EC-C+MC 11.1 Application

Application Manual
Motor Inverter
EC-C1200-450
Firmware version 11.1
Document version 1.1
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without the written prior permission of Danfoss EDITRON Oy is expressly prohibited.
Classified as Business
EC-C1200-450 MOTOR INVERTER – Application Manual
Table of Contents
1. Revision history .................................................................................................................................................... 4
2. Introduction .......................................................................................................................................................... 5
3. Command configuration ...................................................................................................................................... 6
3.1. Command sources ........................................................................................................................................ 6
3.2. Available commands ................................................................................................................................... 7
3.3. About sign conventions and limits ......................................................................................................... 9
3.3.1. AC current sign convention ............................................................................................................ 9
3.3.2. Effect of the positive rotation direction ...................................................................................... 9
3.3.3. Power reference interpretation ................................................................................................... 10
3.3.4. Overvoltage and undervoltage protections ............................................................................ 10
3.4. Dynamic limit validation........................................................................................................................... 13
3.4.1. Limit validity (coherence) checks ................................................................................................ 13
3.4.2. Validation against parameter limits ........................................................................................... 14
3.5. Command configurations ........................................................................................................................ 15
4. Application parameters ...................................................................................................................................... 16
4.1. Parameter group 2.50.3 Command configuration 1 ........................................................................ 16
4.4. Parameter group 2.50.6 Parameter inputs .......................................................................................... 18
4.5. Parameter group 2.50.7 Limit validation ............................................................................................. 19
4.6. Parameter group 2.50.8 Run command types ................................................................................... 19
5. Application signals ............................................................................................................................................. 20
5.1. Signal group 2.50.1 Used commands ................................................................................................... 20
5.2. Signal groups 2.50.2 – 2.50.5 Input sources........................................................................................ 22
5.3. Signal group 2.50.10 Statuses ................................................................................................................. 24
6. Diagnostic control with PowerUSER .................................................................................................................. 25
6.1. Diagnostic control example .................................................................................................................... 27
7. Resolver offset identification using CANopen .................................................................................................. 28
7.1. Resolver offset identification methods ................................................................................................ 28
7.2. Commands and statuses .......................................................................................................................... 29
7.3. Usage example ............................................................................................................................................ 31
8. CAN timeout reactions ........................................................................................................................................ 32
8.1. Example configuration .............................................................................................................................. 33
9. Speed-torque limit curve .................................................................................................................................... 34
9.1. Example configuration .............................................................................................................................. 35
10. System application ........................................................................................................................................... 36
10.1. Available commands ............................................................................................................................... 36
10.2. Application parameters .......................................................................................................................... 36
10.2.1. Parameter group 1.50.1 General ............................................................................................... 36
10.2.2. Parameter group 1.50.3 Command configuration 1........................................................... 36
10.2.5. Parameter group 1.50.6 Parameter inputs ............................................................................. 37
10.3. Application signals ................................................................................................................................... 38
2 | © Danfoss | October 2021

10.3.1. Signal groups 1.50.1 – 1.50.5 Input sources .......................................................................... 38

10.3.2. Signal groups 1.50.10 – 1.50.20 Statuses ................................................................................ 39
11. Glossary ............................................................................................................................................................. 40
12. References ......................................................................................................................................................... 41
October 2021 | © Danfoss | 3

1. Revision history
Revision Date Description

1.0 2021-04-26 First release.
1.1 2021-10-29 Updated for 11.1. release

2. Introduction
Application is a component in the software of the EC-C1200+MC converter. Its role is to connect the various user
interfaces to the functionalities implemented by the converter. The key functionality implemented by the EC-
C1200+MC converter is to control an electric motor, which is done by the motor control system, but there are other
functionalities as well, such as the protection system. On the other hand, there are various ways that can be used to
connect the converter to the system-level control. There are two CAN ports in the EC-C1200+MC converter, several I/O
lines, and a possibility to connect to the converter with the PowerUSER diagnostic software. The application logic and
its parameters define which of these control methods are used to give commands, references, limits, and the likes to
the control system and other converter functionalities.
Figure 1 illustrates the role of the application by way of an example. On one hand, the application connects to the
motor control and protection systems inside the converter, and, on the other hand, it connects to both the CAN bus
and the user I/O interface, which are further connected to a system-level electronic control unit (ECU) that decides
when the motor should be running, with which references and limits, and so forth.
Motor control application

(MC-APP)
Control Protections CAN I/O
ECU
Figure 1. The application functions as the bridge between converter functionalities (e.g., motor control and protections) and
the user of the converter. The user of the converter in this example is the electronic control unit (ECU), which is connected to
the EC-C1200+MC converter over the CAN bus and user I/O lines.
This document describes the standard motor control application (MC-APP) of the EC-C1200+MC converter, its internal
logic, and parameterization. The document is intended to be used in conjunction with other EC-C1200+MC
documentation, such as the communication manual [1], the resolver configuration guide [2], the user I/O configuration
manual [3], and the user guide manual [4].
Underlined text indicates a parameter, a signal, a parameter group, or a signal group. See section 11 for
glossary of terms.

3. Command configuration
The converter does not do anything unless commanded to. The commands include typically references to the motor
control (such as motor speed reference, motor torque reference, or DC link voltage reference), which of these
references to be used (the control mode), limits to obey, and when to run and when to stop. These commands can
come from multiple sources. This section describes how the EC-C1200+MC converter can be configured to listen to the
commands.
The following sections list the available command sources and available commands, detail the parameters that can be
used as command sources, and describe the command validation mechanisms implemented by the converter
software.
3.1. Command sources

The supported sources for the commands are
1) Diagnostic interface. The diagnostic interface refers to using the converter with the PowerUSER diagnostic
software. PowerUSER can be connected to the converter either over the dedicated diagnostic port (with serial
connection) or through the CAN bus. The diagnostic interface mechanism is the same regardless of the
electrical connection type. The diagnostic interface is typically used to take control of the converter when
commissioning the system or servicing/troubleshooting the converter, motor drive, or the system that they
form a part of.
2) CAN protocol stack 1. There are two physical CAN ports in the EC-C1200+MC converter. On top of the physical
layer (CAN 2.0B), a communication protocol stack is needed to define the contents of the CAN messages.
Details of the CAN protocols are given in the communication manual of the EC-C1200+MC converter [1]. All
communication protocols implement at least one instance of the protocol stack, and the command source
“CAN protocol stack 1” is always available. For the CANopen protocol, there are two instances of the protocol
stack that can be configured to the two CAN ports. In this case the command source “CAN protocol stack 2”
is also available. Separate CAN protocols for the two CAN ports (e.g., CANopen and SAE-J1939) are not
supported with the current firmware version.
3) CAN protocol stack 2. The second instance of the communication protocol stack, if implemented. See the
previous item.
4) User I/O interface. There are analog/digital inputs and outputs available in the EC-C1200+MC converter. Most
I/O lines can be used as digital I/O and analog inputs, but there may be restrictions as to the capabilities of
individual I/O lines. As the number of the I/O lines is rather small, not all available converter inputs and
outputs can be routed through the interface at a time. Therefore, it is possible to select which I/O lines are
connected to which inputs and outputs. See [3] for more information.
5) Parameters. If a command to the converter does not have to be changed dynamically (i.e., when the converter
is running), it may be feasible to set the input to a constant value using a parameter. An example would be
setting the voltage reference of a generator drive with a parameter (the run command could then come, e.g.,
from the user I/O interface).

