RW Num US
12.014 Variable Selector 1 Source 2 Scaling ±4.000 1.000 RW Num US
12.015 Variable Selector 1 Control 0.00 to 100.00 0.00 RW Num US
12.016 Variable Selector 1 Enable Off (0) or On (1) On (1) RW Bit US
12.023 Threshold Detector 2 Source 0.000 to 59.999 0.000 RW Num PT US
12.024 Threshold Detector 2 Level 0.00 to 100.00 % RW Num US
0.00 %
12.025 Threshold Detector 2 Hysteresis 0.00 to 25.00 % RW Num US
12.026 Threshold Detector 2 Output Invert Off (0) or On (1) Off (0) RW Bit US
12.027 Threshold Detector 2 Destination 0.000 to 59.999 0.000 RW Num DE PT US
12.028 Variable Selector 2 Source 1 0.000 to 59.999 0.000 RW Num PT US
12.029 Variable Selector 2 Source 2 0.000 to 59.999 0.000 RW Num PT US

Input 1 (0), Input 2 (1), Add (2), Subtract (3),

12.030 Variable Selector 2 Mode Multiply (4), Divide (5), Time Const (6), Ramp (7), Input 1 (0) RW Txt US
Modulus (8), Powers (9), Sectional (10)

12.031 Variable Selector 2 Destination 0.000 to 59.999 0.000 RW Num DE PT US

12.032 Variable Selector 2 Output ±100.00 % RO Num ND NC PT
12.033 Variable Selector 2 Source 1 Scaling ±4.000 1.000 RW Num US
12.034 Variable Selector 2 Source 2 Scaling ±4.000 1.000 RW Num US
12.035 Variable Selector 2 Control 0.00 to 100.00 0.00 RW Num US
12.036 Variable Selector 2 Enable Off (0) or On (1) On (1) RW Bit US
12.040 Brake Control: Brake Release Off (0) or On (1) RO Bit ND NC PT
12.041 Brake Control: Enable Off (0) or On (1) Off (0) RW Bit US
12.042 Brake Control: Upper Current Threshold 0 to 200 % 50 % RW Num US
12.043 Brake Control: Lower Current Threshold 0 to 200 % 10 % RW Num US
OL: Brake Control: Brake Release Frequency 0.0 to 20.0 Hz 1.0 Hz RW Num US
12.044
RFC-A: Brake Control: Brake Release Speed 0 to 200 rpm 10 rpm RW Num US
OL: Brake Control: Brake Apply Frequency 0.0 to 20.0 Hz 2.0 Hz RW Num US
12.045
RFC-A/S: Brake Control: Brake Apply Speed 0 to 200 rpm 5 rpm RW Num US
12.046 Brake Control: Brake Delay 0.0 to 25.0 s 1.0 s RW Num US
12.047 Brake Control: Post-brake Release Delay 0.0 to 25.0 s 1.0 s RW Num US
12.048 Brake Control: Brake Apply Delay 0.0 to 25.0 s 1.0 s RW Num US
Brake Control: Enable Position Control During
12.049 Off (0) or On (1) Off (0) RW Bit US
Brake Release
12.050 Brake Control: Initial Direction Ref (0), Forward (1), Reverse (2) Ref (0) RW Txt US
12.051 Brake Control: Brake Apply Through Zero Threshold 0.0 to 20.0 Hz 0 to 200 rpm 1.0 Hz 5 rpm RW Num US
12.052 Brake Control: Mode Off (0) or On (1) On (1) RW Bit US
12.054 External Brake Released Indicator Off (0) or On (1) Off (0) RW Bit NC
12.055 Brake Release Source Off (0) or On (1) Off (0) RW Bit

Unidrive M600 Control User Guide 173

174 Unidrive M600 Control User Guide

Unidrive M600 Control User Guide 175

11.14 Menu 13: Standard motion controller

Figure 11-32 Menu 13 logic diagram

Standard Motion Standard Motion

Relative Relative
Jog Reverse Jog Enable
Standard Motion 13.019 13.018
Standard Motion
Reference Source Relative
Jog Reference
13.004
13.017 0
1
1
Option Slot 1 x(-1)
0
P1 Speed Feedback
Option Slot 1
P2 Speed Feedback
Position
2 reference
invert
Option Slot 2 3 13.006
P1 Speed Feedback
Option Slot 2 4 Ratio +
P2 Speed Feedback d/dt 0
5 1
13.007
13.008
+
ò
x(-1)
6
Option Slot 3
P1 Speed Feedback
7
Option Slot 3
P2 Speed Feedback
10

Standard Motion
Position Error 13.016 +
Fine Reset
Revolutions Position Position
_
Standard Motion 13.020 13.021 13.022 0
Local Reference

1
Ignore Local Reference
13.024
Revolutions
Standard Motion
13.023 Local Reference
Disable

Option Slot 1
P1 Speed Feedback
Option Slot 1
P2 Speed Feedback
2

Option Slot 2 3
P1 Speed Feedback
Option Slot 2 4 _
P2 Speed Feedback Open
d/dt
loop
5
+
RFC-A Limited to
6 RFC-S ±1/2 rev or
Option Slot 3 pole pitch
P1 Speed Feedback
7 13.013
Option Slot 3
P2 Speed Feedback Standard Motion
10 Orientation Position
Reference

RFC-A / S only 13.005

Sensorless Position 03.080
Standard Motion
Feedback Source

176 Unidrive M600 Control User Guide

Reference
Selected Pre-Ramp Post Ramp
Reference Reference Final Speed
01.001 0 Reference
Menu 2 + 03.001
01.003 Ramp Control 02.001
1
+
Speed
Feed- 01.039
Forwards Speed Feed
01.040 -Forwards
Select
Standard Motion Hard Speed
Controller Reference
Mode Select
13.010 = 13.010 = 13.010 =
13.010 03.023
5 or 6 1 or 3 1 to 6
1 0
Position loop
disabled 0
1
2 0
3
1 1
4
1 5
6
0
Hard Speed
Reference 03.022
Hold Zero
06.008
Speed

Standard Motion
0 Standard Motion Error Proportional
Gain Kp
1
1 13.001 13.002 13.003 13.009
0
Revolutions Position Fine
Position
13.012
Standard Motion
Position loop Speed Clamp
enabled*

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter
Standard Motion
Orientation
acceptance X Output mm.ppp Read-only (RO)
X
window terminals parameter
13.014
This logic diagram applies only when all
parameters are at their default settings

Orientation

13.015

Standard Motion
Orientation
complete

*The position controller is disabled and the error integrator is also reset under the following conditions:
1. If the drive is disabled (i.e. inhibited, ready or tripped)
2. If the position controller mode (Pr 13.010) is changed. The position controller is disabled transiently to reset the error integrator.
3. The absolute mode parameter (Pr 13.011) is changed. The position controller is disabled transiently to reset the error integrator.
4. One of the position sources is invalid.
5. The position feedback initialized parameter (Pr 03.048) is zero.

Unidrive M600 Control User Guide 177

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
13.001 Standard Motion Revolutions Error -32768 to 32767 revs RO Num ND NC PT
13.002 Standard Motion Position Error -32768 to 32767 RO Num ND NC PT
13.003 Standard Motion Fine Position Error -32768 to 32767 RO Num ND NC PT

P1 Slot 1 (2), P2 Slot 1 (3), P1 Slot 2 (4), P2 Slot 2 (5),

13.004 Standard Motion Reference Source P1 Slot 3 (6) RW Txt US
P1 Slot 3 (6), P2 Slot 3 (7), Local (10)

P1 Slot 1 (2), P2 Slot 1 P1 Slot 1 (2), P2 Slot 1 (3),

(3), P1 Slot 2 (4), P2 Slot P1 Slot 2 (4), P2 Slot 2 (5), P1 Slot 3
13.005 Standard Motion Feedback Source Sensorless (10) RW Txt US
2 (5), P1 Slot 3 (6), P1 Slot 3 (6), P2 Slot 3 (7), (6)
P2 Slot 3 (7) Sensorless (10)

13.006 Standard Motion Reference Invert Off (0) or On (1) Off (0) RW Bit
13.007 Standard Motion Ratio Numerator 0.000 to 10.000 1.000 RW Num US
13.008 Standard Motion Ratio Denominator 0.000 to 4.000 1.000 RW Num US
13.009 Standard Motion Proportional Gain Kp 0.00 to 100.00 25.00 RW Num US
Disabled (0), Rigid Spd FF
Disabled (0), Rigid Spd
(1), Rigid (2), Non-rigid Spd
FF (1), Rigid (2),
13.010 Standard Motion Controller Mode FF (3), Non-rigid (4), Disabled (0) RW Txt US
Non-rigid Spd FF (3),
Orientate Stop (5),
Non-rigid (4)
Orientate (6)
13.011 Standard Motion Absolute Mode Enable Off (0) or On (1) Off (0) RW Bit US
13.012 Standard Motion Speed Clamp 0 to 250 rpm 150 rpm RW Num US
13.013 Standard Motion Orientation Position Reference 0 to 65535 0 RW Num US
13.014 Standard Motion Orientation Acceptance Window 0 to 4096 256 RW Num US
13.015 Standard Motion Orientation Complete Off (0) or On (1) RO Bit ND NC PT
13.016 Standard Motion Position Error Reset Off (0) or On (1) Off (0) RW Bit NC
13.017 Standard Motion Relative Jog Reference 0.0 to 4000.0 rpm 0.0 rpm RW Num US
13.018 Standard Motion Relative Jog Enable Off (0) or On (1) Off (0) RW Bit NC
13.019 Standard Motion Relative Jog Reverse Off (0) or On (1) Off (0) RW Bit NC
13.020 Standard Motion Local Reference Revolutions 0 to 65535 revs 0 revs RW Num NC
13.021 Standard Motion Local Reference Position 0 to 65535 0 RW Num NC
13.022 Standard Motion Local Reference Fine Position 0 to 65535 0 RW Num NC
13.023 Standard Motion Local Reference Disable Off (0) or On (1) Off (0) RW Bit NC
13.024 Standard Motion Ignore Local Reference Revolutions Off (0) or On (1) Off (0) RW Bit US
13.026 Standard Motion Sample Rate Not Active (0), 4ms (1) Not Active (0) RO Txt US

178 Unidrive M600 Control User Guide

Unidrive M600 Control User Guide 179

11.15 Menu 14: User PID controller

Figure 11-33 Menu 14 Logic diagram

PID1 Feed-forwards
14.002
Reference Source
Any variable
parameter
??.??? PID1 Feed-forwards
Reference
14.019
??.???

PID1 Reference Source

14.003
Any variable
parameter
??.??? PID1 Reference
+ PID1 14.005
Invert
Reference
??.??? + PID1 Error
PID1 Reference Scaling
14.020 0 +
14.023
14.007 14.022
14.025
1 PID1 Reference _
PID1 Digital Reference x(-1)
Slew Rate

PID1 Feedback
Source
14.004 PID1 Feedback
Invert 14.006
Any variable
parameter PID1
Feedback
??.???
+ PID1 Feedback Scaling
14.021 0
14.024
??.??? +
1
x(-1)
PID1 Digital
14.026
Feedback
PID1 Enable
14.008

Logic 1
Any bit
parameter 1
??.??? Logic 1
Any bit
0
parameter 1
??.??? ??.???
0

Source ??.???
14.009
not used
PID1 Enable
Source 1 Source
14.027
not used
PID1 Enable
Source 2

180 Unidrive M600 Control User Guide

PID1 Output
14.013
Upper Limit

PID1 Integral PID1 Output

14.014 PID1
Hold Lower Limit
14.017 Destination
14.010
PID1 Symmetrical 14.016 Any
PID1 Proportional 14.018 unprotected
Gain Limit Enable
variable
14.011 parameter
PID1 Output PID1 Output
Scaling
+ ??.???
PID1 Integral
Gain +
14.001 14.015
14.012
??.???
PID1 Differential
Gain

Key

X Input Read-write (RW)

X terminals mm.ppp
parameter

X Output mm.ppp Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

Unidrive M600 Control User Guide 181

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
14.001 PID1 Output ±100.00 % RO Num ND NC PT
14.002 PID1 Feed-forwards Reference Source 0.000 to 59.999 0.000 RW Num PT US
14.003 PID1 Reference Source 0.000 to 59.999 0.000 RW Num PT US
14.004 PID1 Feedback Source 0.000 to 59.999 0.000 RW Num PT US
14.005 PID1 Reference Invert Off (0) or On (1) Off (0) RW Bit US
14.006 PID1 Feedback Invert Off (0) or On (1) Off (0) RW Bit US
14.007 PID1 Reference Slew Rate 0.0 to 3200.0 s 0.0 s RW Num US
14.008 PID1 Enable Off (0) or On (1) Off (0) RW Bit US
14.009 PID1 Enable Source 1 0.000 to 59.999 0.000 RW Num PT US
14.010 PID1 Proportional Gain 0.000 to 4.000 1.000 RW Num US
14.011 PID1 Integral Gain 0.000 to 4.000 0.500 RW Num US
14.012 PID1 Differential Gain 0.000 to 4.000 0.000 RW Num US
14.013 PID1 Output Upper Limit 0.00 to 100.00 % 100.00 % RW Num US
14.014 PID1 Output Lower Limit ±100.00 % -100.00 % RW Num US
14.015 PID1 Output Scaling 0.000 to 4.000 1.000 RW Num US
14.016 PID1 Destination 0.000 to 59.999 0.000 RW Num DE PT US
14.017 PID1 Integral Hold Off (0) or On (1) Off (0) RW Bit
14.018 PID1 Symmetrical Limit Enable Off (0) or On (1) Off (0) RW Bit US
14.019 PID1 Feed-forwards Reference ±100.00 % RO Num ND NC PT
14.020 PID1 Reference ±100.00 % RO Num ND NC PT
14.021 PID1 Feedback ±100.00 % RO Num ND NC PT
14.022 PID1 Error ±100.00 % RO Num ND NC PT
14.023 PID1 Reference Scaling 0.000 to 4.000 1.000 RW Num US
14.024 PID1 Feedback Scaling 0.000 to 4.000 1.000 RW Num US
14.025 PID1 Digital Reference ±100.00 % 0.00 % RW Num US
14.026 PID1 Digital Feedback ±100.00 % 0.00 % RW Num US
14.027 PID1 Enable Source 2 0.000 to 59.999 0.000 RW Num PT US

182 Unidrive M600 Control User Guide

11.16 Menus 15, 16 and 17: Option module set-up

Figure 11-34 Location of option module slots and their corresponding menu numbers

1. Solutions Module Slot 1 - Menu 15

2. Solutions Module Slot 2 - Menu 16
3. Solutions Module Slot 3 - Menu 17

11.16.1 Parameters common to all categories

Parameter Range() Default() Type
mm.001 Module ID 0 to 65535 RO Num ND NC PT
mm.002 Software Version 00.00.00.00 to 99.99.99.99 RO Ver ND NC PT
mm.003 Hardware Version 0.00 to 99.99 RO Num ND NC PT
mm.004 Serial Number LS RO Num ND NC PT
0 to 99999999
mm.005 Serial Number MS RO Num ND NC PT
mm.006 Module Status -2 to 3 RO Num ND NC PT
mm.007 Module Reset Off (0) to On (1) Off (0) RW Bit NC
The option module ID indicates the type of module that is installed in the corresponding slot. See the relevant option module user guide for more
information regarding the module.

