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ACS800

Firmware Manual Application Program Template 7.x

Application Program Template 7.x

Firmware Manual

ACS800 Code: 3AFE64616340 REV D EN

EFFECTIVE: 08.05.2006

2006 ABB Oy. All rights reserved.

Table of contents

Table of contents...............................................................................................................................5 Introduction to this manual ..............................................................................................................9 Overview .............................................................................................................................................9 Compatibility........................................................................................................................................9 Safety instructions ...............................................................................................................................9 Before you start ...................................................................................................................................9 What this manual contains ..................................................................................................................9 Overview of ACS800 programming ...............................................................................................11 Overview ...........................................................................................................................................11 ACS800 programming.......................................................................................................................11 Parameter Groups ........................................................................................................................11 Start-up Data Parameters ........................................................................................................11 Commissioning tools .........................................................................................................................12 DriveWindow ............................................................................................................................12 Control panel............................................................................................................................12 Control diagrams ...............................................................................................................................12 Commissioning; ACS800 SingleDrive...........................................................................................15 Software description.......................................................................................................................21 Drive functions...................................................................................................................................21 General .........................................................................................................................................21 Application program identification.................................................................................................22 Program boot ................................................................................................................................22 Control modes ..............................................................................................................................22 REMOTE mode ............................................................................................................................22 Local mode ...................................................................................................................................22 Reduced run function ........................................................................................................................23 Emergency stop ................................................................................................................................23 Emergency stop modes ................................................................................................................23 Action if the motor is stopped .......................................................................................................23 Action if the motor is running ........................................................................................................24 Communication .................................................................................................................................24 Fieldbus communication....................................................................................................................25 Fieldbus signal..............................................................................................................................25 Integer scaling ..............................................................................................................................25 I/O devices on parallel slots or channel CH1 ....................................................................................25 Master/Follower link on channel CH2................................................................................................26

Table of contents

6 Commissioning and supporting tools on channel CH3......................................................................26 Modbus link .......................................................................................................................................26 Communication profiles .....................................................................................................................27 ABB Drives communication profile ....................................................................................................27 Drive states...................................................................................................................................27 Main Control Word (MCW) ................................................................................................................29 Generic Drive communication profile.................................................................................................35 Speed reference and actual speed scaling...................................................................................36 I/O Configurations..............................................................................................................................37 Digital inputs .................................................................................................................................37 Digital outputs....................................................................................................................................37 Analogue inputs.................................................................................................................................38 RMIO Motor and I/O control board ...............................................................................................38 RAIO-01 Analogue I/O Extension module ....................................................................................39 Analogue outputs ..............................................................................................................................39 Pulse encoder interface RTAC-01.....................................................................................................41 The Master/Follower link ...................................................................................................................41 General .........................................................................................................................................41 Link configuration..........................................................................................................................41 Follower diagnostics .....................................................................................................................42 Master/Follower link specification .................................................................................................42 Diagnostics ........................................................................................................................................43 General .........................................................................................................................................43 Fault and event loggers .....................................................................................................................43 AMC time format and counting .....................................................................................................43 Data logger ........................................................................................................................................43 Positioning counter ............................................................................................................................44 Positioning counting function ........................................................................................................45 Back-up of parameters or software ...................................................................................................45 Signals..............................................................................................................................................47 Overview ...........................................................................................................................................47 How to read the signal table ..............................................................................................................47 AMC Table Signals............................................................................................................................49 Group 1 Actual Signals .................................................................................................................49 Group 2 Actual Signals .................................................................................................................51 Group 3 Actual Signals .................................................................................................................53 Group 4 Information......................................................................................................................55 Group 7 Control Words.................................................................................................................56 Group 8 Status Words ..................................................................................................................58 Group 9 Fault Words ....................................................................................................................62 Parameters .......................................................................................................................................67 Overview ...........................................................................................................................................67 Parameter groups..............................................................................................................................67 How to read the Parameter Table .....................................................................................................68 Group 10 Start/Stop/Dir .....................................................................................................................69 Group 13 Analogue inputs.................................................................................................................69 Group 14 Digital outputs....................................................................................................................70
Table of contents

Group 15 Analogue outputs ..............................................................................................................71 Group 16 System control inputs ........................................................................................................73 Group 17 DC HOLD ..........................................................................................................................74 Group 18 LED panel control..............................................................................................................75 Group 19 Data storage......................................................................................................................76 Group 20 Limits .................................................................................................................................77 Group 21 Start/Stop functions ...........................................................................................................78 Group 22 Accel/Decel .......................................................................................................................79 Group 23 Speed reference................................................................................................................81 Group 24 Speed control ....................................................................................................................83 Proportional gain parameter of the speed controller ................................................................84 The Adaptive speed control as a function of the torque reference...........................................84 Set point weighting...................................................................................................................84 Integration time parameters of the speed controller.................................................................85 Derivation parameters of the speed controller .........................................................................85 Acceleration compensation parameters...................................................................................85 Adaptive Speed Control as Function of the Speed ..................................................................86 Group 25 Torque reference...............................................................................................................86 Group 26 Torque reference handling ................................................................................................87 Group 27 Flux control........................................................................................................................89 Group 29 Scalar control ....................................................................................................................90 Group 30 Fault functions ...................................................................................................................92 Motor thermal model user mode ..............................................................................................93 Stall protection .........................................................................................................................94 Underload protection................................................................................................................95 Group 37 Brake chopper ...................................................................................................................98 Group 50 Speed measurement .........................................................................................................99 Group 51 Communication module (FBA) ........................................................................................102 Group 52 Standard Modbus ............................................................................................................102 Group 70 DDCS control ..................................................................................................................103 Group 90 D set rec ADDR...............................................................................................................106 Group 92 D set TR ADDR ...............................................................................................................106 Group 95 Hardware specific............................................................................................................107 Group 98 Option modules ...............................................................................................................108 Group 99 Start-up data....................................................................................................................112 Overview of the CDP 312R control panel....................................................................................115 Overview.....................................................................................................................................115 Panel link ....................................................................................................................................115 Display ........................................................................................................................................116 Keys............................................................................................................................................116 Panel operation ...............................................................................................................................117 Keypad modes............................................................................................................................117 Identification display...............................................................................................................117 Actual signal display mode ....................................................................................................117 Parameter mode ....................................................................................................................121 Function mode .......................................................................................................................123 Copying parameters from one unit to other units ...................................................................125 Setting the contrast ................................................................................................................125 Drive selection mode..............................................................................................................125

Table of contents

8 Operational commands...............................................................................................................127 Start, Stop, Direction and reference.......................................................................................127 Fault tracing ...................................................................................................................................129 Overview .........................................................................................................................................129 I/O error monitoring .........................................................................................................................129 Internal Fault on the I/O Board ...................................................................................................129 Communication monitoring..............................................................................................................129 Power plate overtemperature fault ..................................................................................................129 Ambient temperature .......................................................................................................................129 Overcurrent .....................................................................................................................................130 DC overvoltage................................................................................................................................130 DC undervoltage .............................................................................................................................131 Local control lost function ................................................................................................................131 Run enable interlocking function .....................................................................................................131 Short circuit .....................................................................................................................................131 DC Link intermediate current ripple fault .........................................................................................131 Overspeed fault ...............................................................................................................................132 Overswitching frequency fault .........................................................................................................132 System fault.....................................................................................................................................132 Motor protections.............................................................................................................................132 Motor thermal protection functions .............................................................................................132 Motor thermal model ..............................................................................................................133 Usage of PTC or PT100 temperature sensors ................................................................................133 Stall function ....................................................................................................................................135 Motor phase loss function................................................................................................................136 Fault and alarm messages ..............................................................................................................137 Fault message table ...................................................................................................................137 Alarm messages table ................................................................................................................144 Other messages .........................................................................................................................147

Table of contents

Introduction to this manual


Overview
This chapter describes the purpose, contents and the intended audience of this manual. It also explains the terms used in this manual and lists related publications.

Compatibility
The manual is compatible with ACS800 Application Program Template 7.x.

Safety instructions
Follow all safety instructions delivered with the drive. Read the complete safety instructions before you install, commission, or use the drive. The complete safety instructions are given at the beginning of the Hardware Manual. Read the software function specific warnings and notes before changing the default settings of the function. For each function, the warnings and notes are given in this manual in the subsection describing the related user-adjustable parameters.

Before you start


The purpose of this manual is to provide you with the information necessary to control and program your ACS800. The audience for this manual is expected to have: Knowledge of standard electrical wiring practices, electronic components and electrical schematic symbols.

What this manual contains


Introduction to this manual the chapter you are reading now, introduces you to this manual. Overview of ACS800 programming describes the programming principles of the drive. Commissioning; ACS800 SingleDrive describes the commissioning procedure of the SingleDrive. Software description describes the typical functions of the drive. Signals describes the measured, calculated and control word signals of the drive. Parameters describes the parameters of the drive.

Introduction to this manual

10 Overview of CDP 312R control panel gives instructions for using the panel. Fault tracing lists the alarm and fault messages with the possible causes and remedies.

Introduction to this manual

11

Overview of ACS800 programming

Overview
This chapter describes the programming principles of the ACS800 drive.

ACS800 programming
An application software template has been programmed using the FCB (Function Chart Builder) tool, whose target is the Motor and I/O Control board (RMIO). The trained user can further customize this template by FCB to extend the I/O, add mathematic calculations, application parameters and signals, logic control, communication between the RMIO boards, etc. Parameters are programmed during commissioning by DriveWindow or the CDP 312R control panel. Parameter Groups In order to simplify programming, the parameters of the ACS800 drive are organised into logical Groups. All of the parameters are described in the chapter Parameters and signals in the chapter Signals. Start-up Data Parameters The Start-up Data parameters (group 99) contain the basic settings needed to match the ACS800 with the motor and to set the Control Panel display language. The Start-up Data Group includes parameters that are set at start-up and should not need to be changed later on. See the chapter Parameters group 99.

Overview of ACS800 programming

12

Commissioning tools
DriveWindow The DriveWindow software is the commissioning and maintenance tool available for ABB products. With this component structure, enhanced flexibility is achieved to enable you to work with several different types of product through different target and communication drivers. Control panel The CDP 312R control panel is the device used for locally controlling and programming the ACS800. The CDP 312R control panel has 16 keys, and can monitor and control up to 31 drives. The display has 4 lines of 20 characters. For more information see the chapter Overview of CDP 312R control panel.

Control diagrams
The speed control is executed every 1 ms in the fixed part of the software. The following figures shows the speed and torque control chains.

Overview of ACS800 programming

FIELD BUS COMMUN.


LOCAL REF1

FIELD BUS ADAPTER

98.02 MCW -1
TORQ ACC COMP REF

COM M. MODULE =

98.02

FBA DSET10

COMM. MODULE = FBA DSET 1

SPEED REFERENCE CHAIN


B LOCAL DIRECTION 1 LOCAL

ACCELERATION COMPENSATION

SPEED CONTROL
2.07

CH0

Datasets 10...32

MCW SPEED REF TORQ REF A

MCW

Dataset 1

MCW REF1 REF2

CH0

Datasets 11...33

CH0
24.14
ACC COMP DER TIME ACC COMPFILT TIME

Dataset 2

MSW SPEED ACT TORQ REF 2

MSW ACT1 ACT2

24.15

ANALOGUE INPUTS
LIMITER

COMM MODULE 98.02

FOLL SPEED REF

SPEED CORRECTION MCW B8, B9 CONST SPEED 2 (INCHING 2)

23.04

+ +
24.07
SET_P_WEIGHTING
SET_POINT_WEIGHT

70.17

30.03

23.03 2.02

13.01 11.01 98.06


20.0 1
MINI MU M S PE ED

AI1 HIGH VALUE

AI1
S PE ED R EF 3

13.02

AI1 LOW VALUE

13.03
ACC/DEC/SHAPE

FILTER AI1

98.06 MOTOR TEMP


20.02
MAXI MUM SPEE D

CONST SPEED 1 23.02 (INCHING 1)

24.08 24.02

DROOP RATE

13.12
PTC, PT100

MINIMUM AI1

EXT1:AI1 MCW B4 MCW B6


R AM P

13.04 MOTOR1 MOTOR2 23.01 1


0

AI2 HIGH VALUE

13.05 -1

AI21 LOW VALUE

AI2

SPEED STEP 23.10

13.06

MINIMUM AI2

30.06

SPEED REF
2.01
SPEED REF2
MCW B5
H O LD FILTER 0 2 2.01 2 2.02 DECELER TIME ACC/DEC TIME SCALE ACCELER TIME

_ +

PID- CONTROLLER
TORQUE DER REF
TORQUE PROP REF 2.06 2.04 .

13.07
LIMITER

FILTER AI2

EXT1:AI2

13.08

AI3 HIGH VALUE

B TORQ REF B

WINDOW

23.05 SPEED SHARE

D
LIMITER
TORQ REF2

13.09

AI31 LOW VALUE

AI3

13.10
FILTER

MINIMUM AI3

MOTOR MODEL

1.02

SPEED MEASUREMENT

2.18

13.11 MOTOR SPEED


2 2.03

FILTER AI3

SPEED ESTIMATED

+
2.03
(-1)

2.09
SPC TORQ MAX

20.01
MINIMUM

NTAC-02 NIOB-01
SPEED SCALING SPEED MEAS MODE

50.01
2 2.05 RAMP SHPE TIME
SPEED

. 1.04
EME STOP RAMP

2 2.04

SPEED
M AXI MUM

SPEED REF4
SPEED ERROR FILT WINDOW INTG ON

PI
SPEED ERROR NEG
24.11 ACW b8 20.07
BAL REF

SPC TORQ MIN SPC TORQ MIN LIM

PULSE ENCODER SPEED MEASUREMENT

1.03
SPEED FB SEL

50.02 50.06
S P A CT FI LT TIME

20.02

8.03 bit 1 BAL_NCONT SPC TORQMAX


SPC TORQ MAX LIM

SPEED MEASURED

50.03
2 2.06 VARIABLE SLOPE VARIABLE SLOPE RATE BAL RAMP OUT BAL RAMP REF RAMP BYPASS dV/dt 2 2.07
ENCODER PULSE NR ENCODER ALM/FLT ENCODER MODULE

23.06 23.07 23.08 23.09

8.03 bit 2 TORQUE INTEG REF

Figure 1. Speed reference chain


W INDOW W IDTH POS W INDOW WIDTH NEG

DIGITAL INPUTS
FILTER
2 2.08 A CW B 2 A CW B 3

50.04

50.05

NO EME STOP DI 7

98.01

20.08 24.03 24.04 24.05

SPC TORQMIN KPS

2.05
KPS

RUN ENABLE DI2


1.01

KPS MIN
KPS WEAKPOINT 24.06 24.09 KPS WP FILT TIME
T ORQ R EF2

2.16

DI4 Reverse
TIME: 500 ms

(Default) RUN ENABLE

START/STOP CONTROL NO EME STOP MOTOR SPEED FILT

SPEED ACTUAL

10.01

(not shown in the signal 23.01 SPEED REF)

TIS
24.10 24.17

TIS INIT VALUE


KPS TIS MIN FREQ
KPS

K PS T IS KPS VAL MAX FREQ

10.02 START/STOP 7.01 70.08


CH2 M/F MODE = MASTER

10.09 70.09 RESET 70.10 70.11 MAIN CONTROL WORD

PROGRAMMABLE FUNCTIONS: DI3...DI6, EXT2:DI1 and EXT2:DI2 START, STOP REVERSE RESET SYNC CMD KLIXON MOTOR FAN ACK HAND/AUTO

LOCAL DI3 Start/Stop (Default) MCW

MASTER DRIVE CH2

Fast Master / Follower DDCS Link

FOLLOWER DRIVE
70.08
CH2 M/F MODE = FOLLOWER

24.18 24.19 24.20 24.12

KPS TIS MAX FREQ KPS VAL MIN FREQ TIS VAL MIN FREQ DERIVATION TIME

TIS

TIS VAL MIN FREQ m oto r freq

LOCAL CTRL PANEL

DI5 Reset (Default)

>1

2.19 2.20

REF

LOCAL REF

MASTER REF1 MASTER REF2 MASTER REF3

24.13

DERIV. FILT TIME

KPS TIS MAX FREQ KPS TIS MIN FREQ

Dataset 41 MCW SPEED REF TORQ REF A

C See next figure

LOC/REM

LOCAL

MCW

CH2

START

STOP

LOCAL STARTING HANDLING FIGUR2_1_60.dsf

FORWARD

REVERSE

LOCAL DIRECTION CONTROL

LOCAL DIRECTION

Overview of ACS800 programming

RESET

13

14

TORQUE CONTROL CHAIN


OUTPUT SIGNAL SELECTIONS
DIGITAL OUTPUTS NIOC-01
14.01
DO1 CONTROL DO1 GROUP+INDEX DO1 BIT NUMBER DO2 GROUP+INDEX DO2 BIT NUMBER DO3 GROUP+INDEX DO3 BIT NUMBER

70.18

FOLL TORQ REF

See previous figure FIELD BUS TORQUE REF A


14.02 14.03 14.04 14.05 14.06 14.07
SPEED REF3

TORQ REF A 25.01

DS TORQ REF A M/F link TORQUE REF C 2.20

OSCILLATION DAMPING

2.02
TORQUE STEP

FILTER
SPEE D ACTUAL
26.03

TORQ REF A
1.02 26.05
LO AD C OMPEN SAT ION 26.02 OSCILLATION FREQ

26.04
OSCILLATION PHASE TORQ REF5
2.12

OSC COMPENSATION

ANALOGUE OUTPUTS NIOC-01


15.01 15.02 15.03 15.04 15.05 15.06 15.07 15.08 15.09 15.10 15.1 1 15.1 2 15.1 3 15.1 4 15.1 5 15.1 6 15.1 7 15.1 8 15.1 9 15.2 0
DIRECT TORQUE and FLUX
ANALOGUE OUTPUT 1 INVERT AO1 MINIMUM AO1 FILTER AO1 SCALE AO1 ANALOGUE OUTPUT 2 INVERT AO2 MINIMUM AO2 FILTER AO2 SCALE AO2 ANALOGUE OUTPUT 3 INVERT AO 3 MINIMUM AO3 FILTER AO 3 SCALE AO 3 ANALOGUE OUTPUT 4 INVERT AO 4 MINIMUM AO4 FILTER AO 4 SCALE AO 4

25.02
LIMITER 26.07
OSCILLATION GAIN TORQ REF4
2.11

26.06

Figure 2. Torque and Flux control chain

FREQ LIMITER 2.22 2.23 2.24

DC-VOLTAGE LIMITER

TORQ FREQ LIM REF FREQUENCY FLUX REF


27.03
P MOTORING LIM

TORQ DC LIM REF MOTOR CURRENT


1.06
MAXIMUM TORQUE MINIMUM TORQUE PULLOUT TCOEF MAX PULLOUT TCOEF MIN INV MA X CURRENT MAXIMUM CURRENT TORQ USER CUR LIM TORQ INV CUR LIM

POWER LIMIT CALCULATION

TORQ POW LIM REF

TORQUE LIMIT ER

TORQUE LIMIT CALCULATION


TORQ USED REF

HYSTERESIS CONTROL

TORQ BITS

DC VOLTAGE
1.05
DC UNDERVOLTAGE DC OVERVOLTAGE DC UNDERVOLT LIM DC OVERVOLT LIM

2.13
FLUX USED REF

FLUX BITS CNTRL BITS S1,S2,S3

29.02 20.17 20.05 20.06 20.12


P MOTORING LIM P GENERATING LIM

FREQUEN CY MAX

1.10 20.04

29.03 20.18 8.03 bit 12 8.03 bit 13 FLU X BR A KE 8.04 bit 0 8.04 bit 1 F IELD W EAKEN IN G F LU X R A M P IN G 20.13
P GENERATING LIM

FREQUENCY MIN

20.11

FREQ TRIP MARGIN

8.03 bit 3 8.03 bit 4


TORQ MAX LIM

OPTIMAL SWITCHING LOGIC FLUX_HYST TORQ_HYST FLUX ACT MOTOR TORQUE

FREQ MAX LIMIT

8.03 bit 11

FREQ MIN LIMIT

8.03 bit 10

FREQ LIMIT

8.03 bit 15

8.03 bit 6
TORQ MIN LIM

2.15

1.07

FLU X O PTIM IZA TIO N FLUX REF SELEC TOR 27.02


FLUX BRAKING FLUXBRAKE_CUR_REF

8.03 bit 5
TORQ MOTOR LIM

MOTOR MODEL CALCULATE ACTUAL VALUES

FLUX REF

8.03 bit 0
ESTIMATE AND CALCULATE MOTOR PARAMETERS

DC VOLTAGE MEASUREMENT

27.03
FLUX BRAKING

27.01 27.02 1.10 8.03 bit 9 27.05 DC MAGN ETIZE STAR T C O NTR O L 1.05
DC_VOLTAGE FREQUENCY

FLUX OPTIMIZATION

27.04 27.05

FLUX_MAX FLUX_MIN FLUX MIN_LIMIT

27.04

FLUX_MAX

CURRENT MEASUREMENT

27.05

FLUX_MIN

FLUX MIN LIMIT

>1
FLU X R EF SELEC TOR

TORQUE LIMIT

Available with optional NAIO-0x module

Overview of ACS800 programming


AO1

TORQ REF A FTC

25.03
2.08 20.09
2.10 TREF TORQ MAX TREF TORQ MIN TREF TORQ MIN LIM TREF TORQ MAX LIM

TORQ REF1
TORQUE REFERENCE SELECTOR
TORQ REF3

LOAD SHARE
20.10 RAMPING 8.03 bit 8
3
MIN

I/O TORQUE REF


8.03 bit 7
0

26.01

TO RQ REF SEL

AO2

LOCAL 2 1
5 6

B
4

25.04

TORQ REF B
2.08
MAX

LOCAL TOR QUE REF (LOCA L REF 2)

25.05

TORQ RAMP UP TIME

AO3

25.06
+

TORQ RAMP DN TIME

SPEED CONTROLLER OUTPUT TORQ REF2 2.09


+
ADD

AO4

TORQ REF 5

ASICS

8.03 bit 14

M
FLUX_USED_REF

FIELDWK_POINT_ACT FLUX_MIN

2.14 DC M AG N E TIZE O N

FIGURE_2_2_60.dsf

FLUX CONTROL CHAIN

15

Commissioning; ACS800 SingleDrive


Commissioning procedure using the control panel 1 - SAFETY The start-up may only be carried out by a qualified electrician. The safety instructions must be followed during the start-up procedure. See the appropriate hardware manual for safety instructions. Check the installation. See the installation checklist in the appropriate hardware/installation manual. Check that the starting of the motor does not cause any danger. De-couple the driven machine if: - there is a risk of damage in case of incorrect direction of rotation, or - a Standard ID Run needs to be performed during the drive start-up. (ID run is essential only in applications which require the ultimate in motor control accuracy.) 2 - POWER-UP Apply mains power. The Control Panel first enters the panel identification data

CDP 312R PANEL Vx.xx

then the Identification Display of the drive

ACS800 xx kW

ID NUMBER 1
and after a few seconds the Control Panel automatically enters the Actual Signal Display. Drive set-up can be started.

1 -> LED PANE CURENT POWER

0.0 0.0 0.0 0.00

rpm 0 Hz A %

Commissioning; ACS800 SingleDrive

16
3 - COMMISSIONING DATA ENTERING (parameter group 99) Select the language. The general parameter setting procedure is given below. The general parameter setting procedure: Press PAR to select parameter mode. Press Press or or to scroll parameter groups (10 to 99). to scroll parameters within the parameter group. or (Fast change by or ). 1 -> 0.0 rpm O 99 START-UP DATA 01 LANGUAGE ENGLISH

Select a new value by ENTER (brackets appear around the parameter value) and Press ENTER to accept the new value (brackets disappear).

Enter the motor data from the motor nameplate.

ABB Motors
3 ~ motor M2AA 200 MLA 4 IEC 200 M/L 55 No Ins.cl. F V 690 Y 400 D 660 Y 380 D 415 D 440 D Hz 50 50 50 50 50 60 kW 30 30 30 30 30 35 r/min 1475 1475 1470 1470 1475 1770 A 32.5 56 34 59 54 59 0.83 0.83 0.83 0.83 0.83 0.83

CE
IP 55 t E/s

cos IA/IN

Cat. no. 6312/C3

3GAA 202 001 - ADA 6210/C3 180 kg IEC 34-1

Note: Set the motor data to exactly the same value as on the motor nameplate. For example, if the motor nominal speed is 1440 rpm on the nameplate, setting the value of parameter 99.05 MOTOR NOM SPEED to 1500 rpm results in wrong operation of the drive. Nominal voltage. The general parameter setting procedure is given on above. Allowed range: 1/2 UN2 UN of ACS800. (UN refers to the highest voltage in each of the nominal voltage ranges: 415 VAC for 400 VAC units, 500 VAC for 500 VAC units and 690 VAC for 600 VAC units.) Nominal current. The general parameter setting procedure is given on above. Allowed range: 1/6 I2hd2 I2hd of ACS800 1 -> 0.0 rpm O 99 START-UP DATA 02 MOTOR NOM VOLTAGE [ ] 1 -> 0.0 rpm O 99 START-UP DATA 03 MOTOR NOM CURRENT [ ] 1 -> 0.0 rpm O 99 START-UP DATA 04 MOTOR NOM FREQ [ ] 1 -> 0.0 rpm O 99 START-UP DATA 05 MOTOR NOM SPEED [ ]

Nominal frequency. The general parameter setting procedure is given on above. Range: 8300 Hz

Nominal speed. The general parameter setting procedure is given on above. Range: 118000 rpm

Commissioning; ACS800 SingleDrive

17
Nominal power. The general parameter setting procedure is given on Page 16. Range: 09000 kW

1 -> 0.0 rpm O 99 START-UP DATA 06 MOTOR NOM POWER [ ] 1 -> 0.0 rpm O **WARNING** ID MAGN REQ

When the motor data has been entered a warning appears. It indicates that the motor parameters have been set, and the ACS800 is ready to start the motor identification (ID magnetisation or ID Run). Select the motor identification. The general parameter setting procedure is given on Page 16. The default value NO is suitable for most applications. It is applied in this basic commissioning procedure. The ID Run (STANDARD or REDUCED) should be selected instead if: Operation point is near zero speed. Operation at torque range above the motor nominal torque within wide speed range and without any pulse encoder (i.e. without any measured speed feedback) is required.

1 -> 0.0 rpm O 99 START-UP DATA 07 MOTOR ID RUN [NO]

See the Firmware Manual for the ID Run procedure. Select the motor control mode. The general parameter setting procedure is given on Page 16. DTC is suitable in most cases. The SCALAR control mode is recommended for multimotor drives when the number of motors connected to the ACS800 is variable. when the nominal current of the motor is less than 1/6 of the nominal current of the inverter. when the inverter is used for test purposes with no motor connected. 1 -> 0.0 rpm O 99 START-UP DATA 08 MOTOR CTRL MODE [DTC]

4 - IDENTIFICATION MAGNETISATION with motor ID run selection NO Press the LOC/REM key to change to local control (L shown on the first row). Press the to start the magnetisation. The motor is magnetised at zero speed for 20 to 60 s. Two warnings are displayed: The upper warning is displayed while the magnetisation is on. The lower warning is displayed after the magnetisation is completed. 1 L -> 0.0 rpm O **WARNING** ID MAGN

1 L -> 0.0 rpm O **WARNING** ID MAGN

Commissioning; ACS800 SingleDrive

18
5 - ROTATION DIRECTION OF THE MOTOR Check the rotation direction of the motor. Press ACT to get the status row visible. Increase the speed reference from zero to a small value by pressing REF and then Press or ( or ). 1 L -> [xxx] rpm I FREQ xxx Hz CURRENT xx A POWER xx %

(Start) to start the motor.

Check that the motor is running in the desired direction. Stop the motor by pressing .

To change the rotation direction of the motor: Disconnect mains power from the drive, and wait 5 minutes for the intermediate circuit capacitors to discharge. Measure the voltage between each input terminal (U1, V1 and W1) and earth with a multimeter to ensure that the drive is discharged. Exchange the position of two motor cable phase conductors at the motor terminals or at the motor connection box. Verify your work by applying mains power and repeating the check as described above.

6 - SPEED LIMITS AND ACCELERATION/DECELERATION TIMES Set the minimum speed. The general parameter setting procedure is given on Page 16. 1 L -> 0.0 rpm O 20 LIMITS 01 MINIMUM SPEED [ ] 1 L -> 0.0 rpm O 20 LIMITS 02 MAXIMUM SPEED [ ] 1 L -> 0.0 rpm O 22 RAMP FUNCTIONS 01 ACCELER TIME [ ] 1 L -> 0.0 rpm O 22 ACCEL/DECEL 02 DECELER TIME [ ]

Set the maximum speed. The general parameter setting procedure is given on Page 16.

Set the acceleration time 1. The general parameter setting procedure is given on Page 16. Note: Check also acceleration time 2, if two acceleration times will be used in the application. Set the deceleration time 1. The general parameter setting procedure is given on Page 16. Note: Set also deceleration time 2, if two deceleration times will be used in the application.

Commissioning; ACS800 SingleDrive

19
7 - STARTING THE DRIVE THROUGH THE I/O INTERFACE As default the external start/stop signal is read from the digital input DI3, and the external speed reference from the analogue input AI1. Starting through a digital input: Press the LOC/REM key to change to external control (no L visible on the first row of the panel display). Switch on digital input DI3.

Drive starts. The motor is accelerated to a speed determined by the voltage level of analogue input AI1. 8 - STOPPING THE MOTOR Stopping when in local control: Press . Stopping when in external control: Switch off digital input DI3. Press the LOC/REM key to change between local and external control.

Commissioning; ACS800 SingleDrive

20

Commissioning; ACS800 SingleDrive

21

Software description
Drive functions
This chapter describes the typical functions of the ACS800 drive. General

Figure 3. Block diagram of the direct torque control method The motor control of ACS800 drive is based on the direct control of motor torque by means of the stator flux. Switching control of the power module is made according to the calculated stator flux and torque of the motor. The used selection of the switches forces the stator flux in the desired direction, so that the reference values of the torque and the stator flux are achieved. The power module is controlled only if the values of the actual torque and the stator flux differ from their reference values more than the allowed hysteresis. The reference value for the torque controller comes either from the speed controller or an external reference. The motor control requires the measurements of the intermediate circuit voltage and two-phase currents of the motor. The stator flux is calculated by integrating the motor voltage in vector space. The torque of the motor is calculated as a cross product of the stator flux and rotor current. By utilising the identified motor model, the stator flux estimate is improved. The measurement of the shaft speed is not needed for the motor control. Good dynamic features of the control performance are achieved with the new control method providing the identification run is done during the commissioning. The main difference between traditional control and this new control method is that the torque control is made at the same time level as the control of power switches (25 s). There is no separate voltage and frequency controlled PWM modulator. All selections of the switches are based on the electromagnetic state of the motor.

Software description

22 This control method can only be realised by using high speed signal processing technology. Digital signal processors (MOTOROLA 563xx) are used in ACS800 products to achieve this performance. Application program identification Each ACS800 product has a product specific loading package, which contains all the necessary software files to be downloaded to the RMIO board. The loading packages define for example, the inverter ratings which are different for AC and DC supplied inverters. Loading Package type information can be identified from the signal 4.01 SW PACKAGE VER. The downloaded application program version is identifiable from signal 4.03 APPLIC SW VERSION. Program boot The application program on the RMIO board is saved into FPROM memory. After switching the auxiliary power on, the program starts routines for initialisation and loading of the all tasks, parameters and application program from FPROM to RAM memory. The initialisation time can be minimised by equipping the RMIO board with an external power supply. A reset is given at the end of the boot procedure. Control modes The ACS800 Application Program Template has two main control modes: REMOTE and LOCAL. The control mode is selected with the LOC/REM key on the CDP 312R control panel or with the DriveWindow PC tool. REMOTE mode A drive is controlled either from the overriding system or from the drive I/O. The desired alternative is selected by parameter 98.02 COMM MODULE LINK.
NO FIELDBUS ADVANT STD MODBUS CUSTOMISED I/O control: DI3 -start/stop; DI4 -reverse; DI5 -reset. Overriding system control using data sets 1 and 2, which are typically used with fieldbus adapters. It consists of 3 words (of 16 bits) in both directions. The purpose of each word is fixed.