3.2. Available commands

The preceding section described the sources for different commands. This section lists the available commands. The
source for each of these commands can be selected from the options described in the preceding section by using
parameters described in section 4.
Available commands are listed in Table 1.
Table 1. Available commands. (continued)

Command name Description Notes
Request command Used to request that the control be For a detailed description of command
transferred to the requesting configurations, see section 3.5.
command configuration.
Run command Command to start the motor Requires a high level to keep running.
inverter control.
See section 4.6 for information how to
configure whether the run command is
level sensitive or edge sensitive.
Control mode Selection of the used control mode The control mode can be changed when
(reference type). The supported the converter is running if the source of
control modes are the control mode is not set to be the
 Motor speed parameter.
 Motor torque Parameters cannot be changed when the
 DC link voltage converter is running.
 Motor mechanical power
 Motor position
 Frequency (scalar control)
Speed reference Reference for the motor rotational Positive rotation direction determined by
speed (RPM). the motor phase cable order.
Torque reference Reference for the motor mechanical Positive torque reference causes
torque. acceleration in the positive rotation
direction. The signs of motoring and
generating torque depend on the actual
direction of rotation.
See section 3.3 for further information.
DC link voltage reference DC link voltage reference. Must be positive or zero.
Power reference Reference for the motor mechanical See section 3.3 for further information.
power.
Frequency reference Frequency reference for scalar Scalar control is not recommended.
control.
Position reference Reference for the position control. In CAN interfaces, the position reference
has been divided to whole revolutions
and fractional revolution.

Table 1. Available commands. (continued)

Command name Description Notes
Speed limits Limits for the motor speed.
Torque limits Limits for the motor mechanical See section 3.3 for further information
torque. about the sign conventions.
Overvoltage control limits DC link overvoltage protection For further information on overvoltage
limits. protection, see section 3.3.4.
Undervoltage control limits DC link undervoltage protection For further information on undervoltage
limits. protection, see section 3.3.4.
Power limits Limits for the motor mechanical Positive power is motoring, negative
power. power is generating.
See section 3.3 for further information
about the sign conventions.
DC link current limits Limits for the converter DC link Positive current flows from DC to AC.
current.
Torque rate limit times Motoring and generating torque Seconds per change of motor nominal
rate limit times. torque.
Speed control parameters Speed controller (PI-type controller) Kp = 1.0 means speed error that equals
proportional gain (Kp) and the motor nominal speed causes the
integration time (Ti). converter to respond with motor nominal
torque.
Integration time Ti is in seconds.
Speed reference ramp time Speed control reference ramp time. Seconds per change of motor nominal
speed.
DC link voltage reference DC link voltage control reference Seconds per 100 V change [s/100 V].
ramp time ramp time.
Resolver offset search Resolver offset identifying through Only in CAN 1 and CAN 2, see section 7.
CAN.
Speed torque limit curve Torque limit determination using a See section 9 for further information.
scaling factor speed/torque curve.

3.3. About sign conventions and limits

In the terminology of this document, a limit is a maximum or minimum allowable value for a quantity. The EC-
C1200+MC converter attempts to keep the quantity within the limits. For example, if the maximum limit of the rotation
speed of the motor has been set to 2500 RPM and the motor is run in the torque control mode (i.e., the user gives a
torque reference), the converter will modify the used motor torque reference so that the limit is not exceeded.
The following subsections discuss some of the limits that the user can set in more detail and explains the sign
conventions chosen.
A quantity being at limit is generally not an abnormal situation, and the converter will not raise a fault
because of a limit being active. Levels for activating faults to protect the converter, the motor, or the system
are different from limits. To reduce confusion, the term limit is reserved in this document for actual limits, and
fault thresholds are referred to as trip levels.
3.3.1. AC current sign convention

The EC-C1200+MC converter follows the so-called motor logic in the AC (motor side) current sign convention. This
means that current flowing into the motor is positive. Consequently, motoring (accelerating) power is positive, and
braking (generating) power is negative.
3.3.2. Effect of the positive rotation direction

An electric motor can rotate in two directions, and rotation in one of these directions has a positive sign whereas the
other has a negative sign. The positive direction of rotation depends on the phase order, see [4] for more information.
The sign of the actual rotation speed (i.e., the speed at which the motor is currently rotating) may affect the signs of
torque and power in different situations. This section clarifies the effects of the sign of the actual speed to these
quantities.
The angular acceleration (dǏ/dt) of a rotating body is directly proportional to the torque (T) exerted to it and inversely
proportional to its moment of inertia (J),
d𝜔
= 𝐽−1 𝑇 .
d𝑡
A positive torque, then, causes the angular acceleration to be positive. In other words, a positive torque will tend to
make the rotation speed more positive. If the rotation speed is positive, positive torque will tend to increase the speed
(accelerate), and if the rotation speed is negative, it will tend to decrease the speed (decelerate/brake). Similarly, if the
rotation speed is negative, a negative torque accelerates and positive torque brakes. Therefore, the sign of the torque
alone does not tell whether the torque is accelerating (motoring) or decelerating (generating); the sign of the actual
speed needs to be known as well. When the actual speed and the torque have the same sign, the torque is motoring. When
the actual speed and the torque have opposite signs, the torque is braking. This logic is used in the communication
interface.
Torque, power, and angular velocity are related with the equation
𝑃 = 𝜔𝑇.
The power is the product of the (angular) speed and the torque. If the signs of the speed and the torque are equal, the
product is positive. Conversely, if the speed and the torque have different signs, the power is negative. Positive power
is motoring, and negative power is generating, and this does not depend on the actual direction of rotation.
The DC link current is not measured by the EC-C1200+MC converter, but it is estimated based on the motor side
quantities. The direction of the DC link current is determined by the sign of the power so that current flowing from the
DC side to the AC side is motoring and therefore positive, whereas current flowing from the AC side to the DC link is
generating and negative. Current flow direction can be determined using Table 2.

Table 2. Determining current flow direction.

nact > 0 nact < 0
Motoring torque Positive Negative
Generating torque Negative Positive
Motoring power Positive Positive
Generating power Negative Negative
DC link current from DC to AC Positive Positive
DC link current from AC to DC Negative Negative
3.3.3. Power reference interpretation

When the converter is operated in the power control mode, the reference given is the Power. As discussed in the
previous section, motoring power is positive and generating power is negative. However, starting the motor from zero
speed with a (positive or negative) power reference does not determine the resulting direction of rotation. Therefore,
the default behavior of the power reference is that positive power reference produces positive torque, which
determines the resulting rotation direction when starting from standstill to be the positive direction of rotation.
The interpretation of the power reference can be changed to physical power for situations where starting from
standstill is never needed (e.g., a genset driven with an internal combustion engine) with the parameter 2.7.1.4 Power
reference type.
The reported actual power and the power limits used still follow the physical definition of power. That is, if for
example a negative power reference is given and the motor is started from standstill, the motor will start to
rotate in the negative direction and, supposing the motor is driving a load, it will report a positive actual
power, a negative actual torque, and a negative actual speed.
3.3.4. Overvoltage and undervoltage protections

The EC-C1200+MC converter can be configured to protect the equipment against excessively high voltage in the DC
link and to protect the system against the effects of a too low voltage in the DC link. These are referred to as the
overvoltage and undervoltage protections, respectively. Overvoltage in the DC link is dangerous to the equipment,
including the EC-C1200+MC converter itself. Undervoltage is not in itself dangerous, but it may lead into excessively
high currents, currents flowing into the wrong direction, or other system-level problems.
There are two types of voltage protection mechanisms: trips and limits. If the voltage goes higher than an overvoltage
protection trip level or below undervoltage protection trip level, the converter will activate a fault and stop controlling
the motor. An overvoltage limit is a threshold value below which the converter attempts to keep the DC link voltage.
Generating torque increases the DC link voltage, and therefore an overvoltage limit will limit the generating torque.
Conversely, the converter attempts to keep the DC link voltage above the undervoltage limit by limiting the motoring
torque. There are three overvoltage trip levels, as shown in Figure 2.