Unidrive M600 Control User Guide 183

11.17 Menu 18: Application menu 1

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
18.001 Application Menu 1 Power-down Save Integer -32768 to 32767 0 RW Num PS
18.002 to
Application Menu 1 Read-only Integer -32768 to 32767 RO Num ND NC US
18.010
18.011 to
Application Menu 1 Read-write Integer -32768 to 32767 0 RW Num US
18.030
18.031 to
Application Menu 1 Read-write bit Off (0) or On (1) Off (0) RW Bit US
18.050
18.051 to Application Menu 1 Power-down Save long
-2147483648 to 2147483647 0 RW Num PS
18.054 Integer

11.18 Menu 19: Application menu 2

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
19.001 Application Menu 2 Power-down Save Integer -32768 to 32767 0 RW Num PS
19.002 to
Application Menu 2 Read-only Integer -32768 to 32767 RO Num ND NC US
19.010
19.011 to
Application Menu 2 Read-write Integer -32768 to 32767 0 RW Num US
19.030
19.031 to
Application Menu 2 Read-write bit Off (0) or On (1) Off (0) RW Bit US
19.050
19.051 to Application Menu 2 Power-down Save long
-2147483648 to 2147483647 0 RW Num PS
19.054 Integer

11.19 Menu 20: Application menu 3

Range() Default()
Parameter Type
OL RFC-A / S OL RFC-A RFC-S
20.001 to
Application Menu 3 Read-write Integer -32768 to 32767 0 RW Num
20.020
20.021 to
Application Menu 3 Read-write Long Integer -2147483648 to 2147483647 0 RW Num
20.040

184 Unidrive M600 Control User Guide

11.20 Menu 21: Second motor parameters

Range() Default()
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
50 Hz: 50.0 50 Hz: 1500.0
21.001 M2 Maximum Reference Clamp 0.0 to VM_POSITIVE_REF_CLAMP2 RW Num US
60 Hz: 60.0 60 Hz: 1800.0
21.002 M2 Minimum Reference Clamp VM_NEGATIVE_REF_CLAMP2 to 0.0 0.0 RW Num US
A1 A2 (0), A1 Preset (1), A2 Preset (2), Preset (3),
21.003 M2 Reference Selector A1 A2 (0) RW Txt US
Keypad (4), Precision (5), Keypad Ref (6)
0.0 to
0.000 to VM_ACCEL_RATE
21.004 M2 Acceleration Rate 1 VM_ACCEL_RATE 5.0 2.000 RW Num US
s/1000 rpm
s/100 Hz
0.0 to
0.000 to VM_ACCEL_RATE
21.005 M2 Deceleration Rate 1 VM_ACCEL_RATE 10.0 2.000 RW Num US
s/1000 rpm
s/100 Hz
0.0 to 0.0 to 50 Hz: 50.0
21.006 M2 Rated Frequency RW Num US
550.0 Hz 550.0 Hz 60 Hz: 60.0
21.007 M2 Rated Current 0.000 to VM_RATED_CURRENT Maximum Heavy Duty Rating (11.032) RW Num RA US
50 Hz: 50 Hz:
1500 rpm 1450.00 rpm
21.008 M2 Rated Speed 0 to 33000 rpm 0 to 33000.0 rpm 3000.00 rpm RW Num US
60 Hz: 60 Hz:
1800 rpm 1750.00 rpm
200 V drive: 230 V
Eur - 400 V drive: 400 V
21.009 M2 Rated Voltage 0 to VM_AC_VOLTAGE_SET USA - 400 V drive: 460 V RW Num RA US
575 V drive: 575 V
690 V drive: 690 V
21.010 M2 Rated Power Factor 0.000 to 1.000 0.850 RW Num RA US
21.011 M2 Number Of Motor Poles Automatic (0) to 480 Poles (240) Automatic (0) 8 Poles (4) RW Txt US
21.012 M2 Stator Resistance 0.000000 to 1000.000000 Ω 0.000000 Ω RW Num RA US
21.014 M2 Transient Inductance / Ld 0.000 to 500.000 mH 0.000 mH RW Num RA US
21.015 Motor 2 Active Off (0) or On (1) RO Bit ND NC PT
21.016 M2 Motor Thermal Time Constant 1 1.0 to 3000.0 s 89.0 s RW Num US
M2 Speed Controller Proportional
21.017 0.0000 to 200.0000 s/rad 0.0300 s/rad 0.0100 s/rad RW Num US
Gain Kp1
21.018 M2 Speed Controller Integral Gain Ki1 0.00 to 655.35 s2/rad 0.10 s2/rad 0.05 s2/rad RW Num US
M2 Speed Controller Differential
21.019 0.00000 to 0.65535 1/rad 0.00000 1/rad RW Num US
Feedback Gain Kd1
P1 Slot 1 (2),
P2 Slot1 (3),
P1 Slot2 (4),
21.021 M2 Motor Control Feedback Select P1 Slot 3 (6) RW Txt US
P2 Slot2 (5),
P1 Slot3 (6),
P2 Slot3 (7)
21.022 M2 Current Controller Kp Gain 20 150 RW Num US
0 to 30000
21.023 M2 Current Controller Ki Gain 40 2000 RW Num US
21.024 M2 Stator Inductance 0.00 to 5000.00 mH 0.00 mH RW Num RA US
21.025 M2 Saturation Breakpoint 1 0.0 to 50.0 % RW Num US
21.026 M2 Saturation Breakpoint 3 100.0 % 75.0 % RW Num US
21.027 M2 Motoring Current Limit 0.0 to VM_MOTOR2_CURRENT_LIMIT 165.0 % * 175.0 % ** RW Num RA US
21.028 M2 Regenerating Current Limit 0.0 to VM_MOTOR2_CURRENT_LIMIT 165.0 % * 175.0 % ** RW Num RA US
21.029 M2 Symmetrical Current Limit 0.0 to VM_MOTOR2_CURRENT_LIMIT 165.0 % * 175.0 % ** RW Num RA US
21.030 M2 Volts Per 1000 rpm 0 to 10000 V 98 V RW Num US
M2 Current Reference Filter Time
21.032 0.0 to 25.0 ms 1.0 ms RW Num US
Constant 1
M2 Low Speed Thermal Protection
21.033 0 to 1 0 RW Num US
Mode
21.039 M2 Motor Thermal Time Constant 2 1.0 to 3000.0 s 89.0 s RW Num US
M2 Motor Thermal Time Constant 2
21.040 0 to 100 % 0% RW Num US
Scaling
0.0 to
21.041 M2 Saturation Breakpoint 2 0.0 % RW Num US
100.0 %
0.0 to
21.042 M2 Saturation Breakpoint 4 0.0 % RW Num US
100.0 %
RFC-A> M2 Torque Per Amp 0.00 to 500.00 RO Num ND NC PT
21.043 0.00 to
RFC-S> M2 Torque Per Amp 1.60 Nm/A RW Num US
500.00 Nm/A
21.044 M2 No Load Core Loss 0.000 to 99999.999 0.000 RW Num US
21.045 M2 Rated Core Loss 0.000 to 99999.999 0.000 RW Num US
M2 Inverted Motor Saturation Off (0) or
Off (0) RW Bit US
21.046 Characteristic On (1)
M2 Magnetising Current Limit 0.0 to 100.0 % 100.0 % RW Num US
M2 Low Speed Sensorless Mode 0.0 to
21.047 20.0 % RW Num RA US
Current Limit 1000.0 %
0.000 to
21.048 M2 No-load Lq 0.000 mH RW Num RA US
500.000 mH
M2 Iq Test Current For Inductance
21.051 0 to 200 % 100 % RW Num US
Measurement

Unidrive M600 Control User Guide 185

Range() Default()
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
21.053 M2 Phase Offset At Iq Test Current ±90.0 ° 0.0 ° RW Num RA US
0.000 to
21.054 M2 Lq At Defined Iq Test Current 0.000 mH RW Num RA US
500.000 mH
M2 Id Test Current For Inductance
21.058 -100 to 0 % -50 % RW Num US
Measurement
0.000 to
21.060 M2 Lq at the defined Id test current 0.000 mH RW Num RA US
500.000 mH
* For size 9 and above the default is 141.9 %
**For size 9 and above the default is 150.0 %

186 Unidrive M600 Control User Guide

11.21 Menu 22: Additional Menu 0 set-up

Range() Default()
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
22.001 Parameter 00.001 Set-up 01.007 RW Num PT US
22.002 Parameter 00.002 Set-up 01.006 RW Num PT US
22.003 Parameter 00.003 Set-up 02.011 RW Num PT US
22.004 Parameter 00.004 Set-up 02.021 RW Num PT US
22.005 Parameter 00.005 Set-up 01.014 RW Num PT US
22.006 Parameter 00.006 Set-up 04.007 RW Num PT US
22.007 Parameter 00.007 Set-up 05.014 03.010 RW Num PT US
22.008 Parameter 00.008 Set-up 05.015 03.011 RW Num PT US
22.009 Parameter 00.009 Set-up 05.013 03.012 RW Num PT US
22.010 Parameter 00.010 Set-up 05.004 03.002 RW Num PT US
22.011 Parameter 00.011 Set-up 05.001 03.029 RW Num PT US
22.012 Parameter 00.012 Set-up 04.001 RW Num PT US
22.013 Parameter 00.013 Set-up 04.002 RW Num PT US
22.014 Parameter 00.014 Set-up 04.011 RW Num PT US
22.015 Parameter 00.015 Set-up 02.004 RW Num PT US
22.016 Parameter 00.016 Set-up 00.000 02.002 RW Num PT US
22.017 Parameter 00.017 Set-up 08.026 04.012 RW Num PT US
22.018 Parameter 00.018 Set-up 00.000 RW Num PT US
22.019 Parameter 00.019 Set-up 07.011 RW Num PT US
22.020 Parameter 00.020 Set-up 07.014 RW Num PT US
22.021 Parameter 00.021 Set-up 07.015 RW Num PT US
22.022 Parameter 00.022 Set-up 01.010 RW Num PT US
22.023 Parameter 00.023 Set-up 01.005 RW Num PT US
22.024 Parameter 00.024 Set-up 01.021 RW Num PT US
22.025 Parameter 00.025 Set-up 01.022 RW Num PT US
22.026 Parameter 00.026 Set-up 01.023 03.008 RW Num PT US
22.027 Parameter 00.027 Set-up 01.024 03.034 RW Num PT US
22.028 Parameter 00.028 Set-up 06.013 RW Num PT US
22.029 Parameter 00.029 Set-up 00.000 to 59.999 11.036 RW Num PT US
22.030 Parameter 00.030 Set-up 11.042 RW Num PT US
22.031 Parameter 00.031 Set-up 11.033 RW Num PT US
22.032 Parameter 00.032 Set-up 11.032 RW Num PT US
22.033 Parameter 00.033 Set-up 06.009 05.016 00.000 RW Num PT US
22.034 Parameter 00.034 Set-up 11.030 RW Num PT US
22.035 Parameter 00.035 Set-up 11.024 RW Num PT US
22.036 Parameter 00.036 Set-up 11.025 RW Num PT US
22.037 Parameter 00.037 Set-up 11.023 RW Num PT US
22.038 Parameter 00.038 Set-up 04.013 RW Num PT US
22.039 Parameter 00.039 Set-up 04.014 RW Num PT US
22.040 Parameter 00.040 Set-up 05.012 RW Num PT US
22.041 Parameter 00.041 Set-up 05.018 RW Num PT US
22.042 Parameter 00.042 Set-up 05.011 RW Num PT US
22.043 Parameter 00.043 Set-up 05.010 00.000 RW Num PT US
22.044 Parameter 00.044 Set-up 05.009 RW Num PT US
22.045 Parameter 00.045 Set-up 05.008 RW Num PT US
22.046 Parameter 00.046 Set-up 05.007 RW Num PT US
22.047 Parameter 00.047 Set-up 05.006 05.033 RW Num PT US
22.048 Parameter 00.048 Set-up 11.031 RW Num PT US
22.049 Parameter 00.049 Set-up 11.044 RW Num PT US
22.050 Parameter 00.050 Set-up 11.029 RW Num PT US
22.051 Parameter 00.051 Set-up 10.037 RW Num PT US
22.052 Parameter 00.052 Set-up 11.020 RW Num PT US
22.053 Parameter 00.053 Set-up 04.015 RW Num PT US
22.054 Parameter 00.054 Set-up 00.000 05.064 RW Num PT US
22.055 Parameter 00.055 Set-up 00.000 05.071 RW Num PT US
22.056 Parameter 00.056 Set-up 00.000 05.072 RW Num PT US
22.057 Parameter 00.057 Set-up 00.000 05.075 RW Num PT US

Unidrive M600 Control User Guide 187

Range() Default()
Parameter Type
OL RFC-A RFC-S OL RFC-A RFC-S
22.058 Parameter 00.058 Set-up 00.000 05.077 RW Num PT US
22.059 Parameter 00.059 Set-up 00.000 05.078 RW Num PT US
22.060 Parameter 00.060 Set-up 00.000 05.082 RW Num PT US
22.061 Parameter 00.061 Set-up 00.000 05.084 RW Num PT US
22.062 Parameter 00.062 Set-up RW Num PT US
22.063 Parameter 00.063 Set-up RW Num PT US
22.064 Parameter 00.064 Set-up RW Num PT US
22.065 Parameter 00.065 Set-up RW Num PT US
22.066 Parameter 00.066 Set-up RW Num PT US
22.067 Parameter 00.067 Set-up RW Num PT US
22.068 Parameter 00.068 Set-up RW Num PT US
22.069 Parameter 00.069 Set-up 00.000 to 59.999 RW Num PT US
22.070 Parameter 00.070 Set-up RW Num PT US
22.071 Parameter 00.071 Set-up 00.000 RW Num PT US
22.072 Parameter 00.072 Set-up RW Num PT US
22.073 Parameter 00.073 Set-up RW Num PT US
22.074 Parameter 00.074 Set-up RW Num PT US
22.075 Parameter 00.075 Set-up RW Num PT US
22.076 Parameter 00.076 Set-up RW Num PT US
22.077 Parameter 00.077 Set-up RW Num PT US
22.078 Parameter 00.078 Set-up RW Num PT US
22.079 Parameter 00.079 Set-up RW Num PT US
22.080 Parameter 00.080 Set-up RW Num PT US

188 Unidrive M600 Control User Guide

12 Diagnostics Figure 12-2 Location of the status LED

The keypad display on the drive gives various information about the
status of the drive. The keypad display provides information on the
following categories:
• Trip indications
• Alarm indications
• Status indications

Users must not attempt to repair a drive if it is faulty, nor

carry out fault diagnosis other than through the use of the
diagnostic features described in this chapter.
If a drive is faulty, it must be returned to an authorized Nidec
WARNING Industrial Automation distributor for repair.

12.1 Status modes (Keypad and LED status)

Figure 12-1 Keypad status modes

1 1. Non flashing: Normal status

2. Flashing: Trip status

12.2 Trip indications

The output of the drive is disabled under any trip condition so that the
drive stops controlling the motor. If the motor is running when the trip
occurs it will coast to a stop.
During a trip condition, where a KI-Keypad is being used, the upper row
of the display indicates that a trip has occurred and the lower row of the
keypad display will display the trip string. Some trips have a sub-trip
number to provide additional information about the trip. If a trip has a
sub-trip number, the sub-trip number is flashed alternately with the trip
string unless there is space on the second row for both the trip string and
the sub-trip number in which case both the trip string and sub-trip
information is displayed separated by a decimal place.
The back-light of the KI-Keypad display will also flash during a trip
2 condition. If a display is not being used, the drive LED Status indicator will
flash with 0.5 s duty cycle if the drive has tripped. Refer to Figure 12-2.

Trips are listed alphabetically in Table 12-3 based on the trip indication
shown on the drive display. Alternatively, the drive status can be read in
Pr 10.001 'Drive healthy' using communication protocols. The most
recent trip can be read in Pr 10.020 providing a trip number. It must be
noted that the hardware trips (HF01 to HF20) do not have trip numbers.
The trip number must be checked in Table 12-4 to identify the specific
trip.
Example
1. Trip code 2 is read from Pr 10.020 via serial communications.
2. Checking Table 12-3 shows Trip 2 is an Over Volts trip.