Local mode The purpose of the local control mode is mainly commissioning and servicing. Local control is selected by the LOC/REM key on either the CDP 312R control panel or DriveWindow. The controls from the overriding system have no effect in this mode, but actual values from the drive are sent back as they are in REMOTE mode. Parameter values can always be monitored and changed regardless of the selected control mode.

Software description

23

Reduced run function


Reduced run function is available for parallel connected inverters. Reduced run function makes it possible to continue the operation with limited current if an inverter module(s) is out of order. If one of the modules is broken, it must be removed. Parameter change is needed to continue the run with reduced current (95.03 INT CONFIG USER). For instructions on how to remove and reconnect an inverter module, see the appropriate drive hardware manual.

Emergency stop
The emergency stop signal can be connected to digital input 7 (D17) of the Motor and I/O Control board (RMIO-01). The emergency stop feedback signal can be sent through relay output RO1 of the Motor and I/O Control board (RMIO-01) or (RDIO-01) Extension module 1 to the control relays for the common emergency stop circuit. The purpose of the feedback signal is to confirm that the emergency stop function has been received and the drive program is running. Note: When an emergency stop signal is detected, the emergency stop cannot be cancelled, even if the signal is cancelled (emergency stop push button is released). Emergency stop modes The emergency stop mode can be pre-selected by parameter 21.04 EME STOP MODE. On an emergency stop, the torque selector is always set to position SPEED CONTROL. 21.04 EME STOP MODE 1 = STOP RAMPNG 2 = STOP TORQ 3 = COAST STOP 4 = Not Selected Action if the motor is stopped The motor is already at zero speed when the drive receives an emergency stop signal. The following actions are taken: Run is prevented and magnetised modes in LOCAL and REMOTE control. Bit 5 is set to a 0 of the 8.01 MAIN STATUS WORD Bit 1 of 9.04 ALARM WORD 1 is set to 1. Relay output RO1 is energised until MCW bit 0 is set to 0. Stop by ramping (default). Deceleration time is set by parameter 22.04 EME STOP RAMP Stop by torque limit. Stop by coasting (torque decreased to zero). Emergency stop function is not required in the configuration.

Software description

24 Action if the motor is running The motor is running when the drive receives an emergency stop signal. The following actions are taken: The drive is stopped according to the emergency stop mode parameter 21.04 EME STOP MODE. Locks the emergency stop procedure and energises the relay output1 until the motor has reached zero speed and the 7.01 MAIN CTRL WORD (MCW) bit 0 is set to 0 state. Supervises if the deceleration of the drive is higher than the parameter 21.05 EMSTOP SPEED DIF. This supervision starts 5 seconds after the drive has received the emergency stop signal. If the drive is not able to decelerate in the specified rate, it is stopped by coasting and the 8.02 AUX STATUS WORD (ASW) bit 3 (EMERG_STOP_COAST) is set to a 1 state. If this function is not required, the value can be set to 0.

Communication
RMIO - Motor and I/O Control Board
RO1-3 DSP + MEM + ICMC DI1-6+1 ANYBUS or Rxxx Option AI1-3 ANYBUS or Rxxx Option Slot2

Parallel Port Slot1

RINT Main Circuit AO1,2 Board Power SW ctrl Measurements PPCCInterface Brk Chopper Inv Fan Ctrl RS485

RDCO DDCS link board CH0 CH1 CH2

CH3 CDP312R PC-tool Link

Old Nxxx FB MOD

Rxxx

Rxxx

Master / Follower Link Rxxx Option Mother Board

Figure 4. DDCS channels. Several communication protocols are supported by fieldbus adapters Rxxx mounted on the RMIO-01 board. The old adapter types Nxxx can be connected to the DDCS (Distributed Drives Communication System) channel 0 (CH0) on the RDCO board. The communication protocol of channels CH0CH3 is DDCS. The DDCS link between the overriding system and the drive uses what is called data sets for the information packet exchange.

Software description

25 The link sends the information of a transmitted data set to the data set table in the drive program and returns the content of the next data set to the overriding system as a "return message". The transmission rate is 4 Mbit/s and the link can send 1 data set every 1 ms. The data received from the overriding system affects only the RAM (not FPROM) memory on the RMIO board.

Fieldbus communication
Fieldbus communication mainly uses data sets 1 and 2 between the fieldbus adapter and the RMIO board. Additionally some of the adapters can transfer more data and there is an offset parameter for the first transmitted data set in parameter group 51. For example, by setting the offset to 9, the first data set is used 10, that is supported in the System Application software. Fieldbus signal Data sets 1 and 2 are used in the communication between the RMIO board and a fieldbus adapter. The updating time is 100 ms. Table 1. Fieldbus signals.
Data set
1

Index
index 1 index 2 index 3

Signal
MCW REF1 REF2 MSW ACT1 ACT2

Source or Target
7.01 23.01 29.01 25.04 8.01 1.01 1.08 MAIN CTRL WORD SPEED REF in DTC or FREQ REF in Scalar control TORQUE REF B MAIN STATUS WORD MOTOR SPEED FILT MOTOR TORQUE

index 1 index 2 index 3

Integer scaling Due to the effectiveness of the communication method, the data is transferred as integer values through the link. Therefore the actual and reference values have to be scaled to 16-bit integers. The integer scaling factor is mentioned in the AMC table parameter list in the column Integer scaling.
05
Inde x (16 1.3)

CURRENT
M e asu re d m o tor cu rre n t a bso lute valu e . M in : 0 M ax: In te ge r sca lin g : 1 0 = = 1 A

un it: A

D escrip tio n : typ e : R

Each parameter has two different gateways to write the value: integer format or decimal. Finally, the result is exactly same in the RMIO program. This relationship is always shown in the signal and parameter table as shown above.

I/O devices on parallel slots or channel CH1


The drive I/O devices are connected to parallel port slots or in a ring to channel 1 (CH1) on the RMIO board. The RMIO is the master in the communication link. Before use, each I/O device must be activated from parameter group 98.

Software description

26

Master/Follower link on channel CH2


A Master/Follower link can be formed by connecting the CH2 channels of two or more drives in a ring. Parameters 70.07 to 70.14 define the mode and the references. The message type is broadcast.

Commissioning and supporting tools on channel CH3


The DriveWindow commissioning and other tools can be connected to channel CH3 on the RMIO board. Node numbers must be set for each drive unit before starting the communication through the connection: see Parameter 70.15 CH3 NODE ADDR. This setting can be made by a point to point connection with either the control panel or DriveWindow. The new node address becomes valid after auxiliary power shutdown of the RMIO board. The RMIO board channel 3 (CH3) has been configured to Slave in the communication point of view.

Modbus link
The control panel is connected to the ACS800 drive through a Modbus link. The communication speed is 9600 bit/s (8 data bits, 1 stop bit, odd parity). The connected device is the master of the communication link. A NBCI-01 bus connection units must be used if the distance between the panel and drive is over three metres.
Terminal block X39 of RMIO-01

RS485
7 6 5

Transmit/Receive GND BA+ GND +24V

GDN TXD/RXD+ TXD/RXD-

Note: Terminating resistor

Figure 5. RS 485 connection principle. Modbus is designed for integration with Modicon PLCs or other automation devices, and the services closely correspond to the PLC architecture. The ACS800 drive looks like a Modicon PLC on the network.

Software description

27

Communication profiles
The ACS800 supports two communication profiles: ABB Drives communication profile Generic Drive communication profile.

The ABB Drives communication profile should be selected with type Nxxx fieldbus adapter modules, and when the manufacturer-specific mode is selected (via the PLC) with type Rxxx fieldbus adapter modules. The Generic Drive profile is supported by type Rxxx fieldbus adapter modules only.

ABB Drives communication profile


Drive states The ABB Drives communication profile is active when parameter 98.07 COMM PROFILE is set to ABB DRIVES. The ABB Drives communication profile is a PROFIBUS-based interface between the overriding system and the drive so that all ABB drives are controlled in the same way. In order to achieve this, the ABB Drives communication profile defines general states. A control word generally commands transitions between these states. The table below gives an interpretation for the most important states and also the ABB names for these states.

Software description

28 Table 2. ABB Drives communication profile states


Action
Switch on inhibit

Name of signal ON_INHIBIT

Explanation
The drive is moved to this state after the EMERGENCY OFF/STOP or TRIPPED state. The main idea is to guarantee that the ON command is removed. Drive is moved to an OFF-state after the ON command has been removed. The drive stays in this state as long as the EMERGENCY OFF/STOP commands are active. After these commands have been deactivated and the command Control from the automation unit is activated, the drive is moved to the RDYON state. After an ON command the drive is allowed to perform equipment specific actions. For drives these are: - Flux ON - Stator pulses inhibited After a RUN command the drive performs - enabling internal controllers, When all internal controllers are ready, the drive is moved to RDYREF state. The drive is following the given references. This is actually the speed ramp control, all drive controllers are activated but the output of the speed ramp is clamped to zero. This causes the drive to decelerate to zero speed and regulate zero speed. This is also the speed ramp control, the ramping can be started or stopped (HOLD). This is also the speed ramp control, the input of ramp is released. The ON command is removed. The drive deactivates all of its functions which were commanded by the ON command e.g..Drive is first decelerated to the zero speed by emergency stop ramp. - Stator and flux current to zero. After this the drive is moved to the OFF-state.

Not ready for switch on

OFF

Ready to switch on

RDY_ON

Ready

RDY_RUN

Enable operation RFG: enable output

RDY_REF

RFG: Acceleration enabled Operating status OFF 1 active

OFF 2 active

OFF_2_STA EMERGENCY OFF OFF_3_STA EMERGENCY STOP TRIPPED

The voltage of the drive is immediately removed (coast stop), all functions created by the ON command are removed and after that the drive is moved to ON INHIBIT state. The drive is decelerated to zero speed according to the parameter 21.04 EME STOP MODE, all of the functions created by the ON command are removed and after that the drive is moved to the ON INHIBIT state. After tripping the drive remains in this state as long as the rising edge of the RESET-signal is sent to the drive. The drive is moved to the ON INHIBIT state, so the ON command must first be turned OFF before the sequence is allowed to continue.

OFF 3 active

Fault

Software description

29

Main Control Word (MCW)


The table below defines the use of the ABB Drives communication profile command word for drives application. Table 3. Main control word bits 0 and 7
Bit 0 Name
ON OFF1

Value
1 0

Description
Command to RDYRUN -state. Command to OFF state. (Can go immediately to RDYON -state if there are no other interlockings (OFF 2 / OFF 3). Drive stops down to the zero speed by ramp. All pulses are removed, when in zero speed. Restart is not possible before zero speed. No OFF 2 (Emergency OFF) Command to ON INHIBIT state. Inhibit pulses and drive coasts down. Sequence control handles: - Stator and flux current to zero - All pulses are removed No OFF 3 (Emergency STOP) Command to ON INHIBIT state. Digital input 7 in the hardware operates parallel with this bit. Fast stop: The fastest possible deceleration, by current limit, fast ramp or coast stop. Defined in the parameter 21.04 EME STOP MODE. After zero speed the sequence control handles: - Stator and flux current to zero - All pulses are removed

OFF 2

1 0

OFF 3

1 0

RUN

Enable Operation Command to RDYREF -states. Enable stator/armature pulses. Raise flux to the nominal reference if not already in that value. Then accelerate via speed ramp to the given speed reference set-point. Inhibit Operation. Inhibit inverter pulses and the drive coasts, and goes into the READY status (refer to control word bit 0)
Operating condition. Ramp-function generator output is set to zero. Drive ramps down along the current limit or at the DC link voltage limit. Enable ramp-function generator. Speed ramping stopped. Freeze the actual setpoint from the ramp-function generator. Enable setpoint Inhibit setpoint. Speed ramp input is forced to zero. Fault resetting with a positive edge. No significance

RAMP-OUT-ZERO

1 0

RAMP-HOLD

1 0 1 0 1 0

6 7

RAMP-IN-ZERO RESET

Software description

30 Table 4. Command word bits 8 to 10 meaning.


Bit 8 Name
INCHING_1

Value
1

Description
Drive accelerates as fast as possible to inching setpoint 1, if following conditions are fulfilled: - bit RAMP-OUT-ZERO = 0 - bit RAMP-HOLD = 0 - bit RAMP-IN-ZERO = 0 Drive brakes as fast as possible if INCHING_1 was previously ON Drive accelerates as fast as possible to inching setpoint 2, if following conditions are fulfilled: - bit RAMP-OUT-ZERO = 0 - bit RAMP-HOLD = 0 - bit RAMP-IN-ZERO = 0 Drive brakes as fast as possible if INCHING_1 was previously ON Overriding computer is requesting to control the drive No control from the overriding system, except OFF1, OFF2 and OFF3 commands.

INCHING_2

10

REMOTE_CMD

1 0

Software description

31
Voltage switched off
Power ON

Switch on inhibit

Status Disable ON INHIBIT (MSW Bit6=1)

ABB Drive communication profile for AC Drives Control and States

OFF 1 (MCW Bit0=0)

Not ready to swich on


AB C DE F

Status Not ready for startup OFF (MSW Bit0=0) from every device status

disable operation (MCW Bit3=0 RUN)

Main Control word basic condition (MCW=XXXX X1XX XXXX X110)

Fault

Inhibit Operation active

Inhibit inverter pulses Status: Operation Disabled operation (MSW Bit2=0 RDY_REF) disabled

Ready to switch on

Status Ready for startup RDY_ON (MSW Bit0=1)

Fault

Stop drive Status: TRIPPED (MSW Bit3=1)

ON (MCW Bit0=1)

Error corrected confirm by RESET (MCW Bit7= 1)

Ready
from every device status
OFF1 (MCW Bit0=0)

Status Ready for operation RDY_RUN (MSW Bit1=1) from any device status Emergency Off OFF2 (MCW Bit1=0)

Release from any device status operation RUN Emergency Stop OFF3 (MCW Bit2=0) (MCW Bit3=1)

OFF1 active

Stop by EMESTOP_RAMP (MSW Bit1=0 RDY_RUN)

OFF3 active

Stop drive according to EME_STOP_MODE


OFF_3_STA (MSW Bit5=0)

OFF2 active

Coast Stop (no torque) Status: OFF_2_STA (MSW Bit4=0)

n(f)=0 / I=0
B CD

n(f)=0 / I=0

RFG-output disable (MCW Bit4=0 RAMP_OUT_ZERO)


CD A RFG stop (MCW Bit5=0 RAMP_HOLD) D Setpoint disabled (MCW Bit6=0 RAMP_IN_ZERO)

Enable Operation

Release electronics and pulses RDY_REF (MSW Bit2=1) Status Operation released MCW: Bit 4 = 0 and Bit 5 = 0 and Bit 6 = 0 Purpose: Main speed ref. is deactivated
INCHING 1 ON (MCW Bit 8 = 1)

RFG-output free RAMP_OUT_ZERO (MCW Bit4=1)

RFG: Enable output


B

Inching 1 Active Drive Running

Inching 1 setpoint to speed control

RFG-output released RAMP_HOLD (MCW Bit5=1)

E INCHING 1 OFF (MCW Bit 8 = 0)

RFG: Accelerator enable


Setpoint released RAMP_IN_ZERO (MCW Bit6=1)

INCHING 2 ON (MCW Bit 9 = 1)

MCW = Main Control Word C MSW = Main Status Word n = Speed I = Power input current RFG = Ramp Function Generator f = Frequency D

Inching 2 Active Drive Running

Inching 2 setpoint to speed control

Operating state

n = n_set AT_SETPOINT (MSW Bit8=1)

F INCHING 2 OFF (MCW Bit 9 = 0)

CONTROL4.dsf 28.09.1998

Figure 6. Control and state diagram.

Software description

32
START by AUTO- or DC MAGN-mode, STOP by Ramp Generator Control
State DC Voltage ON FLUX 23.01 SPEED REF
Par. 50.10 ABOVE_SPEED_LIMIT Par. 20.03 ZERO_SPEED_LIMIT

1
100% 30% FLUX ACTUAL 0%

MOTOR SPEED 2

0 rpm

0 ON, OFF1 1 OFF2 2 OFF3 3 RUN 4 RAMP_OUT_ZERO 5 RAMP_HOLD 6 RAMP_IN_ZERO 7 RESET 8 INCHING1 9 INCHING2 10 REMOTE_CMD

Control by Overriding System

MCW 7.01 bits

1 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0

0 RDY_ON 1 RDY_RUN 2 RDY_REF 3 TRIPPED 4 OFF_2_STA 5 OFF_3_STA 6 ON_INHIBITED 7 ALARM 8 AT_SETPOINT 9 REMOTE 10 ABOVE_LIMIT
0 1 2 3 4 5 6 7

MSW 8.01 bits

ACW 7.02 bits

RAMP_BYPASS BAL_RAMP_OUT FLUX_ON_DC FLUX_ON

0 0 0 0

ASW 8.02 bits

0 ... 3 MAGNETIZED ... 11 ZERO_SPEED

1 0
5 Time

1 0

Figure 7. Control example: Start by AUTO or DC MAGN mode, stop by ramp generator.

Software description

33

FLUX ON, START, STOP by Torque Limit, FLUX ON


State

DC Voltage ON FLUX 23.01 SPEED REF


Par. 50.10 ABOVE_SPEED_LIMIT Par. 20.03 ZERO_SPEED_LIMIT

1
100% 0%

MOTOR SPEED

0 rpm

0 ON, OFF1 1 OFF2 2 OFF3 3 RUN 4 RAMP_OUT_ZERO 5 RAMP_HOLD 6 RAMP_IN_ZERO 7 RESET 8 INCHING1 9 INCHING2 10 REMOTE_CMD 0 RDY_ON 1 RDY_RUN 2 RDY_REF 3 TRIPPED 4 OFF_2_STA 5 OFF_3_STA 6 ON_INHIBITED 7 ALARM 8 AT_SETPOINT 9 REMOTE 10 ABOVE_LIMIT 0 1 2 3 4 5 6 7

Control by Overriding System

2 9
4

MCW 7.01 bits

10

1 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 1 1 0

MSW 8.01 bits

ACW 7.02 bits

RAMP_BYPASS BAL_RAMP_OUT FLUX_ON_DC FLUX_ON

0 0 0 0

ASW 8.02 bits

0 ... 3 MAGNETIZED ... 11 ZERO_SPEED

1 0 7 Time 1 0

Figure 8. Control example: Start by FLUX ON DC command, stop by torque limit.

Software description

34

FAULT, RESET, INCHING 1, INCHING 2, RUN by SPEED REF


State DC Voltage ON
100%

FLUX 23.01 SPEED REF


Par. 50.10 ABOVE_SPEED_LIMIT Par. 23.02 CONST SPEED1 Par. 20.03 ZERO_SPEED_LIMIT Par. 23.03 CONST SPEED2

0%

MOTOR SPEED

0 rpm

0 ON, OFF1 1 OFF2 2 OFF3 3 RUN 4 RAMP_OUT_ZERO 5 RAMP_HOLD 6 RAMP_IN_ZERO 7 RESET 8 INCHING1 9 INCHING2 10 REMOTE_CMD

Control by Overriding System

4
2 6 5 3 9

MCW 7.01 bits

1 1 1 1 1 1 1 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 0

7
8

0 RDY_ON 1 RDY_RUN 2 RDY_REF 3 TRIPPED 4 OFF_2_STA 5 OFF_3_STA 6 ON_INHIBITED 7 ALARM 8 AT_SETPOINT 9 REMOTE 10 ABOVE_LIMIT
0 1 2 3 4 5 6 7

MSW 8.01 bits

ACW 7.02 bits

RAMP_BYPASS BAL_RAMP_OUT FLUX_ON_DC FLUX_ON

0 0 0 0

ASW 8.02 bits

0 ... 3 MAGNETIZED ... 11 ZERO_SPEED


Time

1 0 1 0

Figure 9. Control example: Fault reset, run by CONST SPEED 1 (inching 1), CONST SPEED 2 (inching 2) and SPEED REF.

Software description

35

Generic Drive communication profile


The Generic Drive communication profile is active when parameter 98.07 is set to GENERIC. The Generic Drive profile realises the device profile for drives speed control only as defined by specific fieldbus standards such as PROFIDRIVE for PROFIBUS, DriveCom for InterBus-S, AC/DC Drive for DeviceNet, Drives and Motion Control for CANopen, etc. Each device profile specifies its Control and Status Words, Reference and Actual value scaling. The profiles also define Mandatory services which are transferred to the application interface of the drive in a standardised way. The proper functioning of the Generic drive profile requires that Control word commands are enabled by setting parameter 98.02 to FIELDBUS and 98.07 to GENERIC. Note 1: The Generic Drive communication profile requires the use Speed Control (26.01). Note 2: The Generic Drive profile is only available with type Rxxx fieldbus adapter modules.
Name
STOP START

Description
The drive decelerates the motor to zero speed according to the deceleration ramp (22.02 DECELER TIME). The drive accelerates to the set reference value according to the acceleration ramp (22.01 ACCELER TIME). The direction of rotation is determined by the sign of the reference value. The drive coasts to stop, i.e. the drive stops modulating. However, this command can be overridden by the Brake Control function, which forces the drive to decelerate to zero speed by the active deceleration ramp. The drive decelerates the motor to zero speed within the emergency stop deceleration time defined by parameter 22.04 EME STOP RAMP. The drive decelerates the motor to zero speed according to the set current limit (20.04 MAXIMUM CURRENT) or torque limit (20.05 MAXIMUM TORQUE), whichever is first reached. The same procedure is valid in case of a Voltage Limit Stop (VLS). With this command active, the drive accelerates the motor to Constant Speed 1 (defined by parameter 23.02 CONST SPEED 1). After the command is removed, the drive decelerates the motor to zero speed. Note: The speed reference ramps are not effective. The speed change rate is only limited by the current (or torque) limit of the drive. Note: Inching 1 takes priority over Inching 2. Note: Not effective in Scalar control mode. With this command active, the drive accelerates the motor to Constant Speed 2 (defined by parameter 23.03 CONST SPEED 2). After the command is removed, the drive decelerates the motor to zero speed. Note: The speed reference ramps are not effective. The speed change rate is only limited by the current (or torque) limit of the drive. Note: Inching 1 takes priority over Inching 2. Note: Not effective in Scalar control mode. When active, forces the output of the reference function generator to zero. When active, freezes the reference function generator output. Trips the drive. The drive will indicate a fault FORCED TRIP. Resets an active fault.

COAST STOP

QUICK STOP CURRENT LIMIT STOP (CLS)

INCHING1

INCHING2

RAMP OUT ZERO RAMP HOLD FORCED TRIP RESET

Software description

36 Speed reference and actual speed scaling Both the nominal speed reference value given via the fieldbus interface and the actual speed value received from the drive are related to the motor nominal speed (DTC motor control mode) or motor nominal frequency (Scalar motor control mode) as follows.
Motor control mode
DTC Scalar

Speed reference/Actual speed scaling


0% = 0 rpm 100% = [par. 99.05] rpm 0% = 0 Hz 100% = [par.99.04] Hz

Note: Parameter 50.01 SPEED SCALING should be set to nominal speed when Generic profile is used.

Software description

37

I/O Configurations
Digital inputs All the inputs can be read by the overriding controller. See signals 1.15 DI7-1 STATUS and 8.05 DI STATUS WORD. Input functions are preprogrammed.
RMIO
STANDARD DI 2

I/O Type
+24 VDC

Command
RUN ENABLE

Description
Drive enable input. This digital input can be used for external interlocking to disable the run enable signal of the drive. Start = 1, Stop = 0 (stop by ramping) Warning! After a power switch on, the drive will start if the start signal is ON. Forward = 0, Reverse = 1 Fault reset = rising edge (0->1) Overtemperature switch located in the motor windings can be connected to this input to indicate overtemperature of the motor. Opening contact causes a trip. NO EMERGENCY STOP status is 1. If the system does not require an emergency stop function, it can be deactivated by setting parameter 21.04 EME STOP MODE to value NOT SELECTD.

STANDARD DI 3

+24 VDC

START/STOP

STANDARD DI 4 STANDARD DI 5 STANDARD DI 6

+24 VDC +24 VDC +24 VDC

DIRECTION RESET KLIXON

STANDARD DI 7

+24 VDC

NO EME STOP

Digital outputs
The following digital outputs are available in the RMIO program. Outputs are programmable (see Parameter Group 14) and can also be controlled from the overriding system.

Software description

38 Following digital outputs are available.


RMIO
STANDARD DO 1

Output Type
Relay output 2A 250 VAC

Signal READY or EME STOP

Description
Emergency stop is activated and a drive is stopped according to the selected emergency stop mode. (Overriding System can set the output if the emergency stop function is not selected.) Selected bit status 1 from the selected integer word sets the digital output to state 1. - Control Words - Status Words - Limit Words - Alarm Words - Fault Words or Overriding System can control the output. The default status is RUN. Selected bit status 1 from the selected integer word sets the digital output to state 1. - Control Words - Status Words - Limit Words - Alarm Words - Fault Words or Overriding System can control the output. The default status is FAULT

STANDARD DO 2

Relay output 2A 250 VAC

RUN

STANDARD DO 3

Relay output 2A 250 VAC

FAULT

Analogue inputs
RMIO Motor and I/O control board Three differential non-galvanically isolated analogue inputs (10 bits, accuracy +/- 0.5%) are available in the RMIO board. The updating interval is 100 ms for the speed reference chain.
RMIO
STANDARD AI 1

Input Type
-10 V/0V+10 V, Ri= 200 k

Signal SPEED REFERENCE MOTOR_TEMP

Description
Motor temperature measurement by means of 1...3 PTC thermistors or 13 PT100 sensors. (Overriding System application can read the input if the motor temperature measurement is not selected) (Overriding System application can read the input) (Overriding System application can read the input)

STANDARD AI 2 STANDARD AI 3

0(4)...20 mA Ri= 100 0(4)...20 mA Ri= 100

(not used) (not used)

Software description

39 RAIO-01 Analogue I/O Extension module It is possible to use RAIO-01 or NAIO-02 Analogue I/O Extension Module to replace AI1, AI2, AO1 and AO2 inputs and outputs on the RMIO board. The resolution of the RAIO-01 or NAIO-02 is 12 bits. The input range is selectable by DIP switches and the maximum voltage or milliampere value corresponds 20000 unit as integer value in the SW. The module selection is done by parameter 98.06 AI/O EXT MODULE 1.
RAIO-01, NAIO-02
Extension module 1 AI1

Input Type
-20..0..+20 mA 0(4)20 mA Ri= 100 -2..0..+2 VDC -10..0..+10 VDC Ri= 200 k

Signal SPEED REFERENCE or MOTOR 1 TEMP MOTOR 2 TEMP

Description
Speed reference of the drive or motor temperature measurement by means of 13 PTC thermistors or PT100 sensor(s).

Extension module 1 AI2

-20..0..+20 mA 0(4)...20 mA Ri= 100 -2..0..+2 VDC -10..0..+10 VDC Ri= 200 k

Motor temperature measurement by means of 13 PTC thermistors or PT100 sensor(s).

Analogue outputs
Two non-galvanically isolated analogue outputs (10 bits, accuracy +/- 1%) are available on the RMIO board. The output updating time is 20 ms.
RMIO AO 1 Output Type
0(4)20 mA Ri = 700

Signal
AO1_OUT

Description
A programmable analogue output from the program. The output can be used also as a constant current source to supply the temperature measurement sensor PT100 or PTC. The current is set automatically according to the type of the sensor. (The overriding system application can control the output)

STANDARD I/O Board AO 2

0(4)20 mA Ri = 700

AO2_OUT

If extension module is used, the resolution is then 12 bits. These analogue outputs operates in parallel with the RMIO outputs.
RAIO-01, NAIO-02
Extension module 1 AO1

I/O Type
0(4)20 mA Ri= 700 Isolated from power supply 0(4)20 mA Ri= 700 Isolated from power supply

Command
AO1_OUT

Description
See Standard AO1.

Extension module 1 AO2

AO2_OUT

See Standard AO2.

Software description

40
mA-type of alternative for Terminal Block X21 RMIO board references Reference voltage 10 VDC VREF 1 Motor Temperature Measurement max. 10 mA 2 GND 1...3 PT100 or PTC Analogue input 1 1) 3 A I1 + Speed reference (default) 4 A I1 0 ... 10 V Analogue input 2

5 6 7 8

A I2 + A I2 A I3 + A I3 -

0(4) ... 20 mA Analogue input 3 0(4) ... 20 mA Analogue output 1 1) Motor torque 0 ... 20 mA <-> 0 ... Motor nom. current Analogue output 2 1) Motor speed 0 ... 20 mA <-> 0 ... Motor nom. speed

T (%) rpm (%)

9 10 11 12 1 2 3 4 5 6 7 8 9 10 11 1 2 1 2 3 1

AO 1+ AO 1AO 2+ AO 2D I1 D I2 D I3 D I4 D I5 D I6
+24 VD C +24 VD C

1) Function according to the parameter selection

Terminal Block X22

Selectable Run Enabled (default)

Start / Stop (default)


Reverse (default) Reset (default) Klixon in (if selected) + 24 VDC max. 100 mA

Digital ground G N D D I 2 Digital ground 2 GNDDI D I7

Emergency Stop

Terminal Block X23


+ 2 4 V D C Auxiliary voltage output 24 VDC, 250 mA

GND

or 130 mA if NLMD-01 panel is included

Terminal Block X25


READY

RO 11 R O 12 RO 13 RO 21 R O 22

Relay output 1

1)

Emergency Stop

Terminal Block X26


Relay output 2 1)
R U N N IN G

RO 23 Terminal Block X27

2 3 1

Running (default)

RO 31 R O 32 RO 33

Relay output 3

1)

T R IP P E D

2 3

Fault (default)

Figure 10. RMIO board default signals when the drive is controlled from the I/O (Parameter 98.02 COMM MODULE is set to NO).

Software description

41

Pulse encoder interface RTAC-01


The pulse encoder module (RTAC-01) is connected to the parallel port slot on the RMIO board and activated by Parameter 98.01 ENCODER MODULE. The feedback used is indicated in the 8.02 AUXILIARY STATUS WORD bit 12. B12: 0 = External pulse encoder 1 = Internal speed

The Master/Follower link


General The Master/Follower Application macro is designed for applications in which the system is operated by several ACS800 drives and the shafts are coupled to each other gearing, chain, belt etc. The Master drive controls the Follower drive(s) via a fibre optic link. The Master station is typically speed controlled and the other drives follow its torque or speed reference. In general, torque control of the Follower should be used when the motor shafts of the Master and Follower drives are coupled fixedly to each other by gearing, a chain etc. and no speed difference between the drives is possible. In some applications both speed and torque controls of the Followers are required. In those cases a flying change between speed and torque control can be performed from the overriding system by controlling the torque selector position and additional speed reference. For more information, Master/Follower Application Guide (3AFE64590430 English). Link configuration Channel 2 (CH2) on the RDCO board is used for the Master/Follower link. Channel 2 (CH2) is configurable by software to be either the master or the follower in the communication. Typically the speed controlled process master drive is configured also to the communication master. Also, the torque reference source address in the Master Drive and the destination address in the Follower Drive can be defined by parameters 70.09 MASTER SIGNAL 1, 70.10 MASTER SIGNAL 2 and 70.11 MASTER SIGNAL 3.