UDC
1050 V Overvoltage HW trip level (not parameterizable)
1.2.1 DC link overvoltage trip level
2.1.2.1 Maximum rectified back-EMF trip level

(1 – 2.1.2.2 Maximum rectified back-EMF limit margin) x
2.1.2.1 Maximum rectified back-EMF trip level
2.2.2.2 Overvoltage limit*
2.2.2.3 Linear OVC, limitation begin voltage*
2.2.2.3 Linear UVC, limitation begin voltage*
2.2.3.2 Undervoltage limit*
1.2.2 DC link undervoltage trip level
0V
Figure 2. Voltage trip level (red) and limit (yellow) parameters. Linear overvoltage and undervoltage limits are shown.
Voltage limits marked with asterisks (*) can be dynamic (i.e., come from CAN or I/O).
The hardware overvoltage trip level is fixed and cannot be changed. In EC-C1200+MC, it is set at 1050 V. The parameter
1.2.1 DC link overvoltage trip level sets a user-configurable overvoltage trip level.
The parameter 2.1.2.1 Maximum rectified back-EMF trip level is relevant for permanent magnet synchronous machines
(PMSMs). The induced back-EMF seen in the terminals of a PMSM depends on the motor parameters and the rotation
speed. The parameter 2.1.2.1 Maximum rectified back-EMF trip level is used to calculate the maximum speed that the
PMSM can rotate so that the induced back-EMF rectified through the diodes to the DC link does not exceed this value.
This protects the converter and the system against overvoltage in situations where the converter trips (stops
modulating) at high speed. So, in practice, this is a maximum speed limit (absolute value) expressed in terms of DC link
voltage.
In addition to the overvoltage trips, there are two overvoltage limit mechanisms. The first one is referred to as the
maximum back-EMF limit, and it is configured with the parameter 2.1.2.2 Maximum rectified back-EMF limit margin.
The parameter is set as a percentage, and it is proportional to the parameter 2.1.2.1 Maximum rectified back-EMF trip
level. If, for example, the maximum rectified back-EMF limit margin is set to 10 %, the limit will be at 90 % of the
parameter 2.1.2.1 Maximum rectified back-EMF trip level.
The actual overvoltage limit mechanism has two operating modes (types). The type can be selected with the parameter
2.2.2.1 Overvoltage controller type, and the options are a linear limitation, a controller-type limitation, or disabling the
limitation mechanism altogether. The controller-type limitation uses one value below which it tries to keep the DC link
voltage. This value can be set with the parameter 2.2.2.2 Overvoltage limit. The linear limitation has two values, set
with parameters 2.2.2.3 Linear OVC, limitation begin voltage and 2.2.2.2 Overvoltage limit. The linear limitation reduces
the allowed generating torque from full to zero between these voltages as shown in Figure 3.

2.2.3.2 Undervoltage limit
2.2.3.3 Linear UVC, limitation begin voltage

T
Undervoltage
Motoring protection
active
U DC
Overvoltage
Generating protection
active
2.2.2.2 Overvoltage limit
2.2.2.3 Linear OVC, limitation begin voltage
Maximum generating torque

Maximum motoring torque
Figure 3. Linear undervoltage controller (UVC) and overvoltage controller (OVC). The allowed generating (OVC) or motoring
(UVC) torque is limited linearly between the ramp endpoint voltages.
In the preceding figure, the linear OVC brings the maximum generating torque above the full derating voltage.
However, the linear OVC can also be allowed to use motoring torque to actively remove energy from the DC link
thereby reducing the voltage. By default, this is not allowed, but this can be configured with the parameter 2.2.2.5
Linear OVC, maximum motoring torque as illustrated in Figure 4.
T 2.2.2.3 Linear OVC, limitation begin voltage
Motoring 2.2.2.2 Overvoltage limit

2.2.2.5 Linear OVC, maximum motoring torque
U DC
Generating
Maximum generating torque
Figure 4. Linear overvoltage controller can be configured to allow motoring torque for the active reduction of the DC link
voltage.

3.4. Dynamic limit validation

Dynamically given limits, such as those coming from the CAN bus, must pass through a number of checks to be taken
into use. First, the internal coherence of the limits is checked (e.g., maximum cannot be smaller than minimum).
Second, if the limits are internally coherent, their values are limited between the maxima and minima set by the
corresponding parameters.
3.4.1. Limit validity (coherence) checks
The converter application checks the incoming dynamic limits for internal coherence (validity). The limit validity checks
performed by the application are the following for quantities with a minimum and a maximum, e.g., the speed or the
torque
1) Both the minimum and the maximum must have a valid value. Invalid values may result, for example, from
CAN bus by exceeding the valid data range.
2) The maximum must be greater than or equal to the minimum.

If the limits are not valid, the motor will not start. To start the motor from CAN, by default a rising edge of the run
command is required (see section 4.6). If invalid limits are given, then a rising edge in run command, followed by valid
limits, the motor will not start. A rising edge of the run command together with valid limits are required.
If limits become invalid when the motor is already running, the converter will either trip or use the last valid limit values.
The behavior can be configured for each limit separately. The fault will specify the failed validation check in the
argument of the application fault.
Table 3 lists the fault arguments and the parameters that can be used to change the reaction of the converter to invalid
limit values.
Table 3. Application fault arguments.

Fault argument, hex (dec) Reason Parameter
0x4001 (16385) Speed limits invalid 2.50.7.1 Trip on invalid speed limits
0x4002 (16386) Torque limits invalid 2.50.7.2 Trip on invalid torque limits
0x4003 (16387) Overvoltage control limits invalid 2.50.7.3 Trip on invalid overvoltage control
limits
0x4004 (16388) Undervoltage control limits invalid 2.50.7.4 Trip on invalid undervoltage
control limits
0x4005 (16389) Power limits invalid 2.50.7.5 Trip on invalid power limits
0x4006 (16390) DC link current limits invalid 2.50.7.6 Trip on invalid DC link current limits
Undervoltage and overvoltage limit checks are

1) Correct order of the overvoltage and undervoltage protection ramp points (overvoltage control full
reduction greater than or equal to begin reduction; undervoltage control full reduction smaller than or equal
to begin reduction)
2) Correct order of overvoltage and undervoltage limits relative to each other (overvoltage full reduction
greater than or equal to undervoltage full reduction)

3.4.2. Validation against parameter limits

After the internal coherence of the incoming dynamic limits has been checked, the limits are validated against the
parameter values of the corresponding limits. The parameter values represent the highest limits, and the dynamic
limits cannot expand the allowed range of operation. Figure 5 illustrates this with an example.
2.1.1.5 Speed limit, max
Dynamic
maximum
speed limit
Allowed
speed
range
2.1.1.4 Speed limit, min

Dynamic
minimum
speed limit
Figure 5. An example of the validation of dynamic limits against the parameters. The dynamic speed limits will be confined
between the parameters 2.1.1.5 Speed limit, max and 2.1.1.4 Speed limit, min. In this example, the dynamic minimum limit
is outside the allowable range, and the parameter value is therefore used as the minimum speed limit.
The mechanism presented above is used for the speed, torque, power, and DC link current limits. Overvoltage and
undervoltage limits have a similar mechanism but, owing to the more complex setting of these limits, the verification
is less straightforward. For the controller-type and linear-type overvoltage and undervoltage protections, the dynamic
value for both must fall between the parameters 2.2.2.2 Overvoltage limit and 2.2.3.2 Undervoltage limit. The
Overvoltage limit and Undervoltage limit must be greater than 0. In addition to previous, for linear-type limitation the
following rules apply
1) Overvoltage control begin limitation should be at least 5 V smaller than Overvoltage limit. This sets the
maximum steepness of the linear overvoltage protection ramp. If given limits are too close to each other,
control will decrease overvoltage control begin limitation so that 5 V difference is achieved.
2) Undervoltage control begin limitation should be at least 5 V greater than Undervoltage limit. This sets the
maximum steepness of the linear undervoltage protection ramp. If given limits are too close to each other,
control will increase undervoltage control begin limitation so that 5 V difference is achieved.
Exceeding parameter limits will not raise a fault.