Comms No. Trip Keypad

code display
2 Over Volts
3

3. Look up Over Volts in Table 12-3.

4. Perform checks detailed under Diagnosis.

1. Drive healthy status

2. Trip status
3. Alarm status

Unidrive M600 Control User Guide 189

12.3 Identifying a trip / trip source

Some trips only contain a trip string whereas some other trips have a trip
string along with a sub-trip number which provides the user with
additional information about the trip.
A trip can be generated from a control system or from a power system.
The sub-trip number associated with the trips listed in Table 12-1 is in
the form xxyzz and used to identify the source of the trip.
Table 12-1 Trips associated with xxyzz sub-trip number
Over Volts OHt dc bus

OI ac Phase Loss

OI Brake Power Comms

PSU OI Snubber

OHt Inverter Temp Feedback

OHt Power Power Data

OHt Control

The digits xx are 00 for a trip generated by the control system. For a
single drive (not part of a multi-power module drive), if the trip is related
to the power system then xx will have a value of 01, when displayed the
leading zeros are suppressed.
The y digit is used to identify the location of a trip which is generated by
a rectifier module connected to a power module (if xx is non zero). For a
control system trip (xx is zero), the y digit, where relevant is defined for
each trip. If not relevant, the y digit will have a value of zero.
The zz digits give the reason for the trip and are defined in each trip
description.
Figure 12-3 Key to sub-trip number

x x y z z

00 - Generated by the control module

01 - Generated by the power module

0 Upwards - Identifies the location

of the trip

00
01
. - Reason for the trip
.
07

For example, if the drive has tripped and the lower line of the display
shows 'OHt Control.2’, with the help of Table 12-2 below the trip can be
interpreted as; an over temperature has been detected; the trip was
generated by fault in the control module, the control board thermistor 2
over temperature.
Table 12-2 Sub-trip identification
Source xx y zz Description
Control
00 0 01 Control board thermistor 1 over temperature
system
Control
00 0 02 Control board thermistor 2 over temperature
system
Control
00 0 03 Control board thermistor 3 over temperature
system

190 Unidrive M600 Control User Guide

12.4 Trips, Sub-trip numbers

Table 12-3 Trip indications
Trip Diagnosis
An Input 1 Loss Analog input 1 current loss
An Input 1 Loss trip indicates that a current loss was detected in current mode on Analog input 1 (Terminal 5, 6). In 4-20 mA
and 20-4 mA modes loss of input is detected if the current falls below 3 mA.
Recommended actions:
28 • Check control wiring is correct
• Check control wiring is undamaged
• Check the Analog Input 1 Mode (07.007)
• Current signal is present and greater than 3 mA
An Input 2 Loss Analog input 2 current loss
An Input 2 Loss indicates that a current loss was detected in current mode on Analog input 2 (Terminal 7). In 4-20 mA and
20-4 mA modes loss of input is detected if the current falls below 3 mA.
Recommended actions:
• Check control wiring is correct
29 • Check control wiring is undamaged
• Check the Analog Input 2 Mode (07.011)
• Current signal is present and greater than 3 mA
An Output Calib Analog output calibration failed
The zero offset calibration of one or both of the analogue outputs has failed. This indicates that the drive hardware has
failed or a voltage is applied to the output via a low impedance, possibly due to a wiring error. The failed output can be
identified by the sub-trip number.
Sub-trip Reason
1 Output 1 failed (Terminal 9)
219
2 Output 2 failed (Terminal 10)

Recommended actions:
• Check the wiring associated with analog outputs
• Remove all the wiring that is connected to analog outputs and perform a re-calibration by power cycling the drive.
• If trip persists replace the drive
App Menu Changed Customization table for an application module has changed
The App Menu Changed trip indicates that the customization table for an application menu has changed. The menu that
has been changed can be identified by the sub-trip number.
Sub-trip Reason
1 Menu 18
2 Menu 19
217 3 Menu 20

If more than one menu has changed the lowest menu has priority. Drive user parameters must be saved to prevent this trip
on the next power-up.
Recommended actions:
• Reset the trip and perform a parameter save to accept the new settings
Autotune 1 Position feedback did not change or required speed could not be reached
The drive has tripped during an autotune. The cause of the trip can be identified from the sub-trip number.
Sub-trip Reason
1 The position feedback did not change when position feedback is being used during rotating autotune.
2 The motor did not reach the required speed during rotating autotune or mechanical load measurement.
11
Recommended actions:
• Ensure the motor is free to turn i.e. mechanical brake was released
• Ensure Pr 03.026 is set correctly (or appropriate 2nd motor map parameter)
• Check feedback device wiring is correct
• Check encoder mechanical coupling to the motor

Unidrive M600 Control User Guide 191

Trip Diagnosis
Autotune 2 Position feedback direction incorrect
The drive has tripped during a rotating autotune. The cause of the trip can be identified from the associated sub-trip number.
Sub-trip Reason
1 The position feedback direction is incorrect when position feedback is being used during a rotating autotune
A SINCOS encoder with comms is being used for position feedback and the comms position is rotating
2
12 in the opposite direction to the sine wave based position.

Recommended actions:
• Check motor cable wiring is correct
• Check feedback device wiring is correct
• Swap any two motor phases
Autotune 3 Measured inertia has exceeded the parameter range or commutation signals changed in wrong direction
The drive has tripped during a rotating autotune or mechanical load measurement test. The cause of the trip can be
identified from the associated sub-trip number.
Sub-trip Reason
1 Measured inertia has exceeded the parameter range during a mechanical load measurement
2 The commutation signals changed in the wrong direction during a rotating autotune
3 The mechanical load test has been unable to identify the motor inertia
13
Recommended actions for sub-trip 2:
• Check motor cable wiring is correct
• Check feedback device U,V and W commutation signal wiring is correct

Recommended actions for sub-trip 3:

• Increase the test level.
• If the test was carried out at standstill repeat the test with the motor rotating within the recommended speed range.
Autotune 7 Motor number of poles / position feedback resolution set incorrectly
An Autotune 7 trip is initiated during a rotating autotune, if the motor poles or the position feedback resolution have been
set up incorrectly where position feedback is being used.
17 Recommended actions:
• Check line per revolution for feedback device
• Check the number of poles in Pr 05.011
Autotune Stopped Autotune test stopped before completion
The drive was prevented from completing an autotune test, because either the drive enable or the drive run were removed.
Recommended actions:
18
• Check the drive enable signal (Terminal 31) was active during the autotune
• Check the run command was active in Pr 08.005 during autotune
Brake R Too Hot Braking resistor overload timed out (I2t)
The Brake R Too Hot indicates that braking resistor overload has timed out. The value in Braking Resistor Thermal
Accumulator (10.039) is calculated using Braking Resistor Rated Power (10.030), Braking Resistor Thermal Time Constant
(10.031) and Braking Resistor Resistance (10.061). The Brake R Too Hot trip is initiated when Braking Resistor Thermal
Accumulator (10.039) reaches 100 %.
19
Recommended actions:
• Ensure the values entered in Pr 10.030, Pr 10.031 and Pr 10.061 are correct
• If an external thermal protection device is being used and the braking resistor software overload protection is not
required, set Pr 10.030, Pr 10.031 or Pr 10.061 to 0 to disable the trip.
Card Access NV Media Card Write fail
The Card Access trip indicates that the drive was unable to access the NV Media Card. If the trip occurs during the data
transfer to the card then the file being written may be corrupted. If the trip occurs when the data being transferred to the
drive then the data transfer may be incomplete. If a parameter file is transferred to the drive and this trip occurs during the
transfer, the parameters are not saved to non-volatile memory, and so the original parameters can be restored by powering
185 the drive down and up again.
Recommended actions:
• Check NV Media Card is installed / located correctly
• Replace the NV Media Card

192 Unidrive M600 Control User Guide

Trip Diagnosis
Card Boot The Menu 0 parameter modification cannot be saved to the NV Media Card
Menu 0 changes are automatically saved on exiting edit mode.
The Card Boot trip will occur if a write to a Menu 0 parameter has been initiated via the keypad by exiting edit mode
and Pr 11.042 is set for auto or boot mode, but the necessary boot file has not been created on the NV Media Card to take
the new parameter value. This occurs when Pr 11.042 is changed to Auto (3) or Boot (4) mode, but the drive is not
177
subsequently reset.
Recommended actions:
• Ensure that Pr 11.042 is correctly set, and then reset the drive to create the necessary file on the NV Media Card
• Re-attempt the parameter write to the Menu 0 parameter
Card Busy NV Media Card cannot be accessed as it is being accessed by an option module
The Card Busy trip indicates that an attempt has been made to access a file on NV Media Card, but the NV Media Card is
already being accessed by an option module. No data is transferred.
178
Recommended actions:
• Wait for the option module to finish accessing the NV Media Card and re-attempt the required function
Card Compare NV Media Card file/data is different to the one in the drive
A compare has been carried out between a file on the NV Media Card, a Card Compare trip is initiated if the parameters on
the NV Media Card are different to the drive.
188 Recommended actions:
• Set Pr mm.000 to 0 and reset the trip
• Check to ensure the correct data block on the NV Media Card has been used for the compare.
Card Data Exists NV Media Card data location already contains data
The Card Data Exists trip indicates that an attempt has been made to store data on a NV Media Card in a data block which
already contains data. The data should be erased from the card first to prevent this trip.
179 Recommended actions:
• Erase the data in data location
• Write data to an alternative data location
Card Drive Mode NV Media Card parameter set not compatible with current drive mode
The Card Drive Mode trip is produced during a compare if the drive mode in the data block on the NV Media Card is
different from the current drive mode. This trip is also produced if an attempt is made to transfer parameters from a NV
Media Card to the drive if the operating mode in the data block is outside the allowed range of operating modes.
187 Recommended actions:
• Ensure the destination drive supports the drive operating mode in the parameter file.
• Clear the value in Pr mm.000 and reset the drive
• Ensure destination drive operating mode is the same as the source parameter file
Card Error NV Media Card data structure error
The Card Error trip indicates that an attempt has been made to access a NV media card, but an error has been detected in
the data structure on the card. Resetting this trip will cause the drive to erase the <MCDF> folder from the NV media card
(if it exists) and create the correct folder structure. On an SD card, whilst this trip is still present, missing directories will be
created, and if the header file is missing it will be created. The following sub-trip numbers are used with this trip:

Sub-trip Reason
1 The required folder and file structure is not present
182
2 The <000> file is corrupted.
3 Two or more files in the <MCDF\> folder have the same file identification number.

Recommended actions:
• Erase all the data block and re-attempt the process
• Ensure the card is located correctly
• Replace the NV Media Card
Card Full NV Media Card full
The Card Full trip indicates that an attempt has been made to create a data block on a NV Media Card, but there is not
enough space left on the card.
Recommended actions:
184
• Delete a data block or the entire NV Media Card to create space
• Use a different NV Media Card

Unidrive M600 Control User Guide 193

Trip Diagnosis
Card No Data NV Media Card data not found
The Card No Data trip indicates that an attempt has been made to access non-existent file or block on a NV Media Card.
No data is transferred.
183
Recommended actions:
• Ensure data block number is correct
Card Option NV Media Card trip; option modules installed are different between source drive and destination drive
The Card Option trip indicates that parameter data or default difference data is being transferred from a NV Media Card to
the drive, but the option module categories are different between source and destination drives. This trip does not stop the
data transfer, but is a warning that the data for the option modules that are different will be set to the default values and not
the values from the card. This trip also applies if a compare is attempted between the data block and the drive.
Recommended actions:
180
• Ensure the correct option modules are installed.
• Ensure the option modules are in the same option module slot as the parameter set stored.
• Press the red reset button to acknowledge that the parameters for one or more of the option modules installed will be at
their default values
• This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive.
Card Product NV Media Card data blocks are not compatible with the drive derivative
If Drive Derivative (11.028) or Product Type (11.063) are different between the source and target drives then this trip is
initiated either at power-up or when the card is accessed. It will have one of the following sub-trip numbers:

Sub-trip Reason
If Drive Derivative (11.028) is different between the source and target drives, this trip is initiated either at
power-up or when the SD Card is accessed. Data is still transferred, since this is a warning trip; the trip
1
can be suppressed by entering code 9666 in parameter xx.000, and resetting the drive (this applies the
warning suppression flag to the card).
If Product Type (11.063) is different between the source and target drives or if corruption is detected in
175
2 the parameter file, this trip is initiated either at power-up or when the SD Card is accessed. This trip can
be reset but no data are transferred in either direction between the drive and the card.
A Unidrive SP parameter value was found that has no equivalent parameter on the destination drive.
3 Data is still transferred, since this is a warning trip; the trip can be suppressed by entering code 9666 in
Pr xx.000, and resetting the drive (this applies the warning suppression flag to the card).

Recommended actions:
• Use a different NV Media Card
• This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive
Card Rating NV Media Card Trip; The voltage and / or current rating of the source and destination drives are different
The Card Rating trip indicates that parameter data is being transferred from a NV Media Card to the drive, but the current
and / or voltage ratings are different between source and destination drives. This trip also applies if a compare (using
Pr mm.000 set to 8yyy) is attempted between the data block on a NV Media Card and the drive. The Card Rating trip does
not stop the data transfer but is a warning that rating specific parameters with the RA attribute may not be transferred to the
186 destination drive.
Recommended actions:
• Reset the drive to clear the trip
• Ensure that the drive rating dependent parameters have transferred correctly
• This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive.
Card Read Only NV Media Card has the Read Only bit set
The Card Read Only trip indicates that an attempt has been made to modify a read-only NV Media Card or a read-only data
block. A NV Media Card is read-only if the read-only flag has been set.
Recommended actions:
181
• Clear the read only flag by setting Pr mm.000 to 9777 and reset the drive. This will clear the read-only flag for all data
blocks in the NV Media Card
• This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive.
Card Slot NV Media Card Trip; Option module application program transfer has failed
The Card Slot trip is initiated, if the transfer of an option module application program to or from an application module failed
because the option module does not respond correctly. If this happens this trip is produced with the sub-trip indicating the
174 option module slot number.
Recommended actions:
• Ensure the source / destination option module is installed on the correct slot

194 Unidrive M600 Control User Guide

Trip Diagnosis
Configuration The number of power modules installed is different from the modules expected
The Configuration trip indicates that the Number Of Power Modules Detected (11.071) does not match the previous value
stored. The sub-trip value indicates the number of power modules expected.
Recommended actions:
• Ensure that all the power modules are correctly connected
• Ensure all the power modules have powered up correctly
• Ensure that the value in Pr 11.071 is set to the number of power modules connected
111 • Set Pr 11.035 to 0 to disable the trip if it is not required
This trip is also initiated if the number of external rectifiers connected to each power module is less than the number
defined by Number Of Rectifiers Expected (11.096). If this is the reason for the trip the sub-trip is 10x where x is the number
of external rectifiers that should be connected.
Recommended actions:
• Ensure that all the external rectifiers are connected correctly.
• Ensure that the value in Number Of Rectifiers Expected (11.096) is correct.
Control Word Trip initiated from the Control Word (06.042)
The Control Word trip is initiated by setting bit 12 on the control word in Pr 06.042 when the control word is enabled
(Pr 06.043 = On).
Recommended actions:
35 • Check the value of Pr 06.042.
• Disable the control word in Control Word Enable (Pr 06.043)
Bit 12 of the control word set to a one causes the drive to trip on Control Word
When the control word is enabled, the trip can only be cleared by setting bit 12 to zero
Current Offset Current feedback offset error
The current feedback offset is too large to be trimmed correctly. The sub-trip relates to the output phase for which the offset
error has been detected.
Sub-trip Phase
1 U
225 2 V
3 W

Recommended actions:
• Ensure that there is no possibility of current flowing in the output phases of the drive when the drive is not enabled
• Hardware fault – Contact the supplier of the drive
Data Changing Drive parameters are being changed
A user action or a file system write is active that is changing the drive parameters and the drive has been commanded to
enable, i.e. Drive Active (10.002) = 1.The user actions that change drive parameters are loading defaults, changing drive
mode, or transferring data from an NV memory card or a position feedback device to the drive. The file system actions that
will cause this trip to be initiated if the drive is enabled during the transfer are writing a parameter or macro file to the drive,
or transferring a derivative or user program to the drive. It should be noted that none of these actions can be started if the
drive is active, and so the trip only occurs if the action is started and then the drive is enabled.
97 Recommended actions:
Ensure the drive is not enabled when one of he following is being carried out:
• Loading defaults
• Changing drive mode
• Transferring data from NV Media Card or position feedback device
• Transferring user programs
Derivative ID There is a problem with the identifier associated with derivative image which customizes the drive.
There is a problem with the identifier associated with derivative image which customizes the drive. The reason for the trip is
given by the sub-trip as follows:

Sub-trip Reason
247 1 There should be a derivative image in the product but this has been erased.
2 The identifier is out of range.
3 The derivative image has been changed.