Software description

42

Figure 11. Connections. T = Transmitter; R = Receiver; RMIO = Motor and I/O Control board (Please note that channels CH0/CH2/CH3 are located on the optional RDCO-0x board.) Follower diagnostics The torque reference is sent from the Master as broadcast message. All of the Followers receive the torque reference for the TORQUE REF A signal. The follower drive is able to detect a communication break. The action is defined by parameter 70.13 CH2 TIMEOUT and 70.14 CH2 COM LOSS CTRL. Diagnostics feedback from the followers must be handled by the overriding system through Channel 0 on the RMIO board. Master/Follower link specification Size of the Link: One Master and a maximum of ten Follower stations. If more than ten followers are required, an ABB represantive should be consulted. The maximum fibre optic cable length between stations is 15 metres. Configuration: The link is configurable from the overriding system application. See parameter 70.08 CH2 M/F MODE). This makes possible to change Master and Follower ON LINE in the link by an overriding system or application without changes in the hardware. Transmission Rate: 4 Mbit/s Total Performance of Link: max. 15 ms (between the master and follower drives) Protocol: Distributed Drives Communication System, DDCS

Software description

43

Diagnostics
General A common method of drive diagnostics is to provide the user with information on previous conditions. Signals, data loggers and fault loggers are commonly implemented in most modern drives. All of the loggers should provide the user with real time stamps to identify when the event was logged. The time should be co-ordinated and common for all system components. The following is a description of the data, event, and fault loggers available in the System Application Program.

Fault and event loggers


The fault logger collects 64 of the most recent faults into the fault buffer in the RAM memory. The latest 16 faults are stored into the FLASH memory at the beginning of an auxiliary power loss. The fault logger records all available information from the drive including faults, alarms, reset and system messages. AMC time format and counting The Time for the logger fault is taken from the power-on counter, whose format is 9999 hr, xx min, yy.yyyy s. However, the counter can be updated cyclically from the overriding system if the system includes an overriding controller (for example APC2). DriveWindow and the CDP 312R control panel show the real date and time.

Data logger
The purpose of the Data logger is to collect the history of signals related to an incident and store it in the drive for later retrieval and analysis. The content of the Data logger is stored to the RAM memory. The Data Logger consist of 1...4 channels. The total memory size for the Data logger is 1024 bytes. The maximum number of samples depends on the data type: Integer type signal or parameters reserve 1 byte Real-type values reserve 2 bytes

Example: Four real-type signals are measured. The maximum number of sample is 1024/(2 bytes x 4 channels) = 128. The data logger stores the selected signals to the RAM memory every 5 milliseconds. By default the following signals are monitored: 1.01 1.07 23.1 25.1 MOTOR SPEED FILT MOTOR TORQUE FILT SPEED REF TORQUE REF A

The signals to be monitored can be selected from DriveWindow; an auxiliary power cut restores the default signals. The default triggering mode is Fault.
Software description

44

Positioning counter
The number of Pulse Encoder pulses can be counted and set using 7.02 AUX CONTROL WORD (ACW) bits B911. The SYNC_COMMAND can also be given by I/O to minimise the delays. The calculation has two output modes: counted number of pulses or number of revolutions and motor shaft position in degrees. All the signals for this function can be seen with the description in group 3 (3.073.10), commands in the 7.02 AUX CONTROL WORD (ACW) and the parameters in group 50 (50.0750.11).

Figure 12. Positioning counting logic and calculation diagram.

Software description

45 Positioning counting function A basic function can be seen in the following diagram. When synchronisation is enabled (SYNC_DISABLE = 0) and the next positive edge of the SYNC_COMMAND is encountered, the initial values of POS COUNT INIT LOW and POS COUNT INIT HIGH are loaded into the counter and the counting continues. The Initial values can only be used for the pulse edges count mode. Status signal SYNC_RDY is set to indicate controlled SYNC_COMMAND. When the positioning has been completed by the overriding system (i.e. the motor can be stopped or some other sequence started), parameter SYNC_RDY can be reset by RESET_SYNC_RDY.
SYNC_COMMAND 7.02 B9 SYNC_DISABLE 7.02 B10

SYNC_RDY 8.02 B5 RESET_SYNC_RDY 7.02 B11

ENCODER PULSES POS_COUNT_LOW 3.07 POS_COUNT_HIGH 3.08 or POS_COUNT_ROUNDS 3.10 POS_COUNT_DEGREES 3.09 POS_COUNT_INIT_LO 50.08 POS_COUNT_INIT_HI 50.09 or POS_C_INIT_DEG 50.10 and POS_C_INIT_ROUNDS 50.11

Figure 13. Example of the positioning counting function.

Back-up of parameters or software


At the end of the commissioning of the ACS800, backing up the (RMIO board) parameters is recommended. The results of the Motor ID Run should also be backed up. If necessary, the data can be restored later on (e.g. downloaded to a spare board of the same type). The back up can be done either with DriveWindow or the CDP 312R control panel (there is an EEPROM memory in the panel). In case of CDP 312R, see chapter Overview of CDP 312R control panel.

Software description

46

Software description

47

Signals
Overview
This chapter describes the measured, calculated and control word signals of the ACS800.

How to read the signal table


Before you start to read the signal table, we first recommend you read this description. ACS800 Signals
Group + Index 1.1...1.26, 1.441.45 2.1...2.17 3.1...3.15, 3.203.29 4.1...4.5 5.1...5.32 6.1...6.32 7.1...7.3 8.1...8.6 9.1...9.5, 9.89.12 Description Actual Signals Actual Signals Actual Signals Information (reserved for the application) (reserved for the application) Control Words Status Words, Limit Words Fault Words, Alarm Words 3 6 10 Quantity 28 17 25 5

Total

94

All signals are read-only. However the overriding system can write to the control words, but it only affects the RAM memory.
05
Index (161.3)

CURRENT
Measured motor current absolute value. Min: 0 Max: Integer scaling: 10 == 1A

unit: A

Description: type: R

Figure 14. Sample of an actual signal table. If the application program utilizes individual bits of a word (for example 7.01 MAIN CTRL WORD), it must be understood that bit 15 is set by the SIGN. Also bit 15 is read from the SIGN. If signal type is R (real value), it also has an integer scaling relation mentioned in the column Integer scaling. For example, if the CURRENT signal is read to the overriding system, an integer value of 10 corresponds to 1 Ampere. All the read and sent values are limited to 16 bits (-3276832767). Unit of the signal value can be seen on the lower left-hand corner of the signal description.

Signals

48 Minimum and maximum values are shown in decimal format. Data type is given with a short code:
Boolean value 16-bit signed integer value Packet Boolean value Real value String

B= I= PB = R= S=

Signals

49

AMC Table Signals


Group 1 Actual Signals
1 01
Index unit: rpm Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R

Group name:
Description:

ACTUAL SIGNALS Measured or calculated values

MOTOR SPEED FILT


Filtered speed actual according to the speed feedback selection. See parameter 50.03. Min: Max: Integer scaling: see par. 50.01 SPEED SCALING

02
Index unit: rpm

SPEED ESTIMATED
Internally calculated actual speed. Min: Max: Integer scaling: see par. 50.01 SPEED SCALING

03
Index unit: rpm

SPEED MEASURED
Measured actual speed from the pulse encoder. This measurement is active also in case of the SPEED FB SEL = internal speed. Min: Max: Integer scaling: see par. 50.01 SPEED SCALING

04
Index unit: rpm

EXTERNAL SPEED (Not available)


Measured external speed. Min: Max: Integer scaling: see par. 50.01 SPEED SCALING

05
Index unit: Hz

FREQUENCY
Calculated frequency of the motor. Min: Max: Integer scaling: 100 == 1 Hz

06
Index unit: A

MOTOR CURRENT
Measured motor current absolute value. Min: Max: Integer scaling: 10 == 1 A

07
Index unit: %

MOTOR TORQUE FILT


Filtered motor torque in percent of the rated motor torque. Min: Max: Integer scaling: 100 == 1%

08
Index unit: %

MOTOR TORQUE
Motor torque in percent of the rated motor torque. Min: Max: Integer scaling: 100 == 1%

09
Index unit: %

POWER
Motor power in percent of the rated motor power. Min: Max: Integer scaling: 10 == 1%

10
Index unit: V

DC VOLTAGE
Measured DC bus voltage Min: Max: Integer scaling: 1 == 1 V

11
Index unit: V

MOTOR VOLTAGE
Calculated motor output voltage. Min: Max: Integer scaling: 1 == 1 V

12
Index unit: C

PP TEMP
Temperature of the heat sink plate in percentage. 0C equals 0% and tripping limit is 100%. Min: Max: Integer scaling: 1 == 1

Signals

50
1 13
Index unit: h Description: type: R Description: type: R Description:

Group name:
Description:

ACTUAL SIGNALS Measured or calculated values

TIME OF USAGE
This actual signal is an elapsed time indicator of the mains switched on. Min: Max: Integer scaling: 1 == 1 h

14
Index unit: kWh

KILOWATT HOURS
This actual signal counts the kilowatt-hours in operation. Min: Max: Integer scaling: 1 == 1 kWh Measured or calculated values

15
Index

Interval: 10 ms

DI7-1 STATUS
Status of the digital inputs DI7...DI1 in the software. Example: DI1 and DI4 are activated. Table format: 0001001 (CDP 312R display view) DI name 7654321. Min: Max: Integer scaling: 1 == 1

Description:

unit:

type: I
Interval: 500 ms

16
Index unit: C

MOTOR 1 TEMP
Value of analogue input 1 displayed in C, when PT100 temperature measurement is selected. Min: Max: Integer scaling: 1 == 1

Description: type: R
Interval: 500 ms

17
Index unit: C

MOTOR 2 TEMP
Value of analogue input 2 displayed in C, when PT100 temperature measurement is selected. Min: Max: Integer scaling: 1 == 1

Description: type: R Description: type: R


Interval: 500 ms

18
Index unit: C

MOTOR TEMP EST


Calculated motor temperature when thermal model is used for the motor overtemperature protection. Min: Max: Integer scaling: 1 == 1

19
Index unit:

AI1 [V]
Scaled value of analogue input 1. See parameters 13.01...13.02. Min: -10 Max: 10 Integer scaling: 10000 == 10 V

Description: type: R
Interval: 500 ms

20
Index unit:

AI2 [mA]
Scaled value of analogue input 2. See parameters 13.04...13.05. Min: -20 Max: 20 Integer scaling: 20000 == 20 mA

Description: type: R
Interval: 500 ms

21
Index unit:

AI3 [mA]
Scaled value of analogue input 3. See parameters 13.08...13.09. Min: -20 Max: 20 Integer scaling: 20000 == 20 mA

Description: type: R
Interval: 500 ms

22
Index

RO3-1 STATUS
Status of the RMIO board relay outputs. Example: DO2 and DO3 are activated. Table format: 0000110 (CDP 312R display view). DO name 321. Min: 0 Max: Integer scaling:

Description:

unit:

type:
Interval: 500 ms

23
Index unit: mA

AO1 [mA]
Value of analogue output 1 signal in milliamperes. Signal selecting and scaling, see parameter group 15. Min: 0 mA Max: 22 mA Integer scaling: 20000 == 20 mA

Description: type: R

Signals

51

1 24
Index unit: mA

Group name:
Description:
Interval: 500 ms

ACTUAL SIGNALS Measured or calculated values

AO2 [mA]
Value of analogue output 2 signal in milliamperes. Signal selecting and scaling, see parameter group 15. Min: 0 mA Max: 22 mA Integer scaling: 20000 == 20 mA

Description: type: R
Interval: 500 ms

25
Index

CONTROL MODE
Control mode in use 1 = Speed control 2 = Torque control (TORQ_REF_1 affects the output of TORQ REF 3) Min: 1 Max: 2 Integer scaling:

Description:

unit:

type: I
Interval: 500 ms

26
Index unit: %

LED PANEL OUT


Output monitoring of the NLMD-01 LED panel. See parameter group 18. Min: Max: Integer scaling: 1 == 1

Description: type: R
Interval: 500 ms

44
Index

FAN ON-TIME
Running time of the drive cooling fan. Note: The counter can be reset by the DriveWindow PC tool. Resetting is recommended when the fan is replaced. Min: Max: Integer scaling: 1 == 1

Description:

unit:

type:
Interval: 500 ms

45
Index unit: %

CTRL BOARD TEMP


Control board temperature. Min: Max: Integer scaling: 1 == 1

Description: type:

Group 2 Actual Signals


2 01
Index unit: rpm Description: type: R Description: type: R Description: type: R Description:

Group name:
Description:

ACTUAL SIGNALS Measured or calculated values in the speed and torque reference chain.

SPEED REF2
Limited speed reference. Min: -18000 rpm Max: 18000rpm Integer scaling: see Par. 50.01 SPEED SCALING

02
Index unit: rpm

SPEED REF3
Speed reference after the speed ramp. Min: -18000 rpm Max: 18000rpm Integer scaling: see Par. 50.01 SPEED SCALING

03
Index unit: %

SPEED ERROR NEG


Difference between reference and the actual value. If parameter WINDOW_SEL_ON is enabled, SPEED_ERROR_NEG is filtered through the window function. Min: Max: Integer scaling: see Par. 50.01 SPEED SCALING

04
Index

TORQUE PROP REF


P-part effect at the output of the of PID controller. Output of PID controller is formed from the output parameters TORQUE PROP REF, TORQUE INTEG REF and TORQ ACC COMP REF. Min: Max: Integer scaling: 100 == 1%

unit: %

type: R Description:

05
Index

TORQUE INTEG REF


I- part effect at the output of the PID controller. Output of PID controller is formed from the output parameters TORQUE PROP REF, TORQUE INTEG REF, TORQ DER REF and TORQ ACC COMP REF. Min: Max: Integer scaling: 100 == 1%

unit: %

type: R

Signals

52
2 06
Index Description:

Group name:
Description:

ACTUAL SIGNALS Measured or calculated values in the speed and torque reference chain.

TORQUE DER REF


D-part effect at the output of the PID controller. Output of PID controller is formed from the output parameters TORQUE PROP REF, TORQUE INTEG REF, TORQ DER REF and TORQ ACC COMP REF. Min: Max: Integer scaling: 100 == 1%

unit: %

type: f Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R

07
Index unit: %

TORQ ACC COMP REF


Output of the acceleration compensation. Min: Max: Integer scaling: 100 == 1%

08
Index unit: %

TORQUE REF 1
Limited torque reference value in the torque reference chain. Min: Max: Integer scaling: 100 == 1%

09
Index unit: %

TORQUE REF 2
Final torque reference from the speed control chain. Min: Max: Integer scaling: 100 == 1%

10
Index unit: %

TORQUE REF 3
Torque reference after the torque selector block. Min: Max: Integer scaling: 100 == 1%

11
Index unit: %

TORQUE REF 4
Sum of TORQUE REF 3 and LOAD COMPENSATION. Min: Max: Integer scaling: 100 == 1%

12
Index unit: %

TORQUE REF 5
Sum of TORQUE REF 4 and TORQUE STEP. Min: Max: Integer scaling: 100 == 1%

13
Index unit: %

TORQ USED REF


Limited torque reference. This is the final torque input for the internal torque controller. Min: Max: Integer scaling: 100 == 1%

14
Index unit: %

FLUX USED REF


Used flux reference. Min: Max: Integer scaling: 10 == 1%

15
Index unit: %

FLUX ACT
Flux actual value. Min: Max: Integer scaling: 10 == 1%

16
Index unit: rpm/s

dV/dt
Speed reference change in rpm/s at the output of the speed ramp generator. Min: Max: Integer scaling: See parameter 50.01

17
Index Description: type: f unit: rpm/s

MOTOR ACCELERATIO
Motor acceleration in rpm/s. Min: Max: Integer scaling:

Signals

53

Group 3 Actual Signals


3 01
Index Description:

Group name:
Description:

ACTUAL SIGNALS Data values

APPL DUTY
Microprocessor load measurement. Value 100% means the overloading of the microprocessor and causes delay for the tasks executions. Application duty counter is recommended to be calibrated when application has been modified. Min: Max: Integer scaling: 1 == 1%

unit: %

type: R Description:

02
Index

APPLICATION OVERL
Possible overload of each application task can be detected by means of this signal in the Packed Boolean format. B0 = Application Task 1 overload B1 = Application Task 2 overload B2 = Application Task 3 overload B3 = Application Task 4 overload B4 = Application Task 5 overload B5 = Application Task 6 overload Min: 0 Max: Integer scaling: 1 == 1

unit:

type: PB Description: type: R Description: type: R Description: type: R Description: type: R Description: type: I Description: type: I Description: type: R Description: type: R

03
Index unit:

RS
Estimated stator resistance RS Min: 0 Max: Integer scaling: 100 == 1

04
Index unit: mH

LS
Estimated stator inductance LS Min: 0 Max: Integer scaling: 100 == 1 mH

05
Index unit:

SIGMALS
Estimated LS value Min: 0 Max: Integer scaling: 100 == 1

06
Index unit: ms

TR
Estimated time constant of the rotor. Min: 0 Max: Integer scaling: 1 == 1 ms

07
Index unit:

POS COUNT LOW


Position counter value in pulses (low word). Min: 0 Max: 65536 Integer scaling: 1 == 1

08
Index unit:

POS COUNT HIGH


Position counter value in pulses (high word). Min: 0 Max: 65536 Integer scaling: 1 == 1

09
Index unit: deg

POS COUNT DEGREES


Position counter value in degrees, when parameter 50.07 POS COUNT MODE has selection ROUND&DEG. This signal is used together with signal 3.10 POS COUNT ROUNDS. Min: -360 deg Max: 360 deg Integer scaling: 1 == 1 deg

10
Index unit:

POS COUNT ROUNDS


Position counter value in total shafts rounds, when parameter 50.07 POS COUNT MODE has selection ROUND&DEG. Min: -8388608 Max: 8388608 Integer scaling: 1 == 1

Signals

54
3 11
Description:

Group name:
Description:

ACTUAL SIGNALS Data values

DATALOG1 STATUS
Datalogger 1 STATUS WORD B0 = triggering conditions: fault B1 = triggering conditions: level B2 = triggering conditions: alarm B3 = triggering conditions: limit B4 = triggered by user B5 = triggered from level B6 = trend triggered from difference B7 = initialising B8 = over write (readpointer has reached write pointer) B9 = filled B10 = running B11 = initialised B12 = not initialised B13 = B14 = B15 = Min: -32768 Max: 32767 Integer scaling:

unit:

type: I Description:

12
Index

PP 0 TEMP
The highest power plate temperature in degrees Celsius from the module 0 in the parallel connected inverter. The IGPT module with the highest temperature is indicated by the LEDs in the NINT board. This measurement is active only with parallel connected inverters. Min: Max: Integer scaling: 1 == 1

unit: C

type: R Description:

13
Index

PP 1 TEMP
The highest power plate temperature in degrees Celsius from the module 1 in the parallel connected inverter. The IGPT module with the highest temperature is indicated by the LEDs in the NINT board. This measurement is active only with parallel connected inverters. Min: Max: Integer scaling: 1 == 1

unit: C

type: R Description:

14
Index

PP 2 TEMP
The highest power plate temperature in degrees Celsius from the module 2 in the parallel connected inverter. The IGPT module with the highest temperature is indicated by the LEDs in the NINT board. This measurement is active only with parallel connected inverters. Min: Max: Integer scaling: 1 == 1

unit: C

type: R Description:

15
Index

PP 3 TEMP
The highest power plate temperature in degrees Celsius from the module 3 in the parallel connected inverter. The IGPT module with the highest temperature is indicated by the LEDs in the NINT board. This measurement is active only with parallel connected inverters. Min: Max: Integer scaling: 1 == 1

unit: C

type: R Description: type: R Description: type: R

20
Index unit: C

FAULT CODE 1 LAST


Fieldbus code of the latest fault. Min: Max: Integer scaling: 1 == 1

21
Index unit: C

FAULT CODE 2 LAST


Fieldbus code of the 2nd latest fault. Min: Max: Integer scaling: 1 == 1

Signals

55

3 22
Index unit:

Group name:
Description: Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R

ACTUAL SIGNALS Data values

FAULT CODE 3 LAST


Fieldbus code of the 3rd latest fault. Min: Max: Integer scaling: 1 == 1

23
Index unit:

FAULT CODE 4 LAST


Fieldbus code of the 4th latest fault. Min: Max: Integer scaling: 1 == 1

24
Index unit:

FAULT CODE 5 LAST


Fieldbus code of the 5th latest fault. Min: Max: Integer scaling: 1 == 1

25
Index unit:

WARN CODE 1 LAST


Fieldbus code of the latest warning. Min: Max: Integer scaling: 1 == 1

26
Index unit:

WARN CODE 2 LAST


Fieldbus code of the 2nd latest warning. Min: Max: Integer scaling: 1 == 1

27
Index unit:

WARN CODE 3 LAST


Fieldbus code of the 3rd latest warning. Min: Max: Integer scaling: 1 == 1

28
Index unit:

WARN CODE 4 LAST


Fieldbus code of the 4th latest warning. Min: Max: Integer scaling: 1 == 1

29
Index unit:

WARN CODE 5 LAST


Fieldbus code of the 5th latest warning. Min: Max: Integer scaling: 1 == 1

Group 4 Information
4 01
Index unit: Description: type: C Description:

Group name:
Description:

INFORMATION This signal group consists of information about the downloaded software on the RMIO board.

SOFTWARE INFORMATION
Version information of the downloaded software loading package. Min: Max:

02
Index

DTC SW VERSION
Software version of the flux software. This fixed part of the software consist of the motor control, operational system, communication control of the DDCS channels and Modbus software for the control panel. Min: Max:

unit:

type: C Description: type: C

03
Index unit:

APPL SW VERSION
Application software name can be identified by means of this signal. This part of the software has been done by function block programming. Min: Max:

Signals

56
4 04
Index unit: V Description: type: R Description: type: R

Group name:

INFORMATION

INV NOM VOLTAGE


Downloaded inverter nominal supply voltage. Min: Max:

05
Index unit: A

INV NOM CURRENT


Downloaded inverter nominal current value. Min: Max:

Group 7 Control Words


7 01
Index

Group name:
Description:
Interval: 10 ms

CONTROL WORDS ABB Drives communication profile Control Word.

MAIN CTRL WORD (MCW) Bit Name


ON OFF 2 OFF 3 RUN RAMP_OUT_ZERO RAMP_HOLD RAMP_IN_ZERO RESET INCHING1 INCHING2 REMOTE_CMD reserved reserved reserved reserved reserved Max: 32767

INPUT Value Meaning


1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Command to RDYRUN-state Command to OFF-state No OFF2 (Emergency OFF or Coast Stop) Command to ON INHIBIT state No OFF 3 (Emergency STOP) Command to ON INHIBIT state Command to RDYREF- states Stop by coasting No other activities Speed ramp output is forced to zero No other activities Speed ramping stopped No other activities Speed ramp input is forced to zero Fault resetting with a positive edge Constant speed 1 defined by a parameter Constant speed 2 defined by a parameter Overriding computer is req. to control the drive Only OFF commands are valid (reserved) (reserved) (reserved) (reserved) (reserved) Integer scaling:

B0 B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15


unit: type: I

Min: -32768

Signals

57

7 02
Index:

Group name:
Interval: 10 ms

CONTROL WORDS

AUX CONTROL WORD (ACW) The drive specific auxiliary control word to ACS800. Restart of data logger Data logger triggering. Speed ramp is bypassed. Forcing of ramp output. Flux on DC. (Flux off: set this bit and MCW bit 3 to 0) Flux on (zero torque). Holding of the integral part in the speed controller Parameter 26.01 TORGUE SELECTOR forcing to window control (ADD) Forcing of speed controllers output B8 = BAL_NCONT B9 = SYNC_COMMAND Position counting: synchronise command Position counting: synchronise disabled command B10 = SYNC_DISABLE B11 = RESET_SYNC_RDY Position counting: reset synchronous ready command B12 = B13B15: Digital output controls B13 = DO1 CONTROL B14 = DO2 CONTROL B15 = DO3 CONTROL
B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = RESTART_DLOG TRIGG_LOGGER RAMP_BYPASS BAL_RAMP_OUT FLUX ON DC FLUX ON HOLD_NCONT WINDOW_CTRL

Description: Not available Not available

03
Index:

FOLLOWER MCW
A 16-bit data word. The parameter are the same as 7.01 MAIN COMMAND WORD, except bits 0 = (OFF1), 1 = (OFF2), 2 = (OFF3), 4 (RAMP OUT ZERO), 5 = (RAMP HOLD) and 6 = (RAMP IN ZERO) are blocked. type: Min: Max: Integer scaling:

unit:

Signals

58 Group 8 Status Words


8 01
Index

Group name: STATUS WORDS


Description: Status signals of the drive according to the ABB Drives communication profile.
Interval: 100 ms MAIN STATUS WORD (MSW)

INPUT Value Meaning


1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Ready to switch on Not ready to switch on Ready Not ready Operation enabled (RUNNING) Operation inhibited Fault No OFF 2 OFF 2 No OFF 3 OFF3 Switch on inhibit Alarm Setpoint/act. value monitoring in the tolerance Remote control Local control Frequency or speed > par. Speed Above Limit (reserved) (reserved) (reserved) (reserved) (reserved)

Bit

Name
RDYON RDYRUN RDYREF TRIPPED OFF_2_STA OFF_3_STA SWC ON INHIB ALARM AT_SETPOINT REMOTE ABOVE_LIMIT ...

B0 B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15


unit: type: I Min:

-32768

Max: 32767

Integer scaling:

Signals

59

8 02
Index

Group name:
Interval: 100 ms

STATUS WORDS

AUX STATUS WORD (ASW)


B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = LOGG_DATA_READY OUT_OF_WINDOW EMERG_STOP_COAST MAGNETIZED RUN_DISABLED SYNC_RDY 1_START_NOT_DONE IDENTIF_RUN_DONE START_INHIBITION LIMITING TORQ_CONTROL ZERO_SPEED INTERNAL_SPEED_FB

Description:

Drive specific auxiliary status word Content of data logger is readable. Speed actual is outside of the defined window. Emergency stop function has failed. A flux has been activated to the motor External interlocking (DI2) prevents the run. Position counter synchronous ready status. Not started after the parameter set of group 99. Identification run has been completed. Inhibition of false start Control at the limit. See signals 8.03-8.04 Drive is torque controlled Motor speed actual is below the zero speed limits. Internal speed feedback selected

unit:

type: I Description:

Min: B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 =

-32768

Max: 32767

Integer scaling:

03
Index

LIMIT WORD 1
TORQ_MOTOR_LIM SPC_TORQ_MIN_LIM SPC_TORQ_MAX_LIM TORQ_USER_CUR_LIM TORQ_INV_CUR_LIM TORQ_MIN_LIM TORQ_MAX_LIM TREF_TORQ_MIN_LIM TREF_TORQ_MAX_LIM FLUX_MIN_LIMIT FREQ_MIN_LIMIT FREQ_MAX_LIMIT DC_UNDERVOLT_LIM DC_OVERVOLT_LIM TORQUE_LIMIT FREQ_LIMIT Max: 32767 Integer scaling:

unit:

type: I

Min: -32768

Signals

60
8 04
Index Description:

Group name:

STATUS WORDS

LIMIT WORD 2
B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = Min: -32768 Max: 32767 Integer scaling:

unit:

type: I Description:

05
Index

Interval: 500 ms DI STATUS WORD B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = DI1 DI2 DI3 DI4 DI5 DI6

Drive specific auxiliary status word Status of the digital input 1 Status of the digital input 2 Status of the digital input 3 Status of the digital input 4 Status of the digital input 5 Status of the digital input 6

unit:

type: I

Min:

-32768

Max: 32767

Integer scaling:

Signals

61

8 06
Index

Group name:
Description:

STATUS WORDS LIMIT WORD INV to indicate e.g. that converter is limiting the max output current or power. A 16-bit data word. B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = Current integrator 200% Current integrator 150% High pp temperature in low frequency with current integrators. High pp temperature with current integrators. PP junction overtemperature with temperature model. PP junction to case overload with temperature model. Inverter maximum power limit. Inverter trip current. Inverter maximum current limit. Continuous DC current limit. Continuous output current limit. Max: Integer scaling:

Interval: 500 ms LIMIT WORD INV

unit:

type: epb

Min:

Signals

62 Group 9 Fault Words


9 01
Index

Group name:
Description:
Interval: 500 ms

FAULT WORDS Fault signals of the drive.

FAULT WORD 1
B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = SHORT CIRC OVERCURRENT DC OVERVOLT ACS800 TEMP EARTH FAULT MOTOR TEMP M MOTOR TEMP SYSTEM_FAULT UNDERLOAD OVERFREQ LINE CONVRTR CH2 COM LOS SC (INU1) SC (INU2) SC (INU3) SC (INU4) Short circuit in the main circuit. Overcurrent. Intermediate circuit DC overvoltage. Power plate overtemperature. Earth fault. Motor overtemperature (measured). Motor overtemperature (calculated). A fault is indicated by the System Fault Word 9.03. Underload fault. See parameter 30.16. Overspeed fault. Line converter fault CH2 Master/Follower communication fault. Short circuit in parallel connected INU 1. Short circuit in parallel connected INU 2. Short circuit in parallel connected INU 3. Short circuit in parallel connected INU 4. Integer scaling:

Description:

unit:

type: I
Interval: 500 ms

Min: -32768

Max: 32767

02
Index

FAULT WORD 2
B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = SUPPLY PHASE NO MOTOR DATA DC UNDERVOLT (Reserved) RUN DISABLD ENCODER FLT IO FAULT CABIN TEMP F OVER SWFREQ PPCC LINK COMM MODULE PANEL LOST MOTOR STALL MOTOR PHASE High supply section ripple voltage. No motor data entered in Group 99. Intermediate circuit DC undervoltage. Motor cable overtemperature. External interlocking on DI2 active. Speed measurement fault. I/O device fault on CH1. Drive cabinet overtemperature (reserved) Over switching frequency fault. NINT board current measurement or comm. fault. Cyclical communication with drive and master station is lost. Local control lost. Motor stalled. Motor circuit fault. Integer scaling:

Description:

unit:

type: I

Min: -32768

Max: 32767

Signals

63

9 03
Index

Group name:
Description:

FAULT WORDS

SYSTEM FAULT WORD


B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = FLT (F1_7) USER MACRO FLT (F1_4) FLT (F1_5) FLT (F2_12) FLT (F2_13) FLT (F2_14) FLT (F2_15) FLT (F2_16) FLT (F2_17) FLT (F2_18) FLT (F2_19) FLT (F2_3) FLT (F2_1) FLT (F2_0) Factory default parameter file error. User macro file error. FPROM operating error. FPROM data error. Internal time level T2 overflow (100s). Internal time level T3 overflow (1 ms). Internal time level T4 overflow (50 ms). Internal time level T5 overflow (1 s). State machine overflow. Application program execution error. Application program execution error. Illegal instruction. Register stack overflow. System stack overflow. System stack underflow. Integer scaling:

unit:

type: I
Interval: 500 ms

Min: -32768

Max: 32767

04
Index

ALARM WORD 1
B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = START INHIBI EM STOP MOTOR TEMP M MOTOR TEMP ASC 800 TEMP ENCODER ERR T MEAS ALM DIO ALARM AIO ALARM EXT DIO ALM EXT AIO ALM CH2 COM LOS Preventation of unexpected start-up active. Emergency stop function has been activated DI7=0. Motor overtemperature (measured). Overtemperature alarm of the thermal model. Power plate overtemperature. Pulse encoder error. See Parameter 50.05. Temperature measurement failure. Standard digital I/O alarm. Standard analogue I/O alarm. External digital I/O alarm. External analogue I/O alarm. CH2 Master/Follower communication error.