3.5. Command configurations

The preceding sections discussed the available commands, conventions and limitations related to them, and available
command sources. There may be use cases where the source of a command needs to be changed when the converter
is running. To be able to do this, there are three configurable command configurations in the EC-C1200+MC application.
A command configuration is a parameterization for the sources of the commands. One command configuration is
active at a time, and the request command input is used to request the command to be transferred to the requesting
command configuration. Figure 6 illustrates the command configurations.
Command conf. 1 Command conf. 2 Command conf. 3

Request command source Request command source Request command source
Run command source Run command source Run command source
Control mode source Control mode source Control mode source
Speed reference source Speed reference source Speed reference source
Torque reference source Torque reference source Torque reference source
... ... ...
Figure 6. There are three user-configurable command configurations, and the sources for the commands can be configured
differently in the different command configurations. The “Request command” input is used to transfer command to a
command configuration. The … denotes that the lists continue downward.
Each command configuration has a priority. The priority works so that whenever a command configuration with a
higher priority (0 being the highest, 10 the lowest) than the currently active command configuration is requesting
control, the active command configuration will be changed to the requesting command configuration. In addition to
the three configurable command configurations, there is also a command configuration 0, which has been
permanently configured to have the highest priority so that it can always take control. This is used by the PowerUSER
diagnostic program to implement a diagnostic control place, which can always take control away from the CAN or I/O
interface.

4. Application parameters
Parameters are used to configure the EC-C1200+MC application and to give constant inputs to it. Parameters are stored
in non-volatile memory so that they will not be lost when the converter is powered down. Parameters cannot be
modified when the converter is running.
4.1. Parameter group 2.50.3 Command configuration 1

This is the default command configuration of the EC-C1200+MC converter. The converter is parameterized by default
so that all references and the run command come from the CAN bus, but the control mode as well as all limits and
controller/reference settings come from the parameters. Table 4 lists the default value for command configuration 1.
Table 4. Command configuration 1.

ID Name Default value Notes
2.50.3.1 Priority 3
2.50.3.2 Request command source Parameter Always requests command
by default.
2.50.3.3 Run command source CAN 1
2.50.3.4 Control mode source Parameter
2.50.3.5 Speed reference source CAN 1
2.50.3.6 Torque reference source CAN 1
2.50.3.7 DC link voltage reference source CAN 1
2.50.3.8 Power reference source CAN 1
2.50.3.9 Frequency reference source CAN 1
2.50.3.10 Position reference source CAN 1
2.50.3.11 Speed limits source Parameter
2.50.3.12 Torque limits source Parameter
2.50.3.13 Overvoltage control limits source Parameter
2.50.3.14 Undervoltage control limits source Parameter
2.50.3.15 Power limits source Parameter

2.50.3.16 DC link current limits source Parameter
2.50.3.17 Torque rate limit times source Parameter
2.50.3.20 Speed controller Kp and Ti source Parameter
2.50.3.21 Speed reference ramp time source Parameter
2.50.3.22 DC link voltage control reference ramp time Parameter
source
2.50.3.30 Resolver parameter ID command source CAN 1
2.50.3.40 Speed torque limit curve scaling factor source Parameter


Command configuration 2 is by default not parameterized in a meaningful way. It should be reconfigured if multiple
command configurations need to be used. Its priority is lower than that of command configuration 1, so that by default
the CAN interface is in control. Table 5 lists the default values for command configuration 2.

2.50.4.1 Priority 6 Lower than configuration 1.
2.50.4.2 Request command source CAN 1 Does not get the command
unless the priority is made
higher (smaller number)
than configuration 1.
2.50.4.3 Run command source Parameter
2.50.4.4 Control mode source Parameter
2.50.4.5 Speed reference source Parameter
2.50.4.6 Torque reference source Parameter
2.50.4.7 DC link voltage reference source Parameter
2.50.4.8 Power reference source Parameter
2.50.4.9 Frequency reference source Parameter
2.50.4.10 Position reference source Parameter
2.50.4.11 Speed limits source Parameter
2.50.4.12 Torque limits source Parameter
2.50.4.13 Overvoltage control limits source Parameter
2.50.4.14 Undervoltage control limits source Parameter
2.50.4.15 Power limits source Parameter
2.50.4.16 DC link current limits source Parameter
2.50.4.17 Torque rate limit times source Parameter
2.50.4.20 Speed controller Kp and Ti source Parameter
2.50.4.21 Speed reference ramp time source Parameter
2.50.4.22 DC link voltage control reference ramp time Parameter
source
2.50.4.30 Resolver parameter ID command source CAN 1
2.50.4.40 Speed torque limit curve scaling factor source Parameter


Command configuration 3 is configured by default identically to command configuration 2, except that the priority is
lower and request command comes from CAN 2. Table 6 lists the default values for command configuration 3.

2.50.5.1 Priority 9
2.50.5.2 Request command source CAN 2
2.50.5.3 Run command source Parameter
… … … …
4.4. Parameter group 2.50.6 Parameter inputs

Table 7 lists the parameter inputs and their default values.
Table 7. Parameter inputs.

2.50.6.1 Request command TRUE Used to make command
configurations request
command all the time.
2.50.6.2 Run command FALSE Can be used to implement
auto-starting motor drives.
This is not recommended in
most cases.
2.50.6.3 Control mode 0 0 – Speed
1 – Torque
2 – DC link voltage
3 – Power
4 – Position
5 – Frequency (scalar control)
2.50.6.10 Speed reference 0 RPM
2.50.6.11 Torque reference 0 Nm
2.50.6.12 DC link voltage reference 750 V
2.50.6.13 Power reference 0 kW
2.50.6.14 Scalar control frequency reference 0 Hz
2.50.6.15 Position reference 0 Mech
revolutions
2.50.6.20 Speed torque limit curve scaling factor 1

4.5. Parameter group 2.50.7 Limit validation

Limit validation parameters are used to configure the behavior of the dynamic limit coherence checks. Limit validation
configuration default values are given in Table 8.
Table 8. Limit validation.

ID Name Default value
2.50.7.1 Trip on invalid speed limits FALSE
2.50.7.2 Trip on invalid torque limits FALSE
2.50.7.3 Trip on invalid overvoltage control limits FALSE
2.50.7.4 Trip on invalid undervoltage control limits FALSE
2.50.7.5 Trip on invalid power limits FALSE
2.50.7.6 Trip on invalid DC link current limits FALSE
4.6. Parameter group 2.50.8 Run command types

Run command type parameters are used to configure run command input types, either level sensitive or rising edge
sensitive run command is used. TRUE indicates a rising edge is needed, and FALSE equals level sensitive run command.
The run command types are listed in Table 9.
Table 9. Run command types.

ID Name Default value
2.50.8.1 Diagnostic run command requires rising edge TRUE
2.50.8.2 CAN 1 run command requires rising edge TRUE
2.50.8.3 CAN 2 run command requires rising edge TRUE
2.50.8.4 I/O run command requires rising edge TRUE
2.50.8.5 Parameter run command requires rising edge FALSE

5. Application signals
The previous section described the parameters of the EC-C1200+MC application. Parameters are used primarily for
configuring the converter. Signals, on the other hand, are used to monitor the converter and to give dynamic inputs
(inputs that change when the converter is running) to the converter. Signals are not stored to non-volatile memory.
5.1. Signal group 2.50.1 Used commands

Used commands signal group can be used to monitor which inputs are being used by the application. The used
commands are given in Table 10.
Table 10. Used commands. (continued)

ID Name Notes
2.50.1.1 Active command configuration
2.50.1.2 Run command FALSE – Stop
TRUE – Run
2.50.1.3 Control mode 0 – Speed
1 – Torque
3 – Power
4 – Position
2.50.1.10 Speed reference
2.50.1.11 Torque reference
2.50.1.12 DC link voltage reference
2.50.1.13 Power reference
2.50.1.14 Scalar control frequency reference
2.50.1.15 Position reference
2.50.1.22 Torque limit, min
2.50.1.23 Torque limit, max
2.50.1.24 Power limit, min
2.50.1.25 Power limit, max
2.50.1.26 DC link current limit, min
2.50.1.27 DC link current limit, max

Table 10. Used commands. (continued)

ID Name Notes
2.50.1.40 Speed reference ramp time
2.50.1.41 DC link voltage reference ramp time
2.50.1.50 Speed controller gain
2.50.1.51 Speed controller integration time
2.50.1.60 Resolver ID request
2.50.1.61 Store resolver parameters
2.50.1.62 Enable resolver feedback
2.50.1.63 Resolver ID method 0 – DC magnetization, simple
1 – DC magnetization, turning
2 – Pulses
3 – Rotating
4 – Injecting
5 – Resolver direction and poles
2.50.1.64 Resolver offset to be stored
2.50.1.65 Enable CAN resolver ID
2.50.1.70 Motoring torque rate limit time
2.50.1.71 Generating torque rate limit time
2.50.1.80 Speed torque limit curve scaling factor

5.2. Signal groups 2.50.2 – 2.50.5 Input sources

Input sources signal groups contain signals for the different input sources. They contain the same signals as the group
2.50.1 but for one input source in each group. The signals in the group 2.50.1 show the value of the source in use.
The signal groups have been allocated to the different sources are as shown in Table 11.
Table 11. Available input sources.