Unidrive M600 Control User Guide 195

Trip Diagnosis
Derivative Image Derivative Image error
The Derivative Image trip indicates that an error has been detected in the derivative image. The sub-trip number indicates
the reason for the trip.
Sub-trip Reason Comments
An error has been detected in the derivative image, contact
1 to 52
the supplier of the drive.
The option module fitted in slot 1 is not allowed with the
61
derivative image
The option module fitted in slot 2 is not allowed with the
62 Occurs when the drive powers-up or the
derivative image
image is programmed. The image tasks
The option module fitted in slot 3 is not allowed with the will not run.
63
derivative image
The option module fitted in slot 4 is not allowed with the
64
derivative image
248 An option module that is required by the derivative image is
70
not fitted in any slot
An option module specifically required to be fitted in slot 1
71
not present
Occurs when the drive powers-up or the
An option module specifically required to be fitted in slot 2
72 image is programmed. The image tasks
not present
will not run.
An option module specifically required to be fitted in slot 3
73
not present
An option module specifically required to be fitted in slot 4
74
not present
An error has been detected in the derivative image, contact
80 to 81
the supplier of the drive.

Recommended action:
Contact the supplier of the drive
Destination Two or more parameters are writing to the same destination parameter
The Destination trip indicates that destination output parameters of two or more logic functions (Menus 5, 7, 8, 9, 12 or 14)
within the drive are writing to the same parameter.
199
Recommended actions:
• Set Pr mm.000 to ‘Destinations’ or 12001 and check all visible parameters in all menus for parameter write conflicts
Drive Size Power stage recognition: Unrecognized drive size
The Drive Size trip indicates that the control PCB has not recognized the drive size of the power circuit to which it is
connected.
224 Recommended action:
• Ensure the drive is programmed to the latest firmware version
• Hardware fault - return drive to supplier

196 Unidrive M600 Control User Guide

Trip Diagnosis
EEPROM Fail Default parameters have been loaded
The EEPROM Fail trip indicates that default parameters have been loaded. The exact cause/reason of the trip can be
identified from the sub-trip number.
Sub-trip Reason
1 The most significant digit of the internal parameter database version number has changed
The CRC's applied to the parameter data stored in internal non-volatile memory indicate that a valid set
2
of parameters cannot be loaded
The drive mode restored from internal non-volatile memory is outside the allowed range for the product
3
or the derivative image does not allow the previous drive mode
4 The drive derivative image has changed
5 The power stage hardware has changed
6 The internal I/O hardware has changed
7 The position feedback interface hardware has changed
8 The control board hardware has changed
31 9 The checksum on the non-parameter area of the EEPROM has failed

The drive holds two banks of user save parameters and two banks of power down save parameters in non-volatile memory.
If the last bank of either set of parameters that was saved is corrupted a User Save or Power Down Save trip is produced.
If one of these trips occurs the parameters values that were last saved successfully are used. It can take some time to save
parameters when requested by the user and if the power is removed from the drive during this process it is possible to
corrupt the data in the non-volatile memory.
If both banks of user save parameters or both banks of power down save parameters are corrupted or one of the other
conditions given in the table above occurs EEPROM Fail.xxx trip is produced. If this trip occurs it is not possible to use the
data that has been saved previously, and so the drive will be in lowest allowed drive mode with default parameters. The trip
can only be reset if Pr mm.000 (mm.000) is set to 10, 11, 1233 or 1244 or if Load Defaults (11.043) is set to a non-zero
value.
Recommended actions:
• Default the drive and perform a reset
• Allow sufficient time to perform a save before the supply to the drive is removed
• If the trip persists - return drive to supplier
Encoder 9 Position feedback is selected from a option module slot which does not have a feedback option module installed
The Encoder 9 trip indicates that position feedback source selected in Pr 03.026 (or Pr 21.021 for the second motor map) is
not valid
197 Recommended actions:
• Check the setting of Pr 03.026 (or Pr 21.021 if the second motor parameters have been enabled)
• Ensure that the option slot selected in Pr 03.026 has a feedback option module installed
External Trip An External trip is initiated
An External Trip has occurred. The cause of the trip can be identified from the sub trip number displayed after the trip string.
See table below. An external trip can also be initiated by writing a value of 6 in Pr 10.038.
Sub-trip Reason
1 External Trip Mode (08.010) = 1 or 3 and Safe Torque Off input 1 is low
2 External Trip Mode (08.010) = 2 or 3 and Safe Torque Off input 2 is low
3 External Trip (10.032) = 1
6
Recommended actions:
• Check the Safe Torque Off signal voltage on terminal 31 equals to 24 V
• Check the value of Pr 08.009 which indicates the digital state of terminal 31, equates to ‘on’.
• If external trip detection of the Safe Torque Off input is not required, set Pr 08.010 to Off (0).
• Check the value of Pr 10.032.
• Select ‘Destinations’ (or enter 12001) in Pr mm.000 and check for a parameter controlling Pr 10.032.
• Ensure Pr 10.032 or Pr 10.038 (= 6) is not being controlled by serial comms
HF01 Data processing error: CPU address error
The HF01 trip indicates that a CPU address error has occurred. This trip indicates that the control PCB on the drive has
failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive

Unidrive M600 Control User Guide 197

Trip Diagnosis
HF02 Data processing error: DMAC address error
The HF02 trip indicates that a DMAC address error has occurred. This trip indicates that the control PCB on the drive has
failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF03 Data processing error: Illegal instruction
The HF03 trip indicates that an illegal instruction has occurred. This trip indicates that the control PCB on the drive has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF04 Data processing error: Illegal slot instruction
The HF04 trip indicates that an illegal slot instruction has occurred.This trip indicates that the control PCB on the drive has
failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF05 Data processing error: Undefined exception
The HF05 trip indicates that an undefined exception error has occurred. This trip indicates that the control PCB on the drive
has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF06 Data processing error: Reserved exception
The HF06 trip indicates that a reserved exception error has occurred. This trip indicates that the control PCB on the drive
has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF07 Data processing error: Watchdog failure
The HF07 trip indicates that a watchdog failure has occurred. This trip indicates that the control PCB on the drive has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF08 Data processing error: CPU Interrupt crash
The HF08 trip indicates that a CPU interrupt crash has occurred. This trip indicates that the control PCB on the drive has
failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF09 Data processing error: Free store overflow
The HF09 trip indicates that a free store overflow has occurred. This trip indicates that the control PCB on the drive has
failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF10 Data processing error: Parameter routing system error
The HF10 trip indicates that a Parameter routing system error has occurred. This trip indicates that the control PCB on the
drive has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF11 Data processing error: Access to EEPROM failed
The HF11 trip indicates that access to the drive EEPROM has failed. This trip indicates that the control PCB on the drive
has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive

198 Unidrive M600 Control User Guide

Trip Diagnosis
HF12 Data processing error: Main program stack overflow
The HF12 trip indicates that the main program stack over flow has occurred. The stack can be identified by the sub-trip
number. This trip indicates that the control PCB on the drive has failed.
Sub-trip Stack
1 Background tasks
2 Timed tasks
3 Main system interrupts

Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF13 Data processing error: Firmware incompatible with hardware
The HF13 trip indicates that the drive firmware is not compatible with the hardware. This trip indicates that the control PCB
on the drive has failed. The sub-trip number gives the actual ID code of the control board hardware.
Recommended actions:
• Re-program the drive with the latest version of the drive firmware
• Hardware fault – Contact the supplier of the drive
HF14 Data processing error: CPU register bank error
The HF14 trip indicates that a CPU register bank error has occurred. This trip indicates that the control PCB on the drive
has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF15 Data processing error: CPU divide error
The HF15 trip indicates that a CPU divide error has occurred. This trip indicates that the control PCB on the drive has
failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF16 Data processing error: RTOS error
The HF16 trip indicates that a RTOS error has occurred. This trip indicates that the control PCB on the drive has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF17 Data processing error: Clock supplied to the control board is out of specification
The HF17 trip indicates that the clock supplied to the control board logic is out of specification. This trip indicates that the
control PCB on the drive has failed.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
HF18 Data processing error: Internal flash memory has failed
The HF18 trip indicates that the internal flash memory has failed when writing option module parameter data. The reason
for the trip can be identified by the sub-trip number.

Sub-trip Reason
1 Option module initialization timed out
2 Programming error while writing menu in flash
3 Erase flash block containing setup menus failed
4 Erase flash block containing application menus failed
5 Incorrect setup menu CRC contained in flash
6 Incorrect application menu CRC contained in flash
7 Incorrect common application menu 18 CRC contained in flash
8 Incorrect common application menu 19 CRC contained in flash
9 Incorrect common application menu 20 CRC contained in flash
Recommended actions:
• Hardware fault - Contact the supplier of the drive.
HF19 Data processing error: CRC check on the firmware has failed
The HF19 trip indicates that the CRC check on the drive firmware has failed.
Recommended actions:
• Re-program the drive
• Hardware fault - Contact the supplier of the drive

Unidrive M600 Control User Guide 199

Trip Diagnosis
HF20 Data processing error: ASIC is not compatible with the hardware
The HF20 trip indicates that the ASIC version is not compatible with the drive firmware. The ASIC version can be identified
from the sub-trip number.
Recommended actions:
• Hardware fault - Contact the supplier of the drive
HF23 to HF25 Hardware fault
Recommended actions:
• Hardware fault - Contact the supplier of the drive
I/O Overload Digital output overload
The I/O Overload trip indicates that the total current drawn from 24 V user supply or from the digital output has exceeded
the limit. A trip is initiated if one or more of the following conditions:
• Maximum output current from one digital output is 100 mA.
• The combined maximum output current from outputs 1 and 2 is 100 mA
26 • The combined maximum output current from output 3 and +24 V output is 100 mA
Recommended actions:
• Check total loads on digital outputs
• Check control wiring is correct
• Check output wiring is undamaged
Inductance This trip occurs in RFC-S mode when the drive has detected that the motor inductances are not suitable.
This trip occurs in RFC-S mode when the drive has detected that the motor inductances are not suitable for the operation
being attempted. The trip is either caused because the ratio or difference between Ld and Lq is too small or because the
saturation characteristic of the motor cannot be measured.
If the inductance ratio or difference is too small this is because one of the following conditions is true:
(No-load Lq (05.072)- Ld (05.024)) / Ld (05.024) < 0.1
(No-load Lq (05.072) - Ld (05.024)) < (K / Full Scale Current Kc (11.061))H
where:
Drive Rated voltage (11.033) K
200 V 0.0073
400 V 0.0146
575 V 0.0174
690 V 0.0209

If the saturation characteristic of the motor cannot be measured this is because when the flux in the motor is changed the
measured value of Ld does change sufficiently due to saturation to be measured. When half of Rated Current (05.007) is
applied in the d axis of the motor in each direction the inductance must fall change at least (K / (2 x Full Scale Current Kc
(11.061))) H.
The specific reasons for each of the sub-trips and recommended actions are given in the table below.

Sub-trip Reason
8
1 The inductance ratio or difference is too small when the drive has been started in sensorless mode.
The saturation characteristic of the motor cannot be measured when the drive has been started in
2
sensorless mode.
The inductance ratio or difference is too small when an attempt is made to determine the location of the
motor flux during a stationary auto-tune in RFC-S mode. This trip is also produced when the inductance ratio
or inductance difference is too small when carrying out a phasing test on starting in RFC-S mode. If position
3
feedback is being used the measured value for Position Feedback Phase Angle (03.025) may not be
reliable. Also the measured values of Ld (05.024) and No-load Lq (05.072) may not correspond to the d and
q axis respectively.
The direction of the flux in the motor is detected by the change of inductance with different currents. This trip
4 is initiated if the change cannot be detected when an attempt is made to perform a stationary auto-tune
when position feedback is being used, or to perform a phasing test on starting in RFC-S mode.

Recommended actions for sub-trip 1:

• Ensure that RFC Low Speed Mode (05.064) is set to Non-salient (1), Current (2) or Current No test (3).
Recommended Actions For Sub-trip 2:
• Ensure that RFC Low Speed Mode (05.064) is set to Non-salient (1), Current (2) or Current No test (3).
Recommended actions for sub-trip 3:
• None. The trip acts as a warning.
Recommended actions for sub-trip 4:
• Stationary autotune is not possible. Perform a minimal movement or rotating autotune.
• Phasing test on starting is not possible. Use a position feedback device with commutation signals or absolute position.

200 Unidrive M600 Control User Guide

Trip Diagnosis
Inductor Too Hot The regen inductor has overloaded
In Regen mode, this trip indicates a regen inductor thermal overload based on the Rated Current (Pr 05.007) and the
Inductor Thermal Time Constant (Pr 04.015). Pr 04.019 displays the inductor temperature as a percentage of the maximum
value. The drive will trip on Inductor Too Hot when Pr 04.019 gets to 100 %.
93
Recommended actions:
• Check the load / current through the inductor has not changed.
• Ensure the Rated Current (Pr 05.007) is not zero.
Inter-connect Multi-power module drive interconnection cable error
The sub-trip "xx.0.00" indicates which power module has detected the fault where xx is the power module number. It should
103 be noted that this trip is also initiated if the communication fails either when a rectifier signals a fault or a trip is reset. In this
case, the sub-trip is the number of modules that are still communicating correctly.
Island Island condition detected in regen mode
The Island trip indicates that the AC mains is no longer present and the inverter would be on ‘islanded’ power supply if it
continued to operate.
The sub-trips indicate the reason for the trip:

Sub-trip Description
1 Island detection system has been enabled and detected an island condition
160
The minimum synchronization voltage is non-zero and the supply voltage has
2 been below this threshold and been simulating its own supply synchronization
for more than 2.0 s.

Recommended actions:
• Check the supply / supply connections to the regen drive

Keypad Mode Keypad has been removed when the drive is receiving the speed reference from the keypad
The Keypad Mode trip indicates that the drive is in keypad mode [Reference Selector (01.014) = 4 or 6 or M2 reference
selector (21.003 = 4 or 6 if motor map 2 is selected] and the keypad has been removed or disconnected from the drive.
34 Recommended actions:
• Re-install keypad and reset
• Change Reference Selector (01.014) to select the reference from another source
Line Sync Synchronization to the power supply has been lost
The Line Sync trip indicates that the inverter has lost the synchronization with the ac supply in Regen mode.
39 Recommended actions:
• Check the supply / supply connections to the regen drive
Motor Too Hot Output current overload timed out (I2t)
The Motor Too Hot trip indicates a motor thermal overload based on the rated current (Pr 05.007) and motor thermal time
constant (Pr 04.015). Pr 04.019 displays the motor temperature as a percentage of the maximum value. The drive will trip
on Motor Too Hot when Pr 04.019 gets to 100 %.
Recommended actions:
• Ensure the load is not jammed / sticking
20 • Check the load on the motor has not changed
• If seen during an auto-tune test in RFC-S mode, ensure the motor rated current in Pr 05.007 is ≤ Heavy duty current
rating of the drive
• Tune the rated speed parameter (RFC-A mode only)
• Check feedback signal for noise
• Ensure the motor rated current is not zero

Unidrive M600 Control User Guide 201

Trip Diagnosis
Name Plate Electronic nameplate transfer has failed
The Name Plate trip is initiated if an electronic name plate transfer between the drive and the motor has failed. The exact
reason for the trip can be identified from the sub-trip number.