Description:

EARTH FAULT

Earth fault. Integer scaling:

unit:

type: I

Min: -32768

Max: 32767

Signals

64
9 05
Index

Group name:
Interval: 500 ms

FAULT WORDS

ALARM WORD 2
B0 = B1 = B2 = B3 = B4 = B5 = B6 = B7 = B8 = B9 = B10 = B11 = B12 = B13 = B14 = B15 = UNDERLOAD CABLE TEMP Underload. (not in use) Motor cable overtemperature. (not in use) (not in use) (not in use) Error in restoring 'powerfail.ddf. Error in restoring 'powerdown.ddf. Motor stalling. (not in use) Cyclical communication with drive and master station is lost. (not in use) Local control lost. (not in use) (not in use) Integer scaling:

Description:

POWFAIL FILE POWDOWN FILE MOTOR STALL COMM MODULE PANEL LOST

unit:

type: I
Interval: 500 ms

Min: -32768

Max: 32767

08
Index

FAULT WORD 4
A-16 bit data word. B0 = BR BROKEN B1 = BR WIRING B2 = BR SHORT CIR B3 = BR OVERHEAT Min: -32768 Max: 32767 Integer scaling:

Description:

unit:

type: I
Interval: 500 ms

09
Index

ALARM WORD 3
A-16 bit data word. B0 = REPLACE FAN B1 = SYNCRO SPEED B2 = BR OVERHEAT B3 = IN CHOKE TEMP Min: -32768 Max: 32767 Integer scaling:

Description:

unit:

type: I
Interval:

10

INT INIT FAULT


B0 = B1 = B2 = B3 = B4 = B5B15 AINT FAULT: Wrong EPLD version AINT FAULT: Wrong AINT board version AINT FAULT: Du/dt limitation hardware failure AINT FAULT: Current measurement scaling error AINT FAULT: Voltage measurement scaling error Not in use Max: Integer scaling:

unit:

type:

Min:

Signals

65

9 11

Group name:
Interval:

FAULT WORDS

INT FAULT INFO


A 16-bit data word. The INT FAULT INFO Word includes information on the location of faults PPCC LINK, OVERCURRENT, EARTH FAULT, SHORT CIRCUIT and ACS800 TEMP, (see 9.01 FAULT WORD 1 and 9.02 FAULT WORD 2 and the chapter Fault tracing). 0 INT 1 FLT INT 1 board fault 1 INT 2 FLT INT 2 board fault 2 INT 3 FLT INT 3 board fault 3 INT 4 FLT INT 4 board fault 4 INT 5 FLT INT 5 board fault 5 INT 6 FLT INT 6 board fault 6 INT 7 FLT INT 7 board fault 7 INT 8 FLT INT 8 board fault 8 INT 9 FLT INT 9 board fault 9 INT 10 FLT INT 10 board fault 10 INT 11 FLT INT 11 board fault 11 INT 12 FLT INT 12 board fault 1214 Not in use 15 PBU FLT PBU board fault Min: 0 Max: 65535 Integer scaling:

Description:

unit:

type:
Interval:

12

INT SC INFO
A 16-bit data word. The INT SC INFO Word includes information on the location of the SHORT CIRCUIT fault (see 9.01 FAULT WORD 1 and the chapter Fault tracing). 0 U-PH SC U Phase U upper-leg IGBT(s) short circuit 1 U-PH SC L Phase U upper-leg IGBT(s) short circuit 2 V-PH SC U Phase V upper-leg IGBT(s) short circuit 3 V-PH SC L Phase V upper-leg IGBT(s) short circuit 4 W-PH SC U Phase W upper-leg IGBT(s) short circuit 5 W-PH SC L Phase W upper-leg IGBT(s) short circuit 615 Not in use Min: 0 Max: 65535 Integer scaling:

Description

unit:

type:

Signals

66

Signals

67

Parameters
Overview
This chapter explains the function of, and valid selections for, each parameter.

Parameter groups
The parameters are arranged into groups by their function. The figure below illustrates the organisation of the parameter groups. ACS800 Parameters
Group + Index 10.710.8 13.1...13.11 14.1...14.7 15.1...15.10 16.1...16.5, 16.9 17.1...17.3 18.1...18.2 19.1...19.8 20.1...20.11 21.1...21.5 22.1...22.8 23.1...23.10 24.1...24.20 25.1...25.6 26.1...26.7 27.1...27.5 29.1...29.4 30.1...30.23 30.2530.29 37.137.6 50.1...50.14 51.1...51.33 52.152.3 70.1...70.19 90.190.5 92.192.6 95.195.3, 95.695.7 98.1...98.7 98.1398.14 99.1...99.11 Description Start/Stop/Dir Analogue Inputs Digital Outputs Analogue Outputs System Control Inputs DC Hold LED Panel Control Data Storage Limits Start/Stop Functions Accel/Decel Speed Reference Speed Control Torque Reference Torque Reference Handling Flux Control Scalar Control Fault Functions
Brake Chopper Speed Measurement Communication Module Standard Modbus DDCS Control D Set REC ADDR D Set TR ADDR Hardware specific Option Modules Start-Up Data Total

Quantity 2 11 7 10 6 3 2 8 11 5 8 10 20 6 7 5 4 28
6 13 33 3 17 5 6 5 9 11 261

Parameters

68

How to read the Parameter Table


Before you start to read the parameter table, we first recommend you read this description. Parameter change by DriveWindow or the CDP 312R is stored to FPROM memory; changes made by the overriding system are only stored to RAM. If the application software utilises individual bits of the word (for example 7.01 MAIN CTRL WORD), it must be understood that bit 15 is set by the SIGN. Also bit 15 is read from the SIGN. From DriveWindow and the control panel, parameter values are set in decimal. Communication between the overriding system and the drive uses 16 bit integer values (-32768...32767). To change a parameter value from the overriding system, an integer value for the parameter must be calculated using the information given in the Integer scaling column.

Example 1: If the signal type is R (real value), It has an integer scaling relation mentioned in the column Integer scaling. For example if TREF TORQMAX is set from the overriding system, an integer value of 100 corresponds to 1% (see below).
09
Index

TREF TORQMAX
Description: type: R Maximum torque reference as a percentage of the motor nominal torque. Min: 0 % Max: 300 % Def: 300 % Integer scaling: 100 == 1%

unit: %

Figure 15. Sample of the parameter table. Example 2: Speed reference from the overriding system. Speed reference input is given by parameter 23.01 SPEED REF. The Integer scaling box reads see parameter 50.01. Parameter 50.01 defines the motor speed (in rpm) at maximum reference (20000 for the overriding system). Thus, sending a value of 20000 from the overriding system into Parameter 23.01 sets the speed reference to the rpm value given with Parameter 50.01. Unit of the parameter value can be seen on the lower left-hand corner of the parameter description. Minimum, maximum and default values are shown in decimal format. Data type is given with a short code:
Boolean value 16-bit signed integer value Packet Boolean value Real value String

B= I= PB = R= S=

Parameters

69

Group 10 Start/Stop/Dir
10 07
Index: Description:

Group name:
Description:

START/STOP/DIR

NET CONTROL
When active, fieldbus control word is enabled when speed controlled. Note: Only visible with the Generic Drive communication profile selected (98.07). Note: The setting is not saved in the permanent memory (will reset to zero when power is switched off). 0 = OFF Inactive 1 = ON Active Min: Max: Def: 0 Integer scaling:

unit:

type: I Description:

08
Index:

NET REFERENCE
When active, fieldbus reference REF1 is enabled when speed controlled. Note: Only visible with the Generic Drive communication profile selected (98.07). Note: The setting is not saved in the permanent memory (will reset to zero when power is switched off). 0 = OFF Inactive 1 = ON Active Min: Max: Def: 0 Integer scaling:

unit:

type: I

Group 13 Analogue inputs


13 01
Index: Description:

Group name:
Description:

ANALOGUE INPUTS

AI1 HIGH VALUE


This value corresponds to the maximum input voltage on AI1 produced by the device used. This parameter is not active when AI1 is used for motor 1 temperature measurement. See Parameter 30.03 MOT1 TEMP AI1 SEL. Min: -32768 Max: 32767 Def: 20000 Integer scaling:

unit:

type: I Description:

02
Index:

AI1 LOW VALUE


This value corresponds to the minimum input voltage on AI1. This parameter is not active when AI1 is used for motor 1 temperature measurement. See parameter 30.03 MOT1 TEMP AI1 SEL. Min: -32768 Max: 32767 Def: 0 Integer scaling:

unit:

type: I Description: type: I Description:

03
Index: unit: ms

FILTER AI1
Filter time constant for analogue input AI1. The hardware filter time constant is 20 ms. Min: 0 ms Max: 30000 ms Def: 1000 ms Integer scaling:

04
Index:

AI2 HIGH VALUE


This value corresponds to the maximum input in milliamperes (20 mA). This parameter is not active when used for motor 2 temperature measurement. See parameter 30.06 MOT2 TEMP AI2 SEL. Min: -32768 Max: 32767 Def: 20000 Integer scaling:

unit:

type: I

Parameters

70
13 05
Index: Description:

Group name:

ANALOGUE INPUTS

AI2 LOW VALUE


This value corresponds to the minimum input in milliamperes (0 or 4 mA). This parameter is not active when used for motor 2 temperature measurement. See parameter 30.06 MOT2 TEMP AI2 SEL. Min: -32768 Max: 32767 Def: 0 Integer scaling:

unit:

type: I Description:

06
Index:

MINIMUM AI2
Minimum value of AI2. This value corresponds to the minimum reference. 1 = 0 mA (020 mA) (420 mA) 2 = 4 mA Min: 1 Max: 2 Def: 1 Integer scaling:

unit:

type: I Description: type: I Description: type: I Description: type: I Description:

07
Index: unit: ms

FILTER AI2
Filter time constant for analogue input AI2. The hardware filter time constant is 20 ms. Min: 0 ms Max: 30000 ms Def: 1000 ms Integer scaling:

08
Index: unit:

AI3 HIGH VALUE


This value corresponds to the maximum input in milliamperes (20 mA). Min: -32768 Max: 32767 Def: 20000 Integer scaling:

09
Index: unit:

AI3 LOW VALUE


This value corresponds to the minimum input in milliamperes (0 or 4 mA). Min: -32768 Max: 32767 Def: 0 Integer scaling:

10
Index:

MINIMUM AI3
Minimum value of AI3. This value corresponds to the minimum reference. 1 = 0 mA 2 = 4 mA Min: 1 Max: 2 Def: 1 Integer scaling:

unit:

type: I Description: type: R

11
Index: unit: ms

FILTER AI3
Filter time constant for analogue input AI3. The hardware filter time constant is 20 ms. Min: 0 ms Max: 30000 ms Def: 1000 ms Integer scaling:

Group 14 Digital outputs


14 01
Index Description:

Group name:
Description:

DIGITAL OUTPUTS Control of the digital outputs.

DO1 CONTROL
An emergency stop command energises DO1 until MAIN CONTROL WORD bit 0 is set to a 0 state and zero speed has been detected. If the emergency stop function is not activated (by Parameter 21.04), the output can be controlled from the overriding system. 0 = OFF An emergency stop command controls the DO1. 1 = ON DO1 signal is selected by Parameter 14.02 and 14.03. Min: Max: Def: OFF Integer scaling: 1 == 1

unit:

type: B

Parameters

71

14 02
Index

Group name:
Description:

DIGITAL OUTPUTS

DO1 GROUP+INDEX
Digital output 1 is controlled by a selectable (see Par. 14.03) bit of the signal selected with this parameter. The format is xyy, where, x = Group, yy = Index. Examples: If Parameters 14.02 and 14.03 are set to 801 and 1 respectively (default), digital output DO1 is active when 8.01 MAIN STATUS WORD bit 1 (READY) is 1. If this parameter is set to 0, digital output DI1 is controlled by the overriding system (7.02 AUX CTRL WORD bit 13). By default, DO1 indicates the READY state. Min: 0 Max: 30000 Def: 801 Integer scaling:

unit:

type: I Description: type: I Description:

03
Index unit:

DO1 BIT NUMBER


This parameter specifies the bit number for the signal selected at Parameter 14.02. Min: 0 Max: 23 Def: 1 Integer scaling:

04
Index

DO2 GROUP+INDEX
Digital output 2 is controlled by a selectable (see Par. 14.05) bit of the signal selected with this parameter. The format is xyy, where, x = Group, yy = Index. See parameter 14.02 If this parameter is set to 0, digital output DI1 is controlled by the overriding system (7.02 AUX CTRL WORD bit 14). By default, DO1 indicates the RUNNING state. Min: 0 Max: 30000 Def: 801 Integer scaling:

unit:

type: I Description: type: I Description:

05
Index unit:

DO2 BIT NUMBER


This parameter specifies the bit number for the signal selected at Parameter 14.04 Min: 0 Max: 23 Def: 2 Integer scaling:

06
Index

DO3 GROUP+INDEX
Digital output 3 is controlled by a selectable (see Par. 14.06) bit of the signal selected with this parameter. The format is xyy, where, x = Group, yy = Index. See parameter 14.02. If this parameter is set to 0, digital output DI1 is controlled by the overriding system (7.02 AUX CTRL WORD bit 15). By default, DO3 indicates the FAULT state. Min: 0 Max: 30000 Def: 801 Integer scaling:

unit:

type: I Description: type: I

07
Index unit:

DO3 BIT NUMBER


This parameter specifies the bit number for the signal selected at Parameter 14.06. Min: 0 Max: 23 Def: 3 Integer scaling:

Group 15 Analogue outputs


15 Group name:
Description: ANALOGUE OUTPUTS It is possible to select a real signal or parameter to control the analogue outputs by defining the group and index. The outputs can also be controlled from the overriding system.

01
Index Description:

ANALOGUE OUTPUT 1
To direct a measured signal to analogue output AO1, set the parameter according to the format (x)xyy. Where (x) is the group and yy the index of the desired signal; e.g. 2301 denotes Parameter 23.01. If temperature measurement (Parameter 30.03) is selected, analogue output AO1 is used for supplying a constant current for the sensor. Min: 0 Max: 30000 Def: 106 (Mot curr) Integer scaling:

unit:

type: I

Parameters

72

15 02
Index

Group name:
Description:

ANALOGUE OUTPUTS

INVERT AO1
Analogue output AO1 signal inversion. 0 = NO minimum signal value corresponds to the minimum output value. 1 = YES maximum signal value corresponds to the minimum output value. Min: Max: Def: NO Integer scaling: 1 == 1

unit:

type: B Description:

03
Index

MINIMUM AO1
Analogue output 1 signal offset in milliamperes. This parameter is not effective if motor 1 temperature measurement is activated by parameter 30.01. Otherwise, the following settings are available. 1 = 0 mA 2 = 4 mA 3 = 10 mA 50% offset in the range 0...20 mA for testing or indication of direction (torque, speed etc.) Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I Description: type: R Description: type: R Description:

04
Index unit: s

FILTER AO1
Filter time constant for analogue output AO1. Min: 0 s Max: 10 s Def: 0.1 s Integer scaling: 100 == 1s

05
Index unit:

SCALE AO1
Nominal value of the analogue output AO1signal, which is selected in Parameter 15.01. This value corresponds to 20 mA at the output. Min: 0 Max: 65536 Def: 100 Integer scaling: 1 == 1

06
Index

ANALOGUE OUTPUT 2
To direct a measured signal to analogue output AO1, set the parameter according to the format (x)xyy. Where (x) is the group and yy the index of the desired signal; e.g. 1506 denotes Par. 15.06. If temperature measurement (Parameter 30.06) is selected, analogue output AO2 is used for supplying a constant current for the sensor. Min: 0 Max: 30000 Def: 101 (Mot spd) Integer scaling:

unit:

type: I Description:

07
Index

INVERT AO2
Analogue output AO2 signal inversion. 0 = NO minimum signal value corresponds to the minimum output value. 1 = YES maximum signal value corresponds to the minimum output value. Min: Max: Def: NO Integer scaling: 1 == 1

unit:

type: B Description:

08
Index

MINIMUM AO2
Analogue output AO2 signal offset in milliamperes. 1 = 0 mA 2 = 4 mA 3 = 10 mA 50% offset in the range of 020 mA for testing or indication of direction (torque, speed etc.) Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I Description: type: R

09
Index unit: s

FILTER AO2
Filter time constant for analogue output AO2. Min: 0 s Max: 10 s Def: 0.1 s Integer scaling: 100 == 1s

Parameters

73

15 10
Index unit:

Group name:
Description: type: R

ANALOGUE OUTPUTS

SCALE AO2
Nominal value of analogue output AO2 signal, which is selected in Parameter 15.06. This value corresponds to 20 mA at the output. Min: 0 Max: 65536 Def: 3000 Integer scaling: 1 == 1

Group 16 System control inputs


16 01
Index Description:

Group name:
Description:

SYSTEM CTR INPUTS

RUN ENABLE
This parameter activates the RUN ENABLE input. Digital Input DI2 is dedicated for this input permanently. 1 = NOT USED 2 = DI2 To activate the RUN ENABLE signal, voltage must be connected to digital input DI2. If the voltage drops to 0V, the drive coasts to stop and a run enable fault is generated. Min: 2 Max: 2 Def: 2 Integer scaling:

unit:

type: I Description:

02
Index

PARAMETER LOCK
This parameter selects the state of the parameter lock. With the parameter lock you can prevent unauthorised changes by CDP 312R or the DriveWindow Tool for Parameter groups 099. 1 = LOCKED Parameter changes are disabled. 0 = OPEN Parameter changes are enabled. Min: Max: Def: OPEN Integer scaling: 1 == 1

unit:

type: B Description:

03
Index

PASS CODE
This parameter enters the pass code for the Parameter Lock. The default value of this parameter is 0. In order to open the Parameter Lock, change the value to 358. After the Parameter Lock is opened, the value is automatically changed back to 0. Min: 0 Max: 30000 Def: 0 Integer scaling:

unit:

type: I Description:

04
Index

LOCAL LOCK
Control place change of the drive from remote to local can be disabled by setting this parameter to TRUE. If LOCAL LOCK is activated during local control, it takes effect only after the control place is changed back to remote. 0 = FALSE No locking for control place change. 1 = TRUE Local control is disabled. Min: Max: Def: FALSE Integer scaling: 1 == 1

unit:

type: B Description:

05
Index

PARAMETER BACKUP
Parameter saves from the RAM memory to FPROM. This is needed only when parameter changes by overriding system have to be stored to FPROM memory instead of RAM. Note: Do not use the Parameter Backup function unnecessarily. Note: Parameter changes by CDP 312R Control Panel or DriveWindow are immediately saved to FPROM. 0 = DONE Parameter value after the saving has been completed. 1 = SAVE Parameter save to FPROM. Min: 0 Max: 1 Def: DONE Integer scaling: 1 == 1

unit:

type: B

Parameters

74
16 09
Index Description:

Group name:

SYSTEM CTR INPUTS

CTRL BOARD SUPPLY


Defines the source of the control board power supply. Note: If an external supply is used but this parameter has value INTERNAL, the drive trips to a fault at power switch off. INTERNAL 24V. Internal (default) EXTERNAL 24V. External. The control board is powered from an external supply. Min: 1 Max: 2 Def: Integer scaling: 1 == 1

unit:

type: IL

Group 17 DC HOLD
17 01
Index Description:

Group name:
Description:

DC HOLD

DC HOLD
DC HOLD is activated when both the speed reference and the actual speed drop below the defined DC HOLD SPEED. The drive will then stop generating sinusoidal current and inject DC current into the motor. The DC current value is set by the DC HOLD CURR parameter. When the speed reference rises above the DC HOLD SPEED, the DC current will be removed and normal operation resumed. This function is only possible in DTC control mode. 1 = YES DC HOLD is enabled 0 = NO DC HOLD is disabled Min: Max: Def: NO Integer scaling: 1 == 1

unit:

type: B Description:

02
Index

DC HOLD SPEED
Sets the speed limit for the DC HOLD function.

SPEED

DC Hold

t Ref.

17.02 DC HOLD SPEED

unit: rpm

type: R Description: type: R

Min: 0 rpm

Max: 3600 rpm Def: 5 rpm

Integer scaling:

1 == 1

03
Index unit: %

DC HOLD CURRENT
Sets the DC current to be applied to the motor when the DC HOLD function is activated. Min: 0% Max: 100% Def: 30% Integer scaling: 1 == 1

Parameters

75

Group 18 LED panel control


18 Group name:
Description: LED PANEL CTRL The NLMD-01 Monitoring Display has a 0150% LED bar to show an absolute real type value. The source and the scale of this display signal are defined by this parameter group. Note: If NLMD -01 and CDP 312R control panel are used together, the first signal selected in the Actual Signal Display Mode of CDP 312R must be the default value 1.26 LED PANEL OUTP. Otherwise the NLMD-01 LED bar display will not show the correct value.

1 L -> 0.0 rpm 0 LED PANEL OUTP MOTOR SPEED FILT MOTOR TORQUE FILT
01
Index unit: Description: type: I Description: type: R

LED PANEL OUTPUT


Signal group and index for the LED monitor display. The default value for this signal is 1.07 MOTOR TORQUE FILT. Min: 0 Max: 30000 Def: 107 Integer scaling:

02
Index unit:

SCALE PANEL
The signal value (defined in Parameter 18.01), which corresponds to 100% on the LED bar display. Min: 0 Max: 65536 Def: 100 Integer scaling: 1 == 1

Parameters

76

Group 19 Data storage


19 Group name:
DATA STORAGE This parameter group consists of unconnected parameters for linking, testing and commissioning purposes. Address of the Dataset 14 index 2 is 90.08. By setting parameter 90.08 to value 19.01, the value A can be trended with the DriveWindow monitor tool.
APC2, AC80 APC2 Application software NEDRX DS14 Index: 1 Index: 2 Index: 3 RMIO Dataset Table Address DS VAL Assignment . . of Dataset . . GRP Index 1 14
. . . 2 3 . . .

A* A* : Value assigned for drive control i.e., tension control output

90 .08

For DriveWindow Tool 19.01

APC2, AC80 APC2 Application software NEDRX B* B * : Value assigned for APC2 application, for example tension regulator gain. DS15 Index: 1 Index: 2 Index: 3

RMIO Dataset Table Address DS VAL Assignment . . of Dataset . . GRP Index 1 15


. . . 2 3 . . .

From DriveWindow Tool 19.02

92

.08

Setting 92.08 to the value 19.02 by a CDP 312R control panel or DriveWindow it allows value being sent, for example gain value for tension regulator.

01
Index Description:

DATA 1
A storage parameter for receiving from or sending to the overriding system. For example, if the signal from data set 18 words 3 (DW 18.3) is required for monitoring by DriveWindow, first set Parameter 90.15 DATA SET VAL 3 to 1901 (denoting Par. 19.01), then select Parameter 19.01 DATA1 for the desired DriveWIndow monitoring channel. Min: -32768 Max: 32767 Integer scaling: 1 == 1

unit:

type: R Description: type: R Description: type: R Description: type: R

02
Index unit:

DATA 2
See 19.01 DATA 1 Min: -32768 Max: 32767 Integer scaling: 1 == 1

03
Index unit:

DATA 3
See 19.01 DATA 1 Min: -32768 Max: 32767 Integer scaling: 1 == 1

04
Index unit:

DATA 4
See 19.01 DATA 1 Min: -32768 Max: 32767 Integer scaling: 1 == 1

Parameters

77

19 05
Index unit:

Group name:
Description: type: R Description: type: R Description: type: R Description: type: R

DATA STORAGE

DATA 5
See 19.01 DATA 1 Min: -32768 Max: 32767 Integer scaling: 1 == 1

06
Index unit:

DATA 6
See 19.01 DATA 1 Min: -32768 Max: 32767 Integer scaling: 1 == 1

07
Index unit:

DATA 7
See 19.01 DATA 1 Min: -32768 Max: 32767 Integer scaling: 1 == 1

08
Index unit:

DATA 8
See 19.01 DATA 1 Min: -32768 Max: 32767 Integer scaling: 1 == 1

Group 20 Limits
20 Group name: LIMITS
Description: This parameter group defines the maximum and minimum limits for the speed, frequency, current and torque algorithms. Note: The absolute nominal torque is calculated in the application program from the motor parameters (see parameter group 99).

01
Index Description: unit: rpm type: R

MINIMUM SPEED
Negative speed reference limit in rpm. Min: -18000 rpm Max: 18000 rpm Def: See 99.05 Integer scaling: See 50.01

02
Index Description: unit: rpm type: R

MAXIMUM SPEED
Positive speed reference limit in rpm. Min: -18000 rpm Max: 18000 rpm Def: See 99.05 Integer scaling: See 50.01

03
Index Description: unit: rpm type: R

ZERO SPEED LIMIT


The absolute speed value at which the drive coasts after a stop command. Min: 0 rpm Max: 15000 rpm Def: 60 rpm Integer scaling: See 50.01

04
Index unit: A Description: type: R Description: type: R Description: type: R Description: type: R

MAXIMUM CURRENT
Defines the allowed maximum motor current 0.0x.x A. Current limit 0100 x.x. Min: 0A Max: Type specific Def: 200% Integer scaling: 100 == 1%

05
Index unit: %

MAXIMUM TORQUE
Maximum positive output torque as a percentage of the motor nominal torque. Min: 0% Max: 300% Def: 600% Integer scaling: 100 == 1%

06
Index unit: %

MINIMUM TORQUE
Minimum negative output torque as a percentage of the motor nominal torque. Min: -600% Max: 0% Def: -300% Integer scaling: 100 == 1%

07
Index unit: %

SPC TORQMAX
Maximum speed controller output limit as a percentage of the motor nominal torque. Min: 0% Max: 600% Def: 300% Integer scaling: 100 == 1%

Parameters

78
20 08
Index unit: % Description: type: R Description: type: R Description: type: R Description:

Group name: LIMITS SPC TORQMIN


Minimum speed controller output limit as a percentage of the motor nominal torque. Min: -600% Max: 0% Def: -300% Integer scaling: 100 == 1%

09
Index unit: %

TREF TORQMAX
Maximum torque reference as a percentage of the motor nominal torque. Min: 0% Max: 600% Def: 300% Integer scaling: 100 == 1%

10
Index unit: %

TREF TORQMIN
Minimum torque reference as a percentage of the motor nominal torque. Min: -600% Max: 0% Def: -300% Integer scaling: 100 == 1%

11
Index

FREQ TRIP MARGIN


The purpose of this parameter is to protect the process against an overspeed condition. This parameter defines, together with parameters SPEEDMAX and SPEEDMIN (FREQ MAX and FREQ MIN in scalar control mode) the maximum allowed frequency of the drive. If this frequency is reached, an OVER SPEED FAULT is activated. Example: If the maximum process speed is 1420 rpm (Parameter 20.01 SPEED MAX = 1420 rpm == 50 Hz) and this parameter (20.11) is 10 Hz, the drive trips at 60 Hz. Min: 0 Hz Max: 500 Hz Def: 50 Hz Integer scaling: 100 == 1 Hz

unit: Hz

type: R

Group 21 Start/Stop functions


21 01
Index Description:

Group name:
Description:

START/STOP FUNC Start and stop functions. Note: Coast stop is always the stop mode in a fault situation.

START FUNCTION
1 = AUTO This setting is selected when starting to a rotating machine Flying Start). 2 = DC MAGN If this setting is selected, a higher starting torque can be achieved. The optimal magnetising current is calculated on the basis of the motor parameters. The pre-magnetising time is calculated using the motor information. 3= CNST DCMAGN Selects the constant magnetising mode. This is the fastest starting method if the motor is at a standstill. The optimal magnetising current is calculated on the basis of the motor parameters. The pre-magnetising time is defined by parameter 21.02 CONST MAGN TIME. Warning! You must know the motor data before you select this mode. Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I Description: type: R Description:

02
Index unit: ms

CONST MAGN TIME


Defines the magnetising time for the constant magnetising mode. Min: 30 ms Max: 10000 ms Def: 500 ms Integer scaling: 1 == 1 ms

03
Index

STOP FUNCTION
Conditions during motor deceleration in the LOCAL and I/O control modes. 1 = STOP RAMPING Stop by the deceleration ramp DECEL TIME (22.02) 2 = STOP TORQ Stop by the torque limit. 3 = COAST STOP Torque is zero. Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I

Parameters

79

21 04
Index

Group name:
Description:

START/STOP FUNC

EME STOP MODE


1 = STOP RAMPNG 2 = STOP TORQ 3 = COAST STOP 4 = NOT SELECTD Min: 1 Stop by the emergency stop ramp; see Parameter 22.04 Stop by the torque limit. Torque is zero. (emergency stop function is not in use) Def: 1 Integer scaling:

unit:

type: I Description:

Max: 4

05
Index

EMSTOP SPEED DIF


The deceleration speed of the drive is supervised during an emergency stop condition. This supervision starts 5 seconds after the drive has received an emergency stop signal. If the drive is not able to decelerate in this specified rate, it is stopped by issuing a coast stop and the AUX_STATUS_WORD 08-02 bit 2 (EMERG_STOP_COAST) is set to state 1. If this function is not needed, the function is disabled by setting this parameter to a value of 0. Min: 0 rpm/s Max: 18000 rpm/s Def: 10 rpm/s Integer scaling: 1 == 1

unit: rpm/s

type: R

Group 22 Accel/Decel
22 Group name:
Description: ACCEL/DECEL Speed reference ramp functions.

RAMP
MCW Bit 4 SPEED_REF MCW Bit 6

S-SHAPE

SP EED RE F3
2.02

23.01
MCW Bit 5 ACW Bit 2 ACW Bit 3 ACCE LE R TIME

HOLD
RAMP_BYPASS

0
RAMP SHAPE TIME

BAL_RAMP_OUT BAL_RAMP_REF ACCELERATION DECELERATION VAR. SLOPE FUNC

22.08

22.01
ACC/DEC TIME SCLE

22.03
DECELER TIME

RAMP SHAPE TIME

22.05 0

22.02
VAR SLOPE RATE

22.07
VAR. SLOP E

22.06
EME STOP RAMP

22.04
EME STOP ON

01
Index unit: s Description: type: R Description:

ACCELER TIME
The time within the drive accelerates from zero speed to the maximum speed (see Parameter 20.02 MAXIMUM SPEED). The maximum acceleration time is 1800 s. Min: 0 s Max: 1000 s Def: 20 s Integer scaling: 100 == 1s

02
Index

DECELER TIME
The time within the drive decelerates from the absolute maximum (see parameter 20.02 MAXIMUM SPEED) to zero speed. The maximum deceleration time is 1800 s defined together with parameter 22.03. Min: 0 s Max: 1000 s Def: 20 s Integer scaling: 100 == 1s

unit: s

type: R

Parameters

80
22 03
Index unit: Description: type: R Description:

Group name:

ACCEL/DECEL

ACC/DEC TIME SCLE


Multiplier for ACCELER TIME and DECELER TIME parameters to expand the time. Min: 0.1 Max: 100 Def: 1 Integer scaling: 100 == 1

04
Index

EME STOP RAMP


If an emergency stop is activated and Parameter EME STOP MODE 21.04 = 1 (STOP BY RAMP), the drive will decelerate according to this parameter from maximum speed to zero speed. Min: 0 s Max: 3000 s Def: 20 s Integer scaling: 10 == 1s

unit: s

type: R Description:

05
Index

SHAPE TIME
Speed reference softening time. This function is deactivated during an emergency stop condition.