Signal group Source Notes
2.50.2 Diagnostic For controlling the drive with PowerUSER
diagnostic program.
2.50.3 CAN 1 First CAN stack (both SAE-J1939 and CANopen).
2.50.4 CAN 2 Second CAN stack (only with CANopen).
2.50.5 I/O User I/O inputs can be connected to these
signals with the I/O-to-signal mapping feature.
For more information, refer to [3].
The signals within each group are according to Table 12.
Table 12. Available commands in each command source. X denotes the signal group. (continued)
ID Name Notes
2.50.X.1 Request command FALSE – Do not request
TRUE – Request
2.50.X.2 Run command FALSE – Stop
TRUE – Run
2.50.X.3 Control mode 0 – Speed
1 – Torque
3 – Power
4 – Position
2.50.X.10 Speed reference
2.50.X.11 Torque reference
2.50.X.12 DC link voltage reference
2.50.X.13 Power reference
2.50.X.14 Scalar control frequency reference
2.50.X.15 Position reference
2.50.X.20 Speed limit, min
2.50.X.21 Speed limit, max
2.50.X.22 Torque limit, min
2.50.X.23 Torque limit, max
2.50.X.24 Power limit, min
2.50.X.25 Power limit, max

Table 12. Available commands in each command source. X denotes the signal group. (continued)
ID Name Notes
2.50.X.26 DC link current limit, min
2.50.X.27 DC link current limit, max
2.50.X.28 Overvoltage limit
2.50.X.29 Linear OVC, limitation begin voltage
2.50.X.30 Undervoltage limit
2.50.X.31 Linear UVC, limitation begin voltage
2.50.X.40 Speed reference ramp time
2.50.X.41 DC link voltage reference ramp time
2.50.X.50 Speed controller gain
2.50.X.51 Speed controller integration time
2.50.X.60 Resolver ID request Only in CANopen, see section 7.
2.50.X.61 Store resolver parameters Only in CANopen, see section 7.
2.50.X.62 Enable resolver feedback Only in CANopen, see section 7.
2.50.X.63 Resolver ID method 0 – DC magnetization, simple
1 – DC magnetization, turning
2 – Pulses
3 – Rotating
4 – Injecting
5 – Resolver direction and poles
Only in CANopen, see section 7.
2.50.X.64 Resolver offset to be stored Only in CANopen, see section 7.
2.50.X.65 Enable CAN resolver ID Only in CANopen, see section 7.
2.50.X.70 Motoring torque rate limit time
2.50.X.71 Generating torque rate limit time
2.50.X.80 Speed torque limit curve scaling factor

5.3. Signal group 2.50.10 Statuses

Status signals describe the application outputs, they are as shown in Table 13.
Table 13. Application outputs.

ID Name Notes
2.50.10.1 Speed
2.50.10.2 Torque
2.50.10.3 DC link voltage
2.50.10.4 Motor mechanical power
2.50.10.5 Motor phase current (RMS)
2.50.10.6 DC link current
2.50.10.7 Motor line-to-line voltage
2.50.10.8 Frequency
2.50.10.9 Position
2.50.10.40 Motor control status word See [1] for bit definitions.
2.50.10.60 Motor control limit word See [1] for bit definitions.
2.50.10.80 Motor control fault word See [1] for bit definitions.
2.50.10.100 Application status word See [1] for bit definitions.
2.50.10.120 Limit error word See [1] for bit definitions.
2.50.10.200 Measured resolver offset
2.50.10.201 Resolver offset in use
2.50.10.202 Resolver speed feedback
2.50.10.203 Resolver identification state 0 – Not active
1 – Running
2 – Done
2.50.10.204 Resolver direction check status 0 – Not identified
1 – Correct
2 – Incorrect
2.50.10.205 Resolver pole pair check status 0 – Not identified
1 – Correct
2 – Incorrect
2.50.10.206 Resolver parameter sync status 0 – Uninitialized
1 – Succeeded
2 – Failed

6. Diagnostic control with PowerUSER

The converter can be controlled locally using a combination of diagnostic and parameter command sources. The
default configuration for diagnostic control is given in Table 14, it cannot be changed.
Table 14. Diagnostic control default configuration.

Name Source Notes
Priority 0 Highest priority.
Request command source Diagnostic 2.50.2.1 Request command
Run command source Diagnostic 2.50.2.2 Run command
Control mode source Diagnostic 2.50.2.3 Control mode
Speed reference source Diagnostic 2.5.2.10 Speed reference
Torque reference source Diagnostic 2.5.2.11 Torque reference
DC link voltage reference source Diagnostic 2.5.2.12 DC link voltage reference
Power reference source Diagnostic 2.5.2.13 Power reference
Frequency reference source Diagnostic 2.5.2.14 Scalar control frequency reference
Position reference source Diagnostic 2.50.2.15 Position reference
Speed limits source Parameter All limits in diagnostic control come from
parameters.
Torque limits source Parameter 2.1.1.2 Torque limit, max
2.1.1.1 Torque limit, min
Overvoltage control limits source Parameter 2.2.2.1 Overvoltage controller type
Undervoltage control limits source Parameter 2.2.3.1 Undervoltage controller type
Power limits source Parameter 2.1.1.11 Power limit, max
2.1.1.10 Power limit, min
DC link current limits source Parameter 2.2.1.4 DC link current limit, max
2.2.1.3 DC link current limit, min
Torque rate limit times source Parameter 2.7.2.9 Motoring torque rate time limit
2.7.2.10 Generating torque rate time limit
Speed controller Kp and Ti source Parameter 2.10.1.1 Speed control Kp
2.10.1.2 Speed control Ti
Speed reference ramp time source Parameter 2.7.2.1 Speed reference ramp time
DC link voltage control reference ramp time Parameter 2.7.2.5 DC link voltage reference ramp time
source
Resolver parameter ID command source CAN 1 2.50.3.60 Resolver ID request
2.50.3.61 Store resolver parameters
2.50.3.62 Enable resolver feedback
2.50.3.63 Resolver ID method
2.50.3.64 Resolver offset to be stored
2.50.3.65 Enable CAN resolver ID
Speed torque limit curve scaling factor source Parameter 2.50.6.20 Speed torque limit curve scaling factor
Since the priority of diagnostic control is 0, it can be requested over any currently active command configuration.

If the converter is running with, e.g., speed limits coming from CAN 1 and diagnostic control is activated (by requesting
command with 2.50.2.1 Request command), the speed limits used in diagnostic control will be those stored in the
speed limit parameters and they may be different from those coming from CAN 1. Parameters cannot be changed
when the converter is running. Therefore, if the limit values in the parameters are not safe, the motor must be stopped,
and parameters changed before running with diagnostic control.
Control can be passed to the command configuration with the next-highest priority by writing FALSE to the signal
2.50.2.1 Request command. Diagnostic control can be utilized when identifying resolver offset, see Section 7 for more
information.
All the limit values in PowerUSER diagnostic control come from parameters. The run command, the reference
values, or the control mode are not automatically initialized to the currently active values.
If the converter is configured so that a rising edge is required in the run command, a rising edge is required
from the active run command source for the motor to start.
Always make sure that the run command, the control mode, the reference corresponding to the selected
control mode, and the limits in the parameters are safe before requesting diagnostic control with PowerUSER.