Sub-trip Description
1 Not enough memory space to complete the transfer
2 Communication with encoder failed
3 The transfer has failed
176 4 The checksum of the stored object has failed

Recommended actions:
• Ensure that the device encoder memory has at least 128 bytes to store the nameplate data
• When writing the motor object (xx.000 = 11000), ensure that the device encoder memory has at least 256 bytes to store
all the nameplate data.
• When transferring between option module and encoder, ensure that the option slot has a feedback option module
installed.
• Check if the encoder has been initialized, Position Feedback Initialized (03.076).
• Verify the encoder wiring.
OHt Brake Braking IGBT over-temperature
The OHt Brake over-temperature trip indicates that braking IGBT over-temperature has been detected based on software
thermal model.
101
Recommended actions:
• Check braking resistor value is greater than or equal to the minimum resistance value
OHt Control Control stage over temperature
This OHt Control trip indicates that a control stage over-temperature has been detected. From the sub-trip ‘xxyzz’, the
Thermistor location is identified by ‘zz’.
Source xx y zz Description
Control system 00 0 01 Control board thermistor 1 over temperature
Control system 00 0 02 Control board thermistor 2 over temperature
Control system 00 0 03 I/O board thermistor over temperature
23
Recommended actions:
• Check enclosure / drive fans are still functioning correctly
• Check enclosure ventilation paths
• Check enclosure door filters
• Increase ventilation
• Reduce the drive switching frequency
• Check ambient temperature

202 Unidrive M600 Control User Guide

Trip Diagnosis
OHt dc bus DC bus over temperature
The OHt dc bus trip indicates a DC bus component over temperature based on a software thermal model. The drive
includes a thermal protection system to protect the DC bus components within the drive. This includes the effects of the
output current and DC bus ripple. The estimated temperature is displayed as a percentage of the trip level in Pr 07.035. If
this parameter reaches 100 % then an OHt dc bus trip is initiated. The drive will attempt to stop the motor before tripping. If
the motor does not stop in 10 seconds the drive trips immediately.
Source xx y zz Description
Control system 00 2 00 DC bus thermal model gives trip with sub-trip 0

It is also possible in a multi-power module system for DC bus over-temperature to be detected from within the power stage.
From this source the estimated temperature as a percentage of trip is not available and the trip is indicated as follows:

Source xx y zz Description
Control system 01 0 00 Power stage gives trip with sub-trip 0

Recommended actions:
27 • Check the AC supply voltage balance and levels
• Check DC bus ripple level
• Reduce duty cycle
• Reduce motor load
• Check the output current stability. If unstable;
Check the motor map settings with motor nameplate (Pr 05.006, Pr 05.007, Pr 05.008, Pr 05.009, Pr 05.010,
Pr 05.011) – (All Modes)
Disable slip compensation (Pr 05.027 = 0) – (Open loop)
Disable dynamic V to F operation (Pr 05.013 = 0) - (Open loop)
Select fixed boost (Pr 05.014 = Fixed) – (Open loop)
Select high stability space vector modulation (Pr 05.020 = 1) – (Open loop)
Disconnect the load and complete a rotating autotune (Pr 05.012) – (RFC-A, RFC-S)
Auto-tune the rated speed value (Pr 05.016 = 1) – (RFC-A, RFC-S)
Reduce speed loop gains (Pr 03.010, Pr 03.011, Pr 03.012) – (RFC-A, RFC-S)
Add a speed feedback filter value (Pr 03.042) – (RFC-A, RFC-S)
Add a current demand filter (Pr 04.012) – (RFC-A, RFC-S)
Check encoder signals for noise with an oscilloscope (RFC-A, RFC-S)
Check encoder mechanical coupling - (RFC-A, RFC-S)
OHt Inverter Inverter over temperature based on thermal model
This trip indicates that an IGBT junction over-temperature has been detected based on a firmware thermal model. The sub-
trip indicates which model has initiated the trip in the form xxyzz as given below:
Source xx y zz Description
Control system 00 1 00 Inverter thermal model
Control system 00 3 00 Braking IGBT thermal model

Recommended actions with sub-trip 100:

• Reduce the selected drive switching frequency
21
• Ensure Auto-switching Frequency Change Disable (05.035) is set to Off
• Reduce duty cycle
• Increase acceleration / deceleration rates
• Reduce motor load
• Check DC bus ripple
• Ensure all three input phases are present and balanced

Recommended actions with sub-trip 300:

• Reduce the braking load.

Unidrive M600 Control User Guide 203

Trip Diagnosis
OHt Power Power stage over temperature
This trip indicates that a power stage over-temperature has been detected. The sub-trip "xxyzz" indicates which thermistor
is indicating the over-temperature. The thermsitor numbering is different for a single module type drive (i.e. no parallel
board fitted) and a multi-module type drive (i.e. parallel board fitted with one or more power modules) as shown below:
Single module type drive:

Source xx y zz Description
Power system 01 0 zz Thermistor location defined by zz in the power board
Power system 01 Rectifier number zz Thermistor location defined by zz in the rectifier

Multi-module type system:

Source xx y zz Description
Power system power module number 0 01 U phase power device
Power system power module number 0 02 V phase power device
Power system power module number 0 03 W phase power device

22 Power system power module number 0 04 Rectifier

Power system power module number 0 05 General power system
Power system power module number 0 00 Braking IGBT

Note that the power module that has caused the trip cannot be identified except for the braking IGBT temperature
measurement

Recommended actions:
• Check enclosure / drive fans are still functioning correctly
• Force the heatsink fans to run at maximum speed
• Check enclosure ventilation paths
• Check enclosure door filters
• Increase ventilation
• Reduce the drive switching frequency
• Reduce duty cycle
• Decrease acceleration / deceleration rates
• Reduce motor load
• Check the derating tables and confirm the drive is correctly sized for the application.
• Use a drive with larger current / power rating
OI ac Instantaneous output over current detected
The instantaneous drive output current has exceeded VM_DRIVE_CURRENT_MAX. This trip cannot be reset until 10 s
after the trip was initiated.

Source xx y zz Description

Control
00 0
system
Instantaneous over-current trip when the measured a.c. current
00
Power exceeds VM_DRIVE_CURRENT[MAX].
Power
module 0
system
number
3
Recommended actions:
• Acceleration/deceleration rate is too short
• If seen during auto-tune reduce the voltage boost
• Check for short circuit on the output cabling
• Check integrity of the motor insulation using an insulation tester
• Check feedback device wiring
• Check feedback device mechanical coupling
• Check feedback signals are free from noise
• Is motor cable length within limits for the frame size
• Reduce the values in the speed loop gain parameters - (Pr 03.010, 03.011, 03.012) or (Pr 03.013, 03.014, 03.015)
• Has the phase angle autotune been completed? (RFC-S mode only)
• Reduce the values in current loop gain parameters (RFC-A, RFC-S modes only)

204 Unidrive M600 Control User Guide

Trip Diagnosis
OI Brake Braking IGBT over current detected: short circuit protection for the braking IGBT activated
The OI Brake trip indicates that over current has been detected in braking IGBT or braking IGBT protection has been
activated. This trip cannot be reset until 10 s after the trip was initiated.

Source xx y zz Description

Power
Power
4 module 0 00 Braking IGBT instantaneous over-current trip
system
number

Recommended actions:
• Check brake resistor wiring
• Check braking resistor value is greater than or equal to the minimum resistance value
• Check braking resistor insulation
OI dc Power module over current detected from IGBT on state voltage monitoring
The OI dc trip indicates that the short circuit protection for the drive output stage has been activated. The table below
shows where the trip has been detected..This trip cannot be reset until 10 s after the trip was initiated.

Source xx y zz

Control system 00 0 00
109

Power system Power module number 0 00

Recommended actions:
• Disconnect the motor cable at the drive end and check the motor and cable insulation with an insulation tester
• Replace the drive
OI Snubber Snubber over-current detected
The OI Snubber trip indicates that an over-current condition has been detected in the rectifier snubber circuit. The reason
for the trip can be identified by the sub-trip number.

Source xx y zz Description

Power Rectifier
01 00 Rectifier snubber over-current trip detected.
system number*

* For a parallel power-module system the rectifier number will be one as it is not possible to determine which rectifier has
92
detected the fault.
Recommended actions:
• Ensure the internal EMC Filter is installed
• Ensure the motor cable length does not exceed the maximum for selected switching frequency
• Check for supply voltage imbalance
• Check for supply disturbance such as notching from a DC drive
• Check the motor and motor cable insulation with an insulation tester
• Adjust brake turn on threshold to control the DC bus at a lower level when the drive is regenerating, by reducing the
value in Braking IGBT Upper Threshold (Pr 06.074)
• Fit an output line reactor or sinusoidal filter
Option Disable Option module does not acknowledge during drive mode changeover
During drive mode changeover option modules must acknowledge that they have stopped accessing the communications
system between the option slots and the drive. If an option module does not do this in the allowed time then this trip is
produced.
215
Recommended trip:
• Reset the trip
• If the trip persists replace the option module

Unidrive M600 Control User Guide 205

Trip Diagnosis
Out Phase Loss Output phase loss detected
The Out Phase Loss trip indicates that a phase loss has been detected at the drive output.
Note that if Reverse Output Phase Sequence (05.042) = 1 the physical output phases are reversed, and so sub-trip 3 refers
to physical output phase V and sub-trip 2 refers to physical output phase W.

Sub-trip Reason
1 U phase detected as disconnected when drive enabled to run
98 2 V phase detected as disconnected when drive enabled to run
3 W phase detected as disconnected when drive enabled to run
4 Output phase loss detected when the drive is running

Recommended action:
• Check motor and drive connections
• To disable the trip set Output Phase Loss Detection Enable (06.059) = 0
Over Speed Motor speed has exceeded the over speed threshold
In open loop mode, if the Output Frequency (05.001) exceeds the threshold set in Over Speed Threshold (03.008) in either
direction an Over Speed trip is produced. In RFC-A and RFC-S mode, if the Speed Feedback (03.002) exceeds the Over
Speed Threshold in Pr 03.008 in either direction an Over Speed trip is produced. If Pr 03.008 is set to 0.0 the threshold is
then equal to 1.2 x the value set in Pr 01.006.
In RFC-A and RFC-S modes if an SSI encoder is being used and P1 SSI Incremental Mode (03.047) is set to Off, an Over
Speed trip will be produced when the encoder passes through the boundary between its maximum position and zero.
The above description relates to a standard over speed trip, however in RFC-S mode it is possible to produce an
Overspeed trip with sub-trip 1. This is caused if the speed is allowed to exceed the safe level in RFC-S mode with flux
7
weakening. See Enable High Speed Mode (05.022) for details.
Recommended actions:
• Check the motor is not being driven by another part of the system
• Reduce the Speed Controller Proportional Gain (03.010) to reduce the speed overshoot (RFC-A, RFC-S modes only)
• If an SSI encoder is being used set Pr 03.047 to 1
The above description relates to a standard Over Speed trip, however in RFC-S mode it is possible to produce an Over
Speed.1 trip. This is caused if the speed is allowed to exceed the safe level in RFC-S mode with flux weakening when
Enable High Speed Mode (05.022) is set to -1.
Over Volts DC bus voltage has exceeded the peak level or maximum continuous level for 15 seconds
The Over Volts trip indicates that the DC bus voltage has exceeded the VM_DC_VOLTAGE[MAX] or
VM_DC_VOLTAGE_SET[MAX] for 15 s. The trip threshold varies depending on voltage rating of the drive as shown below.
Voltage rating VM_DC_VOLTAGE[MAX] VM_DC_VOLTAGE_SET[MAX]
200 415 410
400 830 815
575 990 970
690 1190 1175

Sub-trip Identification

2 Source xx y zz
Control 01: Instantaneous trip when the DC bus voltage exceeds
00 0
system VM_DC_VOLTAGE[MAX].
Control 02: Time delayed trip indicating that the DC bus voltage is above
00 0
system VM_DC_VOLTAGE_SET[MAX].

Recommended actions:
• Increase deceleration ramp (Pr 00.004)
• Decrease the braking resistor value (staying above the minimum value)
• Check nominal AC supply level
• Check for supply disturbances which could cause the DC bus to rise
• Check motor insulation using an insulation tester

206 Unidrive M600 Control User Guide

Trip Diagnosis
Phase Loss Supply phase loss
This trip indicates that the drive has detected an input phase loss or large supply imbalance. Phase loss can be detected
directly from the supply where the drive has a thyristor base charge system (Frame size 7 and above). If phase loss is
detected using this method the drive trips immediately and the xx part of the sub-trip is set to 01. In all sizes of drive phase
loss is also detected by monitoring the ripple in the DC bus voltage in which case the drive attempts to stop the drive before
tripping unless bit 2 of Action On Trip Detection (10.037) is set to one. When phase loss is detected by monitoring the ripple
in the DC bus voltage the xx part of the sub-trip is zero.
Source xx y zz
Control
00 0 00: Phase loss detected from DC bus ripple
system
Rectifier
Power Power module
number 00: Phase loss detected directly from the supply
system (1) number
(2)

32
(1) Input phase loss detection can be disabled when the drive required to operate from the DC supply or from a single
phase supply in Input Phase Loss Detection Mode (06.047).
(2) For a parallel power-module system the rectifier number will be one as it is not possible to determine which rectifier has
detected the fault.
This trip does not occur in regen mode.
Recommended actions:
• Check the AC supply voltage balance and level at full load
• Check the DC bus ripple level with an isolated oscilloscope
• Check the output current stability
• Reduce the duty cycle
• Reduce the motor load
• Disable the phase loss detection, set Pr 06.047 to 2.
• Check for mechanical resonance with the load
Phasing error This indicates that the phase offset angle is incorrect
This indicates that the phase offset angle in Position Feedback Phase Angle (03.025) (or M2 Position Feedback Phase
Angle (21.020) if the second motor map is being used) is incorrect if position feedback is being used and the drive is unable
to control the motor correctly.
Recommended actions:
• Check the encoder wiring.
• Check the encoder signals for noise with an oscilloscope.
• Check encoder mechanical coupling.
• Perform an auto-tune to measure the encoder phase angle or manually enter the correct phase angle into Position
198
Feedback Phase Angle (03.025).
• Spurious Phasing Error trips can sometimes be seen in very dynamic applications. This trip can be disabled by setting
Over Speed Threshold (03.008) to a value greater than zero.
If sensorless control is being used this indicates that significant instability has occurred and the motor has accelerated
without control.
Recommended actions:
• Ensure that the motor parameters are set-up correctly.
• Reduce the speed controller gains.
Power Comms A Power Comms trip indicates a communications problem within the power system of the drive
A Power Comms trip indicates a communications problem within the power system of the drive. The reason for the trip can
be identified by the sub-trip number.
Type of
xx y zz
drive
Control Power module Rectifier
00: Excessive communications errors detected by the rectifier module
90 system number number*

Unidrive M600 Control User Guide 207

Trip Diagnosis
Power Data Power system configuration data error
The Power Data trip indicates that there is an error in the configuration data stored in the power system.
Source xx y zz Description
Control
00 0 02 There is no data table to be uploaded to the control board
system
Control The power system data table is bigger than the space available in
00 0 03
system the control pod to store it.
Control
00 0 04 The size of the table given in the table is incorrect.
system
Control
00 0 05 Table CRC error.
system
The version number of the generator software that produced the
220 Control table is too low. i.e. a table from a newer generator is required that
00 0 06
system includes features that have been added to the table that may not
be present.
Power The power data table used internally by the power module has an
Power
module 0 00 error. (For a multi-power module drive this indicates any error with
system
number the code tables in the power system).
Power
Power The power data table that is uploaded to the control system on
module 0 01
system power up has an error.
number
Power
Power The power data table used internally by the power module does
module 0 02
system not match the hardware identification of the power module.
number

Recommended actions:
• Hardware fault – Contact the supplier of the drive
Power Down Save Power down save error
The Power Down Save trip indicates that an error has been detected in the power down save parameters saved in non-
volatile memory.
37
Recommended actions:
• Perform a 1001 save in Pr mm.000 to ensure that the trip doesn’t occur the next time the drive is powered up.
PSU Internal power supply fault
The PSU trip indicates that one or more internal power supply rails are outside limits or overloaded.
Source xx y Description
Control
00 0 Internal power supply overload
system
Power
Power Rectifier
module Rectifier internal power supply overload
system number*
5 number

*For a parallel power-module system the rectifier number will be zero as it is not possible to determine which rectifier has
detected the fault.
Recommended actions:
• Remove any option modules and perform a reset
• Remove encoder connection and perform a reset
• Hardware fault within the drive – return the drive to the supplier
PSU 24V 24V internal power supply overload
The total user load of the drive and option modules has exceeded the internal 24 V power supply limit. The user load
consists of the drive digital outputs and main encoder supply.
Recommended actions:
9
• Reduce the load and reset
• Provide an external 24 V power supply on control terminal 2
• Remove all option modules

208 Unidrive M600 Control User Guide

Trip Diagnosis
Rating Mismatch Power stage recognition: Multi module voltage or current rating mismatch
The Rating Mismatch trip indicates that there is a voltage rating or current rating mismatch in a multi-module drive system.
This trip is only applicable to modular drives that are connected in parallel. A mixture of power modules with different
voltage or current ratings within the same multi-module drive system is not allowed and will cause a Rating Mismatch trip.
223
Recommended action:
• Ensure that all modules in a multi-modular drive system are of the same frame size and rating (voltage and current)
• Hardware fault – Contact the supplier of the drive
Rectifier Set-up A rectifier has not been set-up correctly in a multi-power module system.
A rectifier has not been set-up correctly in a multi-power module system.
94 Recommended action:
• Check the inter-power module wiring
Reserved Reserved trips
01
95
102
104 - 108 These trip numbers are reserved trip numbers for future use. These trips should not be used by the user application
161-168 programs.
170-173
222
228-246
Resistance Measured resistance has exceeded the parameter range
This trip indicates that either the value being used for motor stator resistance is too high or that an attempt to do a test
involving measuring motor stator resistance has failed. The maximum for the stator resistance parameters is generally
higher than the maximum value that can be used in the control algorithms. If the value exceeds (VFS / v2) / Full Scale
Current Kc (11.061), where VFS is the full scale DC bus voltage then this trip is initiated. If the value is the result of a
measurement made by the drive then sub-trip 1 is applied, or if it is because the parameter has been changed by the user
then sub-trip 3 is applied. During the stator resistance section of auto-tuning an additional test is performed to measured
the drive inverter characteristics to provide the compensation necessary for dead-times. If the inverter characteristic
measurement fails then sub-trip 2 is applied.