M AX

SPEED REFERENCE SPEED REFERENCE change limited by the RAMP FUNCTION FILTERED SPEED REFERENCE CHANGE ACCELER TIME

RAMP SHAPE TIME

unit: s

type: R Description:

Min: 0 s

Max: 1000 s

Def: 0 s

Integer scaling:

100 == 1s

06
Index

VARIABLE SLOPE
This function is used to control the slope of the speed ramp during a speed reference change. The time t for step A is defined by Parameter 22.07 VAR SLOPE RATE, where t = updating interval time of the overriding system. A = speed reference change during the time t. 1 = ON Variable slope is enabled; the slope rate is defined by Parameter 22.07 VARIABLE SLOPE RATE. 0 = OFF Function is disabled Example: The overriding system transmits interval time for the speed reference and the VAR SLOPE RATE value are equal. As a result, the shape of SPEED REF 3 is a straight line. This function is active only in REMOTE mode.
Speed Ref

SPEED REF t
A

SPEED REF 3
time

unit:

type: B

Min:

Max:

Def: OFF

Integer scaling:

1 == 1

Parameters

81

22 07
Index

Group name:
Description:

ACCEL/DECEL

VAR SLOPE RATE


This parameter defines speed ramp time t for the speed reference change A, when Parameter 22.06 VARIABLE SLOPE is ON. Set this parameter to the same value as the updating interval time of the overriding system. Min: 4.05 ms Max: 30 000 ms Def: 4.05 ms Integer scaling: 1 == 1 ms

unit: ms

type: R Description: type: R

08
Index

BAL RAMP REF


The output of the speed ramp can be forced to the value defined by this parameter. The function is activated by setting 7.02 AUX CONTROL WORD bit 3 to 1. Min: See 20.01 Max: See 20.02 Def: 0 rpm Integer scaling: See Par 50.01

unit: rpm

Group 23 Speed reference


23 Group name:
SPEED REF Description: Speed reference functions.

SPEED REFERENCE CHAIN


LOCAL LOCAL REF REMOTE REF

ACCELERATION

COMPENSATION

TO A COM REF RQ CC P

2.07

SPEED REF
23.01

24.14

ACC COMP DER TIME ACC COMPFILT TIME

24.15

SPEED SHARE 23.05

24.07
MCW B8, B9 CONST SPEED 2 23.03 (INCHING 2)
LIMITER

SET_P_WEIGHTING
SET_POINT_WEIGHT

DROOP RATE

24.08

SPEED REF2

CONST SPEED 1 (INCHING 1)


MCW B4 MCW B6
RAM P

23.02

SPEED STEP

23.10

24.02

2.01

ACC/DEC/SHAPE

WINDOW
2.02
0 SPEED REF3 HOLD 0 ACCELER TIME DECELER TIME ACC/DEC TIME SCALE EME STOP RAMP RAMP SHPE TIME VARIABLE SLOPE VARIABLE SLOPE RATE BAL RAMP OUT BAL RAMP REF RAMP BYPASS dV/dt

20.01 20.02

MINIMUM SPEED MAXIMUM SPEED

+
+

FILTER

MCW B5
22.01 22.02 22.03 22.04 22.05 22.06 22.07 ACW B3 22.08 ACW B2

+
2.03
(-1)

23.04
SPEED CORRECTION

SPEED ERROR NEG

23.06 23.07 23.08 23.09 23.10

SPEED ERROR FILT WINDOW SEL ON WINDOW INTG ON WINDOW W IDTH POS WINDOW W IDT H NEG

SPEED ACTUAL
2.16

01
Index Description: type: R unit: rpm

SPEED REF
Main speed reference input for the speed control of the drive. Min: See 20.01 Max: See 20.02 Def: 0 rpm Integer scaling:

INPUT See Par. 50.01

Parameters

82
23 02
Index: unit: Description: type: I Description: type: I Description:

Group name:

SPEED REF

CONST SPEED 1
Constant speed reference is activated from 7.01 MAIN CTRL WORD bit 8. See also MCW bits 46. Min: -18000 rpm Max: 18000 rpm Def: 0 Integer scaling: 1 == 1

03
Index: unit:

CONST SPEED 2
Constant speed reference is activated from 7.01 MAIN CTRL WORD bit 9. See also MCW bits 46. Min: -18000 rpm Max: 18000 rpm Def: 0 Integer scaling: 1 == 1 INPUT

04
Index

SPEED CORRECTION

This parameter value can be added to the filtered reference value. Note: If the overriding system or RMIO application itself sends a reference value into this parameter, it must be set to zero before a stop command of the drive. Min: See 99.05 Max: See 99.05 Def: 0 rpm Integer scaling: See Par. 50.01

unit: rpm

type: R

05
Index unit: % Description: type: R Description: type: R Description:

SPEED SHARE
Speed reference share coefficient. Min: 0% Max: 400% Def: 100% Integer scaling: 10 == 1%

06
Index unit: ms

SPEED ERROR FILT


Speed reference and actual error filter time. Min: 0 ms Max: 999999 ms Def: 0 ms Integer scaling: 1 == 1 ms

07
Index

WINDOW INTG ON
1 = ON Integrator of the speed controller is released when window control is on 0 = OFF Integrator of the speed controller is blocked when window control is on.

The Idea of Window Control The idea of Window Control is to deactivate speed control as long as the speed deviation remains within the window set by Parameters 23.08WINDOW WIDTH POS and 23.09 WINDOW WIDTH NEG. This allows the external torque reference to affect the process directly. For example, in Master/Follower drives, where the follower is torque controlled, window control is used to keep the speed deviation of the follower under control. The speed error output to the speed controller is zero, when speed error is within the window. If the load of the follower disappears due to a disturbance in the process, the speed error will be outside the window. The speed controller reacts and its output is added to the torque reference. Speed control brings the speed difference back into the window. This function could be called overspeed or underspeed protection in the torque control mode.
unit: type: B Description: type: R Min: Max: Def: OFF Integer scaling: 1 == 1

08
Index unit: rpm

WINDOW WIDTH POS


Positive speed limit for the window control. Min: 0 rpm Max: See 20.02 Def: 0 rpm Integer scaling: see par 50.01

09
Index Description: type: R

WINDOW WIDTH NEG


Negative speed limit for the window control. The maximum limit is the absolute value of parameter 23.097. WINDOW WIDTH POS. Min: 0 Max: See 20.02 Def: 0 rpm Integer scaling: see par 50.01

unit: rpm

Parameters

83

23 10
Index

Group name:
Description:

SPEED REF

SPEED STEP

INPUT

An additional speed step can be given to the speed controller directly as an additive error input. The total speed reference is limited by the parameter 20.02 MAXIMUM SPEED and 20.01 MINIMUM SPEED. (SPEED STEP max = MAXIMUM SPEED - SPEED REF - SPEED CORRECTION). Note: If the overriding system or RMIO application itself sends a reference value to here, it must be switched to zero before the stop command of the drive. Min: See above Max: See above Def: 0 rpm Integer scaling: see par 50.01

unit: rpm

type: R

Group 24 Speed control


24 Group name:
Description: SPEED CONTROL The speed controller is based on the PID algorithm, which continuous time is presented as follows:

T s 1 u( s ) = KPS (bYr ( s ) Y ( s )) + ( + d )e( s ) sTIS T f s + 1


Variable u is the output of the controller, e is the speed error (difference between the actual and reference values).

1 Tis yr
+ -

Tds s +1 f
+

+ +

Kp

y
The PID controller also has set point weighting. y is the output; yr is the set point; u is the controllers output.

01
Index Description:

PI TUNE
This parameter activates automatic tuning for the speed controller, which is based on the estimation of the mechanical time constant. Parameters 24.03 KPS, 24.09 TIS and 24.15 ACC COMP DER TIME are updated after the PI TUNE test. 0 = OFF 1 = ON PI TUNE is activated. Min: Max: Def: OFF Integer scaling: 1 == 1

unit:

type: B Description:

02
Index

DROOP RATE
The amount of speed decrease caused by the load is determined by means of this parameter. A setting of 1% causes (with nominal torque reference) a 1% decrease in speed from the rated speed. Min: 0% Max: 100% Def: 0% Integer scaling: 10 == 1%

unit: %

type: R

Parameters

84
24 Group name:
SPEED CONTROL

Proportional gain parameter of the speed controller


03
Index unit: Description: type: R

KPS
Relative gain for the speed controller. If you select a value of 1, a 10% change in the error value (e.g. reference actual value) causes also the speed controller output to change by 10%. Min: 0 Max: 250 Def: 10 Integer scaling: 100 == 1

The Adaptive speed control as a function of the torque reference


KPS
KPS

The adaptive gain of the speed controller is used to smooth out disturbances, which are caused by low load and backlash. Moderate filtering of the speed error (Parameter 23.04) is typically not enough to tune the drive.

KPS MIN

Torque ref
KPS WEAKPOINT

04
Index unit: Description: type: R Description: type: R Description: type: R

KPS MIN
KPS MIN determines the proportional gain when the speed controller output is zero. Min: 0 Max: 150 Def: 10 Integer scaling: 100 == 1

05
Index unit: %

KPS WEAKPOINT
The value of the speed controller output where the gain is KPS Min: 0% Max: see 20.05 Def: 0% Integer scaling: 100 == 1%

06
Index unit: ms

KPS WP FILT TIME


The rate of change for the proportional gain can be softened by this parameter. Min: 0 ms Max: 999999 ms Def: 100 ms Integer scaling: 1 == 1 ms

Set point weighting


Set point weighting is a well known method in control engineering. In this method, the set point is weighted by a factor b<1. This weighting is applied only to the P term. Integral and derivative terms have a normally weighted (b=1) setpoint and speed error. This kind of manipulation leads to a situation where, in a steady state, the P term is not zero. The controller output is still right because the integral part compensates the P term error. Thus, in a steady state, the controller works normally; the integral term sees error caused by load and noise. In set point changes, however, the controllers overshoot can be reduced by weighting factor b. Thus, good load rejection is not anymore related to huge overshoot. There are no free lunches so we have to sacrifice strict ramp following. In applications where ramp following without time lag is necessary, acceleration compensation is the right tool.
1 Ti s yr
+ -

Td s f s + 1
+

+ +

Kp

There is no overshoot in a set point change when factor b is set correctly (b<1). This results in the integral terms energy compensating the error caused by the P term. For example, if yr=1 and b=0.9, the P term set point is actually 0.9 which naturally causes a 10% error for the integral term handle.

Parameters

85

24 07
Index

Group name:
Description:

SPEED CONTROL

SET P WEIGHTING
Set Point Weighting is enabled by this parameter. The change over is smooth which enables the on-line changing of weighting. 0 = OFF 1 = ON SET POINT WEIGHTING is activated. Min: Max: Def: OFF Integer scaling: No

unit:

type: B Description: type: R

08
Index unit: %

SET POINT WEIGHT


The value of the speed controller output, where the gain is KPS. Min: 30% Max: 100% Def: 100% Integer scaling: 1 == 1%

Integration time parameters of the speed controller


09
Index unit: s Description: type: R Description: type: R Description: type: R

TIS
Integration time for the speed controller. This defines the time within the maximum output is achieved if a constant error value exists and the relative gain of the speed controller is 1. Min: 0.01 s Max: 1000 s Def: 2.5 s Integer scaling: 1000 == 1 s

10
Index unit: %

TIS INIT VALUE


Initial value of the integrator. Min: see 20.06 Max: see 20.05 Def: 0% Integer scaling: 100 == 1%

11
Index unit: %

BAL REF
External value for the integral part of the speed controller when 7.02 AUX CONTROL WORD bit 8 BAL_NCONT is 1. Min: see 20.06 Max: see 20.05 Def: 0% Integer scaling: 100 == 1%

Derivation parameters of the speed controller


12
Index Description:

DERIVATION TIME
Derivation time for speed controller. Defines the time within the speed controller derives the error value before the output of the speed controller is changed. If this is set to zero, the controller works as a PI controller, otherwise as a PID controller. Min: 0 ms Max: 10000 ms Def: 0 ms Integer scaling: 1 == 1 ms

unit: ms

type: R Description: type: R

13
Index unit: ms

DERIV FILT TIME


The derivation filter time constant. Min: 0 ms Max: 100000 ms Def: 8 ms Integer scaling: 1 == 1 ms

Acceleration compensation parameters


14
Index Description:

ACC COMP DER TIME


Derivation time used during compensation of acceleration. In order to compensate inertia during acceleration, the derivative of the reference is added to the output of the speed controller. The function is deactivated by setting the parameter to 0. Min: 0 s Max: 1000 s Def: 0 s Integer scaling: 10 == 1 s

unit: s

type: R Description: type: R Description:

15
Index unit: ms

ACC COMPFILT TIME


Acceleration compensation term filter coefficient. Min: 0 ms Max: 999999 ms Def: 8 ms Integer scaling: 1 == 1 ms

16
Index

SLIP GAIN
This parameter Is effective only when the calculated internal speed is used as actual speed feedback. 100% means full slip compensation. 0% corresponds no slip compensation (the calculated speed equals to motor frequency). Min: 0% Max: 400% Def: 100% Integer scaling: 1 == 1%

unit: %

type: R

Parameters

86
24 Group name:
SPEED CONTROL

Adaptive Speed Control as Function of the Speed


KPS TIS
KPS VAL MIN FREQ

The adaptive speed control as a function of speed. In certain applications it is useful to increase the relative gain and decrease the integration time at low speeds, which improves the performance of the speed control at low speeds. The linear increase and decrease of these parameters is started at the speed of KPS TIS MIN FREQ and ended at KPS TIS MAX FREQ. Changing the rate of relative gain and integration time is done by parameters KPS VAL MIN FREQ and TIS VAL MIN FREQ.

KPS TIS

TIS VAL MIN FREQ

motor frequency
KPS TIS MAX FREQ KPS TIS MIN FREQ

17
Index unit: Hz Description: type: R Description: type: R Description: type: R Description: type: R

KPS TIS MIN FREQ


The minimum motor frequency limit above which the relative gain and integral time is defined by parameters KPS VAL MIN FREQ and TIS VAL MIN FREQ. Min: 0 Hz Max: 200 Hz Def: 5 Hz Integer scaling: 100 == 1 Hz

18
Index unit: Hz

KPS TIS MAX FREQ


The frequency point at which KPS and TIS become constant. Min: 0 Hz Max: 200 Hz Def: 11.7 Hz Integer scaling: 100 == 1 Hz

19
Index unit: %

KPS VAL MIN FREQ


Relative gain percentage of KPS at the speed defined by KPS TIS MIN FREQ. Min: 100% Max: 500% Def: 100% Integer scaling: 1 == 1%

20
Index unit: %

TIS VAL MIN FREQ


Relative integral time percentage of TIS at the speed defined by KPS TIS MIN FREQ. Min: 100% Max: 500% Def: 100% Integer scaling: 1 == 1%

Group 25 Torque reference


25 Group name:
Description: TORQUE REF Torque reference chain.
FILTER

TORQ REF A
25.01 25.02
25.03
TORQ_REF_A_FTC

+
LIMITER

TORQ_REF1
02.08 20.09 20.10
RAMPING
TREF TORQMAX TREF TORQMIN

LOAD SHARE

TORQ REF B
25.04
25.05 25.06
T OR Q RAMP UP TIME

+
TORQ RAMP DN TIME

01
Index unit: % Description: type: R

TORQUE REF A
Min: see 20.06 Max: see 20.05 Def: 0% Integer scaling:

INPUT 100 == 1%

Torque reference. TORQUE REF A can be scaled by the parameter LOAD SHARE.

Parameters

87

25 02
Index unit: ms

Group name:
Description: type: R Description: type: R Description: type: R Description: type: R Description: type: R

TORQUE REF

TORQ REF A FTC


TORQUE REF A low pass filter time constant. Min: 0 ms Max: 60000 ms Def: 0 ms Integer scaling: 1 == 1 ms

03
Index unit: %

LOAD SHARE
TORQ REF A scaling factor, which scales the external torque, reference to a required level. Min: -400% Max: 400% Def: 100% Integer scaling: 10 == 1% INPUT

04
Index unit: %

TORQUE REF B

Torque reference. Torque reference B is ramped by the parameters TORQ RAMP UP TIME and TORQ RAMP DN TIME. Min: see 20.06 Max: see 20.05 Def: 0% Integer scaling: 100 == 1%

05
Index unit: s

TORQ RAMP UP
Torque reference B ramp time from 0% to 100%. Min: 0 s Max: 120 s Def: 0 s Integer scaling: 100 == 1s

06
Index unit: s

TORQ RAMP DOWN


Torque reference B ramp time from 100% to 0%. Min: 0 s Max: 120 s Def: 0 s Integer scaling: 100 == 1s

Group 26 Torque reference handling


26 Group name:
Description: TORQ REF HANDLING The torque reference can be given from the speed reference chain (TORQ REF2) or from the torque reference chain (TORQ REF1) depending on the control mode. This group defines how to handle the reference after the torque selector block.
OPTIONAL FUNCTION
2.02 SPEED REF3 26.04 SPEED ACTUAL 1.02 26.05 26.06 26.07 TORQ_REF4 2.11

OSCILLATION DAMPING
26.03 TORQUE STEP

LOAD COMPENSATION 26.02 TORQ_REF5 2.12

TORQUE REFERENCE SELECTOR


26.01 TORQ REF SEL
0 2 1 3 4

TORQ_REF3 2.10

EXTERNAL TORQUE REFERENCE


TORQ REF1 2.08

MIN

5 6

TORQUE REFERENCE LIMITING


LIMITATIONS

TORQ USED 2.13

MAX

SPEED CONTROLLER OUTPUT


TORQ REF2 2.09

01
Index Description:

TORQUE SELECTOR
The torque reference selector includes. 1 = ZERO Zero control 2 = SPEED Speed control 3 = TORQUE Torque control 4 = MINIMUM Minimum control 5 = MAXIMUM Maximum control 6 = ADD Add control (normally used with the window control ) Min: 1 Max: 6 Def: 2 SPEED Integer scaling:

unit:

type: I

Parameters

88
26 02
Index Description:

Group name:

TORQ REF HANDLING

LOAD COMPENSATION

INPUT

Load compensation added to TORQ REF3. Note: If the overriding system or the RMIO application itself sends a reference value into this parameter, it must be set to zero before the stop command of the drive. Min: See 20.06 Max: See 20.05 Def: 0% Integer scaling: 100 == 1% INPUT

unit: %

type: R Description:

03
Index

TORQUE STEP

Additional torque step added to TORQ REF4. Note: If the overriding system or the RMIO application itself sends a reference value into this parameter, it must be set to zero before the stop command of the drive. Min: See 20.06 Max: See 20.05 Def: 0% Integer scaling: 100 == 1%

unit: %

type: R Description:

04
Index

OSC COMPENSATION
TORSIONAL VIBRATION DAMPING The filter uses the speed error as an input. The bandpass filter searches for certain frequencies and calculates a sine wave, which is summed to the torque reference after the phase shift. The phase shift can be set to phase angles between 0-360 degrees. Typically this function is needed to dampen the mechanical oscillations. The following three parameters also belong to this function. 0 = ON function is enabled 1 = OFF function is disabled Min: Max: Def: OFF Integer scaling: 1 == 1

unit:

type: B Description:

05
Index

OSCILLATION FREQ OSCILLATION FREQ is the oscillation frequency (Hz). Oscillation frequency is determined by viewing the speed difference signal and the following equation:

f =

N peaks T

where (seconds). For example, if we see 11

N peaks is the number of peaks in the time window T


peaks in 1.5 seconds the frequency is unit: Hz type: R Description: Min: 0 Hz Max: 60 Hz

=11/1.5=7.3 Hz. Integer scaling: 100 == 1 Hz

Def: 31 Hz

06
Index

OSCILLATION PHASE
Oscillation phase is the phase angle of the sine wave. The control algorithm produces a sine wave whose phase can be shifted by this parameter.

unit: deg

type: R

0 90 180 Min: 0

Max: 360

Def: 0

Integer scaling:

1 == 1.41

07
Index Description:

OSCILLATION GAIN
Oscillation gain determines how much the sine wave is amplified before it is summed to the speed error signal. Oscillation gain is scaled according to the speed controller gain so that changing the speed controller gain will not disturb the oscillation damping. Min: 0% Max: 100% Def: 0% Integer scaling: 100 == 1%

unit: %

type: R

Parameters

89

Group 27 Flux control


27 01
Index Description:

Group name:
Description:

FLUX CONTROL

FLUX OPTIMIZATION
The motor flux can be optimised in order to minimise the motor losses and reduce motor noise. Flux optimisation is used in drives that usually operate below nominal load. 1 = YES flux optimisation enabled. 0 = NO flux optimisation disabled. Min: Max: Def: NO Integer scaling: 1 == 1

unit:

type: B Description:

02
Index

FLUX BRAKING
The braking ability of the drive can be highly improved by utilising flux braking. During braking, the mechanical energy of the driven equipment has to be dissipated in the motor and inverter. By modifying the magnetising level of the motor, thermal losses can be increased and the motor can be stopped more effectively. This function can be used with the nonregenerative incoming sections.
SPEED No flux braking Flux braking Desired deceleration

Selection of the flux braking function. 1 = YES Flux braking enabled. 0 = NO Flux braking disabled. unit: type: B Description: type: R Description: type: R Description: type: R Min: Max: Def: ON Integer scaling: 1 == 1 INPUT Max: 140% Def: 100% Integer scaling: 10 == 1%

03
Index unit: %

FLUX REF
Flux reference value in percentage. Min: 25%

04
Index unit: %

FLUX MAX
Maximum limit of the flux percentage. Min: 100% Max: 140% Def: 140% Integer scaling: 10 == 1%

05
Index unit: %

FLUX MIN
Minimum limit of the flux percentage. Min: 0% Max: 100% Def: 25% Integer scaling: 10 == 1%

Parameters

90

Group 29 Scalar control


29 Group name:
Description: SCALAR CONTROL Scalar control is activated by selecting SCALAR at parameter 99.08 CONTROL MODE. This parameter group is invisible when DTC control mode is selected. Note: The following Start-Up parameters have no effect in scalar control: 99.03 MOTOR NOM CURRENT 99.05 MOTOR NOM SPEED 99.06 MOTOR NOM POWER Note: Parameter 50.01 SPEED SCALING has only affect for scaling of the actual speed in the Scalar motor control mode. Scalar control parameters can be seen in the Control Diagram. The scalar control mode is recommended for multimotor drives when the number of motors connected to the ACS800 is variable. Scalar control is also recommended when the nominal current of the motor is less than 1/6 of the nominal current of the inverter, or the inverter is used for test purposes with no motor connected. The motor identification Run, flying start, torque control, DC HOLD, motor phase loss check, and stall functions are disabled in the scalar control mode.

01
Index unit: Hz Description: type: R Description:

FREQUENCY REF
This is an input for the frequency reference. Min: See 29.03 Max: See 29.02 Def: 0 Integer scaling:

INPUT 100 == 1 Hz

02
Index

FREQUENCY MAX
Operating range maximum frequency. This parameter has an internal link to the parameter SPEED MAX; if SPEED MAX is changed, this parameter is changed accordingly by the application program. Min: See 29.03 Max: 300 Hz Def: See 20.01 Integer scaling: 100 == 1 Hz

unit: Hz

type: R Description:

03
Index

FREQUENCY MIN
Operating range maximum frequency. This parameter has an internal link to the parameter SPEED MIN; if SPEED MIN is changed, this parameter is changed accordingly by the application program. Min: -300 Hz Max: See 29.02 Def: See 20.02 Integer scaling: 100 == 1 Hz

unit: Hz

type: R Description:

04
Index

IR COMPENSATION
This parameter sets the extra relative voltage that is fed to the motor at zero frequency. The range is 030% of motor nominal voltage. U(%)

Umax

a f(Hz)

Field weakening pointUmax

unit: %

type: R

Min: 0%

Max: 30%

Def: 0

Integer scaling:

100 == 1

Parameters

Scalar Control
LOCAL
ACC/DEC/SHAPE

LIMITER

DC VOLTAGE
1.10 rrampn_shp mruc

DC-VOLTAGE LIMITER

CURRENT LIMITATION

FREQ REF 29.01


23.03

LOCAL FREQ REF (LOCAL REF 3)

x
SPEED SHARE
22.01 22.02 DECELER TIME ACC/DEC TIME SCALE 22.03 ACCELER TIME

mrl

29.02

FREQUENCY MAX

FREQ REF

MOTOR CURRENT
1.06
DC UNDERVOLTAGE
DC OVERVOLTAGE

29.03
22.04 EME STOP RAMP RAMP SHPE TIME 22.05

FREQUENCY MIN

INV MAX CURRENT

20.04

MAXIMUM CURRENT

STABILIZER

MAKE FLUX REFERENCE

HYSTERESIS CONTROL

Figure 16. Scalar control diagram.


ramp_sc_i

flx_ref fly_ref FLUX_X_ACT

mrl FLUX USED REF

MOTOR TORQUE

1.08 sine ROM table

FLUX_Y_ACT uses torque modulator

FLUX REF SWITCHING


FREQ CONTROL

CONTROL

FLUX USED REF SW_FREQ_REF

2.14

hysteresis

IR COMP CALC

IR COMPENSATION ir_k_coef f _ FLUX_X_ACT FLUX_Y_ACT FREQUENCY 1.05 .

ir_corr_coef

COMPENSATION

29.04

FLUX_ACT 2.15

IR_COMP_WEAK

99.02

MOTOR NOM VOLT

99.04

MOTOR NOM FREQ

91

Parameters

92

Group 30 Fault functions


30 01
Index Description:

Group name:
Description:

FAULT FUNCTIONS

MOTOR THERM PMODE


Motor thermal protection mode selections. Selection 1 and 2 are based on the thermal model defined by the drive (DTC) or the user (USER MODE). Motor heating is calculated assuming a load curve. Selections 3 and 4 are the measured indications from the motor temperature. Note: Motor thermal mode (selections 1 and 2) can be used when only one motor is connected to the output of inverter. 1 = DTC The drive defines the thermal model values during the identification run. (see parameter 99.06) 2 = USER MODE User can define the thermal model values by parameters 30.0930.12. 3 = THERMISTOR PTC thermistor or PT100 sensors, see parameter 30.03 and 30.06 4 = KLIXON Temperature switch in the motor windings using the DI6 input. Min: 1 Max: 4 Def: 1 Integer scaling: 1 == 1

unit:

type: I Description:

02
Index

MOTOR THERM PROT


Operation in case of an overload or over temperature condition. 1 = FAULT 2 = WARNING 3 = NO (no action) Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I Description:

03
Index:

MOT1 TEMP AI1 SEL


This parameter is used to activate an external motor temperature measurement circuit connected to analogue input AI1. Analogue output AO1 supplies a constant current. The measurement circuit employs 1 to 3 PT100 sensors or PTC thermistors. 1 = NOT IN USE Analogue input AI1 is not in use for motor temperature measurement. 2 = 1xPT100 One PT100 sensor; 9.1 mA current generator, (010 V or 02 V with NAIO-01 or NAIO-02 extension module. 3 = 2xPT100 Two PT100 sensors; 9.1 mA current generator, 010 V. 4 = 3xPT100 Three PT100 sensors; 9.1 mA current generator, 010 V. 5 = 13 PTC 1 to 3 PTC thermistors; 1.6 mA current generator, 010 V. Min: 1 Max: 5 Def: 1 Integer scaling:

unit:

type: I Description:

04
Index

MOT 1 TEMP ALM L


Motor 1 temperature alarm is activated when the measured temperature rises above this limit. Max: 180C or 5000 Def: 110C or 0 Integer scaling: 1 = 1C

unit: C or type: R Min: -10C or 0

05
Index Description:

MOT 1 TEMP FLT L


Motor 1 temperature trip is activated when the measured temperature rises above this limit. Max: 180C or 5000 Def: 130C or 0 Integer scaling: 1 = 1C

unit: C or type: R Min: -10C or 0

Parameters

93

30 06
Index:

Group name:
Description:

FAULT FUNCTIONS

MOT2 TEMP AI2 SEL


This parameter is used to activate a second external motor temperature measurement circuit connected to RAIO I/O extension module, analogue input AI2. Analogue output AO1 supplies a constant current. The measurement circuit employs 1 to 3 PT100 sensors or PTC thermistors. Note: Both measurement circuits have to be connected to the RAIO I/O extension module. 1 = NOT IN USE Not in use for motor temperature measurement (010 V range) 2 = 1xPT100 1 PT100 temperature sensor (9.1 mA current generator, select 02 V range. 3 = 2xPT100 Two PT100 temperature sensors (9.1 mA current generator, 010 V) 4 = 3xPT100 Three PT100 temperature sensors (9.1 mA current generator, 010 V) 5 = 1...3 PTC 13 PTC thermistor (1.6 mA current generator, 010 V range) Min: 1 Max: 5 Def: 1 Integer scaling:

unit:

type: I Description:

07
Index

MOT 2 TEMP ALM L


Motor 2 temperature alarm is activated when the measured temperature rises above this limit. Max: 180C or 5000 Def: 110C or 0 Integer scaling: 1 = 1C

unit: C or type: R Min: -10C or 0

08
Index Description:

MOT 2 TEMP FLT L


Motor 2 temperature trip is activated when the measured temperature rises above this limit. Max: 180C or 5000 Def: 130C or 0 Integer scaling: 1 = 1C

unit: C or type: R Min: -10C or 0

Motor thermal model user mode


09
Index Description:

MOTOR THERM TIME


Time for 63% temperature rise. Used with the motor thermal model when parameter 30.01 MOT THERM P MODE is set to USER MODE. For monitoring of the calculated temperature, see signal 1.18 MOTOR TEMP EST.
Motor Load

Temp rise

100%

63%

Motor Thermal Time

If thermal protection according to UL requirements for NEMA class motors is desired, use this rule of thumb: Motor Thermal Time equals 35 times t6 (t6 in seconds is the time that the motor can safely operate at six times its rated current, given by the motor manufacturer). The thermal time for a Class 10 trip curve is 350 s, for Class 20 trip curve 700 s and for a Class 30 trip curve 1050 s. unit: s type: R Min: 256 s Max: 9999 s Def: Integer scaling: 1 == 1 s

Parameters

94
30 10
Index Description:

Group name:

FAULT FUNCTIONS

MOTOR LOAD CURVE


The motor load curve sets the maximum allowable operating load of the motor. It is active when USER MODE is selected in Parameter 30.01 MOT THERM P MODE. When set to 100%, the maximum allowable load is equal to the value of Start-up Data Parameter 99.03 MOTOR NOM CURRENT. The load curve level should be adjusted if the ambient temperature differs from the nominal value.
99.02 MOTOR NOM CURRENT

I(%)
150 100 50
30.10 MOTOR LOAD CURVE

30.11 ZERO SPEED LOAD

Speed
30.12 BREAK POINT

unit: %

type: R Description:

Min: 50%

Max: 150%

Def: 100%

Integer scaling:

1 == 1%

11
Index

ZERO SPEED LOAD


The maximum motor load at zero speed for the load curve. A higher value can be used if the motor has an external fan motor to boost the cooling when running the drive at a low frequency. See the motor manufacturers recommendations. This parameter is used when USER MODE is selected in parameter 30.01 MOT THERM P MODE. Min: 25% Max: 150% Def: 74% Integer scaling: 1 == 1%

unit: %

type: R Description:

12
Index

BREAK POINT
The break point frequency for the load curve. This parameter defines the point at which the motor load curve begins to decrease from the maximum value set by Parameter 30.10 MOTOR LOAD CURVE to the value of Parameter 30.11 ZERO SPEED LOAD. Used when the USER MODE is selected in Parameter 30.01 MOT THERM P MODE. Min: 1 Hz Max: 300 Hz Def: 45 Hz Integer scaling: 100 == 1 Hz

unit: Hz

type: R

Stall protection
13
Index Description:

STALL FUNCTION
This parameter defines the operation of the stall protection. The protection is activated if the following conditions are valid for a time longer than the period set by Parameter 30.15 STALL TIME LIM. 1. The motor torque is close to the internal momentary changing limit of the motor control program that prevents the motor and the inverter from overheating or the motor from pulling out. 2. The output frequency is below the level set by Parameter 30.14. STALL FREQ HI. 3. SPC TORQ MAX limit value must be higher than MAXIMUM TORQUE limit and SPC TORQ MIN must be negative than MINIMUM TORQUE. Operation in case of a motor stall condition. 1 = NO No action 2 = WARNING A warning is produced. 3 = FAULT A fault is produced. Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I

Parameters

95

30 14
Index

Group name:
Description:

FAULT FUNCTIONS

STALL FREQ HI
Frequency limit for the stall protection logic.
T

SPC TORQMAX

Stall region
MAXIMUM TORQUE

f
STALL FREQ HI 30.11

unit: Hz

type: R Description: type: R

Min: 0.5 Hz

Max: 50 Hz

Def: 20 Hz

Integer scaling:

100 == 1 Hz

15
Index unit: s

STALL TIME
Time value for the stall protection logic. Min: 10 s Max: 400 s Def: 20 s Integer scaling: 1 == 1 s

Underload protection
16
Index Description:
TM

UNDERLOAD FUNC
The absence of motor load may indicate a process malfunction. The protection is activated if: The motor torque drops below the load curve selected by Parameter 30.18 UNDERLOAD CURVE. The condition has lasted longer than the time set by Parameter 30.17 UNDERLOAD TIME. Output frequency is higher than 10% of the nominal frequency of the motor. The protection function assumes that the drive is equipped with a motor of the rated power.