6.1. Diagnostic control example

The converter is not modulating with command configuration 1 as the active configuration. The operator wants to
take control of the converter locally. When the operator sets the diagnostic signal for 2.50.2.1 Request command as
TRUE, the active command configuration changes to the local, sources changed can be seen in Table 15.
Table 15. Diagnostic control example sources.

Name Old value New value
Run command source CAN 1 Diagnostic
Control mode source Parameter Diagnostic
Speed reference source CAN 1 Diagnostic
Torque reference source CAN 1 Diagnostic
DC link voltage reference source CAN 1 Diagnostic
Power reference source CAN 1 Diagnostic
Frequency reference source CAN 1 Diagnostic
Position reference source CAN 1 Diagnostic
Speed limits source Parameter Parameter
Torque limits source Parameter Parameter
Overvoltage control limits source Parameter Parameter
Undervoltage control limits source Parameter Parameter
Power limits source Parameter Parameter
DC link current limits source Parameter Parameter
Torque rate limit times source Parameter Parameter
Speed controller Kp and Ti source Parameter Parameter
Speed reference ramp time source Parameter Parameter
DC link voltage control reference ramp time source Parameter Parameter
Resolver parameter ID command source CAN 1 CAN 1
Speed torque limit curve scaling factor source Parameter Parameter
Limit sources do not change since they are coming from parameters, reference sources as well as run command and
control mode change to diagnostic. Now the converter uses the values set to the diagnostic signals. The converter can
now be controlled locally using run command, control mode, and references in signal group 2.50.2.
Let’s say the operator wants to run motor with a steady speed reference at 1000 RPM. The operator sets the 2.50.2.3
Control mode to 0 (Speed), 2.50.2.10 Speed reference to 1000 RPM and 2.50.2.2 Run command to TRUE. Now the
converter starts modulating and ramps the speed reference to 1000 RPM according to 2.7.2.1 Speed reference ramp
time and settles there.

7. Resolver offset identification using CANopen

The EC-C1200+MC converter can generate the excitation signal and read the sine and cosine outputs of a resolver. The
magnetic axis of the resolver is not usually perfectly aligned with the magnetic axis of the electric machine, so there is
an offset between them. The resolver offset identification must be done once when commissioning a motor drive. If
the offset is not known beforehand, the EC-C1200+MC converter can be used to identify the offset. The resolver offset
identification can be done with the diagnostic software (PowerUSER) or over the CAN connection (CANopen protocol).
This section describes how to do the Resolver offset identification over the CAN connection. For further information
on the resolver identification process using PowerUSER diagnostic software and the methods available, see [2].
7.1. Resolver offset identification methods

The procedure of the resolver offset search depends on the selected resolver ID method. Detailed information can be
found in the resolver configuration documentation [2], but in Table 16 there is a summary of the expected process for
each method.
Table 16. Resolver identification methods and their processes.

Method Starting resolver Storing resolver offset Stopping resolver identification
identification process process
DC When motor is stopped. Done automatically after Stops motor automatically after
magnetization,  Set request = 1 completion. completion. In order to run the
simple  Set run = 1 motor again, the run must be set to
0 before restarting.
DC
magnetization,
turning
Pulses Needs to be done
manually after
Injection completion using Store
Rotating When motor is already resolver parameters Stopping the motor needs to be
running. command. done manually after completion.
 Set request = 1  Set run = 0
All methods except Rotating start from the motor being stopped. The Resolver identification request needs then to be
set to TRUE, and the motor started. In these cases, the Resolver offset search will then be performed and the process is
stopped automatically. In the case of simple and turning DC magnetization methods, the result is stored to non-volatile
memory automatically, but with all other methods, it needs to be read from the converter by the user, written to the
Resolver offset to be stored command, and stored to the non-volatile memory by using the Store resolver parameters
command.

7.2. Commands and statuses

Table 17 lists the commands that are bound to firmware parameters. If a value is written to these commands and the
Enable CANopen resolver identification parameter is enabled, the values are used by the control system. The value of
enable motor model resolver feedback can be stored permanently by using the store resolver parameters input.
Table 17. Command and statuses regarding resolver identification.

Command name Description Parameter Notes
Enable resolver FALSE - Disable (open loop) 2.5.1 Use For switching between using and
feedback TRUE - Enable (closed loop) resolver not using the resolver.
feedback
2.50.1.62 Enable resolver feedback is
the used signal on the application
side.
Resolver 0 - DC magnetization, simple 2.5.6 Resolver See [2] for more information.
identification 1 - DC magnetization, turning ID method
method 2 – Pulses 2.50.1.63 Resolver ID method is the
3 – Rotating used signal on the application side.
4 – Injection
5 - Resolver configuration check
The motor must be stopped for the parameter synchronization to be successful.
Table 18 lists the commands that are not bound to parameters and are not stored permanently. They are routed to the
control system and correspond to data shown in the signals.
Table 18. Command and statuses regarding resolver identification.

Command Description Signal Notes
name
Resolver 0 - Do not request 2.50.1.60 Set 1 to request resolver identification.
identification 1 – Request Resolver ID
request request
Requires rising edge.
Store resolver 0 – Off 2.50.1.61 Store Stores the values of Resolver offset to be
parameters 1 – On resolver stored and enable motor model resolver
parameters feedback to non-volatile memory.
Requires rising edge and
the motor to be stopped.
Resolver offset 1 corresponds to a full 2.50.1.64 Sets the Resolver offset in use. stored to
to be stored mechanical revolution Resolver offset non-volatile memory using Store resolver
(360°). to be stored parameters.
This needs to be used when the
identification method doesn’t automatically
store the Resolver offset obtained. More
about methods in section 7.1.
Enable CAN 0 – Disabled 2.50.1.65 Enable Set to 1 before starting the resolver offset
resolver ID 1 – Enabled CAN resolver ID identification. Keep at 0 at other times.
This needs to be set to 1
for the Resolver offset
search to be usable over
CAN.
Table 19 lists the statuses available to the user.

Table 19. Available statuses.

Status name Description Signal Notes
Resolver offset 1 corresponds to a full 2.50.10.200 Measured
obtained mechanical revolution (360°). resolver offset
Resolver offset used 1 corresponds to a full 2.50.10.201 Resolver
mechanical revolution (360°). offset in use
Resolver speed RPM 2.50.10.202 Resolver
feedback speed feedback
Resolver offset 0 = Not active 2.50.10.203 Resolver
identification state 1 = Running identification state
2 = Done
Resolver rotation 0 = Not identified 2.50.10.204 Resolver
direction status 1 = Correct direction check status
2 = Incorrect
Resolver pole pair 0 = Not identified 2.50.10.205 Resolver pole
status 1 = Correct pair check status
2 = Incorrect
Resolver parameter 0 = Uninitialized 2.50.10.206 Resolver Checks synchronization
synchronization status 1 = Succeeded parameter sync status status only when Store
2 = Failed encoder parameters is
requested.

7.3. Usage example

The following example shows the procedure of configuring the resolver with the DC magnetization method as pseudo-
code. The numeric values assume that the nominal speed of the electric machine is 2000 RPM. Numeric values in waits
are for reference only, and real code should add timeouts and other robustness-improving features.
Enable CAN resolver ID := TRUE

Enable resolver feedback := FALSE
Control mode := SPEED
Speed reference := 500 RPM
Motor nominal speed := 2000 RPM
Start()
/* Wait for the motor to reach the target speed */

Wait(10 s)
/* Get actual speed from the CAN interface, should be 500 RPM */
n_act := Motor actual speed
/* Get speed measured by the resolver and scale it with motor nom. speed */
n_act_resolver := Resolver speed feedback
Stop()
/* Check resolver direction */

If SIGN(n_act) != SIGN(n_act_resolver)
/* If actual speed and resolver output speed are of different sign the resolver
rotating direction needs to be manually inverted using, cannot continue. */
/* Resolver direction can be inverted using parameter 2.5.2 */
ABORT()
/* Check magnitude (resolver parameters) */

If NOT EQUAL_WITHIN_DELTA(ABS(n_act), ABS(n_act_resolver), 20)
/* Resolver speed and motor model speed differ, problem with
parameters, cannot continue. */
/* Resolver pole pair count can be changed using parameter 2.5.5 */
ABORT()
/* Resolver direction and parameters OK, do the resolver ID run.