Sub-trip Reason
1 Measured stator resistance exceeded the allowed range
2 It was not possible to measure the inverter characteristic
33
The stator resistance associated with the presently selected motor map
3
exceeds the allowed range

Recommended actions:
• Check that the value that has been entered in the stator resistance does not exceed the allowed range (for the
presently selected motor map)
• Check the motor cable / connections
• Check the integrity of the motor stator winding using an insulation tester
• Check the motor phase to phase resistance at the drive terminals
• Check the motor phase to phase resistance at the motor terminals
• Ensure the stator resistance of the motor falls within the range of the drive model
• Select fixed boost mode (Pr 05.014 = Fixed) and verify the output current waveforms with an oscilloscope
• Replace the motor
Slot App Menu Application menu Customization conflict error
The Slot App Menu trip indicates that more than one option slot has requested to customize the application menus 18, 19
and 20. The sub-trip number indicates which option slot has been allowed to customize the menus.
216 Recommended actions:
• Ensure that only one of the Application modules is configured to customize the application menus 18, 19 and 20

Unidrive M600 Control User Guide 209

Trip Diagnosis
SlotX Different Option module in option slot X has changed
The SlotX Different trip indicates that the option module in option slot X on the drive is a different type to that installed when
parameters were last saved on the drive. The reason for the trip can be identified by the sub-trip number.
Sub-trip Reason
1 No module was installed previously

2 A module with the same identifier is installed, but the set-up menu for this option slot has been
changed, and so default parameters have been loaded for this menu.
204 3 A module with the same identifier is installed, but the applications menu for this option slot has been
209 changed, and so default parameters have been loaded for this menu.
214 4 A module with the same identifier is installed, but the set-up and applications menu for this option slot
have been changed, and so default parameters have been loaded for these menus.
>99 Shows the identifier of the module previously installed.

Recommended actions:
• Turn off the power, ensure the correct option modules are installed in the correct option slots and re-apply the power.
• Confirm that the currently installed option module is correct, ensure option module parameters are set correctly and
perform a user save in Pr mm.000.
SlotX Error Option module in option slot X has detected a fault
The SlotX Error trip indicates that the option module in option slot X on the drive has detected an error. The reason for the
202 error can be identified by the sub-trip number.
207
Recommended actions:
212
• See relevant Option Module User Guide for details of the trip
SlotX HF Option module X hardware fault
The SlotX HF trip indicates that the option module in option slot X on the drive has indicated a hardware fault. The possible
causes of the trip can be identified by the sub-trip number.
Sub-trip Reason
1 The module category cannot be identified
2 All the required customized menu table information has not been supplied or the tables supplied are corrupt
3 There is insufficient memory available to allocate the comms buffers for this module
4 The module has not indicated that it is running correctly during drive power-up
5 Module has been removed after power-up or it has stopped working
200
205 6 The module has not indicated that it has stopped accessing drive parameters during a drive mode change
210 7 The module has failed to acknowledge that a request has been made to reset the drive processor
8 The drive failed to correctly read the menu table from the module during drive power up
9 The drive failed to upload menu tables from the module and timed out (5 s)

10 Menu table CRC invalid

Recommended actions:
• Ensure the option module is installed correctly
• Replace the option module
• Replace the drive
SlotX Not Fitted Option module in option slot X has been removed
The SlotX Not Fitted trip indicates that the option module in option slot X on the drive has been removed since the last
power up.
203
Recommended actions:
208
213 • Ensure the option module is installed correctly.
• Re-install the option module.
• To confirm that the removed option module is no longer required perform a save function in Pr mm.000.
SlotX Watchdog Option module watchdog function service error
The SlotX Watchdog trip indicates that the option module installed in Slot X has started the option watchdog function and
201 then failed to service the watchdog correctly.
206
Recommended actions:
211
• Replace the option module

210 Unidrive M600 Control User Guide

Trip Diagnosis
Soft Start Soft start relay failed to close, soft start monitor failed
The Soft Start trip indicates that the soft start relay in the drive failed to close or the soft start monitoring circuit has failed.
226 Recommended actions:
• Hardware fault – Contact the supplier of the drive
Stored HF Hardware trip has occurred during last power down
The Stored HF trip indicates that a hardware trip (HF01 –HF19) has occurred and the drive has been power cycled. The
sub-trip number identifies the HF trip i.e. stored HF.17.
221
Recommended actions:
• Enter 1299 in Pr mm.000 and press reset to clear the trip
Sub-array RAM RAM allocation error
The Sub-array RAM trip indicates that an option module, derivative image or user program image has requested more
parameter RAM than is allowed. The RAM allocation is checked in order of resulting sub-trip numbers, and so the failure
with the highest sub-trip number is given. The sub-trip is calculated as (parameter size) + (parameter type) + sub-array
number.
Parameter size Value Parameter type Value
1 bit 1000 Volatile 0
8 bit 2000 User save 100
16 bit 3000 Power-down save 200
32 bit 4000
64 bit 5000
227
Sub-array Menus Value
Applications menus 18-20 1
Derivative image 29 2
User program image 30 3
Option slot 1 set-up 15 4
Option slot 1 applications 25 5
Option slot 2 set-up 16 6
Option slot 2 applications 26 7
Option slot 3 set-up 17 8
Option slot 3 applications 27 9

Temp Feedback Internal thermistor has failed

The Temp Feedback trip indicates that an internal thermistor has failed. The thermistor location can be identified by the
sub-trip number.
Source xx y zz
01: Control board thermistor 1
Control
00 00 02: Control board thermistor 2
board
03: I/O board thermistor
Zero for temperature feedback provided via power
218 Power system Power module number 0 system comms.21, 22 and 23 for direct ELV
temperature feedback.
Power system Power module number Rectifier number* Always zero

* For a parallel power-module system the rectifier number will be one as it is not possible to determine which rectifier has
detected the fault.
Recommended actions:
• Hardware fault – Contact the supplier of the drive
Th Brake Res Brake resistor over temperature
The Th Brake Res is initiated, If hardware based braking resistor thermal monitoring is connected and the resistor
overheats. If the braking resistor is not used then this trip must be disabled with bit 3 of Action On Trip Detection (10.037) to
prevent this trip.
10 Recommended actions:
• Check brake resistor wiring
• Check braking resistor value is greater than or equal to the minimum resistance value
• Check braking resistor insulation

Unidrive M600 Control User Guide 211

Trip Diagnosis
Th Short Circuit Motor thermistor short circuit
This trip indicates that a temperature sensor connected to an analogue input or terminal 15 on the position feedback
interface has a low impedance (i.e. < 50 Ω). The cause of the trip can be identified by the sub-trip number.

Sub-trip Reason

3 Analog Input 3 Mode (07.015) = 7 and the resistance of the thermistor connected to analog input 3 is
less than 50 Ω.
25
4 P1 Thermistor Short Circuit Detect (03.123) = 1 and the resistance of the thermistor connected to the
drive P1 position feedback interface is less than 50 Ω.

Recommended actions:
• Check thermistor continuity
• Replace motor / motor thermistor
Thermistor Motor thermistor over-temperature
The Thermistor trip indicates that the motor thermistor connected to terminal 8 (analog input 3) on the control connections
or terminal 15 on the encoder terminal (15 way D-type connector) has indicated a motor over temperature. The cause of the
trip can be identified by the sub-trip number
Sub-trip Reason
3 Trip initiated from analog input 3
24
4 Trip initiated from P1 position feedback interface

Recommended actions:
• Check motor temperature
• Check threshold level (07.048)
• Check thermistor continuity
Undefined Drive has tripped and the cause of the trip is Undefined
The Undefined trip indicates that the power system has generated but did not identify the trip the power system. The cause
of the trip is unknown.
110
Recommended actions:
• Hardware fault – return the drive to the supplier
User 24V User 24 V supply is not present on control terminals (1,2)
A User 24 V trip is initiated, if User Supply Select (Pr 06.072) is set to 1 or Low Under Voltage Threshold Select (06.067) =
1 and no user 24 V supply is present on control terminals 1 and 2.
91
Recommended actions:
• Ensure the user 24 V supply is present on control terminals 1 (0 V) and 2 (24 V)

212 Unidrive M600 Control User Guide

Trip Diagnosis
User Program On board user program error
The User Program trip indicates that an error has been detected in the onboard user program image. The reason for the trip
can be identified by the sub-trip number.
Sub-trip Reason Comments

1 Divide by zero

2 Undefined trip
Attempted fast parameter access set-up with
3
non-existent parameter
4 Attempted access to non-existent parameter

5 Attempted write to read-only parameter

6 Attempted and over-range write

7 Attempted read from write-only parameter

The image has failed because either its CRC Occurs when the drive powers-up or the image is
30
is incorrect, or there are less than 6 bytes in programmed. The image tasks will not run
The image requires more RAM for heap and
31 As 30
stack than can be provided by the drive.
The image requires an OS function call that is
32 As 30
higher than the maximum allowed
33 The ID code within the image is not valid As 30
The timed task has not completed in time and
40
has been suspended
Undefined function called, i.e. a function in the
41 As 40
249 host system vector table that has not been

52 Customized menu table CRC check failed As 30

Occurs when the drive powers-up or the image is
programmed and the table has changed. Defaults are
53 Customized menu table changed
loaded for the derivative menu and the trip will keep
occurring until drive parameters are saved.
The option module installed in slot 1 is not
61 As 30
allowed with the derivative image
The option module installed in slot 2 is not
62 As 30
allowed with the derivative image
The option module installed in slot 3 is not
63 As 30
allowed with the derivative image
The option module installed in slot 4 is not
64 As 30
allowed with the derivative image
An option module that is required by the
70 As 30
derivative image is not installed in any slot.
An option module specifically required to be
71 As 30
installed in slot 1 not present
An option module specifically required to be
72 As 30
installed in slot 2 not present
An option module specifically required to be
73 As 30
installed in slot 3 not present
An option module specifically required to be
74 As 30
installed in slot 4 not present

80 Image is not compatible with the control board Initiated from within the image code
Image is not compatible with the control board
81 As 80
serial number

User Prog Trip Trip generated by an onboard user program

This trip can be initiated from within an onboard user program using a function call which defines the sub-trip number.
96 Recommended actions:
• Check the user program

Unidrive M600 Control User Guide 213

Trip Diagnosis
User Save User Save error / not completed
The User Save trip indicates that an error has been detected in the user save parameters saved in non-volatile memory.
For example, following a user save command, If the power to the drive was removed when the user parameters were being
saved.
36
Recommended actions:
• Perform a user save in Pr mm.000 to ensure that the trip doesn’t occur the next time the drive is powered up.
• Ensure that the drive has enough time to complete the save before removing the power to the drive.
User Trip User generated trip
These trips are not generated by the drive and are to be used by the user to trip the drive through an application program.
41 -89
Recommended actions:
112 -159
• Check the user program
User Trip 40 Motor Rated Current Pr 05.007 or Motor Rated Speed Pr 05.008 not recognized as valid for an LSRPM motor
If a User Trip 40 occurs, then this indicates that the motor rated current or motor rated speed was not recognized as being
a valid value for a Dyneo LSRPM motor.
Recommended actions:
40
• If using a Dyneo LSRPM motor, check the Rated Speed (Pr 00.045) and Rated Current (Pr 00.046) entered in the drive
against the Dyneo LSRPM motors listed in Table 7-3 to Table 7-9 . Correct the values and perform an autotune again.
• If using any other motor, set Pr 29.200 = 0 to disable the LSRPM quick setup system.
Voltage Range Supply voltage out of range detected in Regen mode
The Voltage Range trip is initiated, if the Regen Minimum Voltage (03.026) is set to a non-zero value and the supply voltage
is outside the range defined by Regen Maximum Voltage (03.027) and Regen Minimum Voltage (03.026) for more than 100
ms.
Recommended actions:
169 • Ensure the supply voltage is operating within the drive specification.
• Ensure Pr 03.026 and Pr 03.027 are set correctly
• Check the supply voltage waveform using an oscilloscope
• Reduce the level of supply disturbance
• Set Maximum Voltage (03.027) to zero to disable the trip.
Watchdog Control word watchdog has timed out
The Watchdog trip indicates that the control word has been enabled and has timed out
Recommended actions:
30 Once Pr 06.042 bit 14 has been changed from 0 to 1 to enable the watchdog, this must be repeated every 1s or a
Watchdog trip will be initiated. The watchdog is disabled when the trip occurs and must be re-enabled if required when the
trip is reset.

214 Unidrive M600 Control User Guide

Table 12-4 Serial communications look up table

No Trip No Trip No Trip
1 Reserved 001 93 Inductor Too Hot 197 Encoder 9
2 Over Volts 94 Rectifier Set-Up 198 Phasing Error
3 OI ac 95 Reserved 95 199 Destination
4 OI Brake 96 User Prog Trip 200 Slot1 HF
5 PSU 97 Data Changing 201 Slot1 Watchdog
6 External Trip 98 Out Phase Loss 202 Slot1 Error
7 Over Speed 99 CAM 203 Slot1 Not installed
8 Inductance 100 Reset 204 Slot1 Different
9 PSU 24 101 OHt Brake 205 Slot2 HF
10 Th Brake Res 102 Reserved 102 206 Slot2 Watchdog
11 Autotune 1 103 Inter-connect 207 Slot2 Error
12 Autotune 2 104 - 108 Reserved 104 - 108 208 Slot2 Not installed
13 Autotune 3 109 OI dc 209 Slot2 Different
14 Autotune 4 110 Undefined 210 Slot3 HF
15 Autotune 5 111 Configuration 211 Slot3 Watchdog
16 Autotune 6 112 - 159 User Trip 112 - 159 212 Slot3 Error
17 Autotune 7 160 Island 213 Slot3 Not installed
18 Autotune Stopped 161 - 168 Reserved 161 - 168 214 Slot3 Different
19 Brake R Too Hot 169 Voltage Range 215 Option Disable
20 Motor Too Hot 170 - 173 Reserved 170 - 173 216 Slot App Menu
21 OHt Inverter 174 Card Slot 217 App Menu Changed
22 OHt Power 175 Card Product 218 Temp Feedback
23 OHt Control 176 Name Plate 219 An Output Calib
24 Thermistor 177 Card Boot 220 Power Data
25 Th Short Circuit 178 Card Busy 221 Stored HF
26 I/O Overload 179 Card Data Exists 222 Reserved 222
27 OHt dc bus 180 Card Option 223 Rating Mismatch
28 An Input Loss 1 181 Card Read Only 224 Drive Size
29 An Input Loss 2 182 Card Error 225 Current Offset
30 Watchdog 183 Card No Data 226 Soft Start
31 EEPROM Fail 184 Card Full 227 Sub-array RAM
32 Phase Loss 185 Card Access 228 - 246 Reserved 228 - 246
33 Resistance 186 Card Rating 247 Derivative ID
34 Keypad Mode 187 Card Drive Mode 248 Derivative Image
35 Control Word 188 Card Compare 249 User Program
36 User Save 189 Encoder 1 250 Slot4 HF
37 Power Down Save 190 Encoder 2 251 Slot4 Watchdog
38 Low Load 191 Encoder 3 252 Slot4 Error
39 Line Sync 192 Encoder 4 253 Slot4 Not installed
40 -89 User Trip 40 - 89 193 Encoder 5 254 Slot4 Different
90 Power Comms 194 Encoder 6 255 Reset Logs
91 User 24V 195 Encoder 7
92 OI Snubber 196 Encoder 8

Unidrive M600 Control User Guide 215

The trips can be grouped into the following categories. It should be noted that a trip can only occur when the drive is not tripped or is already tripped
but with a trip with a lower priority number.
Table 12-5 Trip categories

Priority Category Trips Comments

These indicate internal problems and cannot be reset. All drive features
1 Internal faults HFxx are inactive after any of these trips occur. If an KI-Keypad is installed it will
show the trip, but the keypad will not function.