Underload curve

Underload region

f
0.1*fn

Operation in case of the underload fault. No action 1 = NO 2 = WARNING A warning is produced. A fault is produced. 3 = FAULT Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I Description: type: R

17
Index unit: s

UNDERLOAD TIME
Time limit for underload logic. Min: 0 s Max: 600 s Def: 600 s Integer scaling: 1 == 1

Parameters

96
30 18
Index Description:

Group name:

FAULT FUNCTIONS

UNDERLOAD CURVE
One of the 5 fixed underload curves can be selected for the underload protection
TM (%) 100 80 60 40 20 0 N

3
70 %

2 1
50 %

5
4

30 %

2.4 * N

unit:

type: I Description:

Min: 1

Max: 5

Def: 1

Integer scaling:

19
Index

MOTOR PHASE LOSS


Operation in case a motor phase is lost. 1 = FAULT Enabled. 0 = NO Disabled. Min: Max: Def: NO Integer scaling: 1 == 1

unit:

type: B Description:

20
Index

EARTH FAULT
Operation in case of an earth fault condition. 1 = FAULT A fault is produced. 0 = WARNING A warning is produced. Min: Max: Def: FAULT Integer scaling: 1 == 1

unit:

type: B Description:

21
Index

PANEL LOSS
Operation in case local control (control panel or DriveWindow) is lost. Drive continues running at the last speed reference and generates a warning. 1 = FAULT A fault is produced. 0 = LAST SPEED A warning is produced. Min: Max: Def: FAULT Integer scaling: 1 == 1

unit:

type: B Description:

22
Index

UNDERVOLTAGE CTL
This parameter activates the undervoltage controller. If the DC voltage level starts to decrease, the torque reference is reduced and the motor acts as a generator. 1 = ON Enabled. 0 = OFF Disabled. Min: Max: Def: ON Integer scaling: 1 == 1

unit:

type: B Description:

23
Index

OVERVOLTAGE CTL
This parameter activates the overvoltage controller. The overvoltage controller increases the torque if the DC bus voltage exceeds the limit - typically when the motor is running as a generator and there is no regenerative incoming supply or braking chopper with resistors. 1 = ON Enabled. 0 = OFF Disabled. (The normal mode with braking choppers and regenerative supply units.) Min: Max: Def: ON Integer scaling: 1 == 1

unit:

type: B

Parameters

97

30 25
Index

Group name:
Description:

FAULT FUNCTIONS

COM LOSS CTRL


This parameter defines the action after a communication fault. See also parameter 30.26 MAIN REF DS T-OUT and parameter 70.04 CH0 TIMEOUT 1 = STOP RAMPNG The drive is stopped by ramping. The deceleration time is defined by parameter 22.02 DECELER TIME. 2 = STOP TORQ The drive is stopped by torque limit. 3 = COAST STOP The drive is stopped by coasting. 4 = LAST SPEED The drive continues running on the last reference, the warning COMM MODULE is activated, and 9.05 ALARM WORD 2 bit 11 is set to 1. The drive continues running at the last speed reference. 5 = CNST SPEED1 Parameters 23.02 CONST SPEED 1, the warning COMM MODULE is activated, and 9.05 ALARM WORD 2 bit 11 is set to 1. Min: 1 Max: 5 Def: 1 Integer scaling: 1 == 1

unit:

type: I Description: type: R Description:

26
Index unit: s

MAIN REF DS T-OUT


Defines the time delay for the Main Reference Data Set supervision. See parameter 30.25. Min: 0.1 s Max: 60 s Def: 3 s Integer scaling: 100 == 1

27
Index

COMM FLT RO
Digital output control upon a communication fault on CH0, if controlled via ACW. Note: that this parameter does not affect digital output DO1, if emergency stop function is activated (see parameter 21.04). 0 = ZERO Digital outputs are de-energised. 1 = LAST VALUE The states of the digital outputs before the communication fault are retained. Min: Max: Def: ZERO Integer scaling: 1 == 1

unit:

type: B Description: type: R Description:

28
Index unit: s

AUX DS T-OUT
Defines the delay time for the Auxiliary Reference Data Set supervision. See parameter 30.25. The supervision is active if the value is other than zero. Min: 0 s Max: 60 s Def: 3 s Integer scaling: 100 == 1

29
Index

LIMIT WARNING
Activates/deactivates limit alarms INV CUR LIM, DC BUS LIM, MOT CUR LIM, MOT TORQ LIM and/or MOT POW LIM. For more information, see the chapter Fault tracing.

Value in decimal. As default only INV CUR LIM and DC BUS LIM alarms are active, i.e. parameter value is 3 (bit 0 and bit 1 values are 1).
0= 1= 2= 3= 4= unit: type: I

INV_CUR_LIM_IND DC_VOLT_LIM_IND MOT_CUR_LIM_IND MOT_TORQ_LIM_IND MOT_POW_LIM_IND


Max: 255 Def: 0 Integer scaling:

Min: 0

Parameters

98

Group 37 Brake chopper


37 01
Index Description:

Group name:

BRAKE CHOPPER

BRAKE CHOPPER CTL


Activates the brake chopper control. 0 = OFF Inactive 1 = ON Active Note: Ensure the brake chopper and resistor are installed and the overvoltage control is switched off (parameter 37.02). Min: Max: 65535 Def: OFF Integer scaling: 1 == 1

unit:

type: B Description:

02
Index

BR OVERLOAD FUNC
Activates the overload protection of the brake resistor. The user-adjustable variables are parameters 37.03 BR RESISTANCE, 37.04 BR THERM TCONST and 37.05 MAX CONT BR POWER. 0 = NO Inactive 1 = WARNING Active. If the drive detects an overload, it generates a warning. 2 = FAULT Active. If the drive detects on overload, it trips on a fault. Min: 0 Max: 2 Def: NO Integer scaling: 1 == 1

unit:

type: I Description: type:

03
Index

BR RESISTANCE
Defines the resistance value of the brake resistor. The value is used in the overload protection. See parameter 37.02 BR OVERLAOD FUNC. Min: 0 Max: 100 Def: 100 Integer scaling: 1 == 1

unit: ohm

04
Index unit: s Description: type: Description:

BR THERM TCONST
Defines the thermal time constant of the brake resistor. The value is used in the overload protection. See parameter 37.02 BR OVERLOAD FUNC. Min: 0 Max: 10000 Def: 0.00 s Integer scaling: 1 == 1

05
Index

MAX CONT BR POWER


Defines the maximum continuous braking power, which will raise the resistor temperature to the maximum allowed value. The value is used in the overload protection. See parameter 37.02 BR OVERLOAD FUNC. Min: 0 Max: 10000 Def: 0.00 s Integer scaling: 1 == 1

unit: kW

type: R

Parameters

99

37 06
Index

Group name:
Description:

BRAKE CHOPPER

BC CTRL MODE
Selects the control mode of the braking chopper. 1 = AS GENERATOR Chopper operation is allowed when the DC voltage exceeds the braking limit, the inverter bridge modulates and the motor generates power to the drive. The selection prevents the operation in case the intermediate circuit DC voltage rises due to abnormally high supply voltage level. Long time supply voltage rise would damage the chopper. 2 = COMMON DC Chopper operation is allowed always when the DC voltage exceeds the braking limit. The selection is to be used in applications where several inverters are connected to the same intermediate circuit (DC bus). WARNING! Excessive supply voltage will raise the intermediate circuit voltage above the operation limit of the chopper. If the voltage remains abnormally high for a long period, the braking chopper will be overloaded and damaged. Min: Max: Def: Integer scaling: 1 == 1

unit:

type:

Group 50 Speed measurement


50 Group name:
Description:
SPEED ESTIMATED

SPEED MEASUREMENT
SPEED FEEDBACK SELECTION
FILTER
MOTOR SPEED

MOTOR MODEL

1.02

SPEED_MEASURED

1.03
50.06
SP ACT FILT TIME

1.04

50.01 50.02

SPEED SCALING
SPEED MEAS MODE

FILTER
MOTOR SPEED FILT

50.03 50.04
50.05
98.01

SPEED FB SEL

ENCODER PULSE NR
ENCODER ALM/FLT
ENCODER MODULE
SP ACT FILT TIME

1.01

01
Index Description:

SPEED SCALING
This parameter defines the speed reference (in rpm) that corresponds to the value of 20000 from the overriding system or I/O. This parameter has only scaling effect to speed actual signals in the scalar control mode. Min: 0 rpm Max: 100000 rpm Def: 1500 rpm Integer scaling: 15000 = 1500 rpm

unit:

rpm

type: R

Parameters

100
50 02
Index Description:

Group name:

SPEED MEASUREMENT

SPEED MEAS MODE


Selects the measurement type for the pulse encoder mode. 0 = A_-B DIR Positive edges for speed; channel B: direction 1 = A_-_ Positive and negative edges for speed; channel B: not used 2 = A_-_B DIR Positive and negative edges for speed; channel B: direction 3 = A_-_B_-_Channels A & B: positive and negative edges for speed and direction Min: 0 Max: 3 Def: 3 Integer scaling: 1 == 1

unit:

type: I Description:

03
Index

SPEED FB SEL
Source of the speed feedback to the speed controller. 1 = INTERNAL Internal actual speed. 2 = ENCODER Pulse encoder module (see also Parameter 98.01 ENCODER MODULE) Min: 1 Max: 2 Def: 1 Integer scaling: 1 == 1

unit:

type: I Description: type: R Description:

04
Index unit:

ENCODER PULSE NR
Number of pulse encoder pulses per revolution. Min: 1 Max: 30000 Def: 2048 Integer scaling: 1 == 1

05
Index

ENCODER ALM/FLT
Defines if an encoder error causes a warning or a fault. 1 = FAULT 0 = ALARM A warning is generated. The drive continues running at the internal actual speed. Min: Max: Def: ALARM Integer scaling: 1 == 1

unit:

type: B Description: ms type: R

06
Index unit:

SP ACT FILT TIME


The time constant of the first order actual speed filter. Min: 0 ms Max: 999999 ms Def: 8 ms Integer scaling: 1 == 1 ms

07
Index Description:

POS COUNT MODE


The position counter is based on the pulse count from the pulse encoder. It has two different measurement modes: 0 = PULSE EDGES Both edges of the pulses are counted. Actual values can be read from signals 3.07 POS COUNT LOW and 3.08 POS COUNT HIGH 1 = ROUND&DEG The application software counts the number of the motor shaft rounds and the shaft angle in degrees. Actual values can be read from signals 3.09 POS COUNT DEGREES and 3.10 POS COUNT ROUNDS The position counter is controlled by means of 7.02 AUX CONTROL WORD bits 911. The status can be seen from 8.02 AUX STATUS WORD bit 5 (SYNC_RDY). By means of the application program in the overriding system, it is possible to create the positioning control function. Min: 0 Max: 1 Def: ROUND Integer scaling: 1 == 1

unit:

type: I Description: type: PB Description: type: PB Description: type: R

08
Index unit:

POS COUNT INIT LO


Position counter initial low word value when the mode is PULSE EDGES. Min: 0 Max: 65536 Def: 0 Integer scaling: 1 == 1

09
Index unit:

POS COUNT INIT HI


Position counter initial high word value when the mode is PULSE EDGES. Min: 0 Max: 65536 Def: 0 Integer scaling: 1 == 1

10
Index unit: rpm

ABOVE SPEED LIMIT


When the actual speed has reached the value of this parameter, 8.01 MAIN STATUS WORD bit 10 is set to 1. Min: See 20.01 Max: See 20.02 Def: 0 Integer scaling: See 50.01

Parameters

101

50 11
Index

Group name:
Description:

SPEED MEASUREMENT

ENCODER DELAY
Time of no encoder pulses received, and the drive being at the torque or current limit simultaneously, before an alarm or a fault is produced. Setting this parameter to 0 disables the function at the torque or current limit. Min: 0 Max: 50000 Def: 1000 Integer scaling: 1 == 1 ms

unit: ms

type: R Description:

13
Index

ZERO DETECT DELAY


The need to adjust this parameter is a good performance of speed control on the low speed with pulse encoder, when pulses are not received during the 1 ms measurement cycle. Definition of low speed depends on type of the encoder used. If for example encoder pulse number is 2048 and both edges of A and B channel are calculated, there is 8192 pulses in revolution. Then at least one pulse in millisecond is get at speed 7.3 rpm (1 pulse / ms 1000 pulses/s 1000/8192 rev/s 7.3 rpm). Then 4 ms between pulses correspond to 1.8 rpm and 80 ms to 0.09 rpm. See the following example with parameter settings: 50.13 = 250 ms, 50.14 = 4 ms and constant speed reference. After receiving a pulse, measured speed is calculated and speed control P-part is set to value related to speed error. When no new pulses are received during 1 ms, the measured speed and P-part (due the constant speed reference) are upholded the same. After the SPEED HOLD TIME P-part is forced to zero so that speed control would not be based on too old speed measurement value. After the ZERO DETECT DELAY it is assumed that speed is zero causing clearing of measured speed and allowing use of P-part again. After the next pulse some measured speed is calculated again and P-part accordingly. P-part is cleared again after the SPEED HOLD TIME. The measured speed is not set to zero anymore, because new pulse comes before the ZERO DETECT DELAY. The time between pulses 3 and 4 is still bigger than SPEED HOLD TIME and P-part is forced to zero. The time between pulses 4 and 5 is already so small that either of P-part and the measured speed is not forced to zero.
1 tacho pulse edges t1 measured speed t2 speed control P-part t2 t2 t2 0 t1 0 t1 = zero detect delay t2 = speed hold time 2 3 4 5

ZERO DETECT DELAY = 250ms (t1) and SPEED HOLD TIME = 4ms (t2). With the configuration of figure 1 there is a big ZERO DETECT DELAY that gives accurate speed measurement. Short SPEED HOLD TIME keeps speed control stable in many cases, because speed control output is not influenced by old speed measurement. On the other hand, if P-part is very big, forcing it to zero causes unpleasant torque steps. The tuning values depend on the clearances of mechanics. Therefore after the increasing these parameter values, check that the torque actual value is still smooth. unit: ms type: I Min: 1 ms Max: 2000 ms Def: 250 ms Integer scaling:

Parameters

102
50 14
Index Description:

Group name:

SPEED MEASUREMENT

SPEED HOLD TIME


The time after the P-part of speed control is forced to zero, if the time has been elapsed and no new pulses received after the last sample. By increasing the value, it amplifies the effect of P-part on low speed due to the longer effect time of P-part. An oscillation can be occurred, if the time is too long. See description of parameter 50.13 ZERO DETECT DELAY above. Note: The value of SPEED HOLD TIME <= ZERO DETECT DELAY. Min: 1 Max: 250 Def: 4 ms Integer scaling:

unit:

ms

type: I

Group 51 Communication module (FBA)


51 Group name:
Description: COMMUNICATION MODULE This group defines the communication parameters for a fieldbus adapter module. The parameter names are copied from the module when its connection to the drive is activated using parameter 98.02 COMM MODULE LINK. See the module manual.

Note: Any changes in these parameters take effect only upon the next power-up of the adapter module. 01
Index unit Description: type: S Description: type: R Min: Max: Def: Integer scaling: Min: Max: Def: Integer scaling:

FIELDBUS PAR1 (Module type and software version)

02...33
Index unit

FIELDBUS PAR233 (According to module type)

Group 52 Standard Modbus


52 01
Index unit Description: type: I Description:

Group name:
Description:

STANDARD MODBUS The settings for the Standard Modbus Link.

STATION NUMBER
Defines the address of the device. Two units with the same address are not allowed on-line. Address 1247. Min: 1 Max: 247 Def: 1 Integer scaling: 1 == 1

02
Index

BAUDRATE
Defines the transfer rate of the link. Baudrate 600 1200 2400 4800 9600 19200 1 = 600 bit/s 2 = 1200 bit/s 3 = 2400 bit/s 4 = 4800 bit/s 5 = 9600 bit/s 6 = 19200 bit/s Max: 6 Def: 5 Integer scaling: 1=1

unit

type: I

Min: 1

Parameters

103

52 03
Index

Group name:
Description:

STANDARD MODBUS

PARITY
Defines the use of parity and stop bit(s). The same settings must be used in all on-line station. 1 = NONE1STOPBIT. No parity bit, one stop bit 2 = NONE2STOPBIT. No parity bit, two stop bits. 3 = ODD. Odd parity indication bit, one stop bit. 4 = EVEN. Even parity indication bit, one stop bit. Min: 1 Max: 4 Def: 3 Integer scaling: 1 == 1

unit

type: I

Group 70 DDCS control


70 01
Index Description:

Group name:
Description:

DDCS CONTROL Parameter settings of the DDCS communication channels.

CH0 NODE ADDR


Node address for channel CH0. When using the APC2 system, the address must be 1. If AC 70 or AC 80 is used through the Module Bus (adapters TB810 or TB811), CH0 NODE ADDR and input POSITION in the data base element DRIENG are set according to the following table. AC70, AC80 Module Bus POSITION 101 102 103 (70.01) 17 18 19 etc Max: 125 Def: 1 Integer scaling: 1 == 1

unit:

type: R Description: type: R Description:

Min: 1

02
Index unit:

CH0 LINK CONTROL


DDCS channel 0 intensity control for transmission LEDs. This parameter can be used in special cases to optimise the communication performance of the link. Min: 1 Max: 15 Def: 15 Integer scaling: 1 == 1

03
Index

CH0 BAUD RATEChannel CH0 communication speed. This must be set to 4 Mbit/s, when FCI or FBA communication modules are used. Otherwise, the overriding system automatically sets the communication speed. 0 = 8 Mbit/s (not in use) 1 = 4 Mbit/s 2 = 2 Mbit/s (not in use) 3 = 1 Mbit/s Min: 1 Mbit/s Max: 8 Mbit/s Def: 1 Mbit/s Integer scaling: 1 == 1

unit: Mbit/s

type: I

04
Index Description:

CH0 TIMEOUT
The delay time before a communication break fault is declared. The time count starts when the link fails update the message. During the time elapsing, the warning COMM MODULE is activated and 9.05 ALARM WORD 2 bit 11 is set to 1.Setting this parameter to 0 disables the function. Min: 0 ms Max: 254 ms Def: 0 ms Integer scaling: 1 == 1 ms

unit: ms

type: R

Parameters

104
70 06
Index Description:

Group name:

DDCS CONTROL

CH1 LINK CONTROL


DDCS channel CH1 intensity control for transmission LEDs. This value is adjusted through the link including each device on the link. This parameter can be used in special cases to optimise the communication performance of the link. Min: 1 Max: 15 Def: 10 Integer scaling: 1 == 1

unit:

type: R Description:

07
Index

CH2 NODE ADDR


Node address for channel CH2. This is used in applications, with one or several point- to point communications connections between the RMIO boards. Min: 1 Max: 125 Def: 1 Integer scaling: 1 == 1

unit:

type: R Description:

08
Index

CH2 M/F MODE


Channel 2 is used in the Embedded software to send the torque reference from the Master Drive to one or several Followers. Master/Follower is an application in which the system is run by several ACS800 and the motor shafts are coupled to each other via gearing, a chain, a belt etc. 1 = NOT IN USE CH2 is not activated. 2 = MASTER Drive is a master in the communication link and CH2 sends the TORQ REF3 as broadcast message (See Index 09). 3 = FOLLOWER Drive is a follower in the communication and CH2 receives the masters TORQ REF3 as an input to TORQ REF A (See Index 10). For more information, see the section Master Follower Link. Min: 1 Max: 3 Def: 1 Integer scaling:

unit:

type: I Description: type: R Description: type: R Description:

09
Index unit:

MASTER SIGNAL 1
Group + Index of the signal to be sent as a broadcast message to data set 41 index 1 in the follower drives. Example: the setting 701 broadcasts 7.01 MAIN CTRL WORD. Min: 0 Max: 20000 Def: 0 Integer scaling: 1 == 1

10
Index unit:

MASTER SIGNAL 2
Group + Index of the signal to be sent as a broadcast message to data set 41 index 2 in the follower drives (speed reference). Example: the setting 2301 broadcasts 23.01 SPEED REF. Min: 0 Max: 20000 Def: 0 Integer scaling: 1 == 1

11
Index

MASTER SIGNAL 3
Group + Index of the signal to be sent as a broadcast message to data set 41 index 3 in the follower drives (torque reference). Example: 2.10 TORQ REF3 is typically used to send as torque reference to the 25.01 TORQUE REF A in the follower drives. Parameter 70.11 value is then 210. Min: 0 Max: 20000 Def: 0 Integer scaling: 1 == 1

unit:

type: R Description: type: R Description:

12
Index unit:

CH2 LINK CONTROL


DDCS channel 2 intensity controls for transmission LEDs. This parameter can be used in special cases to optimise the communication performance in the link. Min: 1 Max: 15 Def: 10 Integer scaling: 1 == 1

13
Index

CH2 TIMEOUT
The delay time before a communication break fault is declared. The time count starts when the link does not update the message. During the time is elapsing, the alarm CH2 TIME OUT is activated and bit 6 is activated in 9.04 ALARM WORD 1. Min: 0 ms Max: 60000 ms Def: 100 ms Integer scaling:

unit: ms

type: I

Parameters

105

70 14
Index

Group name:
Description:

DDCS CONTROL

CH2 COM LOSS CTRL


This parameter defines the action in case of a communication fault on CH2 of the RMIO board. 1 = FAULT Drive is tripped, fault M/F LINK FAULT is activated and bit 11 is set to 1 in the 9.01 FAULT WORD 1. 2 = ALARM M/F LINK ALARM is activated and bit 11 is set to 1 in 9.04 ALARM WORD 1. Min: 1 Max: 2 Def: 1 Integer scaling:

unit:

type: I Description:

15
Index

CH3 NODE ADDR


Node address for channel 3. This channel is normally used with the start-up and maintenance tools. If CH3 of several drives have been connected to in a ring or star (by a branching unit) connection, each one must be given a unique node address. The new node address becomes valid only after auxiliary power shutdown of the RMIO-board. Min: 1 Max: 254 Def: 1 Integer scaling: 1 == 1

unit:

type: R Description:

16
Index

CH3 LINK CONTROL


DDCS channel 3 intensity controls for transmission LEDs. This value is adjusted through the link including each device in the link. This parameter can be used in special cases to optimise the communication performance in the link. Min: 1 Max: 15 Def: 15 Integer scaling: 1 == 1

unit:

type: R Description:

19
Index

DDCS CH0 HW CONN


This parameter is used to enable or disable the regeneration of CH0 transmitter with DDCS mode. Regeneration means that drive echoes messages back. The DDCS mode is typically used with APC2, AC70 and AC450 controllers. 0 = RING Regeneration is disabled. Used with ring type of bus topology. 1 = STAR Regeneration disabled. Used with star type of bus topology. Typically with configurations: AC450 CI810A NDBU-95 branching unit(s) ACS800. Note: This parameter has no effect with DriveBus mode. Min: 0 Max: 1
SINGLE Connection

unit:

type: B

Def:

0 = RING

Integer scaling:

1 == 1

RMIO
Ch3

RING Connection

RMIO
Ch3

RMIO
Ch3

RMIO
Ch3

NPCM-01 PCMCIA board

...
NDBU-91 RMIO
Ch3

STAR Connection

RMIO
Ch3

RMIO
Ch3

NPCM-01 PCMCIA board

Max. 200 drives/channel with several NDBU-91 boards.

Figure 17. CH3 DDCS communication connection examples between the RMIO board and a PC.

Parameters

106

Group 90 D set rec ADDR


90 Group name:
Description: D SET REC ADDR Addresses into which the received fieldbus data sets are written. Numbers of the main and auxiliary data sets.

01
Index unit: Description: type: Description: type: Description: type: Description:

AUX DS REF3
Selects the address into which the value of fieldbus reference REF3 is written. 08999 parameter index. Min: 0 Max: 8999 Def: 0 Integer scaling: 1 == 1

02
Index unit:

AUX DS REF4
Selects the address into which the value of fieldbus reference REF4 is written. 08999 parameter index. Min: 0 Max: 8999 Def: 0 Integer scaling: 1 == 1

03
Index unit:

AUX DS REF5
Selects the address into which the value of fieldbus reference REF5 is written. 08999 parameter index. Min: 0 Max: 8999 Def: 0 Integer scaling: 1 == 1

04
Index

MAIN DS SOURCE
Defines the data set from which the drive reads the Control Word, Reference REF1 and Reference REF2. 0255 Data set number. Min: 0 Max: 255 Def: 1 Integer scaling: 1 == 1

unit:

type: Description: type:

05
Index unit:

AUX DS SOURCE
Defines the data set from which the drive reads References REF3, REF4 and REF5. 0255 Data set number. Min: 0 Max: 255 Def: 3 Integer scaling: 1 == 1

Group 92 D set TR ADDR


92 01
Index unit: Description: type: Description: type: Description: type: Description: type:

Group name:
Description:

D SET TR ADDR Main and Auxiliary Data Sets, which the drive sends to the fieldbus master station.

MAIN DS STATUS WORD


Stores the address from which the Main Status Word is read. Fixed value, not visible. 801 (fixed) Parameter index. Min: Max: Def: Integer scaling: 1 == 1

02
Index unit:

MAIN DS ACT1
Selects the address from which the Actual Signal 1 is read to the Main Data Set. 09999 parameter index. Min: 0 Max: 9999 Def: 101 Integer scaling: 1 == 1

03
Index unit:

MAIN DS ACT2
Selects the address from which the Actual Signal 2 is read to the Main Data Set. 09999 parameter index. Min: 0 Max: 9999 Def: 107 Integer scaling: 1 == 1

04
Index unit:

AUX DS ACT3
Selects the address from which the Actual Signal 3 is read to the Auxiliary Data Set. 09999 parameter index. Min: 0 Max: 9999 Def: 901 Integer scaling: 1 == 1

Parameters

107

92 05
Index unit:

Group name:
Description: type: Description: type:

D SET TR ADDR

AUX DS ACT4
Selects the address from which the Actual Signal 4 is read to the Auxiliary Data Set. 09999 parameter index. Min: 0 Max: 9999 Def: 904 Integer scaling: 1 == 1

06
Index unit:

AUX DS ACT5
Selects the address from which the Actual Signal 5 is read to the Auxiliary Data Set. 09999 parameter index. Min: 0 Max: 9999 Def: 902 Integer scaling: 1 == 1

Group 95 Hardware specific


95 01
Index Description:

Group name:

HARDWARE SPECIFIC

FAN SPD CTRL MODE


Selects the speed control of the optional inverter cooling fan. CONST 50 Hz Fan is running at constant frequency of 50 Hz when powered. RUN/STOP Drive stopped: Fan is running at constant frequency of 10 Hz. Drive running: Fan is running at constant frequency of 50 Hz. CONTROLLED The speed of the fun is determined from IGBT temperature vs. fan speed curve. Min: 0 Max: 2 Def: 2 Integer scaling: 1 == 1

unit:

type: I Description:

02
Index

FUSE SWITCH CTRL


Activates the inverter DC switch (switch fuse) monitoring function. The monitoring must be active when the Switch Fuse Control board (ASFC) is in use and connected to the inverter AINT board, i.e. in all frame R8i inverters equipped with the DC switch. The function must be inactive in units that do not use the ASFC board with the DC switch, i.e. for frame R2iR7i inverters and all single drive units where no DC switch exists. The default setting (ON or OFF) for each unit is set accordingly at the factory as default. ACS800 IGBT pulses are always blocked when the program detects that the DC switch is opened or inverter charging is ongoing (at power switch on). The application program generates alarm INV DISABLED if the DC switch is opened when the inverter is stopped. The inverter trips to fault INV DISABLED if the DC switch is opened when the inverter is running.

OFF ON
unit: type: I Description: Min:

Inactive Active Max: Def: Integer scaling: 1 == 1

03
Index

INT CONFIG USER


Number of parallel connected inverter modules. Activates the Reduced run function. See the subsection Reduced run function in Software description. Actual value: 04.01 INT board fault Faults: INT CONFIG chapter Fault tracing Min: Max: Def: Integer scaling: 1 == 1

unit:

type: Description: type: I Description: type: I

06
Index unit: %

LCU Q PW REF
Reactive power reference to line converter. Min: -10000 Max: 10000 Def: 0 Integer scaling: 100 == 1%

07
Index unit: V

LCU DC REF [V]


DC voltage reference to line converter. Min: 0 Max: 1100 Def: 0 Integer scaling: 1 == 1 V

Parameters

108

Group 98 Option modules


98 01
Index Description:

Group name:
Description:

OPTION MODULES Activation of the option modules.