Do it a few times to improve accuracy. */
For i = 1 to 4
Resolver ID method := 0 /* DC magnetization (simple) */
Resolver ID request := TRUE
Wait(10 s)
While Resolver identification state != 2 /* 2 - Done */

/* Wait until the identification is done */
/* Prepare all inputs that will be stored to Flash */

Resolver offset to be stored := Measured resolver offset
Enable resolver feedback := TRUE
/* Write the above parameters to Flash. */

Store resolver parameters := TRUE
Wait(10 s)
Enable CAN resolver ID := FALSE

8. CAN timeout reactions

Communication errors in the CAN bus may occur due to electrical interference, wiring problems, unresponsive devices,
and such. Missing messages cause timeouts and the normal action in such events, for the EC-C1200+MC converter, is
to trigger a communication timeout fault and stop modulation. This may not be desirable in all situations, and
therefore the motor control application supports customizable CAN timeout reactions. The purpose is that, instead of
tripping, the converter can continue running safely by using a parameterized new control mode and reference.
The timeout severities should be configured so that they are not considered Failures, this includes parameters 10.4.1.3
Bus 1 Rx timeout severity and 10.4.1.13 Bus 2 Rx timeout severity for SAE-J1939 protocol and 10.2.1.2 RPDO timeout
severity and 10.2.1.3 Heartbeat timeout severity for CANopen protocol. Any of the other severity level options (no
action, note and warning) can be used and have exactly same reactions.
The active reactions can be reset by stopping the modulation, i.e., setting the run command to FALSE. If the run
command cannot be set from the currently active configuration, the user can take control using the diagnostic control
as described in section 6.
CAN timeout reactions can be configured for a specific CAN protocol stack and command configuration with the
parameters given in Table 20.
Table 20. CAN timeout reactions parameters.

ID Name Default Notes
value
2.52.1.1 Enable CAN timeout reactions FALSE
2.52.2.1 New control mode Torque When timeout occurs, this control mode is set
to the control.
0 – Speed
1 – Torque
3 – Power
4 – Position
2.52.2.2 New reference, SI 0 When timeout occurs, this reference is set to
the control.
The reference type depends on 2.52.2.1 New
control mode, i.e., if Speed control mode is
requested as a reaction then the used
reference type is RPM.
2.52.3.1 React to command configuration 1 FALSE Determines if reaction is activated when
timeout occurs in CAN 1 while command
configuration 1 is the current active
configuration.
2.52.3.2 React to command configuration 2 FALSE Same as 2.52.3.1 except for command
configuration 2.
configuration 3.
2.52.4.1 React to command configuration 1 FALSE Determines if reaction is activated when
timeout occurs in CAN 2 while command
configuration 1 is the current active
configuration.
configuration 2.
configuration 3.

The active CAN timeout reactions can be monitored with the signals given in Table 21.
Table 21. CAN timeout reactions signals.

ID Name Notes
2.52.1.1 CAN 1 reaction active Displays TRUE when CAN 1 has had a timeout
and the resulting reaction is active.
2.52.1.2 CAN 2 reaction active Displays TRUE when CAN 2 has had a timeout
and the resulting reaction is active.
8.1. Example configuration

The user wants to set the control mode to Torque and torque reference to 0 Nm when heartbeat timeout occurs in
CAN 1. The user has command configuration 1 as the active command configuration. The user doesn’t want CAN 2 or
the other command configurations to be affected.
The configuration is done as presented in Table 22.
Table 22. CAN timeout reactions example configuration.

ID Name Value Notes
2.52.1.1 Enable CAN timeout reactions TRUE
2.52.2.1 New control mode Torque
2.52.2.2 New reference, SI 0 According to 2.52.2.1 the reference
given is torque reference in Nm.
2.52.3.1 React to command configuration 1 TRUE CAN 1 timeout is only reacted on when
command configuration 1 is active.
2.52.3.2 React to command configuration 2 FALSE

9. Speed-torque limit curve

The motor torque limits can be dynamically manipulated based on a parameterizable speed-torque limit curve. This
may be useful in generator applications to prevent stalling the engine running the generator, for example. The same
limit curve is used for both rotational directions – separate curves for different directions are not supported.
Subsequent speed setpoints must have positive values in ascending order. The corresponding torque limit for the
absolute value of the current rotational speed is calculated by using linear interpolation between the curve points. The
limit curve can be enabled separately for the minimum and maximum torque limit. For the minimum torque limit, an
inverted version of the same curve is used, i.e. the torque limit points will have negative values.
The default configuration of the parameters is given in Table 23.
Table 23. Speed-torque limit curve parameters.

2.53.1.1 Enable for torque limit, min FALSE Enables the limit curve for the
minimum torque limit.
Inverse curve is used.
2.53.1.2 Enable for torque limit, max Enables the limit curve for the
maximum torque limit.
2.53.2.1 Speed 1 0.0 Speed setpoints 1 – 10 in RPM.
2.53.2.2 Speed 2 800.0
2.53.2.3 Speed 3 1000.0
2.53.2.4 Speed 4 1200.0
2.53.2.5 Speed 5 1400.0
2.53.2.6 Speed 6 1600.0
2.53.2.7 Speed 7 1800.0
2.53.2.8 Speed 8 2000.0
2.53.2.9 Speed 9 2200.0
2.53.2.10 Speed 10 2400.0
2.53.3.1 Torque 1 0.0 Torque limit points 1 – 10 in Nm.
2.53.3.2 Torque 2 100.0
2.53.3.3 Torque 3 700.0
2.53.3.4 Torque 4 800.0
2.53.3.5 Torque 5 800.0
2.53.3.6 Torque 6 800.0
2.53.3.7 Torque 7 750.0
2.53.3.8 Torque 8 700.0
2.53.3.9 Torque 9 650.0
2.53.3.10 Torque 10 100.0

The default configuration for the speed-torque limit curve is depicted in Figure 7.
Torque [Nm]
Torque 4, 5, 6
Torque 7
Torque 3, 8
Torque 9
Torque 2, 10 Speed-torque curve
Torque 1
Speed [RPM]
Speed 10
Speed 1
Speed 2
Speed 3
Speed 4
Speed 5
Speed 6
Speed 7
Speed 8
Speed 9
Figure 7. Default configuration of the speed-torque limit curve. When Speed 10 is exceeded the corresponding torque value
will be that of Torque 10.
9.1. Example configuration

The current rotational speed has the value of Speed 6, both 2.53.1.1 Enable for torque limit, min and 2.53.1.2 Enable
for torque limit, max are TRUE. The corresponding torque limit value for Speed 6 will be calculated as Torque 6, and
since both enables are TRUE the value will be used for both torque limits. Maximum torque limit will become Torque
6 and minimum torque limit will become the negation of Torque 6 (maximum torque limit = Torque 6 and minimum
torque limit = -Torque 6).

10. System application

System application handles system-level operations not related to any specific control. This includes communicating
with subsystems such as protections, measurements, and the User I/O. The User I/O portion of system application is
discussed in [3].
The working principle is the same as in the motor control application. Command configurations are used to determine
which source is being listened to for each command.
10.1. Available commands

Commands available in the system application are presented in the Table 24.
Table 24. Available commands.

Command name Description
Request command Used to request that the control be transferred to the requesting
command configuration.
Clear faults Clear all active faults.
Contactor command Operate contactors in applicable devices.
Control switch command Select active control in supported software configurations.
Digital output 1 - 5 See [3] for more information.
10.2. Application parameters

The subsections below describe the parameter groups 1.50.X.
10.2.1. Parameter group 1.50.1 General
The general parameter group is given in the Table 25.
Table 25. General parameter group.

ID Command name Default value Notes
1.50.1.2 Fault word update period 100 ms
1.50.1.3 Digital I/O pin write mask 0 See [3] for more information.
10.2.2. Parameter group 1.50.3 Command configuration 1

The command configuration 1 is given in Table 26.