This trip cannot be cleared unless 1299 is entered into Parameter

1 Stored HF trip {Stored HF}
(mm.000) and a reset is initiated.

Trip numbers 218 to 247,

2 Non-resettable trips {Slot1 HF}, {Slot2 HF}, These trips cannot be reset.
{Slot3 HF} or {Slot4 HF}

This can only be reset if Parameter mm.000 is set to 1233 or 1244, or if

3 Volatile memory failure {EEPROM Fail}
Load Defaults (11.043) is set to a non-zero value.

Internal 24 V power
3 {PSU 24V}
supply

Trip numbers 174, 175

4 NV Media Card trips These trips are priority 5 during power-up.
and 177 to 188

Trips with extended reset {OI ac}, {OI Brake}, and

5 These trips cannot be reset until 10 s after the trip was initiated.
times OI dc}

The drive will attempt to stop the motor before tripping if a {Phase Loss}.
Phase loss and DC bus {Phase Loss} and 000 trip occurs unless this feature has been disabled (see Action On Trip
5
power circuit protection {Oht dc bus} Detection (10.037). The drive will always attempt to stop the motor before
tripping if an {Oht dc bus} occurs.

5 Standard trips All other trips

216 Unidrive M600 Control User Guide

12.5 Internal / Hardware trips 12.7 Status indications

Trips {HF01} to {HF25} are internal faults that do not have trip numbers. Table 12-7 Status indications
If one of these trips occurs, the main drive processor has detected an
Drive
irrecoverable error. All drive functions are stopped and the trip message Upper row
Description output
will be displayed on the drive keypad. If a non permanent trip occurs this string
may be reset by power cycling the drive. On power up after it has been stage
power cycled the drive will trip on Stored HF. The sub-trip code is the The drive is inhibited and cannot be run.
number of the orginal HF trip. Enter 1299 in mm.000 to clear the Stored The Safe Torque Off signal is not applied to
Inhibit Disabled
HF trip. Safe Torque Off terminals or Pr 06.015 is
set to 0
12.6 Alarm indications The drive is ready to run. The drive enable
In any mode, an alarm is an indication given on the display by alternating Ready is active, but the drive inverter is not active Disabled
the alarm string with the drive status string on the first row and showing because the final drive run is not active
the alarm symbol in the last character in the first row. If an action is not Stop The drive is stopped / holding zero speed. Enabled
taken to eliminate any alarm except "Auto Tune and Limit Switch" the Run The drive is active and running Enabled
drive may eventually trip. Alarms are not displayed when a parameter is The drive is enabled in Regen mode and is
being edited, but the user will still see the alarm character on the upper Scan Enabled
trying to synchronize to the supply
row.
Supply Loss Supply loss condition has been detected Enabled
Table 12-6 Alarm indications The motor is being decelerated to zero
Alarm string Description Deceleration speed / frequency because the final drive Enabled
run has been deactivated.
Brake resistor overload. Braking Resistor Thermal
Brake Resistor Accumulator (10.039) in the drive has reached dc injection The drive is applying dc injection braking Enabled
75.0 % of the value at which the drive will trip. Positioning / position control is active
Position Enabled
Motor Protection Accumulator (04.019) in the drive during an orientation stop
Motor Overload has reached 75.0 % of the value at which the drive The drive has tripped and no longer
will trip and the load on the drive is >100 %. Trip controlling the motor. The trip code Disabled
Regen inductor overload. Inductor Protection appears in the lower display
Accumulator (04.019) in the drive has reached The regen unit is enabled and
Ind Overload Active Enabled
75.0 % of the value at which the drive will trip and synchronized to the supply
the load on the drive is >100 %. Under The drive is in the under voltage state
Disabled
Drive over temperature. Percentage Of Drive Voltage either in low voltage or high voltage mode
Drive Overload Thermal Trip Level (07.036) in the drive is greater Heat The motor pre-heat function is active Enabled
than 90 %. The drive is performing a ‘phasing test on
The autotune procedure has been initialized and an Phasing Enabled
enable’.
Auto Tune
autotune in progress.
Limit switch active. Indicates that a limit switch is
Limit Switch
active and that is causing the motor to be stopped.

Unidrive M600 Control User Guide 217

Table 12-8 Option module and NV Media Card and other status 12.9 Displaying the trip history
indications at power-up
The drive retains a log of the last ten trips that have occurred. Trip 0
First row (10.020) to Trip 9 (10.029) store the most recent 10 trips that have
Second row string Status
string occurred where Trip 0 (10.020) is the most recent and Trip 9 (10.029) is
the oldest. When a new trip occurs it is written to Trip 0 (10.020) and all
Booting Parameters Parameters are being loaded the other trips move down the log, with oldest being lost. The date and
time when each trip occurs are also stored in the date and time log, i.e.
Drive parameters are being loaded from a NV Media Card Trip 0 Date (10.041) to Trip 9 Time (10.060). The date and time are taken
from Date (06.016) and Time (06.017). The date / time source can be
Booting User Program User program being loaded selected with Date / Time Selector (06.019). Some trips have sub-trip
numbers which give more detail about the reason for the trip. If a trip has
User program is being loaded from a NV Media Card to the drive a sub-trip number its value is stored in the sub-trip log, i.e. Trip 0 Sub-trip
Option Number (10.070) to Trip 9 Sub-trip Number (10.079). If the trip does not
Booting User program being loaded have a sub-trip number then zero is stored in the sub-trip log.
Program
User program is being loaded from a NV Media Card to the option If any parameter between Pr 10.020 and Pr 10.029 inclusive is read by
module in slot X serial communication, then the trip number in Table 12-4 is the value
Data being written to NV Media transmitted.
Writing To NV Card
Card NOTE
Data is being written to a NV Media Card to ensure that its copy of the The trip logs can be reset by writing a value of 255 in Pr 10.038.
drive parameters is correct because the drive is in Auto or Boot mode

Waiting For Power System Waiting for power stage

12.10 Behavior of the drive when tripped
The drive is waiting for the processor in the power stage to respond
after power-up If the drive trips, the output of the drive is disabled so the load coasts to a
stop. If any trip occurs the following read only parameters are frozen until
Waiting For Options Waiting for an option module the trip is cleared. This is to help in diagnose the cause of the trip.

The drive is waiting for the Options Modules to respond after power-up Parameter Description
Uploading 01.001 Frequency / speed reference
Options Loading parameter database
From 01.002 Pre-skip filter reference
At power-up it may be necessary to update the parameter database 01.003 Pre-ramp reference
held by the drive because an option module has changed or because 02.001 Post-ramp reference
an applications module has requested changes to the parameter 03.001 Final speed ref
structure. This may involve data transfer between the drive an option
03.002 Speed feedback
modules. During this period ‘Uploading From Options’ is displayed
03.003 Speed error
03.004 Speed controller output
04.001 Current magnitude
12.8 Programming error indications
04.002 Active current
The following are the error messages displayed on the drive keypad 04.017 Reactive current
when an error occurs during programming of drive firmware.
05.001 Output frequency
Table 12-9 Programming error indications 05.002 Output voltage
Error 05.003 Power
Reason Solution
String 05.005 DC bus voltage
There is not enough drive Power down drive and remove 07.001 Analog input 1
Error 1 memory requested by all some of the option modules 07.002 Analog input 2
the option modules. until the message disappears.
07.003 Analog input 3
At least one option module
Error 2 did not acknowledge the Power cycle drive If the parameters are not required to be frozen then this can be disabled
reset request. by setting bit 4 of Pr 10.037.
Power cycle drive and try
The boot loader failed to
Error 3 again. If problem persists,
erase the processor flash
return drive
The boot loader failed to Power cycle drive and try
Error 4 program the processor again. If problem persists,
flash return drive
One option module did not
initialize correctly. Option
Error 5 Remove faulty option module.
module did not set Ready
to Run flag.

218 Unidrive M600 Control User Guide

13 UL Information
13.1 UL file reference
All products covered by this Guide are UL Listed to both Canadian and US requirements. The UL file reference is: NMMS/7.E171230.
Products that incorporate the Safe Torque Off function have been investigated by UL. The UL file reference is: FSPC.E171230.

13.2 Option modules, kits and accessories

All Option Modules, Control Pods and Installation Kits supplied by Nidec Industrial Automation for use with these drives are UL Listed.

13.3 Enclosure ratings

Drives are UL Open Type as supplied.
Drives fitted with a conduit box are UL Type 1.
Drives that are capable of through-hole mounting are UL Type 12 when installed with the high-IP insert (where provided), and the Type 12 sealing kit
to prevent ingress of dust and water.
Remote Keypads are UL Type 12.
13.4 Mounting
Drives can be mounted directly onto a vertical surface. This is known as 'surface' or 'standard' mounting. Refer to the relevant Power Installation
Guide for further information.
Drives can be installed side by side with recommended spacing between them. This is known as 'bookcase' mounting. Refer to the relevant Power
Installation Guide for further information.
Some drives can be mounted on their side. This is known as 'tile' mounting. Suitable tile mounting kits are available from Nidec Industrial Automation.
Refer to the relevant Power Installation Guide for further information.
Drives fitted with a conduit box can be mounted directly onto a wall or other vertical surface without additional protection. Suitable conduit boxes are
available from Nidec Industrial Automation.
Some drives may be through-hole mounted. Mounting brackets and sealing kits are available from Nidec Industrial Automation. Refer to the relevant
Power Installation Guide for further information.
Remote Keypads can be mounted on the outside of a UL Type 12 enclosure. A sealing and mounting kit is provided with the keypad.
13.5 Environment
Drives must be installed in a Pollution Degree 2 environment or better (dry, non-conductive pollution only).
All drives are capable of delivering full rated output current at surrounding air temperatures up to 40 °C
Drives with model numbers beginning M100, M101, M200, M201, M300 or M400, with frame sizes 1 to 4 may be operated in surrounding air
temperatures up to 50 °C at de-rated current. All other drives, for example M600, M700, M701, M702 etc. may be operated in surrounding air
temperatures up to 55 °C at de-rated current.

13.6 Electrical Installation

TERMINAL TORQUE
Terminals must be tightened to the rated torque as specified in the Installation Instructions. Refer to the relevant Power Installation Guide for further
information.
WIRING TERMINALS
Drives must be installed using cables rated for 75 °C operation, copper wire only.
GROUND CONNECTION INSTRUCTIONS
UL Listed closed-loop connectors sized according to the field wiring shall be used for grounding. Refer to the relevant Power Installation Guide for
further information.
BRANCH CIRCUIT PROTECTION
The fuses and circuit breakers required for branch circuit protection are contained in the Installation Instructions.
OPENING OF BRANCH CIRCUIT
Opening of the branch-circuit protective device may be an indication that a fault has been interrupted. To reduce the risk of fire or electric shock, the
equipment should be examined and replaced if damaged. If burnout of the current element of an overload relay occurs, the complete overload relay
must be replaced.
Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with
the National Electrical Code and any additional local "codes".
DYNAMIC BRAKING
Drives with model numbers beginning M100, M101, M200, M201, M300 or M400, with frame sizes 1 to 4 have been evaluated for dynamic braking
applications.
All other drives have not been evaluated for dynamic braking.

Unidrive M600 Control User Guide 219

13.7 Motor overload protection and thermal memory retention

All drives incorporate internal overload protection for the motor load that does not require the use of an external or remote overload protection device.
The protection level is adjustable and the method of adjustment is provided in section 8.4 Motor thermal protection on page 94. Maximum current
overload is dependent on the values entered into the current limit parameters (motoring current limit, regenerative current limit and symmetrical
current limit entered as percentage) and the motor rated current parameter (entered in amperes).
The duration of the overload is dependent on motor thermal time constant (variable up to a maximum of 3000 seconds). The default overload
protection is set such that the product is capable of 150 % of the current value entered into the motor rated current parameter for 60 seconds.
The drives are provided with user terminals that can be connected to a motor thermistor to protect the motor from high temperature, in the event of a
motor cooling fan failure.
The method of adjustment of the overload protection is provided in the Installation Instructions shipped with the product.
All models are provided with thermal memory retention.
13.8 Electrical supply
The drives are suitable for use on a circuit capable of delivering not more than 100,000 RMS Symmetrical Amperes, at rated voltage when protected
by fuses as specified in the Installation Instructions.
Some smaller drives are suitable for use on a circuit capable of delivering not more than 10,000 RMS Symmetrical Amperes, at rated voltage when
protected by circuit breakers as specified in the Installation Instructions.
13.9 External Class 2 supply
The external power supply used to power the 24 V control circuit shall be marked: "UL Class 2". The power supply voltage shall not exceed 24 Vdc.

13.10 Requirement for Transient Surge Suppression

This requirement applies to drives with rated input voltage = 575 V, Frame Size 7 only.
TRANSIENT SURGE SUPPRESSION SHALL BE INSTALLED ON THE LINE SIDE OF THIS EQUIPMENT AND SHALL BE RATED 575 Vac
(PHASE TO GROUND), 575 Vac (PHASE TO PHASE), SUITABLE FOR OVERVOLTAGE CATEGORY III, AND SHALL PROVIDE PROTECTION
FOR A RATED IMPULSE VOLTAGE TO WITHSTAND VOLTAGE PEAK OF 6 kV AND A CLAMPING VOLTAGE OF MAXIMUM 2400 V.

13.11 Group Installation and Modular Drive Systems

Drives with DC+ and DC- supply connections, with 230 V or 480 V supply voltage rating, are UL approved for use in modular drive systems as
inverters when supplied by the converter sections: Mentor MP25A, 45A, 75A, 105A, 155A or 210A range manufactured by Nidec Industrial
Automation.
Alternatively, the inverters may be supplied by converters from the Unidrive-M range manufactured by Nidec Industrial Automation.
In these applications the inverters are required to be additionally protected by supplemental fuses.
Drives have not been evaluated for other Group Installation applications, for example where a single inverter is wired directly to two or more motors.
In these applications, additional thermal overload protection is needed. Contact Nidec Industrial Automation for further details.

13.12 cUL requirements for 575 V frame size 7 and 8

For size 7 and 8 575 Vac models only (07500440, 07500550, 08500630, 08500860), the following must be adhered to in order to comply with cUL
approval requirements:
TRANSIENT SURGE SUPPRESSION SHALL BE INSTALLED ON THE LINE SIDE OF THIS EQUIPMENT AND SHALL BE RATED 575 Vac
(PHASE TO GROUND), 575 Vac (PHASE TO PHASE), SUITABLE FOR OVERVOLTAGE CATEGORY III, AND SHALL PROVIDE PROTECTION
FOR A RATED IMPULSE WITHSTAND VOLTAGE PEAK OF 6 kV AND A CLAMPING VOLTAGE OF MAXIMUM 2400 V.