ENCODER MODULE
Activates the communication to the optional pulse encoder module. See also parameter settings in group 50. 0 = NTAC Communication active. Module type: NTAC module. Connection interface: Fibre optic DDCS link. Note: Module node number must be set to 16. For directions, see Installation and Start Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules (Code: 3AFY58919730 English). 1 = NO Inactive 2 = RTAC-SLOT1 Communication active. Module type: RTAC. Connection interface: Option SLOT 1 of the drive. 3 = RTAC-SLOT2 Communication active. Module type: RTAC Connection interface: Option SLOT 2 of the drive. 4 = RTAC-DDCS Communication active. Module type: RTAC. Connection interface: Option module rack of the drive (communication with the drive through a fibre optic DDCS link). Note: Module node number must be set to 16. For directions, see User's Manual for RDIO Module (Code: 3AFE64485733 English). Min: 0 Max: 4 Def: 1 Integer scaling: 1 == 1

unit:

type: Description:

02
Index

COMM MODULE LINK


Activates the external serial communication and selects the interface. 1 = NO No communication. 2 = FIELDBUS The drive communicates via a fieldbus adapter module in option SLOT 1 of the drive, or via CH0 on the RDCO board. See also parameter group 51. 3 = ADVANT The drive communicates with an ABB Advant OCS system via CH0 on the RDCO board (optional). See also parameter group 70. 4 = STD MODBUS The drive communicates with a Modbus controller via the Modbus Adapter Module (RMBA) in option SLOT 1 of the drive. See also parameter group 52. 5 = CUSTOMISED The drive communicates via a customer specified link. The control sources are defined by parameters 90.04 and 90.05. Min: Max: Def: 1 Integer scaling:

unit:

type:

Parameters

109

98 03
Index

Group name:
Description:

OPTION MODULES

DI/O EXT MODULE 1


Activates the communication to the digital I/O extension module 1 (optional) and defines the type and connection interface of the module. Extension I/O replaces RMIO DI1 and DI2. 1 = NDIO Communication active. Module type: NDIO module. Connection interface: Fibre optic DDCS link. Note: Module node number must be set to 2. For directions, see Installation and Start-up Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules (Code: 3AFY58919730 English). 2 = NO Inactive 3 = RDIO-SLOT1 Communication active. Module type: RDIO. Connection interface: Option SLOT 1 of the drive. 4 = RDIO-SLOT2 Communication active. Module type: RDIO. Connection interface: Option SLOT 2 of the drive. 5 = RDIO-DDCS Communication active. Module type: RDIO Connection interface: Option module rack of the drive (communicates with the drive through a fibre optic DDCS link). Note: Module node number must be set to 2. For directions, see User's Manual for RDIO Module (Code: 3AFE64485733 English). Min: 1 Max: 5 Def: 2 Integer scaling: 1 == 1

unit:

type: Description:

04
Index

DI/O EXT MODULE 2


Activates the communication to the digital I/O extension module 2 (optional) and defines the type and connection interface of the module. Extension I/O replaces RMIO DI3 and DI4. 1 = NDIO Communication active: Module type: NDIO module. Connection interface: Fibre optic DDCS link. Note: Module node number must be set to 3. For directions, see Installation and Start-up Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules (Code: 3AFY58919730 English). 2 = NO Inactive 3 = RDIO-SLOT1 Communication active. Module type: RDIO. Connection interface: Option SLOT 1 of the drive. 4 = RDIO-SLOT2 Communication active. Module type: RDIO. Connection interface: Option SLOT 2 of the drive. 5 = RDIO-DDCS Communication active. Module type: RDIO. Connection interface: Option module rack of the drive (communication with the drive through a fibre optic DDCS link). Note: Module node number must be set to 3. For directions, see User's Manual for RDIO Module (Code: 3AFE64485733 English). Min: 1 Max: 5 Def: 2 Integer scaling: 1 == 1

unit:

type:

Parameters

110

98 05
Index

Group name:
Description:

OPTION MODULES

DI/O EXT MODULE 3


Activates the communication to the digital I/O extension module 3 (optional) and defines the type and connection interface of the module. Extension I/O replaces RMIO DI5 and DI6. 1 = NDIO Communication active. Module type: NDIO module. Connection interface: Fibre optic DDCS link. 2 = NO Inactive 3 = RDIO-SLOT1 Communication active. Module type: RDIO. Connection interface: Option SLOT 1 of the drive. 4 = SLOT2 Communication active. Module type: RDIO Connection interface: Option SLOT 2 of the drive. 5 = RDIO-DDCS Communication active. Module type: RDIO. Connection interface: Option module rack of the drive (communicates with the drive through a fibre optic DDCS link). Note: Module node number must be set to 4. For directions, see User's Manual for RDIO Module (Code: 3AFE64485733 English). Min: 1 Max: 5 Def: 2 Integer scaling: 1 == 1

unit:

type: Description:

06
Index

AI/O EXT MODULE 1


Activates the communication to the analogue I/O extension module (optional), and defines the type and connection interface of the module. Extension I/O replaces RMIO AI1 and AI2. Module inputs: - See parameters 98.13 and 98.14 for the signal type definitions. 1 = NAIO Communication active: Module type: NAIO Connection interface: Fibre optic DDCS link. Note: Module node number must be set to 5. For direction, see Installation and Start-up Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules (Code: 3AFY58919730 English). 2 = NO Communication inactive. 3 = RAIO-SLOT1 Communication active. Module type: RAIO. Connection interface: Option SLOT 1 of the drive. 4 = RAIO-SLOT2 Communication active: Module type: RAIO. Connection interface: Option SLOT 2 of the drive. 5 = RAIO-DDCS Communication active. Module type: RAIO. Connection interface: Optional module rack, which communicates with the drive through a fibre optic DDCS link. Note: Module node number must be set to 5. For direction, see User's Manual for RAIO Module (Code: 3AFE64484567 English).

unit:

type: Description:

Min: 1

Max: 5

Def: 2

Integer scaling:

no

07
Index

COMM PROFILE
Defines the profile on which the communication with the fieldbus or another drive is based. ABB DRIVES ABB Drives profile. GENERIC Generic drive profile. Typically used with the fieldbus modules that have the type designation of form Rxxx (installed in the option slot of the drive). Min: 1 Max: 2 Def: 1 Integer scaling:

unit:

type:

Parameters

111

98 13
Index

Group name:
Description:

OPTION MODULES

AI/O EXT AI1 FUNC


Defines the signal type for input 1 of the analogue I/O extension module. The setting must match the signal connected to the module. Note: The communication must be activated by parameter 98.06. 1 = UNIP AI5 Unipolar 2 = BIPO AI5 Bipolar Min: 1 Max: 2 Def: 1 Integer scaling: no

unit:

type: Description:

14
Index

AI/O EXT AI2 FUNC


Defines the signal type for input 2 of the analogue I/O extension module. The setting must match the signal connected to the module. Note: The communication must be activated by parameter 98.06. 1 = UNIP AI6 Unipolar 2 = BIPO AI6 Bipolar Min: 1 Max: 2 Def: 1 Integer scaling: no

unit:

type:

Parameters

112

Group 99 Start-up data


Note: The drive will not start if the Start-up Data Parameters have not been changed from the factory settings, or the nominal current of the motor is too small compared to the nominal current of the inverter. A fault NO MOT DATA (no motor data) is also indicated. If the Motor Control Mode (Parameter 99.08) is set to SCALAR, the comparison between the nominal current of the motor and the nominal current of the inverter is not made. WARNING! Running the motor and the drive equipment with incorrect start-up data can result in improper operation, reduction in control accuracy and damage to equipment. If several motors are connected to the ACS800 drive, some additional instructions must be considered when setting the Start-up Data Parameters. Please contact your local ABB representative for more information. Note: Changing any of the motor parameters in group 99, causes the cancellation of all existing Motor ID Run results!
99 01
Index Description:

Group name:
Description:

START-UP DATA Parameters for setting up the motor information.

LANGUAGE
The CDP 312R control panel or DriveWindow shows 11 alternatives but only English is loaded into the memory of the ACS800. 0 = ENGLISH Min: 0 Max: 10 Def: 0 Integer scaling:

unit:

type: I Description:

02
Index

MOTOR NOM VOLTAGE


Nominal voltage from the motor rating plate. It is not possible to start the ACS800 without setting this parameter. Note: It is not allowed to connect a motor with nominal voltage less than 1/2 * UN or more than 2 * UN of the ACS800. Min: 207 V Max: 830 V Def: 0 V Integer scaling: 1 == 1 V

unit: V

type: R Description: type: R Description:

03
Index unit: A

MOTOR NOM CURRENT


Rated motor current. If several motors are connected to the inverter, enter the total current of the motors. Min: 0 A Max: Def: 0 A Integer scaling: 10 == 1 A

04
Index

MOTOR NOM FREQ


Nominal frequency from the motor rating plate. Note: If the nominal frequency of the motor is higher than 50 Hz, speed limits in DTC mode or frequency limits in scalar control mode must be set before a ID Run command. See Parameter Group 20 DTC mode or Group 29 (SCALAR control mode). Min: 8 Hz Max: 300 Hz Def: 50 Hz Integer scaling: 100 == 1 Hz

unit: Hz

type: R Description: type: R

05
Index unit: rpm

MOTOR NOM SPEED


Nominal speed from the motor rating plate. Min: 1 rpm Max: 18000 rpm Def: 1 rpm Integer scaling: 1 == 1 rpm

Parameters

113

99 06
Index unit: kW

Group name:
Description: type: R Description:

START-UP DATA

MOTOR NOM POWER


Nominal power from the motor rating plate. If several motors are connected to the inverter, enter the total power of the motors. Min: 0 kW Max: 9000 kW Def: 0 kW Integer scaling: 10 == 1 kW

07
Index

MOTOR ID RUN
This parameter is used to initiate the Motor Identification Run. During the run, the drive will identify the characteristics of the motor for optimum motor control. The ID Run takes about one minute. The ID Run cannot be performed if scalar control is selected (Parameter 99.08 is set to SCALAR). Note: The ID Run (Standard or Reduced) should be selected if: operation point is near zero speed operation at torques above the motor nominal torque within a wide speed range and without a pulse encoder is required.

Note: Check the rotation direction of the motor by first start before starting the Motor ID Run. During the run the motor will rotate in the forward direction. Warning! The motor will run at up to approximately 50%80% of nominal speed during the Motor ID Run. BE SURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING THE MOTOR ID RUN. 1 = NO The Motor ID Run is not performed. If an ID Run has not been done yet, or any of the motor parameters have been changed, the motor will start the mode FIRST START after the start command has been given. The DC-magnetising phase lasts much longer than the normal start because the stator resistance and other electrical losses are first identified and stored into FPROM memory. .
2 = STANDARD Performing the Standard Motor ID Run guarantees the best possible control accuracy. The motor must be decoupled from the driven equipment before performing the Standard ID Run. Only to be selected if the motor cannot be decoupled from the driven equipment. The Reduced Motor ID Run should be selected in applications where mechanical losses are higher than 20% (i.e. the load cannot be disconnected) or where flux reduction is not allowed (i.e. there are auxiliary devices connected in parallel with the motor) while the motor is running. Max: 3 Def: 1 Integer scaling:

3 = REDUCED

unit:

type: I Description:

Min: 1

08
Index

MOTOR CTRL MODE


Motor control mode selection. 1 = SCALAR Scalar control mode 0 = -DTC Direct Torque Control mode. If several motors are connected to the inverter, there are certain restrictions on the usage of DTC. Please contact your local ABB representative for more information. Min: Max: Def: DTC Integer scaling: 1 == 1

unit:

type: B

Parameters

114
99 09
Index unit: Description: type: B Description: type: I Description: type: S

Group name:

START-UP DATA

APPLIC RESTORE
1 = YES Values are restored. 0 = NO Min: 0 Max: 1 Def: 0 Integer scaling: 1 == 1

10
Index unit:

DRIVE ID NUMBER
This parameter can be used by the overriding system to check the correct connections of the optical cables to the drive type. This parameter requires support from the overriding system. Min: 0 Max: 32767 Def: 0 Integer scaling:

11
Index unit:

DEVICE NAME
Defines the name for the drive or application. The name is visible on the control panel display in the Drive Selection Mode. Note: The name can be typed only by using a drive PC tool. Min: Max: Def: 0 Integer scaling:

Parameters

115

Overview of the CDP 312R control panel


Overview This chapter describes the programming principles of the drive using the CDP 312R control panel. The user can change the configuration of the drive to meet the needs of the requirements by programming. The drive is programmable through a set of parameters. This chapter describes the operation of the CDP 312R control panel and how to use the panel with the drive to modify the parameters, to measure the actual values and to control the drive(s). Panel link The CDP 312R control panel is connected to the drive through a Modbus-protocol communication bus. The communication speed is 9600 bit/s. 31 drives and one panel can be connected on this bus. Each station must have a unique ID number.

1 L -> 0.0 rpm 0 LED PANE 0 % MOTOR SP 0.0 rpm MOTOR TO 0.00 %
ACT PAR FUNC DRIVE

ENTER

LOC REM

RESET

REF

0
CDP 312

Figure 18. CDP 312R control panel.

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116

Display The LCD type display has 4 lines of 20 characters. The language selection is made at Start-up by parameter 99.01 LANGUAGE. Depending on the customers selection, a set of four languages is loaded into the memory of the drive at the factory. Keys The Control Panel keys are flat, labelled, push button keys that allow you to monitor drive functions, select drive parameters, and change settings.
Status Row Actual Signals Names and Values

1 L -> 0.0 rpm 0 LED PANE 0 % MOTOR SP 0.0 rpm MOTOR TO 0.00 % 1 L -> 0.0 rpm 99 START-UP DATA 01 LANGUAGE ENGLISH 0

Actual Signal Display Mode


Display/group selection
ACT

Row/parameter selection

ENTER Parameter Mode


PAR

Enter selection mode Accept new parameter Group selection Fast value change Parameter selection Slow value change

Status Row Group number and name Index number and name Parameter value Status Row Selectable functions

ENTER

1 L -> 0.0 rpm 0 UPLOAD <= <= DOWNLOAD => => CONTRAST 4 ACS 800 0005_3 DRYER SECTION 1 AMAM15D3 980605 ID-NUMBER 1

Enter selection mode Accept new value

Function Mode
FUNC

Row selection

ENTER Drive Selection Mode


DRIVE

Function start

Device type Drive name Application sw name + version. *) ID-number of drive in the Modbus link

Drive/ID selection Enter change mode Accept new value

ENTER

*) Name of the downloaded FCB (Function Chart Builder) application.

Figure 19. Control Panel display indications and functions of the Control Panel keys.

LOC REM RESET

Keypad / External Control Fault Reset Reference Setting Function

Forward

Start

Reverse

Stop

REF

Figure 20. Operational commands of the Control Panel keys.

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117

Panel operation
The following is a description of the operation of the CDP 312R control panel. The Control Panel Keys and Displays are explained in Figures 8-2 and 8-3. Keypad modes The CDP 312R control panel has four different keypad modes: Actual Signal Display Mode, Parameter Mode, Function Mode, and Drive Selection Mode. In addition, there is a special Identification Display, which is displayed after connecting the panel to the link. The Identification Display and the keypad modes are described briefly below. Identification display When the panel is connected for the first time, or the power is applied to the drive, the Identification Display appears, showing the panel type and the number of drives connected to the Panel Link. Note: The panel can be connected to the drive while power is applied to the drive.
ACS 800 0005_3

ID NUMBER 1

After two seconds, the display will clear, and the Actual Signals of the drive will appear. Actual signal display mode This mode includes two displays, the Actual Signal Display and the Fault History Display. The Actual Signal Display is displayed first when the Actual Signal Display mode is entered. If the drive is in a fault condition, the Fault Display will be shown first. The panel will automatically return to Actual Signal Display Mode from other modes if no keys are pressed within one minute (exceptions: Status Display in Drive Selection Mode and Fault Display Mode). In the Actual Signal Display Mode you can monitor three Actual Signals at a time. How to select the three Actual Signals to the display is explained in Table 6. The Fault History includes information on the 16 most recent faults that have occurred in your drive. The name of the fault and the total power-on time are displayed. If the APC2 overriding system has been connected to the drive (DDCS channel 0), this time can be seen in the date format instead of power-on time. The procedure for clearing the Fault History is described in Table 7. The following table shows the events that are stored in the Fault History. For each event it is described what information is included.

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118
Event
A fault is detected by drive

Information
Sequential number of the event. Name of the fault and a + sign in front of the name. Total power on time or date and time updated by overriding system. Sequential number of the event. -RESET FAULT text. Total power on time or date and time updated by the overriding system. Sequential number of the event. Name of the warning and a + sign in front of the name. Total power on time or date and time updated by the overriding system. Sequential number of the event. Name of the warning and a - sign in front of the name. Total power on time or date and time updated by the overriding system.

Display 1 L -> 0.0 rpm 2 LAST FAULT + OVERCURRENT 12 H 49 MIN 10 S 1 L -> 0.0 rpm 1 LAST FAULT -RESET FAULT 12 H 50 MIN 10 S 1 L -> 0.0 rpm 1 LAST WARNING +EMESTOP 12 H 50 MIN 10 S 1 L -> 0.0 rpm 1 LAST WARNING +EMESTOP 12 H 50 MIN 35 S

A fault is reset by user.

A warning is activated by drive

A warning is deactivated by drive

When a fault or warning occurs in the drive, the message will be displayed immediately, except in the Drive Selection Mode. Table 7, shows how to reset a fault. From the fault display, it is possible to change to other displays without resetting the fault. If no keys are pressed the fault or warning text is displayed as long as the fault exists. Table 5. How to display the full name of the three Actual Signals.
Step
1.

Function
To display the full name of the three actual signals To return to the Actual Signal Display Mode.

Press key Hold


ACT

Display after key is pressed

1 L -> 0.0 rpm 0 LED PANEL OUTP MOTOR SPEED FILT MOTOR TORQUE FILT 1 L -> LED PANE MOTOR SP MOTOR TO 0.0 rpm 0 0 % 0.0 rpm 0.00 %

2.

Release
ACT

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119

Table 6. How to select Actual Signals to the display


Step
1.

Function
To enter the Actual Signal Display Mode

Press key
ACT

Display after key is pressed

1 L -> LED PANE MOTOR SP MOTOR TO 1 L -> LED PANE MOTOR SP MOTOR TO

0.0 rpm 0 0 % 0.0 rpm 0.00 % 0.0 rpm 0 0 % 0.0 rpm 0.00 %

2.

To select the desired row.

3.

To enter the Actual Signal Selection Mode.

ENTER

1 L -> 0.0 rpm 0 1 ACTUAL SIGNALS 01 MOTOR SPEED FILT 0.0 rpm 1 L -> 0.0 rpm 0 2 ACTUAL SIGNALS 01 SPEED REF 2 0 rpm 1 L -> 0.0 rpm 0 2 ACTUAL SIGNALS 02 SPEED REF 3 0 rpm

4.

To select a different group.

5.

To select an index.

6.

To accept the selection and to return to the Actual Signal Display Mode.

ENTER

1 L -> LED PANE SPEED RE MOTOR TO

0.0 rpm 0 0 % 0.0 rpm 0.00 %

Overview of the CDP 312R control panel

120 Table 7. How to display a fault and reset the Fault History
Step
1.

Function
To enter the Actual Signal Display Mode

Press key
ACT

Display after key is pressed

1 L -> LED PANE MOTOR SP MOTOR TO

0.0 rpm 0 0 % 0.0 rpm 0.00 %

2.

To enter the Fault History Display. The time of occurrence can be seen either as total power-on time or in the date format if an overriding system (e.g. APC2) has been connected to control the drive. To clear all the faults from the Fault History Buffer. A view of cleared fault logger.

1 L -> 0.0 rpm 2 LAST FAULT + PANEL LOST 20 H 49 MIN 56 S 1 L -> 0.0 rpm 1 LAST FAULT + PANEL LOST 980621 10:26:19.3043
s = fault or alarm logged into the fault logger r = fault or alarm reset

3.

RESET

1 L -> 0.0 rpm 2 LAST FAULT + OVERCURRENT 12 H 49 MIN 10 S 1 L -> 0.0 rpm 0 2 LAST FAULT H MIN S

4.

To return to the Actual Signal Display Mode.

1 L -> LED PANE MOTOR SP MOTOR TO

0.0 rpm 0 0 % 0.0 rpm 0.00 %

Table 8. How to display and reset an active fault


Step
1.

Function
To enter the Actual Signal Display Mode.

Press key
ACT

Display after key is pressed

1 L -> 0.0 rpm 0 ACS 800 75 kW *** FAULT *** PANEL LOST 1 L -> LED PANE MOTOR SP MOTOR TO 0.0 rpm 0 0 % 0.0 rpm 0.00 %

2.

To reset the fault. The Reset button functions also in the REMOTE mode.

RESET

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121

Parameter mode The Parameter Mode is used for making changes to the drive parameters. When this mode is entered for the first time after power up, the display will show the first parameter of the first group. The next time, the Parameter Mode is entered, the previously selected parameter is shown. Note: If you try to write to a write-protected parameter, the following warning will be displayed.
**WARNING** WRITE ACCESS DENIED PARAMETER SETTING NOT POSSIBLE

Overview of the CDP 312R control panel

122 Table 9. How to select a parameter and change the value


Step
1.

Function
To enter the Parameter Mode.

Press key
ACT

Display after key is pressed

1 L -> 0.0 rpm 0 13 ANALOGUE INPUTS 01 AI1 HIGH VALUE 10000 1 L -> 0.0 rpm 0 14 DIGITAL INPUTS 1 L -> 0.0 rpm 0 14 DIGITAL OUTPUTS 01 DO1 CONTROL OFF

2.

To select another parameter group. While holding the arrow down, only the group name and number are displayed. When the key is released, name, number and value of the first parameter in the group are displayed. To select an index number. While holding the arrow down, only the parameter name and number are displayed. When the key is released the value of the parameter is also displayed. To enter the parameter value.

3.

1 L -> 0.0 rpm 0 14 DIGITAL OUTPUTS 01 DO1 GROUP+INDEX 1 L -> 0.0 rpm 0 14 DIGITAL OUTPUTS 02 DO1 GROUP+INDEX 801 1 L -> 0.0 rpm 0 14 DIGITAL OUTPUTS 02 DO1 GROUP+INDEX [801] 1 L -> 0.0 rpm 0 14 DIGITAL OUTPUTS 02 DO1 GROUP+INDEX [901]

4.

ENTER

5.

To change the parameter value. (slow change) (fast change) To send a new value to the drive.

6a.

ENTER
ACT PAR

6b. To cancel the new setting and keep the original value. The selected Keypad Mode is entered.

1 L -> 0.0 rpm 0 14 DIGITAL OUTPUTS 02 DO1 GROUP+INDEX 901 1 L -> 0.0 rpm 0 14 DIGITAL OUTPUTS 02 DO1 GROUP+INDEX 801

FUNC DRIVE

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123

Function mode The Function Mode is used to select special functions. These functions include Parameter Upload, Parameter Download and setting the contrast of the CDP 312R Panel Display. Parameter Upload will copy existing parameters from Groups 10 to 98 from the drive to the panel. The upload function can be performed while the drive is running. Only the STOP command can be given during the uploading process. Parameter Download will copy existing parameter Groups 10 to 97 stored in the panel to the drive. Note: Parameters in Groups 99 concerning options, language and motor data are not copied. Table 10, describes how to select and perform the Parameter Upload and Parameter Download functions. If downloading is attempted before uploading, the following warning will be displayed:
**WARNING** NOT UPLOADED DOWNLOADING NOT POSSIBLE

The parameters can be uploaded and downloaded only if the DTC software version and application software version (see Signals 4.1 DTC SW VERSION and 4.2 APPL SW VERSION) of the destination drive are the same as the software versions of the source drive. Otherwise the following warning will be displayed:
**WARNING** DRIVE INCOMPATIBLE DOWNLOADING NOT POSSIBLE

The drive must be stopped during the downloading process. If the drive is running and downloading is selected, the following warning is displayed:
**WARNING** DRIVE IS RUNNING DOWNLOADING NOT POSSIBLE

Overview of the CDP 312R control panel

124 Table 10. How to select and perform a function


Step
1.

Function
To enter the Function Mode

Press key
FUNC

Display after key is pressed

1 L -> UPLOAD DOWNLOAD CONTRAST 1 L -> UPLOAD DOWNLOAD CONTRAST

0.0 rpm 0 <= <= => => 0 0.0 rpm 0 <= <= => => 0

2.

To select a function.

3.

To activate the selected function.

ENTER

1 L -> 0.0 rpm 0 => => => => => => => DOWNLOAD 1 L -> LED PANE MOTOR SP MOTOR TO 0.0 rpm 0 0 % 0.0 rpm 0.00 %

4.

Loading completed.

Table 11. How to set the contrast of the panel display.


Step
1.

Function
To enter the Function Mode.

Press key
FUNC

Display after key is pressed

1 L -> UPLOAD DOWNLOAD CONTRAST 1 L -> UPLOAD DOWNLOAD CONTRAST

0.0 rpm 0 <= <= => => 0 0.0 rpm 0 <= <= => => 0 0.0 rpm 0 [0] 0.0 rpm 0 [7] 0.0 rpm 0 <= <= => => 7 0.0 rpm 0 <= <= => => 0

2.

To select a function.

3.

To enter the contrast setting function.

ENTER

1 L -> CONTRAST 1 L -> CONTRAST

4.

To set the contrast. (0...7)

5a.

To accept the selected value. To cancel the new setting and keep the original value, press any of the Mode keys. The selected Keypad Mode is entered.

ENTER
ACT PAR

1 L -> UPLOAD DOWNLOAD CONTRAST 1 L -> UPLOAD DOWNLOAD CONTRAST

FUNC DRIVE

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125

Copying parameters from one unit to other units You can copy parameters in Groups 10...97 from one drive to another by using the Parameter Upload and Parameter Download functions in the Function Mode. Typically this kind of function can be used if the processes and the motor types are same. Follow the procedure below: Select the correct options (Group 98) and language (Group 99) for each drive. Set the rating plate values for the motors (Group 99) and perform the identification run for each motor if required. Set the parameters in Groups 10 to 97 as preferred in one drive. Upload the parameters from the drive to the panel (see Table 10). Disconnect the panel and reconnect it to the next drive unit. Download the parameters from the panel to the drive unit. (see Table 11). Repeat steps 5 and 6 for the rest of the units.

Note: Parameters in Groups 98 and 99 concerning options, language and motor data are not copied. Setting the contrast If the Control Panel Display is not clear enough, set the contrast according to the procedure explained in Table 11. Drive selection mode In normal use, the features available in the Drive Selection Mode are not needed; these features are reserved for applications where several drives are connected to one Modbus Link. Modbus Link is the communication link connecting the Control Panel and the drive. Each on-line station must have an individual identification number (ID). CAUTION! The default ID number setting of the drive must not be changed unless it is to be connected to the Modbus Link with other drives on-line.

Overview of the CDP 312R control panel

126 Table 12. How to select a drive and change its ID number
Step
1.

Function
To enter the Drive Selection Mode

Press key
DRIVE

Display after key is pressed

ACS 800 0005_3 DRIVE NAME AMAM1050 980612 ID NUMBER 1 ACS 800 0005_3 DRIVE NAME AMAM1050 980612 ID NUMBER 1
1O-> 2I<- 3O<- 4I-> 5I-> 6O-> 7F 8I-> 9I-> 10I-> O = I = -> = <- = F = Drive stopped Drive running Direction forward Direction reverse Drive has tripped on a fault

2.

To select the next view. The ID number of the station is changed by first pressing ENTER (the brackets round the ID number appear) and then adjusting the value with arrow buttons. The new value is accepted with ENTER. The power of the ACS800 must be switched off to validate its new ID number setting (the new value is not displayed until the power is switched off and on). The Status Display of all devices connected to the Panel Link is shown after the last individual station. If all stations do not fit on the display at once, to view the press rest of them.

3.

To connect to the last displayed drive and to enter another mode, press one of the Mode keys. The selected Keypad Mode is entered.

ACT

PAR

FUNC

1 L -> LED PANE MOTOR SP MOTOR TO

0.0 rpm 0 0 % 0.0 rpm 0.00 %

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127

Operational commands Operational commands control the operation of the drive. They include starting and stopping the drive, changing the direction of rotation and adjusting the reference. The reference value is used for controlling motor speed (Local Reference 1), motor torque (Local Reference 2) or frequency in scalar control (Local Reference 3). Operational commands can be given from the CDP 312R control panel always when the status row is displayed and the control location is the panel. This is indicated by L (Local Control) on the display. See the following figure.
1 L -> 0.0 rpm 0

Remote Control (control from the overriding system or I/O is indicated by an empty field.
1 -> 0.0 rpm 0

Operational commands cannot be given from this panel when in Remote Control. Only monitoring actual signals, setting parameters, uploading and changing ID numbers is possible. The control is changed between Local and External control locations by pressing the LOC/REM key. Only one of the Local Control devices (CDP 312R or DriveWindow) can be used as the local control location at a time. Direction of actual rotation is indicated by an arrow.
1 Forward -> 0.0 rpm 0 1 Reverse <0.0 rpm 0

Start, Stop, Direction and reference Start, Stop and Direction commands are given from the panel by pressing the keys.
Forward

Reverse

Start

Stop

Overview of the CDP 312R control panel

128 Table 13. How to set the reference from the CDP 312R panel.
Step
1.

Function
To display enter a Keypad Mode displaying the status row. To enter the Reference Setting Mode

Press key
ACT PAR

Display after key is pressed

FUNC

1 L -> LED PANE MOTOR SP MOTOR TO 1 L ->[ LED PANE MOTOR SP MOTOR TO 1 L ->[ LED PANE MOTOR SP MOTOR TO

0.0 rpm 0 0 % 0.0 rpm 0.00 % 0.0 rpm]0 0 % 0.0 rpm 0.00 % 1030.0 rpm]0 0 % 0.0 rpm 0.00 %

2.

REF

3.

To change the reference. (slow change)

(fast change) 4. To escape the Reference Setting Mode. The selected Keypad Mode is entered.
ACT PAR

FUNC DRIVE

1 L -> LED PANE MOTOR SP MOTOR TO

0.0 rpm 0 0 % 0.0 rpm 0.00 %

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129

Fault tracing
Overview
This chapter describes the protections and fault tracing of drive.

I/O error monitoring


Internal Fault on the I/O Board If there is communication problems with the basic RMIO board I/O or with an extension module I/O, the following alarm is given:
DIO ALARM AIO ALARM EXT DIO ALM EXT AIO ALM Bit 7 in AW_1 (9.04) Bit 8 in AW_1 (9.04) Bit 9 in AW_1 (9.04) Bit 10 in AW_1 (9.04)

Communication monitoring
Messages received from the overriding system are monitored in the RMIO diagnostics program. The monitoring is activated by parameters 30.26, 30.28 and 70.04. The action in case of communication fault is defined in the parameter 30.25 COM LOSS CTRL. On a communication fault, bit 11 (alarm COMM MODULE) is activated in 9.05 ALARM WORD 2 and bit 12 (fault COMM MODULE) in 9.02 FAULT WORD 2.

Power plate overtemperature fault


The drive supervises the inverter power plate module temperature. If it exceeds 115C, a warning ACS 800 TEMP is given and 9.04 ALARM WORD 1 bit 4 is set to 1. If the power plate module temperature exceeds 125C, a fault ACS 800 TEMP is given and 09.01 FAULT WORD 1 bit 3 is set to 1.

Ambient temperature
The drive measures the ambient temperature on the surface of the RMIO board. The drive will not start if the temperature is above 88C (depending on converter type). Also a fault CABIN TEMP F is given and 9.02 FAULT WORD 2 bit 7 is set to 1.

Fault tracing

130

Overcurrent
The overcurrent trip limit is 3.5 * Ihd (nominal motor current for heavy duty use). There are several sources of the overcurrent trip: SW trip (time level 100 s, level = 97% of measurement scale) HW level trip (97% of measurement scale for 35 s) HW derivative trip (12.5% of measurement scale for 75 s) HW level trip in parallel connected units by PBU logic (94% of measurement scale for 75 s)

A fault OVERCURRENT is given and 09.01 FAULT WORD 1 bit 1 is set to 1. The current measurement is calibrated automatically during the start procedure.

DC overvoltage
The DC overvoltage trip limit is 1.3 * U1max, where U1max is the maximum value of the mains voltage range.
Nominal Voltage of Inverter Unit
400 V 500 V 690 V

U1max
415 V 500 V 690 V

A fault DC OVERVOLT is given and 09.01 FAULT WORD 1 bit 2 is set to 1.


HIGH VOLTAGE TRIP LIMIT: 130% HIGH VOLTAGE CONTROL LIMIT: 124% BRAKE CHOPPER LIMIT: 120%

LOW VOLTAGE CONTROL LIMIT: 82% CHARGING LIMIT: 79% LOW VOLTAGE TRIPPING LIMIT: 60%

Figure 21. DC voltage control and tripping limits.

Fault tracing

131

DC undervoltage
The DC Undervoltage trip limit is 0.60 *U1min, where U1min is the minimum value of the mains voltage range.
Nominal Voltage of Inverter Unit 400 V 500 V 690 V U1min 380 V 380 V 690 V

A fault DC UNDERVOLT is given and 9.02 FAULT WORD 2 bit 2 is set to 1.