1.50.3.1 Priority 3 Higher number means lower priority.
1.50.3.2 Request command source Parameter
1.50.3.3 Contactor command source CAN 1
1.50.3.4 Control switch command CAN 1
source
1.50.3.5 Digital I/O pin write source Parameter
1.50.3.6 Clear faults source CAN 1



1.50.4.3 Contactor command source Parameter
1.50.4.4 Control switch command Parameter
source


1.50.5.3 Contactor command source Parameter
1.50.5.4 Control switch command Parameter
source
10.2.5. Parameter group 1.50.6 Parameter inputs

The default parameter inputs are given in Table 29.
Table 29. Parameter inputs.

1.50.6.1 Request command TRUE Used to make command configurations
request command all the time.
1.50.6.3 Contactor command Off
1.50.6.4 Control switch command 0
1.50.6.6 Digital output 1 FALSE

10.3. Application signals

The subsections below describe the signal groups 1.50.X.
10.3.1. Signal groups 1.50.1 – 1.50.5 Input sources
System application commands are listed in signal groups 1.50.1 – 1.50.5 which are
 1.50.1 Used commands

 1.50.2 Diagnostic commands
 1.50.3 CAN 1 commands
 1.50.4 CAN 2 commands
 1.50.5 I/O commands
Used commands group is given in Table 30.
Table 30. Used commands.

ID Name
1.50.1.1 Active command configuration
1.50.1.2 Clear faults
1.50.1.3 Contactor command

1.50.1.4 Control switch command
1.50.1.5 Digital output 1
The groups 1.50.2 – 1.50.5 have the same command signals but vary in group numbering, this is indicated with X in
Table 31.
Table 31. Commands available in each command source.

ID Name
1.50.X.1 Request command
1.50.X.2 Clear faults
1.50.X.3 Contactor command

1.50.X.4 Control switch command
1.50.X.5 Digital output 1
In addition to the commands, there are status signals available in groups 1.50.10 and 1.50.20. These are given in the
next section.

10.3.2. Signal groups 1.50.10 – 1.50.20 Statuses

System application output signals and CAN statuses are given in Table 32.
Table 32. System application outputs.

ID Name Description
1.50.10.1 Run status TRUE – Running
FALSE – Not running
1.50.10.2 Fault status TRUE – One or more faults active
FALSE – No faults active
1.50.10.3 Warning status TRUE – One or more warnings active
FALSE – No warnings active
1.50.10.4 Contactor status 0 – Off
1 – Precharge
2 – On
3 – Discharge
1.50.10.5 Control switch status The active control in supported software configurations.
1.50.10.10 Highest junction temperature
1.50.10.11 Maximum external temperature
1.50.10.12 Minimum external temperature
1.50.10.13 External temperature 1
1.50.10.18 External temperature fault word See [1] for bit definitions.
1.50.10.19 External temperature warning word See [1] for bit definitions.
1.50.10.20 External temperature status word See [1] for bit definitions.
1.50.10.40 Fault word 1 See [1] for bit definitions.
1.50.10.60 Fault word 2 See [1] for bit definitions.
1.50.10.80 Digital input 1
1.50.10.90 Analog input 1 voltage
1.50.20.1 CAN 1 signal status 0 – Invalid
1 – Valid
1.50.20.2 CAN 2 signal status 2 – Rx timeout

11. Glossary
Control mode. Determines which reference the converter is listening to. Available references include among others
motor speed (speed control), DC link voltage (voltage control), motor mechanical torque (torque control), and motor
shaft position (position control).
Fault. A fault is activated as a response to an abnormal situation, such as a quantity going to dangerous level
(overcurrent, overvoltage, etc.) or some other safety-related problem (resolver wire break, CAN timeout, etc.). Running
the converter while a fault is active is impossible.
Limit. A maximum or a minimum value for a quantity, for example the speed of the motor. The converter software tries
to keep a quantity between its limits by, for example, modifying the torque reference. Being at a limit is not considered
an abnormal situation – it is not a fault.
Parameter. A value which configures the behavior of the converter software. Parameters cannot be changed when
the converter is running.
Signal. A dynamic value representing the actual value of a quantity (speed of the motor, DC link voltage etc.) or a
command to the converter (speed reference, run command etc.).

12. References
[1] EC-C1200+MC Communication Manual. Firmware version 11.1, Document version 1.2.
[2] EC-C1200-450 Resolver Configuration Guide. Document version 4.0.
[3] EC-C1200-450 User I/O Configuration Manual. Firmware version 11.1, Document version 1.0.
[4] EC-C1200-450 Electrical Converter User Guide. Document revision 0201.

About
Danfoss Power Solutions
Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and electronic
components. We specialize in providing state-of-the-art technology and solutions that excel in the harsh
operating conditions of the mobile off-highway market as well as the marine sector. Building on our
extensive applications expertise, we work closely with you to ensure exceptional performance for a broad
range of applications. We help you and other customers around the world speed up system development,
reduce costs and bring vehicles and vessels to market faster.
We offer you expert worldwide support for ensuring the best possible solutions for outstanding
performance. And with an extensive network of Global Service Partners, we also provide you with
comprehensive global service for all of our components.
Danfoss Power Solutions - your strongest partner in mobile hydraulics and mobile electrification.
Products we offer:
 Bent Axis Motors  PLUS+1® joysticks and pedals

 DCV directional control valves  PLUS+1® sensors
 Electric converters  PLUS+1® software services, support, and training
 Electric machines  PLUS+1® software
 Hydrostatic motors  Position controls and sensors
 Hydrostatic pumps  PVG proportional valves
 Orbital motors  Steering components and systems
 PLUS+1® controllers  Telematics
 PLUS+1® displays
Go to www.danfoss.com for further product information.
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Phone: +1 515 239 6000 Phone: +45 7488 2222
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Application Manual

Document version 1.1

2 | © Danfoss | October 2021

10.3.1. Signal groups 1.50.1 – 1.50.5 Input sources .......................................................................... 38

October 2021 | © Danfoss | 3

Revision Date Description

4 | © Danfoss | October 2021

Motor control application

Control Protections CAN I/O

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3.1. Command sources

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3.2. Available commands

Table 1. Available commands. (continued)

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Table 1. Available commands. (continued)

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3.3. About sign conventions and limits

3.3.1. AC current sign convention

3.3.2. Effect of the positive rotation direction

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Table 2. Determining current flow direction.

3.3.3. Power reference interpretation

3.3.4. Overvoltage and undervoltage protections

10 | © Danfoss | October 2021

1050 V Overvoltage HW trip level (not parameterizable)

1.2.1 DC link overvoltage trip level

2.1.2.1 Maximum rectified back-EMF trip level

2.2.2.3 Linear OVC, limitation begin voltage*

2.2.2.3 Linear UVC, limitation begin voltage*

2.2.3.2 Undervoltage limit*

1.2.2 DC link undervoltage trip level

October 2021 | © Danfoss | 11

2.2.3.2 Undervoltage limit

2.2.3.3 Linear UVC, limitation begin voltage

2.2.2.2 Overvoltage limit

2.2.2.3 Linear OVC, limitation begin voltage

Maximum generating torque

T 2.2.2.3 Linear OVC, limitation begin voltage

Motoring 2.2.2.2 Overvoltage limit

Maximum generating torque

12 | © Danfoss | October 2021

3.4. Dynamic limit validation

2) The maximum must be greater than or equal to the minimum.

Table 3. Application fault arguments.

Undervoltage and overvoltage limit checks are

October 2021 | © Danfoss | 13

3.4.2. Validation against parameter limits

2.1.1.5 Speed limit, max

2.1.1.4 Speed limit, min

Exceeding parameter limits will not raise a fault.

14 | © Danfoss | October 2021

3.5. Command configurations

Command conf. 1 Command conf. 2 Command conf. 3

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4.1. Parameter group 2.50.3 Command configuration 1

Table 4. Command configuration 1.

2.50.3.15 Power limits source Parameter

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4.2. Parameter group 2.50.4 Command configuration 2

Table 5. Command configuration 2.

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4.3. Parameter group 2.50.5 Command configuration 3