220 Unidrive M600 Control User Guide

Index
Symbols K
+10V user output .....................................................................27 Keypad and display - Installing / removing ............................. 22
+24V external input ....................................................24, 27, 30 Keypad operation ................................................................... 33
+24V user output .....................................................................29
M
Numerics Maximum speed / frequency .................................................. 96
0V ............................................................................................30 Mechanical Installation ........................................................... 21
0V common .............................................................................27 Menu 0 .................................................................................... 36
Menu 01 - Frequency / speed reference .............................. 124
A Menu 02 - Ramps ................................................................. 128
Acceleration ............................................48, 66, 67, 68, 69, 70 Menu 03 - Slave frequency, speed feedback and speed
Advanced menus ....................................................................36 control ............................................................................. 131
Advanced parameters ...........................................................111 Menu 04 - Torque and current control .................................. 135
Alarm .....................................................................................217 Menu 05 - Motor control ....................................................... 139
Alarm Indications ...................................................................217 Menu 06 - Sequencer and clock ........................................... 144
Analog input 2 .........................................................................28 Menu 07 - Analog I/O ........................................................... 148
Analog input 3 .........................................................................28 Menu 08 - Digital I/O ............................................................. 152
Analog output 1 .......................................................................29 Menu 09 - Programmable logic, motorized pot and binary
Analog output 2 .......................................................................29 sum ................................................................................. 157
Autotune ..................................................................................80 Menu 10 - Status and trips ................................................... 163
Menu 11 - General drive set-up ............................................ 165
B Menu 12 - Threshold detectors and variable selectors ......... 167
Basic requirements .................................................................61 Menu 13 - Position control .................................................... 176
Menu 14 - User PID controller .............................................. 180
C Menu 18 - Application menu 1 .............................................. 184
Cautions ..................................................................................12 Menu 19 - Application menu 2 .............................................. 184
Control connections ................................................................26 Menu 20 - Application menu 3 .............................................. 184
Control terminal specification ..................................................27 Menu 21 - Second motor parameters ................................... 185
Current limit .............................................................................48 Menu 22 - Additional Menu 0 set-up ..................................... 187
Current limits ...........................................................................94 Menu structure ........................................................................ 35
Current loop gains ...................................................................91 Minimum connections to get the motor running in any
operating mode ................................................................. 62
D Mode parameter ..................................................................... 26
Deceleration ............................................51, 66, 67, 68, 69, 70 Monitoring ............................................................................... 50
Defaults (restoring parameter) ................................................39 Motor (running the motor) ....................................................... 61
Destination parameter .............................................................26 Motor number of poles ............................................................ 79
Diagnostics ............................................................................189 Motor parameters ................................................................... 56
Digital I/O 1 .............................................................................29 Motor rated current ................................................................. 79
Digital I/O 2 .............................................................................29 Motor rated current (maximum) .............................................. 94
Digital I/O 3 .............................................................................29 Motor rated frequency ............................................................ 79
Digital Input 4 ..........................................................................29 Motor rated power factor ........................................................ 79
Digital Input 5 ..........................................................................29 Motor rated speed .................................................................. 79
Digital Input 6 ..........................................................................29 Motor rated voltage ................................................................. 79
Display ....................................................................................33 Motor thermal protection ......................................................... 94
Display messages ...................................................................37
Drive enable ............................................................................30 N
Notes ...................................................................................... 12
F NV media card operation ...................................................... 104
Field weakening (constant power) operation ...........................95
Fixed V/F mode .......................................................................16 O
Onboard PLC ........................................................................ 109
G Open loop mode ..................................................................... 16
Getting Started ........................................................................33 Open loop vector mode .......................................................... 16
Operating mode (changing) .............................................. 38, 61
H Operating modes .................................................................... 16
High speed operation ..............................................................95 Operating-mode selection ...................................................... 57
Optimization ............................................................................ 79
I Option Module ...................................................................... 183
Internal / Hardware trips ........................................................217 Option Module - Installing / removing ..................................... 21
Options ................................................................................... 18

Unidrive M600 Control User Guide 221

P
Parameter access level ...........................................................39
Parameter ranges .................................................................114
Parameter security ..................................................................39
Parameter x.00 .......................................................................48
Position feedback module category parameters ...................183
Precision reference Analog input 1 .........................................28
Product information .................................................................14

Q
Quadratic V/F mode ................................................................16
Quick start commissioning / Start-up ......................................66
Quick start connections ...........................................................61

R
Ramps .....................................................................................48
Regen mode ...........................................................................16
Relay contacts ........................................................................30
RFC-A mode ...........................................................................16
RFC-S mode ...........................................................................16

S
Safe Torque Off ......................................................................31
Safe Torque Off/drive enable ..................................................30
Safety Information ...................................................................12
Saving parameters ..................................................................38
Serial comms lead ..................................................................25
Serial communications connections ........................................25
Serial communications look-up table ....................................215
Single line descriptions ...........................................................42
Source parameter ...................................................................26
Speed reference selection ......................................................48
Speed-loop PID gains .............................................................49
Status ....................................................................................217
Status Indications ..................................................................217
Status information ...................................................................57
Switching frequency ................................................................95

T
Trip ........................................................................................189
Trip History ............................................................................218
Trip Indications ......................................................................189
Trips, Sub-trip numbers ........................................................191

U
UL listed accessories ............................................................219
UL Listing Information ...........................................................219
User Security ..........................................................................39

V
Voltage boost ..........................................................................49
Voltage mode ................................................................... 80, 81

W
Warnings .................................................................................12

222 Unidrive M600 Control User Guide

0478-0337-03

Frequentieregelaars Unidrive m700 m702 Control User Guide en Iss3 0478 0353 03
No ratings yet
Frequentieregelaars Unidrive m700 m702 Control User Guide en Iss3 0478 0353 03
292 pages
SI PROFINET User Guide 0478 0363 03
No ratings yet
SI PROFINET User Guide 0478 0363 03
132 pages
Frequentieregelaars Unidrive m600 m701 Regen Design Guide en Iss6 0478 0366 06
No ratings yet
Frequentieregelaars Unidrive m600 m701 Regen Design Guide en Iss6 0478 0366 06
354 pages
Commander C200 & C300 Frame 7 To 9 Power Installation Guide - en Issue 13
No ratings yet
Commander C200 & C300 Frame 7 To 9 Power Installation Guide - en Issue 13
128 pages
MiS210 and MiS250 Safety Installation and Operating Manual (0478-0665-01) Approved
No ratings yet
MiS210 and MiS250 Safety Installation and Operating Manual (0478-0665-01) Approved
230 pages
NE200 and NE300 User Guide
No ratings yet
NE200 and NE300 User Guide
162 pages
Commander S100 User Guide Issue 3
No ratings yet
Commander S100 User Guide Issue 3
117 pages
Mentor MP Short Form Guide English Issue 8
No ratings yet
Mentor MP Short Form Guide English Issue 8
133 pages
Unidrive M Power Module Frame 12 Issue 4
No ratings yet
Unidrive M Power Module Frame 12 Issue 4
81 pages
Unidrive M Modular Installation Guide English Issue 7 (0478-0141-07) - Approved PDF
No ratings yet
Unidrive M Modular Installation Guide English Issue 7 (0478-0141-07) - Approved PDF
158 pages
Frequentieregelaars Commander c200 c300 en Unidrive m200 m702 Frame 7 10 Power Installation Guide en Iss12 0478 0234 12
No ratings yet
Frequentieregelaars Commander c200 c300 en Unidrive m200 m702 Frame 7 10 Power Installation Guide en Iss12 0478 0234 12
124 pages
Nidec Unidrive M200 Manual
No ratings yet
Nidec Unidrive M200 Manual
158 pages
Unidrive M Frame 7 To 10 Power Installation Guide Issue 11 en
No ratings yet
Unidrive M Frame 7 To 10 Power Installation Guide Issue 11 en
124 pages
Unidrive M Frame 5 and 6 Installation Guide English Issue6 (0478-0255-06) - Approved - New
No ratings yet
Unidrive M Frame 5 and 6 Installation Guide English Issue6 (0478-0255-06) - Approved - New
108 pages
Unidrive M Frame 3 and 4 Power Installation Guide Issue 5 (0478-0254-05) - Approved
No ratings yet
Unidrive M Frame 3 and 4 Power Installation Guide Issue 5 (0478-0254-05) - Approved
104 pages
Frequentieregelaars Affinity Control User Guide en Iss6 0474 0000 06
No ratings yet
Frequentieregelaars Affinity Control User Guide en Iss6 0474 0000 06
270 pages
Captura de Tela 2023-11-07 À(s) 8.03.13 AM
No ratings yet
Captura de Tela 2023-11-07 À(s) 8.03.13 AM
200 pages
Unidrive m600 Series
No ratings yet
Unidrive m600 Series
344 pages
Affinity Advanced User Guide Iss3 (0474-0011-03) - Approved PDF
No ratings yet
Affinity Advanced User Guide Iss3 (0474-0011-03) - Approved PDF
240 pages
Sidevicenet
No ratings yet
Sidevicenet
78 pages
EPA Unidrive M400 Frame1to4 QuickStartGuide
No ratings yet
EPA Unidrive M400 Frame1to4 QuickStartGuide
71 pages
Necap
No ratings yet
Necap
310 pages
EPA SI-DeviceNet UserGuide
No ratings yet
EPA SI-DeviceNet UserGuide
82 pages
Unidrive Hs70!71!72 User Guide Issue 1 (0478-0231-01)
No ratings yet
Unidrive Hs70!71!72 User Guide Issue 1 (0478-0231-01)
228 pages
Pump Drive F600 User Guide Issue 1
No ratings yet
Pump Drive F600 User Guide Issue 1
463 pages
MultiAx User Guide English Issue 7 (0437-0005-07) - Approved PDF
No ratings yet
MultiAx User Guide English Issue 7 (0437-0005-07) - Approved PDF
66 pages
Powerdrive F300 User Guide English Issue 4 (0479-0003-04) - Approved - New
No ratings yet
Powerdrive F300 User Guide English Issue 4 (0479-0003-04) - Approved - New
324 pages
Frequentieregelaars Unidrive SP Free Standing User Guide en Iss3 0471 0122 03
No ratings yet
Frequentieregelaars Unidrive SP Free Standing User Guide en Iss3 0471 0122 03
276 pages
Unidrive M100-M101 UG Iss3
No ratings yet
Unidrive M100-M101 UG Iss3
136 pages
M300 Uder Guide
No ratings yet
M300 Uder Guide
162 pages
EPA Unidrive M400 Control QuickStartGuide
No ratings yet
EPA Unidrive M400 Control QuickStartGuide
61 pages
Emerson m200
No ratings yet
Emerson m200
204 pages
CT M200 M201 Control Guide
No ratings yet
CT M200 M201 Control Guide
158 pages
CTNet User Guide Iss8
No ratings yet
CTNet User Guide Iss8
82 pages
Digitax HD M751 Control UG Issue 3 (0478-0460-03) - Approved
No ratings yet
Digitax HD M751 Control UG Issue 3 (0478-0460-03) - Approved
228 pages
Variador M300, Centrífuga 3
No ratings yet
Variador M300, Centrífuga 3
212 pages
EPA SI-I O UserGuide
No ratings yet
EPA SI-I O UserGuide
41 pages
EPA SI-Encoder UserGuide
No ratings yet
EPA SI-Encoder UserGuide
39 pages
M700 M701 User Guide
No ratings yet
M700 M701 User Guide
58 pages
Digitax HD M750 Control User Guide
No ratings yet
Digitax HD M750 Control User Guide
256 pages
Unidrive SPM-User Guide - I4
100% (1)
Unidrive SPM-User Guide - I4
302 pages
SM-IO 24V Protected UG Iss3 (0471-0072-03) - Approved
No ratings yet
SM-IO 24V Protected UG Iss3 (0471-0072-03) - Approved
44 pages
Uni SP Free Standing UG Iss1 (Draft10)
No ratings yet
Uni SP Free Standing UG Iss1 (Draft10)
272 pages
EPA SI-ApplicationsPlus UserGuide
No ratings yet
EPA SI-ApplicationsPlus UserGuide
115 pages
Unidrive M700 - 701 - 702 User Guide Issue 9 (0478-0000-09)
No ratings yet
Unidrive M700 - 701 - 702 User Guide Issue 9 (0478-0000-09)
330 pages
Digitax HD m75 Series
No ratings yet
Digitax HD m75 Series
116 pages
SM-Safety User Guide Issue 6 (0471-0146-06) - Approved
No ratings yet
SM-Safety User Guide Issue 6 (0471-0146-06) - Approved
94 pages
Unidrive M Modular Installation Guide Issue 2 (0478-0141-02)
No ratings yet
Unidrive M Modular Installation Guide Issue 2 (0478-0141-02)
92 pages
Guia M400
No ratings yet
Guia M400
70 pages
English Unidrive M400 UG Issue 60478-0044-06
No ratings yet
English Unidrive M400 UG Issue 60478-0044-06
234 pages
SI - Encoder User Guide Iss2 (0478-0127-02) - Approved
No ratings yet
SI - Encoder User Guide Iss2 (0478-0127-02) - Approved
38 pages
Unidrive PDF
No ratings yet
Unidrive PDF
209 pages
CT Unidrive SP Size 0-6 User Guide - Issue 13 PDF
0% (1)
CT Unidrive SP Size 0-6 User Guide - Issue 13 PDF
310 pages
Digitax ST
No ratings yet
Digitax ST
206 pages
SI-Applications Plus User Guide English Issue 3 (0478-0009-03) - Approved
No ratings yet
SI-Applications Plus User Guide English Issue 3 (0478-0009-03) - Approved
114 pages
Mentor MP Advanced User Guide
No ratings yet
Mentor MP Advanced User Guide
198 pages
Mp700a4r Mentor - MP - Short - Form - Guide - English - Issue - 5
No ratings yet
Mp700a4r Mentor - MP - Short - Form - Guide - English - Issue - 5
130 pages
Control Techniques Drive User Manual
No ratings yet
Control Techniques Drive User Manual
54 pages
Chemistry Practical 1st Internal
No ratings yet
Chemistry Practical 1st Internal
4 pages
Arrays and Do Loops
No ratings yet
Arrays and Do Loops
18 pages
Mills - Catalog
No ratings yet
Mills - Catalog
4 pages
Disk Free Space Management Techniques
No ratings yet
Disk Free Space Management Techniques
16 pages
Engineering Mechanics Bit Bank
No ratings yet
Engineering Mechanics Bit Bank
24 pages
PC400-7L A86001 Troublesh H
No ratings yet
PC400-7L A86001 Troublesh H
26 pages
11518228
No ratings yet
11518228
16 pages
E Agriculture - PDF - 36924360 - 2024 - 08 - 26 - 11 - 13
No ratings yet
E Agriculture - PDF - 36924360 - 2024 - 08 - 26 - 11 - 13
13 pages
Magnetic Investigation of The Hett Dyke
No ratings yet
Magnetic Investigation of The Hett Dyke
8 pages
Adaptive ARIMA for Time Series
No ratings yet
Adaptive ARIMA for Time Series
17 pages
Internal Control Checklist
No ratings yet
Internal Control Checklist
44 pages
Bangladesh-GCC Trade Insights
0% (1)
Bangladesh-GCC Trade Insights
33 pages
Flight 60 Service Manual Reva
No ratings yet
Flight 60 Service Manual Reva
101 pages
Affix Careers: Welcome To Our Company
No ratings yet
Affix Careers: Welcome To Our Company
9 pages
CP Portal DMS User Manual 20241009 Ver
No ratings yet
CP Portal DMS User Manual 20241009 Ver
59 pages
Chemical Manufacture and Industries Lahore Sheikhupura Road
100% (3)
Chemical Manufacture and Industries Lahore Sheikhupura Road
6 pages
MC-050 AP Configuration
No ratings yet
MC-050 AP Configuration
79 pages
Ahmedabad - Student Speak - How Much Does It Really Cost To Live in
No ratings yet
Ahmedabad - Student Speak - How Much Does It Really Cost To Live in
2 pages
UniFi System Startup Log Analysis
No ratings yet
UniFi System Startup Log Analysis
43 pages
Guide For The Development of The Practical Component - Unit 2 - Phase 4 - Simulated Practice
No ratings yet
Guide For The Development of The Practical Component - Unit 2 - Phase 4 - Simulated Practice
5 pages
Business Ethics Final
No ratings yet
Business Ethics Final
18 pages
Computer 8 1st and 2nd
No ratings yet
Computer 8 1st and 2nd
79 pages
Java Developer Resume of Hemavathi S
No ratings yet
Java Developer Resume of Hemavathi S
2 pages
Ejercicios Mold and Die Design
No ratings yet
Ejercicios Mold and Die Design
6 pages
Final - Financial Ratios of Banks
No ratings yet
Final - Financial Ratios of Banks
16 pages
Trademark User Affidavit
No ratings yet
Trademark User Affidavit
3 pages
2025 Benefits Guide
No ratings yet
2025 Benefits Guide
49 pages
National Clean Cooking Strategy (2024-2034)
No ratings yet
National Clean Cooking Strategy (2024-2034)
82 pages
Nyk Line Car Carrier - Google Search
No ratings yet
Nyk Line Car Carrier - Google Search
1 page
Company Cultures: Lesson 3
No ratings yet
Company Cultures: Lesson 3
11 pages