Local control lost function


The Local Control Lost function defines the operation of the drive when, while in local control mode, the communication between the local control device (control panel or DriveWindow) and the drive stops.
FAULT LAST SPEED
Stop2 the drive according to Parameter 21.03 LOCAL STOP FUNC. FW_2 (09.02) bit 13 is set to 1. Run at last speed and an alarm PANEL LOST is activated. AW_2 (09.05) bit 13 is set to 1.

Run enable interlocking function


Digital input DI2 state 0 activates the RUN ENABLE function, used for external RUN interlocking and for internal charging logic, when the optional load switch is used at the input DC circuit of the inverter unit. When the state of DI2 switches to 0, the drive stops by coasting, a fault RUN DISABLD is given and 9.02 FAULT WORD 2 bit 4 and 08.02 AUX STATUS WORD (ASW) bit 4 are set to 1.

Short circuit
There are separate protection circuits for supervising the motor cable and the inverter short circuits. If a short circuit occurs, the drive will not start and a fault SHORT CIRC is given and 9.01 FAULT WORD 1 bit 0 are set to a 1.

DC Link intermediate current ripple fault


Input phase loss protection circuits supervise the status of the mains in the supply section by detecting intermediate current ripple. If an input phase is lost, the intermediate current ripple increases. If the ripple exceeds 13% the drive is stopped and a fault SUPPLY PHASE is given. 9.02 FAULT WORD 2 bit 0 is set to 1.

Fault tracing

132

Overspeed fault
If the drive output frequency exceeds the preset level (e.g. in the case of overshooting in speed control), the drive is stopped and a fault OVER FREQ is given. 9.01 FAULT WORD 1 bit 9 is set to 1. The trip level frequency margin is adjustable by Parameter 20.11 FREQ TRIP MARGIN The RTAC pulse encoder module contains diagnostics for the communication link, speed error between the internal and measured speeds, (difference limit 20% of nominal speed), and pulse encoder timeout limits. In case of a fault, 9.02 FAULT WORD 2 bit 5 is set to 1 and a fault ENCODER FLT is given. In case of an alarm, 9.04 ALARM WORD 1 bit 5 is set to 1 and an alarm ENCODER ERR is given. The Fault/Alarm function is activated by Parameter 50.05 ENCODER ALM/FLT.

Overswitching frequency fault


If the inner control loop exceeds the maximum switching frequency, a fault OVER SWFREQ is given and 9.02 FAULT WORD 2 bit 9 is set to 1.

System fault
If the program on the RMIO board has failed and causes an interruption, 09.01 FAULT WORD 1 bit 7 (SYSTEM_FAULT) is set to 1.

Motor protections
Motor thermal protection functions The motor can be protected against overheating by: activating the DTC motor thermal model or User Mode. temperature measurement from the motor by using PT 100 or PTC sensors (1 or 2 separate measurement channels) a thermal switch (KLIXON) inside the motor (contact opens above the rated temperature) connected to digital input DI6. See Parameter Group 10, selection KLIXON.

The motor thermal model can be used parallel with other protections. Note: DTC motor thermal model is not active with parallel connected inverters and therefore User Mode must be used. See parameter 30.01 MOTOR THERM PMODE.

Fault tracing

133

C
180 155 130 120 80 40
Maximum ambient temperature Insulation class Maximum winding temperature 40 B 130 C 40 F 155 C 40 H 180 C Hot spot temperature margin
Permissible temperature rise 80 10 10

15

105

125

Figure 22. Insulation classes according to IEC 85 Motor thermal model The drive calculates the temperature of the motor based on the following assumptions: The motor ambient temperature is 30C. Motor temperature is calculated using either the user-adjustable or automatically calculated Motor Thermal Time and Motor Load Curve. The load curve should be adjusted in case the ambient temperature is higher than 30C.

The thermal model provides protection equivalent to standard class 10, 20, or 30 overload relays by setting the Motor Thermal Time to 350, 700, or 1050 seconds respectively. There are two levels of temperature monitoring: alarm MOTOR TEMP is activated when the alarm temperature limit is reached and 09.04 ALARM WORD 1 bit 3 is set to 1. trip MOTOR TEMP is activated when the trip temperature limit is reached and 09.01 FAULT WORD 1 bit 6 is set to 1.

Usage of PTC or PT100 temperature sensors


Motor temperature can be measured by using the analogue inputs and outputs of the drive. The Application Program Template supports two measurement channels: AI1 and AI2 for motor 1 and motor 2 temperature measurements. WARNING! According to IEC 664, the connection of the thermistor to the analogue I/O or to digital input DI6 requires double or reinforced insulation between motor live parts and the thermistor. Reinforced insulation entails a clearance and creepage of 8 mm (400/500 VAC equipment). If the thermistor assembly does not fulfil the requirement, the other I/O terminals of drive must be protected against contact, or a thermistor relay must be used to isolate the thermistor from the digital input.

Fault tracing

134
AO+ AOAI+ AI-

Motor

Figure 23. Thermistor connection example using analogue I/O. Motor overtemperature can be detected by connecting 1...3 PTC thermistors or 1...3 PT100 elements. The purpose of the analogue output is to supply a constant current to the temperature element and analogue input measures the voltage across the element. The application program sets the correct constant current according to the sensor type selection. alarm MOT TEMP is activated when the alarm temperature limit is reached. 9.04 ALARM WORD 1 bit 2 is set to 1. fault MOT TEMP is activated when the trip temperature limit is reached and the 9.01 FAULT WORD 1 bit 5 is set to 1. Note: The thermistor can also be connected to digital input DI6 according to the following figure. If direct thermistor connection is used, digital input DI6 goes to 0 false when resistance rises higher than 4 k. As a result, the drive is tripped, fault KLIXON is activated and appended to the fault logger, and 9.01 FAULT WORD 1 bit 5 is set to 1.

Motor overtemperature can be detected by connecting 1...3 PTC thermistors or 1...3 PT100 elements. The purpose of the analogue output is to supply a constant current to the temperature element and analogue input measures the voltage across the element. The application program sets the correct constant current according to the sensor type selection. alarm MOT TEMP is activated when the alarm temperature limit is reached. 9.04 ALARM WORD 1 bit 2 is set to 1. fault MOT TEMP is activated when the trip temperature limit is reached and the 9.01 FAULT WORD 1 bit 5 is set to 1. Note: The thermistor can also be connected to digital input DI6 according to the following figure. If direct thermistor connection is used, digital input DI6 goes to 0 false when resistance rises higher than 4 k. As a result, the drive is tripped, fault KLIXON is activated and appended to the fault logger, and 9.01 FAULT WORD 1 bit 5 is set to 1.

Fault tracing

135
Alternative 1 Thermistor relay RMIO X22: 6 DI6 7 +24 V DC Alternative 2 RMIO X22: 6 DI6 7 +24 V DC

10 nF

Motor

Motor

Alternative 2: At the motor end, the cable shield should be earthed through a 10 nF capacitor. If this is not possible, the shield is to be left unconnected.

Stall function
The drive protects the motor upon a stall situation. It is possible to adjust the supervision limits (torque, frequency, time) and choose how the drive reacts to a motor stall condition (warning indication; fault indication & stop; no reaction). The protection is activated if all the following conditions are fulfilled at the same time: The drive output frequency is below the Stall Frequency limit set by the user. The motor torque has risen to the maximum allowed value (the value Tm.a in the figure) calculated by the drive application program. This limit is continuously changing depending on variables such as the motor temperature calculated by the frequency converter software. Conditions 1 and 2 have been fulfilled longer than the period set by the user (Stall Time Limit).

An alarm or fault function can be selected by Parameter 30.13 STALL FUNCTION. If FAULT is selected, a stall situation produces a fault MOTOR STALL and sets 9.02 FAULT WORD 2 bit 14 to 1. If WARNING is selected, a stall situation produces a warning MOTOR STALL and sets 9.05 ALARM WORD 2 bit 9 to 1.
Torque

Stall region Tm.a

Stall Frequency

f(Hz)

Figure 24. Stall protection area

Fault tracing

136 The loss of motor load may indicate a process malfunction. The drive provides an Underload Function to protect the machinery and process in such a fault condition. The supervision limits (Underload Curve and Underload Time) can be chosen as well as the drive operation in an underload condition (warning indication; fault indication & stop; no reaction). The protection is activated if all the following conditions are fulfilled at the same time: The motor load is below the Underload Curve selected by the user. The motor load has been below the selected Underload Curve longer than the time set by the user (Underload Time). The drive output frequency is more than 10% of the motor nominal frequency.

An alarm or fault function can be selected by Parameter 30.16 UNDERLOAD FUNC. If FAULT is selected, an underload situation produces a fault UNDERLOAD and sets 9.01 FAULT WORD 1 bit 8 to 1. If WARNING is selected, an underload situation produces a warning UNDERLOAD and sets 9.05 ALARM WORD 2 bit 1 to 1.

Motor phase loss function


The Motor Phase Loss function monitors the status of the motor cable connections. The function is most useful during motor start. The drive detects if any of the motor phases have not been connected and refuses to start. The Phase Loss function also supervises the motor connection status during normal operation. The user can define the operation upon motor phase loss. The alternatives are either a fault indication and Stop, or no reaction. The fault indication is MOTOR PHASE. 9.02 FAULT WORD 2 bit 15 is simultaneously set to a 1. The Earth Fault protection detects earth faults in the motor, the motor cable or the inverter. The Earth Fault protection is based on earth leakage current measurement with a summation current transformer at the input of the converter. Depending on the users selection, the Earth Fault function stops the drive and gives a fault indication, or the drive continues operation and gives an alarm. A fault function can be selected by selecting FAULT at parameter 30.20 EARTH FAULT. In case of fault, EARTH FAULT is indicated and 9.01 FAULT WORD 1 bit 4 is set to 1. If NO is selected, an alarm EARTH FAULT is given and 9.04 ALARM WORD 1 bit 14 is set to 1.

Fault tracing

137

Fault and alarm messages


Fault message table
FAULT MESSAGES Alarm / Fault Text ACS800 TEMP (4210)
9.01 FW_1, bit 3 (in alphabetical order)

Cause
Drive IGBT temperature is excessive. Fault trip limit is 100%.

What to do
Check ambient conditions. Check air flow and fan operation. Check heatsink fins for dust pick-up. Check motor power against unit power. Boost the cooling of air.

CABIN TEMP F 9.02 FW_2, bit 7

Cabinet over- or undertemperature detected on the RMIO board (thermistor). Environment temperature is too high (>73C). Cyclical communication between drive and master is lost. (See parameters 30.26, 30.28 and 70.04.)

COMM MODULE (7510)


9.02 FW_2, bit 12

Check the optical fibres between the RMIO board and overriding system (or fieldbus adapter). Test with new optical fibres. Check that the node address is correct in the drive. Check the status of the fieldbus adapter. See appropriate fieldbus adapter manual. Check parameter settings of Group 51, if a fieldbus adapter is present. Check the connections between the fieldbus and the adapter. Check that the bus master is communicating and correctly configured. Check the optical fibres between the RMIO boards. Check that the optical fibre loop is closed. Test with new optical fibres. Informative alarm Check Fault function parameters.

CH2 COM LOS 9.01 FW_1, bit 11

Communication break detected on CH2 receive. (Programmable fault or alarm, see parameter 70.13) Drive limits torque due to too high or too low intermediate circuit DC voltage.

DC BUS LIM (3211)


(programmable Alarm Function 30.29)

DC OVERVOLT (3210)
9.01 FW_1, bit 2

Intermediate circuit DC voltage is excessive. This can be caused by Static or transient overvoltages in the mains. Faulty braking chopper or resistor (if used). Deceleration time being too short, if there is no braking chopper or regenerative incoming section. Internal fault in the inverter unit.

Check the functioning of the braking chopper. If using a regenerative incoming section check, that the diode mode is not forced during deceleration. Check the level of DC voltage and inverter nominal voltage. Replace the NINT-xx board (its voltage measurement circuit is faulty).

Fault tracing

138
FAULT MESSAGES Alarm / Fault Text DC UNDERVOLT (3220)
9.02 FW_2, bit 2 (in alphabetical order)

Cause
Intermediate circuit DC voltage is not sufficient. This can be caused by a missing mains phase in the diode rectifying bridge. File error in FLASH memory. The load on the incoming mains system is out of balance. This can be caused by a fault in the motor, motor cable or an internal malfunction. (programmable fault, see parameter 30.20) Tripping level setting is too sensitive in the non parallel connected R10iR12i inverters. Speed measurement fault detected. This can be caused by loose cable connection, communication time-out, faulty pulse encoder, or too great a difference between the internal and measured actual speeds. (programmable fault or alarm, see parameter 50.05)

What to do
Checks mains supply and inverter fuses. If Standard HW is used, check that digital input DI2 is on 1, when the inverter is powered. Replace the RMIO board. Check motor. Check motor cable. Check that there are no power factor correction capacitors or surge absorbers in the motor cable.

DDF FORMAT 9.03 SFW, bit 3 EARTH FAULT (2330)


9.01 FW_1, bit 4

ENCODER FLT 9.02 FW_2 bit 5

Check settings of parameter group 50. Check pulse encoder and its cabling including Check A and B phasing. The sign of the signal 1.03 SPEED MEASURED must be same as internal actual speed 1.02 MOTOR SPEED when rotating the motor. If not, exchange channels A and B. Check fibre optic connection between the RMIO board and the NTAC-0x module. Check the proper earthing of equipment. Check for highly emissive components nearby. Replace the RMIO board. Check for loose connections inside of drive cabinet. Write down the Fault code (in brackets). Contact ABB Service. Check that no overriding system is connected to the drive. Switch off the auxiliary voltage supply from the RMIO board and power up again. Check the parameter values in Group 20. Check that no limits prevent the ID Run. Restore factory settings and try again. Check the motor shaft is not locked. Informative alarm See signal 08.06 LIMIT WORD INV for current and power limits. Check Fault function parameters.

FACTORY FILE 9.03 SFW bit 0 FLT (xx) 8.01 MSW bit 3 ID RUN FLT 8.01 MSW bit 3

Factory macro parameter file error. There is an internal fault in the drive. Motor ID Run not possible due to the limits or locked rotor.

INV CUR LIM (2212) (programmable Alarm Function 30.29)

Drive limits inverter current.

Fault tracing

139

FAULT MESSAGES Alarm / Fault Text INV DISABLED (3200) Cause

(in alphabetical order)

What to do
Close DC switch. Check AFSC-0X Fuse Switch Controller unit.

Optional DC switch has opened while unit was stopped. Optional DC switch has opened while unit was running or start command was given I/O communication fault or error detected. This can be caused by a fault in the I/O unit, a fibre optic cable connection problem or incorrect module identification number (if old I/O extension modules are present). Motor 1 or 2 overtemperature fault. A thermal switch or thermistor connected to DI6 has opened. Also PTC thermistor connected to DI6 of RMIO detects motor overtemperature.

IO FAULT 9.02 FW_2 bit 6

Check for loose connections. Test with new fibre optic cables. Check the identification numbers of old extension I/O modules. If the fault is still active, replace the I/O board/extension unit(s). Check motor ratings and load. Check cable. Check thermistor (only to DI6 of NIOC-01) or thermal switch connections to digital inputs. If the resistance of the thermistor is over 4 k, real overtemperature occurs in the motor. Wait until motor has cooled. The state of DI6 returns back to 1 when the resistance of the thermistor is between 01.5 k. Replace the I/O board if the voltage in the selected KLIXON digital input is correct, but the state of DI6 is 0 in 1.15 D17-1 STATUS or 8.03 DI STATUS WORD. Informative alarm Check parameter 20.04 MAXIMUM CURRENT settings. Check Fault function parameters.

KLIXON 9.01 FW_1 bit 5

MOT CUR LIM (2300)


(programmable Alarm Function 30.29)

Drive limits motor current according to current limit defined by parameter 20.04 MAXIMUM CURRENT.

MOT POW LIM (FF86)


(Programmable Alarm Function 30.29)

Drive limits motor power according to Informative alarm limits defined by parameter 20.05 Check parameter 20.05 MAXIMUM TORQUE and 20.06. and 20.06 MINIMUM TORQUE settings. Check Fault function parameters.

MOT TEMP (4310)


9.01 FW_1 bit 5

Motor 1 or 2 overtemperature fault. (PT100 or PTC measurement to analogue I/O). Motor temperature has exceeded the tripping level. (Programmable fault or alarm, see parameter 30.02)

Check motor ratings, load and cooling. Check start-up data. Check MOTOR TEMP Fault Function parameters.

Fault tracing

140
FAULT MESSAGES Alarm / Fault Text MOT TORQ LIM (FF85)
(programmable Alarm Function 30.29) (in alphabetical order)

Cause
Drive limits motor torque according to calculated motor pull-out torque limit and minimum and maximum torque limits defined by parameters 20.05 and 20.06.

What to do
Informative alarm Check parameter 20.05 MAXIMUM TORQUE and 20.06 MINIMUM TORQUE settings. Check Fault function parameters. If LIMIT WORD 1 bit 0 TORQ MOTOR LIM is 1, - check motor parameter settings (parameter group 99 START-UP DATA) - ensure that ID run has been completed successfully. Check setting of Fault function parameter 30.29.

MOTOR PHASE (FF56)


9.02 FW_2 bit 15

Fault in the motor circuit. One of the motor phases is lost. This can be caused by a fault in the motor, the motor cable, a thermal relay (if used), or an internal fault. (Programmable fault or alarm, see parameter 30.19).

Check motor and motor cable. If the motor is disconnected, this fault is activated. Check thermal relay (if used). Check MOTOR PHASE Fault Function parameters. Disable this protection. If the cable and motor is ok, this fault can appear with small motors (<30 kW) in low speed. Deactivate protection in this case.

MOTOR STALL (7121)


9.02 FW_2 bit 14

Motor or process stall. Motor is Check motor load and the ACx800 ratings. operating in the stall region. This can Check MOTOR STALL Fault Function be caused by excessive load or parameters (30.1330.15). insufficient motor power. (Programmable fault or alarm, see parameter 30.13) Overtemperature fault (thermal model). Temperature has exceeded the tripping level of the thermal model. (Programmable fault or alarm, see parameter 30.02) Non-volatile operating system error. Over switching frequency fault. This may be due to a hardware fault in the electronics boards. Check motor ratings, load and cooling. Check start-up data. Check MOTOR TEMP Fault Function parameters.

MOTOR TEMP (4310)


9.01 FW_1 bit 6

NVOS ERROR 9.03 SFW bit 2 OVER SWFREQ (FF55)


9.02 FW_2 bit 9

Replace the RMIO board. Replace the RMIO board. Replace the NINT board. On units with parallel connected inverters, replace the NPBU board.

Fault tracing

141

FAULT MESSAGES Alarm / Fault Text OVERCURRENT (2310)


9.01 FW_1 bit 1

(in alphabetical order)

Cause
Overcurrent has been detected.

What to do
If the drive tripped during flying start, check that parameter 21.01 START FUNCTION is set to AUTO. (Other modes do not support flying start). Check motor load. Check acceleration time. Check motor and motor cable (including phasing). Check the pulse encoder and pulse encoder cable. Check there are no power factor correction capacitors or surge absorbers in the motor cable. Check the nominal motor values from Group 99 to confirm that the motor model is correct. Check the minimum and maximum speed settings. Check the adequacy of motor braking torque. Check the applicability of torque control. Check the need for a Braking Chopper and Braking Resistor if the drive has a Diode Supply Unit DSU. Check parameter 20.11 FREQ TRIP MARGIN. Check Control Panel connector. Replace Control Panel in the mounting platform. Check PANEL LOST Fault Function parameters.

OVERFREQ (7123)
9.01 FW_1 bit 9

Motor is turning faster than the highest allowed speed. This can be caused by an incorrect setting of parameters, insufficient braking torque or changes in the load when using torque reference.

PANEL LOST 9.02 FW_2 bit 13

A Local Control device (CDP 312R or DriveWindow) has ceased communicating. This can be caused by the disconnection of the selected local control device during local control or an internal fault in the local controlling device. (programmable fault or alarm, see parameter 30.21) Main circuit interface board current measurement or communication fault between the RMIO and Main circuit interface boards.

PPCC LINK (5210)


9.02 FW_2 bit 11

Check the fibre optic cables connected between the RMIO and Main circuit interface boards. In parallel connected inverters, also check the cabling on the NPBU-xx board. If the fault is still active, replace the NPBU board (only with parallel connected inverters), RMIO and NINT board (in this order) until the fault disappears. Test with new fibre optic cables in the PPCC link. Check the circuit connected to digital input DI2.

RUN DISABLD (FF54)


9.02 FW_2 bit 4

External interlocking (DI2=0) circuit is open. There is a fault in the external devices.

Fault tracing

142
FAULT MESSAGES Alarm / Fault Text SC (INU 1) 9.01 FW_1 bit 12 Cause
Short Circuit in (parallel connected) inverter unit 1 (in alphabetical order)

What to do
Short circuit detected in parallel connected inverter unit 1. Check the optic fibre connection from the NPBU-xx board channel CH1 (INT1) to the inverter. Check the motor and motor cable. Check all power plates in inverter unit 1. If a faulty power plate is detected, replace the whole phase module by another. Short circuit detected in the parallel connected inverter unit 2. Check the optic fibre connection from the NPBU-xx board channel CH2 (INT2) to the inverter. Check the motor and motor cable. Check all power plates in inverter unit 2. If a faulty power plate is detected, replace the whole phase module by another. Short circuit detected in the parallel connected inverter unit 3. Check the optic fibre connection from the NPBU-xx board channel CH3 (INT3) to the inverter. Check the motor and motor cable. Check all power plates in inverter unit 3. If a faulty power plate is detected, replace the whole phase module by another. Short circuit detected in the parallel connected inverter unit 4. Check the optic fibre connection from the NPBU-xx board channel CH4 (INT4) to the inverter. Check the motor and motor cable. Check all power plates in inverter unit 4. If a faulty power plate is detected, replace the whole phase module by another. Check the motor and motor cable. Measure the resistances of the power plate(s). If a faulty power plate is detected, replace the power plate and the main circuit interface band NGDR boards or the whole inverter phase module. Check that the prevention of unexpected startup circuit has not opened during the run. Check for mains supply imbalance. Check the mains fuses.

SC (INU 2) 9.01 FW_1 bit 13

Short Circuit in (parallel connected) inverter unit 2

SC (INU 3) 9.01 FW_1 bit 14

Short Circuit in (parallel connected) inverter unit 3

SC (INU 4) 9.01 FW_1 bit 15

Short Circuit in (parallel connected) inverter unit 4

SHORT CIRC (2340)


9.01 FW_1 bit 0

Short circuit has been detected. The output current is excessive.

SUPPLY PHASE (3130)


9.02 FW_2 bit 0

Ripple voltage in the DC link is too high. This can be caused by a missing mains phase in the diode rectifier bridge, or DC voltage oscillation by a thyristor rectifying bridge (if used in the incoming section).

Fault tracing

143

FAULT MESSAGES Alarm / Fault Text UNDERLOAD (FF6A)


9.01 FW_1 bit 8

(in alphabetical order)

Cause
Process underload situation detected. Motor load is too low. This can be caused by a release mechanism in the driven equipment. (programmable fault or alarm, see parameter 30.16.) User Macro parameter file error. There is no User Macro saved or the file is defective.

What to do
Check the driven equipment. Check UNDERLOAD Fault Function parameters.

USER MACRO (FFA1)


9.03 SFW bit 1

Create the User Macro again.

Fault tracing

144

Alarm messages table


ALARM MESSAGES
(in alphabetical order)

Alarm Message
ACS 800 TEMP 9.04 AW_1 bit 4

Cause
Power plate overtemperature alarm. The ACS800 internal temperature is excessive.

Action
Check ambient conditions. Check airflow and fan operation. Check heatsink fins for dust pick-up. Check motor power against unit power.

AIO ALARM 9.04 AW_1 bit 8 ALM (xx) 8.01 MSW bit 7

Analogue I/O error detected on the RMIO Check connections. board. There is an internal alarm in the drive. Check for loose connections inside of drive cabinet. Write down the Alarm code (in brackets). Contact ABB Service. Check the fibre optic cables between the RMIO board and the overriding system (or fieldbus adapter). Test with new fibre optic cables on CH0. Check that the node address is correct for the drive. Check the status of the fieldbus adapter. See appropriate fieldbus adapter manual. Check parameter settings of Group 51 in case of FBA module and connections between control system and adapter module. Check if the bus master is not communicating or configured.

COMM MODULE 9.05 AW_2 bit 11

Communication break detected (programmable fault, see parameter 30.26, 30.28 and 70.04). .

CH2 COM LOS 9.04 AW_1 bit 11

Communication break detected on CH2 receive. (programmable fault or alarm; see parameter 70.13)

Check the fibre optic cables on CH2 between the RMIO boards. Check that the fibre optic loop is closed. Test with new fibre optic cables on CH2. Check that there is one master drive and the remainder are followers in the M/F link. See parameter 70.08 CH2 M/F MODE. Check connections. Check motor. Check motor cable. Check that there are no power factor correction capacitors or surge absorbers in the motor cable.

DIO ALARM 9.04 AW_1 bit 7 EARTH FAULT 9.04 AW_1 bit 14

Digital input malfunction detected. The load on the incoming mains system is out of balance. This can be caused by a fault in the motor, motor cable or an internal malfunction. (programmable fault or alarm; see parameter 30.20)

Fault tracing

145

ALARM MESSAGES

(in alphabetical order)

Alarm Message
EM STOP 9.04 AW_1 bit 1

Cause
Emergency Stop has been activated either by digital input DI7 (= 0) or MAIN CONTROL WORD 7.01 bit 2 (= 0).

Action
Emergency stop push buttons must be returned to their normal position after the emergency stop situation is over. Check that the overriding system keeps sending the MAIN CONTROL WORD to drive. See bit 2 of MCW. To get drive to ready status, the MCW bit 0 must be set to state FALSE and back to TRUE. Check settings of parameter group 50. Check the pulse encoder and its cabling (including CH A and CH B phasing). The sign of signal 1.03 SPEED MEASURED must be the same as internal actual speed 1.02 SPEED ESTIMATED. If it is not, reverse the channels A and B. Check fibre optic connection between the RMIO board and the NTAC-0x module. Check the proper earthing of equipment. Check for highly emissive components nearby. If the alarm is continuously active, replace the module.

ENCODER ERR 9.04 AW_1 bit 5

Speed measurement alarm detected. This can be caused by a loose cable connection or faulty pulse encoder. (programmable fault or alarm, see parameter 50.05)

EXT AIO ALM 9.04 AW_1 bit 10 EXT DIO ALM 9.04 AW_1 bit 9 MOT TEMP 9.04 AW_1 bit 2

Analogue I/O error detected in the Extension module.

Digital I/O error detected in the Extension If the alarm is continuously active, module. replace the module. Motor 1 or 2 overtemperature alarm (PT100 or PTC measurement to Analogue I/O) (programmable fault or alarm; see parameter (30.01, 30.03...30.05) Check motor ratings and load. Check start-up data. Check PT100 or thermistor connections for AI and AO of the RMIO board or extension module according to the hardware configuration. Check the DIP switches and selection of parameter 98.06 AIO EXT MODULE 1, if a NAIO-0x extension module is used for temperature measurement. Check motor load and the ACx800 ratings. Check MOTOR STALL Fault Function parameters.

MOTOR STALL 9.05 AW_2 bit 9

Motor or process stall. Motor operating in the stall region. This can be caused by excessive load or insufficient motor power. (programmable fault or alarm; see parameter 30.13) Motor ID Run has been selected and the drive started in the Local control mode.

MOTOR STARTS

Wait until the Motor ID Run is complete.

Fault tracing

146
ALARM MESSAGES
(in alphabetical order)

Alarm Message
MOTOR TEMP 9.04 AW_1 bit 3

Cause
Overtemperature alarm (thermal model). Temperature has exceeded the alarm level of the thermal model. (programmable fault or alarm; see parameter 30.02) Motor data is not given or motor data does not match with inverter data. A Local Control device (CDP 312R or DriveWindow) has ceased communicating. This can be caused by the disconnection of the selected local control device during local control or an internal fault in the local controlling device. (programmable fault or alarm, see parameter 30.21) Error in restoring powerdown.ddf file Error in restoring powerfail.ddf file. Prevention of unexpected Start-Up has been activated from the hardware typically by operator for equipment maintenance.

Action
Check motor ratings, load and cooling. If USER MODE is selected, check that parameters 30.0930.12 are set correctly. Check the motor data given by parameters 99.0299.06. Check Control Panel connector. Replace Control Panel in the mounting platform. Check PANEL LOST Fault Function parameters.

NO MOTOR DATA 9.02 FW_2 bit 1 PANEL LOST 9.05 AW_2 bit 13

POWDOWN FILE 9.05 AW_2 bit 8 POWFAIL FILE 9.05 AW_2 bit 7 START INHIBI 9.04 AW_1 bit 0

If the alarm keeps reappearing, replace the RMIO board. If the alarm keeps reappearing, replace the RMIO board. The Operator must close the prevention of unexpected start-up switch. If the switch is closed and the alarm is still active, check that the Power On LED is lit on the NGPS board. If the LED is off but there is a voltage at the input terminals of the NGPS, replace the board. Check the motor temperature sensor connections. Check for a problem in the driven equipment. Check UNDERLOAD Fault Function parameters.

T MEAS ALM 9.04 AW_1 bit 6 UNDERLOAD 9.05 AW_2 bit 1

Motor temperature measurement circuit is faulty. This can be caused by a broken temperature sensor or cable. Process underload situation detected. Motor load is too low. This can be caused by a release mechanism in the driven equipment. (programmable fault or alarm; see parameter 30.16)

Fault tracing

147

Other messages
OTHER MESSAGES
(in alphabetical order)

Alarm Message
ID DONE ID MAGN ID MAGN REQ

Cause
Drive has performed the identification magnetisation and is ready to start. Drive is performing identification magnetisation. Drive is ready to start identification magnetisation. Modbus ID number of the drive has been changed from 1 in Drive Selection Mode of CDP 312R panel (the change is not shown on the display). A Macro is being restored or a user Macro is being saved.

Action
Please wait 20 to 60 seconds. This warning belongs to the normal start-up procedure. Press PAR and check parameter 99.07. To change the Modbus ID number back to 1, go to Drive Selection Mode by pressing DRIVE. Press ENTER. Set the ID number to 1. Press ENTER. Please wait.

ID N CHANGED

MACRO CHANGE

NO COMMUNICATION Control Panel CDP 312R message. Check the fibre optic cable The selected drive is not present on the connections in the I/O-link. link. The link does not work because of a hardware malfunction or problem in the cabling. SWC ON INHIB 8.01 MSW bit 6
Drive is in the ON INHIBIT state. See ABB Drives communication profile description. Set MAIN CONTROL WORD bit 0 first to 0, then back to 1 to proceed into the next state.

Fault tracing

3AFE64616340 REV D / EN
ABB Oy AC Drives P.O. Box 184 FI-00381 HELSINKI FINLAND Telephone +358 10 22 11 Fax +358 10 22 22681 Internet http://www.abb.com ABB Inc. Automation Technologies Drives & Motors 16250 West Glendale Drive New Berlin, WI 53151 USA Telephone 262 785-3200 800-HELP-365 Fax 262 780-5135 ABB Beijing Drive Systems Co. Ltd. No. 1, Block D, A-10 Jiuxianqiao Beilu Chaoyang District Beijing, P.R. China, 100015 Telephone +86 10 5821 7788 Fax +86 10 5821 7618 Internet http://www.abb.com

EFFECTIVE: 08.05.2006